CN118068837A - Method and device for scheduling and track planning of multi-vehicle multi-shovel collaborative loading in loading area - Google Patents

Abstract

The invention discloses a method and a device for scheduling and planning tracks by cooperatively loading a plurality of vehicles and a plurality of shovels in a loading area, wherein the method for scheduling and planning tracks by cooperatively loading the plurality of vehicles and the plurality of shovels in the loading area comprises the following steps: step 1, determining the priority order of vehicles according to the entrance time, the exit time and the empty/heavy load condition of the vehicles; step 2, generating a scheduling instruction according to the priority order, and planning the running track of each mine card; and 3, estimating the position of each mine card at each moment according to the planned running track of each mine card, performing multi-car dynamic conflict detection, and enabling the mine cards with low priority to avoid the mine cards with high priority in real time according to the priority sequence. The invention is used for solving the problem of collaborative loading of a plurality of excavators and a plurality of unmanned mining cards existing in the loading working face of an open-air mining area.

Description

Method and device for scheduling and track planning of multi-vehicle multi-shovel collaborative loading in loading area

Technical Field

The invention relates to the technical field of mine automatic driving, in particular to a method and a device for scheduling and track planning of multi-vehicle multi-shovel collaborative loading in a loading area.

Background

The mining process of the surface mine mainly comprises perforation, blasting, loading, transportation, dumping and the like. Among them, ore loading operation is one of important links of mine production, and a vehicle is required to be closely cooperated with a vehicle and an excavator. Along with the development of unmanned technology of surface mines, ore loading operations also slowly move to unmanned roads. In mines with a wide loading area, particularly in gravel aggregate mines, there are often cases where a plurality of excavators perform loading operations simultaneously. Therefore, the cooperative loading scheduling and vehicle driving track planning technology of multiple vehicles and multiple shovels in the loading area is one of key technologies for realizing intelligent mines.

However, most of the prior art only aims at the working scene that one excavator exists on one loading working surface, and focuses on the intelligent research of the collaborative loading working flow of a single car and a single shovel (single excavator) in a loading area, but less research of the collaborative loading scheduling and track planning method of multiple cars and multiple shovels in the loading area.

For example, in the first prior art, an interaction method based on intelligent circulation shovel of an unmanned ore card in a loading area is provided, by installing cooperative equipment on the unmanned ore card and a forklift respectively, a forklift driver determines the parking angle of the ore card according to own habits, and simultaneously monitors the automatic operation flow of the ore card, so that the automatic cooperative cooperation of the ore card and the forklift operation is realized. However, the method only considers the cooperative loading operation of the unmanned mining cards and the single forklift, does not consider the problem of collision conflict of a plurality of unmanned vehicles in a loading area, and does not consider the cooperative dispatching and track planning scheme of the unmanned vehicles when the plurality of forklift exist in the loading area.

Also for example: in the second prior art, two loading positions exist in one excavator at the same time, loading position data and loading position states are updated in real time, and when an unmanned mining card entrance request is received, idle loading positions, corresponding paths and road weights are distributed to corresponding vehicles, and the vehicles automatically travel to the designated loading positions. And judging whether the vehicle meets the departure condition in real time, and controlling the truck to leave the loading operation area according to the collision detection result after the vehicle meets the departure condition, so as to finish loading collaborative operation scheduling and path planning and control. The two technologies further consider the problems of multi-loading-position state allocation and loading path planning compared with the first technology, but the two loading-position states are controlled by one excavator, and the situation that a plurality of scattered excavators in a loading working plane simultaneously carry out loading operation is not considered, so that the scheme of multi-vehicle multi-shovel collaborative scheduling and path planning in a loading area is not considered.

Disclosure of Invention

The invention aims to provide a method and a device for scheduling and planning tracks by cooperatively loading a plurality of vehicles and a plurality of shovels in a loading area, which are efficient and safe and avoid waiting in a parking way as far as possible, so as to solve the problem of cooperative loading of a plurality of excavators and a plurality of unmanned mining cards in a loading working surface of an open-air mining area.

In order to achieve the above purpose, the present invention provides a method for scheduling and trajectory planning for multi-truck multi-shovel collaborative loading in a loading area, comprising:

step 1, determining the priority order of vehicles according to the entrance time, the exit time and the empty/heavy load condition of the vehicles;

step 2, generating a scheduling instruction according to the priority order, and planning the running track of each mine card;

and 3, estimating the position of each mine card at each moment according to the planned running track of each mine card, performing multi-car dynamic conflict detection, and enabling the mine cards with low priority to avoid the mine cards with high priority in real time according to the priority sequence.

Further, the determination method of the "priority order of vehicles" in step 1 is as follows:

For a mine card that is driven into a loading zone: adding vehicles with track-along distances from the loading entry point smaller than a set distance threshold to a priority queue, wherein the earlier the vehicles enter a loading area, the higher the priority of the mining cards;

For a mine card ready to exit the loading zone: the priority of the heavy-load ore card is higher than that of the no-load ore card, and the earlier the ore card ready to be driven out of the loading area is started, the higher the priority of the ore card is;

for a mine card that has been driven out of the loading zone: deleted from the priority queue.

Further, step 2 specifically includes:

After receiving an entrance request sent by a vehicle which is about to reach a loading entrance point, judging whether a loading waiting point is in a non-occupied state or not; if so, the ore card is scheduled to go to the appointed loading waiting point for waiting, the step 1 is returned to update the priority queue, and then the track from the loading entry point to the appointed loading waiting point is planned according to the updated priority sequence, and meanwhile the appointed loading waiting point is set to be in an occupied state;

In the process that the ore card drives to a designated loading waiting point, monitoring whether a loading position is in an idle state in real time; if yes, generating a dispatching instruction of the ore card to the appointed loading position, planning a track from the loading waiting point to the appointed loading position, and resetting the loading waiting point from which the ore card is driven to be in a non-occupied state;

When the ore card is in a loading state, judging whether a loading completion instruction is received or not in real time; if yes, the ore cards are scheduled to leave the loading area, the priority queue is updated in the step 1, the track from the loading position to the loading outlet point of the vehicle is planned according to the updated priority sequence, and when the ore cards leave the loading outlet point, the priority queue is updated in the step 1.

Further, the planning method of the driving track in the step 2 specifically includes:

Path planning: when planning the path of the ore card entering the loading area at the same loading excavator, the profile of the ore card path corresponding to the preparation of the ore card exiting the loading area is regarded as an obstacle, and the obstacle configuration space C _obs is described as the following formula:

C_obs＝{p_i|i＝1,2,…,N}∪{o_j|j＝1,2_,…,M}∪{c_k,m|k＝1,2,…,Q,m＝1,2,…,P}

Where k is a path point index, Q is the total number of path points on the reverse path of the same loading excavator, M is an ore card envelope point index, P is the total number of ore card envelope points, P _i is the ith boundary point coordinate in the loading area map, N is the total number of boundary points in the loading area map, o _j is the other jth static obstacle point coordinates except for the ore card in the loading area, M is the total number of static obstacle points, and c _k,m is the mth ore card envelope point coordinate at the kth path point position of the reverse path of the same loading excavator.

Further, the step 3 specifically includes:

Step 31, calculating the distance D between any two mine cards in real time, judging whether the distance is smaller than a set threshold D, and if yes, executing step 32;

step 32, judging whether two mine cards have been subjected to conflict processing, if so, jumping to step 34, otherwise, executing step 33;

step 33, inquiring the priorities of the two mine cards in the priority queue, wherein the mine card with high priority does not need to consider parking, and runs according to the originally planned set track, and collision detection is carried out on the mine card with low priority; the collision detection method specifically comprises the following steps:

Step 331, starting from the current position of the vehicle, traversing a section of local track to be driven by the mining card with low priority, estimating the position of the mining card with high priority at the corresponding moment according to the time information of each track point in sequence, and carrying out dynamic collision detection; the track-following length of the local track for collision detection by the ore cards with low priority is set as a threshold D; if collision risk exists between the section of local track and the ore clamps with high priority, the step 332 is shifted to, and the two ore clamps normally run according to the final running track, so that the current collision detection is completed;

Step 332, calculating avoidance parking points of the mining cards with low priority; the calculation mode of avoiding the parking spot is as follows: starting from the current position of the vehicle, irrespective of time information, finding a first track point interfering with the final running track of the mine card with high priority on the final running track of the mine card with low priority; then, starting from the first interfered track point, and finding a corresponding track point which is separated from the interfered track point by a safety distance d _safe before the interfered track point which is calculated on the local track of the vehicle with low priority as an alternative parking point; then, calculating whether the track distance corresponding to the position of the point and the current position of the mining card with low priority is not smaller than the safe parking distance of the vehicle, if so, confirming that the alternative parking point is an avoidance parking point of the vehicle, and jumping to the step 35, otherwise, executing the step 34;

step 34, stopping the mining card with the original high priority to avoid the mining card with the original low priority, and jumping to step 35;

And 35, parking the ore cards with low priority in the process of parking before avoiding parking spots, and after the ore cards with high priority drive, rescheduling the ore cards with low priority to drive along the planned driving track before parking and avoiding again.

Further, the threshold D in step 31 is determined in the following manner:

wherein v ₁、v₂ is the current speed of the two mine cards respectively; a ₁、a₂ is the comfortable deceleration of two mine cards respectively; d _f1、d_f2 is the distance from the center of the rear axle of the two mine cards to the locomotive if the center of the rear axle is taken as a reference; if the vehicle collection center is taken as a reference, d _f1、d_f2 is the distance from the mine card collection center to the two mine card heads respectively; d _safe1、d_safe2 is the two-vehicle safety distance under the comprehensive consideration of the vehicle response time delay and the parking space respectively.

The invention also provides a loading area multi-vehicle multi-shovel collaborative loading scheduling and track planning device, which comprises:

the task scheduling module is used for determining the priority order of the vehicles according to the entering time, the exiting time and the empty/heavy load condition of the vehicles;

the track planning module generates a scheduling instruction according to the priority order and plans the running track of each mine card;

And the conflict detection module predicts the position of each mine card at each moment according to the planned running track of each mine card, carries out multi-vehicle dynamic conflict detection, and enables the mine cards with low priority to avoid the mine cards with high priority in real time according to the priority sequence.

Further, the track planning module specifically includes:

A dispatch instruction generating unit for judging whether a loading waiting point is in a non-occupied state after receiving an entrance request sent by a vehicle which is about to reach a loading entry point; if so, the ore card is scheduled to go to the appointed loading waiting point for waiting, the priority queue is updated, then the track from the loading entry point to the appointed loading waiting point is planned according to the updated priority sequence, and meanwhile the appointed loading waiting point is set to be in an occupied state; in the process that the ore card drives to a designated loading waiting point, monitoring whether a loading position is in an idle state in real time; if yes, generating a dispatching instruction of the ore card to the appointed loading position, planning a track from the loading waiting point to the appointed loading position, and resetting the loading waiting point from which the ore card is driven to be in a non-occupied state; when the ore card is in a loading state, judging whether a loading completion instruction is received or not in real time; if yes, the ore cards are scheduled to leave the loading area, the priority queue is updated, then the track from the loading position to the loading outlet point of the vehicle is planned according to the updated priority sequence, and when the ore cards leave the loading outlet point, the priority queue is updated.

Further, the track planning module specifically includes:

A travel track planning unit for path planning: when planning the path of the ore card entering the loading area at the same loading excavator, the profile of the ore card path corresponding to the preparation of the ore card exiting the loading area is regarded as an obstacle, and the obstacle configuration space C _obs is described as the following formula:

C_obs＝{p_i|i＝1,2,…,N}∪{o_j|j＝1,2,…,M}∪{c_k,m|k＝1,2,…,Q,m＝1,2,…,P}

Where k is a path point index, Q is the total number of path points on the reverse path of the same loading excavator, M is an ore card envelope point index, P is the total number of ore card envelope points, P _i is the ith boundary point coordinate in the loading area map, N is the total number of boundary points in the loading area map, o _j is the other jth static obstacle point coordinates except for the ore card in the loading area, M is the total number of static obstacle points, and c _k,m is the mth ore card envelope point coordinate at the kth path point position of the reverse path of the same loading excavator.

Further, the collision detection module specifically includes:

the ore card distance detection unit is used for calculating the distance D between any two ore cards in real time and judging whether the distance is smaller than a set threshold D or not;

The conflict processing detection unit is used for judging whether two mine cards have been subjected to conflict processing under the condition that the distance D is smaller than the set threshold D, and if so, parking the mine card with the original high priority to avoid the mine card with the original low priority;

The collision detection unit is used for inquiring the priorities of the two ore cards in the priority queue under the condition that the collision processing detection unit judges that the two ore cards do not have collision processing, the ore cards with high priority do not need to consider parking, and the collision detection unit runs according to the originally planned set track, and the ore cards with low priorities carry out collision detection; the collision detection method specifically comprises the following steps:

Step 331, starting from the current position of the vehicle, traversing a section of local track to be driven by the mining card with low priority, estimating the position of the mining card with high priority at the corresponding moment according to the time information of each track point in sequence, and carrying out dynamic collision detection; the track-following length of the local track for collision detection by the ore cards with low priority is set as a threshold D; if collision risk exists between the section of local track and the ore clamps with high priority, the step 332 is shifted to, and the two ore clamps normally run according to the final running track, so that the current collision detection is completed;

Step 332, calculating avoidance parking points of the mining cards with low priority; the calculation mode of avoiding the parking spot is as follows: starting from the current position of the vehicle, irrespective of time information, finding a first track point interfering with the final running track of the mine card with high priority on the final running track of the mine card with low priority; then, starting from the first interfered track point, and finding a corresponding track point which is separated from the interfered track point by a safety distance d _safe before the interfered track point which is calculated on the local track of the vehicle with low priority as an alternative parking point; and then, calculating whether the position of the point and the current position of the ore card with low priority are not smaller than the safe parking distance of the vehicle along the track, if so, confirming that the alternative parking point is an avoidance parking point of the vehicle, dispatching the ore card with low priority to park before the avoidance parking point, after the ore card with high priority drives, dispatching the ore card with low priority to drive again along the planned driving track before the avoidance of the vehicle, otherwise, executing the parking of the ore card with high priority to avoid the ore card with low priority.

According to the invention, firstly, according to the states of the loading positions corresponding to a plurality of excavators, the vehicle is determined to go to the proper loading position; then comprehensively determining the vehicle running priority according to the vehicle entrance time, the vehicle exit time and the vehicle empty/heavy load condition; then, planning a travel track of the ore card to a loading waiting point, to a loading position or to a loading area based on the priority order; and finally, carrying out dynamic conflict detection in real time in the running process of the vehicle, and adjusting the running track of the mine card according to the priority order.

According to the invention, the cooperation loading operation scene of the plurality of excavators and the plurality of unmanned mining cards in the loading area is considered, and the cooperation loading scheduling and track planning of the plurality of vehicles and the plurality of shovels in the loading area are realized through the tight cooperation of the mining cards, the excavators and the central control platform, so that the loading operation efficiency is improved.

Drawings

Fig. 1 is a block diagram of a loading area multi-truck multi-shovel dispatch and trajectory planning system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a loading area multi-vehicle multi-shovel collaborative loading scheduling and trajectory planning according to an embodiment of the present invention.

Fig. 3 is a flow chart of cooperative scheduling of vehicle entrance in a loading area multi-vehicle multi-shovel operation scene according to an embodiment of the present invention.

Fig. 4 is a flow chart of cooperative scheduling of vehicle departure in a loading area multi-vehicle multi-shovel operation scene according to an embodiment of the invention.

Fig. 5 is a schematic diagram of vehicle entrance track planning in a loading area multi-vehicle multi-shovel operation scene according to an embodiment of the present invention.

Fig. 6 is a schematic diagram of a vehicle departure track planning in a loading area multi-vehicle multi-shovel operation scene according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of dynamic collision detection according to an embodiment of the present invention.

Fig. 8 is a schematic diagram of a method for determining whether a mine card with a high priority passes through according to an embodiment of the present invention.

Detailed Description

In the drawings, the same or similar reference numerals are used to denote the same or similar elements or elements having the same or similar functions. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate an orientation or a positional relationship based on that shown in the drawings, only for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present invention.

As shown in fig. 1, the loading area multi-vehicle multi-shovel collaborative loading scheduling and track planning device provided by the embodiment of the invention is used for realizing multi-vehicle multi-shovel collaborative loading operation and comprises a central control platform, an unmanned mining card and an excavator. The central control platform can read the map coordinate information and the static obstacle information, can acquire current task information, track information and vehicle state information of all unmanned mining cards, and loading state information and loading position information of the excavator in real time, and completes the multi-vehicle multi-shovel collaborative loading task scheduling and track planning of a loading area.

Specifically, the central control platform comprises a task scheduling module, a track planning module, a conflict detection module and a first communication module. The task scheduling module is used for the priority order of the vehicles and generating corresponding scheduling instructions, and finally, the scheduling instructions are issued to the unmanned mining cards through the first communication module. Wherein the dispatch instructions include entrance, loading, and exit instructions. The track planning module is used for planning the running track of each mine card according to the priority order of the vehicles and the dispatching instruction, and the running track is issued to the corresponding mine card through the first communication module. The conflict detection module is used for carrying out dynamic conflict detection in real time in the running process of the vehicle, converting the detection result into a scheduling instruction and issuing the scheduling instruction to the corresponding mine card through the first communication module. The first communication module is used for carrying out real-time information interaction with the mine card and the excavator.

The mine card includes a second communication module and an unmanned system. Wherein: the second communication module is used for carrying out real-time information interaction with the first communication module of the central control platform. The unmanned system is used for executing the scheduling instruction and the running track issued by the central control platform and reporting the running state and the task execution state of the vehicle through the second communication module.

The excavator comprises a third communication module and a collaborative work system. Wherein: the third communication module is used for carrying out real-time information interaction with the first communication module of the central control platform. The collaborative operation system is used for carrying out loading position state management and man-machine interaction, and reporting the excavator operation state and loading position state through the third communication module.

A surface mine loading area refers to a specific area in a surface mine for loading and transporting mined ore or other minerals. The loading zone is typically equipped with specialized loading equipment, such as a loader or excavator, for loading ore from a yard or mining pit into the transport equipment. To increase the material loading and transport efficiency, it is common to deploy multiple mining transport vehicles in a loading area and to deploy multiple loaders or excavators.

As shown in fig. 2, in the loading area, there are an excavator 1, an excavator 2, and an excavator 3 for performing loading work, and vehicles shown in the drawing are mine cards, namely a mine card a to be driven into the loading area, and a vehicle b, a vehicle c, and a vehicle d to wait for loading to finish driving out of the loading area. The card a needs to be dispatched to the appropriate loading waiting point before entering the loading area, while the cards b, c, d need to be dispatched out of the loading area after waiting for loading to be completed. The four mine cards all need to carry out corresponding track planning, and collision conflict with other vehicles needs to be considered to be avoided during track planning. The planned trajectory information includes: the information such as x and y values, course angle theta, curvature k, speed v, time t and distance s from the starting point in the geodetic coordinate system.

The loading area multi-vehicle multi-shovel collaborative loading scheduling and track planning method provided by the embodiment of the invention comprises the following steps:

And step 1, determining the priority sequence of the vehicles according to the entrance time, the exit time and the empty/heavy load condition of the vehicles.

For all the cards operating in the loading area, their priority needs to be determined. The determination rule of the priority is as follows:

for a mine card that is driven into a loading zone: vehicles with track-along distances from the loading entry point less than a set distance threshold are added to the priority queue and the earlier the mining cards entering the loading zone are prioritized higher. The specific value of the set distance threshold value ensures that the vehicle can park smoothly at the loading entry point shown in fig. 2.

When the vehicle completes loading preparation to exit the loading zone, the vehicle priority is upgraded, i.e. the priority of all the heavy-duty mining cards is higher than the priority of the no-load mining cards, and the vehicle for which the loading zone is prepared earlier is higher.

For a mine card that has been driven out of the loading zone: deleted from the priority queue.

And updating the priority queue of the vehicles in the loading area in real time based on the priority determining rule.

And 2, generating a scheduling instruction according to the priority order, and planning the running track of each mine card.

Generating a scheduling instruction to schedule the bicycle specifically comprises: a. according to the occupation of the loading waiting point and the loading position condition in the loading area, respectively scheduling the entrance of the ore card to go to the loading point, drive into the loading position or wait at the loading entrance point; b. and according to the loading completion condition of the vehicle, the ore card is scheduled to be driven out to a loading point.

In one embodiment, as shown in fig. 3, step 2 specifically includes:

When the ore card is about to reach the loading entry point, an entry request instruction is sent to the central dispatching platform. After receiving an entrance request sent by a vehicle which is about to reach a loading entrance point, the central dispatching platform judges whether a loading waiting point is in a non-occupied state; if not, scheduling the ore card to wait at the loading entry point until a loading waiting point in a non-occupied state exists; if so, the ore card is scheduled to go to the appointed loading waiting point for waiting, the priority queue is updated in the step 1, and then the track from the loading entry point to the appointed loading waiting point is planned according to the updated priority sequence, and meanwhile the appointed loading waiting point is set to be in an occupied state.

In the process of driving the ore card to a designated loading waiting point, the central dispatching platform monitors whether a loading position is in an idle state in real time in the process of driving the ore card; if yes, generating a dispatching instruction of the ore card to the appointed loading position, planning a track from the loading waiting point to the appointed loading position, and resetting the loading waiting point from which the ore card is driven to be in a non-occupied state; if not, the ore card waits at the loading waiting point until the loading position in the unoccupied state exists.

The position and the state of the loading position are determined by the excavator collaborative operation system, and are reported to the central dispatching platform in real time through the third communication module shown in fig. 1.

In one embodiment, the loading waiting point is uniquely bound to a single excavator, the excavator and the mine card are cooperatively loaded, and a cooperative terminal is installed on the excavator for determining a loading position and sending a loading in-out signal. When the excavator is in a non-ready state, the loading waiting point defaults to an occupied state. The load waiting point is manually determined by the central dispatch platform operator based on the load face range and the excavator position.

In one embodiment, to ensure that there is sufficient space to adjust the position of the mine card during the vehicle's travel from the loading wait point into the loading location, the loading wait point should be located a distance greater than 2.5 times the minimum turning radius of the vehicle and less than 4 times the minimum turning radius of the vehicle.

In one embodiment, in conjunction with fig. 3, step 2 specifically further includes: when the ore card is in the loading state, whether a loading completion instruction is received is judged in real time. If not, stopping the vehicle and waiting for loading to be completed; if yes, the ore cards are scheduled to leave the loading area, the priority queue is updated in the step 1, and then the track from the loading position to the loading outlet point of the vehicle is planned according to the updated priority sequence and the priority sequence. The loading completion instruction is reported to the central dispatching platform by the excavator collaborative operation system through the third communication module, and then forwarded to the vehicle by the first communication module. And (3) the vehicle drives out of the loading area along the planned track, and simultaneously, when the mine truck drives out of the loading exit point, the vehicle returns to the step (1) to update the priority queue.

When the priority of the vehicle and the destination state to be reached are determined, the travel track of the mine card from the designated start point to the designated destination is planned. The starting point and the ending point of the track planning are different again for different scheduling tasks. For a vehicle entrance dispatching task, a planning starting point is a loading entrance point, and a planning end point is a loading waiting point; for a loading scheduling task of a vehicle, a planning starting point is a loading waiting point, and a planning end point is a loading point; for a vehicle departure dispatching task, a planning starting point is a loading point, and a planning end point is a loading point.

The method for programming the running track of each mine card in the step 2 adopts path speed decoupling, and specifically comprises the following steps:

(one) for path planning: for the mine cards at the same loading excavator, which enter and are ready to exit the loading area, the planned trajectories may overlap in a wide range of opposite directions, resulting in a "deadlock" phenomenon. In order to solve the problem, the embodiment of the invention provides a vehicle passable area dividing method, which specifically comprises the following steps:

And regarding the path planning of the mine cards which are driven into the loading area at the same loading excavator, regarding the profile of the mine card path which is correspondingly prepared to be driven out of the loading area as an obstacle, namely ensuring that the space interference does not exist between the entrance to the same excavator and the mine card driving path which is prepared to be driven out of the loading area. Taking the working condition shown in fig. 5 as an example, when the mine truck a entering the loading area plans a path reaching the loading waiting point 1, the running track profile of the mine truck d which is ready to leave the loading area is regarded as an inextensible area, namely, the mine truck a takes the running track profile of the mine truck d as an obstacle when searching the path. Similarly, for the path planning of the ore cards ready to exit the loading area at the same loading excavator, the corresponding ore card path profile entering the loading area is regarded as an obstacle. As shown in fig. 6, when planning a route to a loading exit point, the mine card c that is ready to exit the loading area regards the travel track profile of the mine card a that is entering the loading area as an inextensible area, i.e., the mine card c regards the travel track profile of the mine card a as an obstacle when performing a route search. That is, when planning a path of a mine card that enters a loading area at the same loading shovel, a mine card path profile corresponding to a preparation for exiting the loading area is regarded as an obstacle, and an obstacle configuration space C _obs is described as follows:

C_obs＝{p_i|i＝1,2,…,N}∪{o_j|j＝1,2,…,M}∪{c_k,m|k＝1,2,…,Q,m＝1,2,…,P}

Where k is a path point index, Q is the total number of path points on the reverse path of the same loading excavator, M is an ore card envelope point index, P is the total number of ore card envelope points, P _i is the ith boundary point coordinate in the loading area map, the loading area map can be acquired through a handheld device or a vehicle-mounted laser radar, N is the total number of boundary points in the loading area map, o _j is the other jth static obstacle point coordinates except the ore card in the loading area, the static obstacle is an obstacle such as a pit, a stone, and the like, and is not considered as an obstacle, M is the total number of static obstacle points, and c _k,m is the mth ore card envelope point coordinate at the kth path point position of the reverse path of the same loading excavator.

And (II) speed planning: after a vehicle driving path is planned, building an ST diagram of the vehicle according to the latest priority order, regarding a mine card with higher priority than a vehicle as an obstacle vehicle, obtaining that the mine card with higher priority occupies the ST diagram area of the vehicle through track point collision detection, generating a rough speed curve in the built ST diagram by adopting a dynamic planning algorithm, smoothing the speed curve by adopting a quadratic planning algorithm, carrying out global speed planning, obtaining the final driving track of the mine card, and storing.

In one embodiment, the path search methods all use a conventional Hybrid a algorithm. For the path planning of the entrance and the exit of the mine truck, the Hybrid A algorithm only expands forward as the reversing of the vehicle is not involved; for the path planning of the mine truck entering the loading position, the Hybrid a algorithm needs to be expanded forward and backward.

And 3, when the ore cards in the loading area travel along the planned track, although the problem of mutual avoidance of the multiple vehicle travel tracks is primarily considered in track planning, space-time interference among vehicles is still possible due to errors when the ore cards execute the corresponding planned tracks. Aiming at the potential vehicle conflict problem, the position of each mine card at each moment is estimated according to the planned running track of each mine card, multi-vehicle dynamic conflict detection is carried out, mine cards with low priority are enabled to avoid mine cards with high priority in real time according to the priority sequence, and therefore vehicle transportation efficiency and driving safety are guaranteed.

In one embodiment, as shown in fig. 7, step 3 specifically includes:

And step 31, calculating the distance D between any two mine cards in real time, judging whether the distance D is smaller than a set threshold D, if so, executing step 32, otherwise, considering that the two vehicles have no collision risk, and normally continuing to run along the track. The distance d is understood to be the Euclidean distance between the central positions of the rear axles of the mine cards.

In one embodiment, the threshold D is set in the following manner:

Wherein v ₁、v₂ is the current speed of two mine cards respectively; a ₁、a₂ is the comfortable deceleration of two mine cards respectively; d _f1、d_f2 is the distance from the center of the rear axle of the two mine cards to the locomotive if the center of the rear axle is taken as a reference; if the vehicle collection center is taken as a reference, d _f1、d_f2 is the distance from the mine card collection center to the two mine card heads respectively; d _safe1、d_safe2 is the two-vehicle safety distance under the comprehensive consideration of the vehicle response time delay and the parking space respectively.

The meaning of setting the threshold D to select is to ensure that at least one of the mine cards can safely stop before the interference position of two vehicles, so that the calculation amount of dynamic conflict detection is reduced, and the driving safety of the vehicles can be effectively ensured. The threshold D may also be set by calculating using a trapezoidal deceleration method or other methods that are more compatible with the deceleration characteristics of the vehicle.

Step 32, judging whether two mine cards have been subjected to conflict processing, namely, one vehicle is avoiding the other vehicle, if so, jumping to step 36, and if not, executing step 33.

And step 33, inquiring the priorities of the two mine cards in the priority queue, wherein the mine cards with high priorities do not need to consider parking, and the mine cards with low priorities perform collision detection. As shown in fig. 2, the vehicle a does not need to consider the vehicle b, but the vehicle b needs to perform collision detection with respect to the vehicle a, if the vehicle a has a higher priority than the vehicle b. The collision detection method specifically comprises the following steps:

Step 331, starting from the current position of the vehicle, traversing a section of local track to be driven by the mining card with low priority, estimating the position of the mining card with high priority at the corresponding moment according to the time information of each track point in sequence, and performing dynamic collision detection. If the local track with the low priority level and the ore card with the high priority level have collision risks, the step 332 is shifted, otherwise, the vehicle is determined to pass dynamic collision detection, the two ore cards normally run according to the final running track, and the current collision detection is completed. It should be noted that, in order to ensure that the result of the frontal collision detection is consistent with the actual running result of the vehicle, it should be ensured that both vehicles consider a sufficient safety distance when performing the collision detection.

Step 332, calculating avoidance parking points of the mining cards with low priority; the calculation mode of avoiding the parking spot is as follows: starting from the current position of the vehicle, irrespective of time information, finding a first track point interfering with the final running track of the mine card with high priority on the final running track of the mine card with low priority; then, starting from the first interfered track point, and then, before the interfered track point calculated on the local track of the low-priority vehicle, finding a corresponding track point which is separated from the interfered track point by a safety distance d _safe as an alternative parking point. As shown in fig. 7, an interference track point on the running track of the vehicle b is obtained through collision detection, then an alternative parking point is found under the condition of considering the safety distance d _safe, whether the distance from the current position of the vehicle to the alternative parking point is greater than the safety parking distance of the vehicle is calculated, and if so, the point is used as a parking avoidance point of the vehicle b. Then, calculating whether the track distance corresponding to the position of the point and the current position of the mining card with low priority is not smaller than the safe parking distance of the vehicle, if so, confirming that the alternative parking point is the avoidance parking point of the vehicle, and jumping to the step 35, otherwise, executing the step 34. The safe stopping distance of the vehicle refers to the distance required for the vehicle to be decelerated to a standstill at a comfortable deceleration from the current speed.

And step 34, stopping the mining card with the original high priority to avoid the mining card with the original low priority, and jumping to step 35. Because the previously determined priority order cannot ensure that the ore cards with low priority safely stop and avoid the ore cards with high priority, the priority order of the two vehicles should be exchanged at the moment, namely, the ore cards with high priority originally stop and avoid the ore cards with low priority originally. For example, according to fig. 7, when the priority of the vehicle a is higher than that of the vehicle b at the beginning, if the vehicle b is found to be unable to avoid the vehicle a after passing through step 332, the vehicle a is allowed to avoid the vehicle b.

And 35, parking the ore cards with low priority in the process of parking before avoiding parking spots, and after the ore cards with high priority drive, rescheduling the ore cards with low priority to drive along the planned driving track before parking and avoiding again.

The method for judging the passing of the ore card with high priority comprises the following steps: and carrying out collision detection on the local track of the ore card with low priority in real time, and if interference is detected to be generated with the contour of the ore card with high priority, then the interference disappears, so that the ore card with high priority is indicated to have driven through the interference point, and the vehicle starts to resume driving at the moment. As shown in fig. 8, when the ore card b of low priority stops at the avoidance parking spot, the ore card a of high priority travels from the left side to the right side of the trajectory of the vehicle b. The vehicle a starts to interfere with the running track of the vehicle b from the left side, then the interference exists all the time, and when the vehicle a runs to the right side of the track of the vehicle b, the interference disappears, and the vehicle b can resume running.

When an avoidance parking maneuver is generated by a vehicle, it may be possible to increase the probability of avoidance for vehicles that are already traveling in the loading zone and have a lower priority than it. However, it is worth noting that the loading area is usually larger, meanwhile, the collision avoidance of vehicles is considered when global track planning is carried out, so that the probability of interference of two vehicles is usually smaller, the running safety of the vehicles can be ensured by judging whether any two vehicles need to carry out dynamic collision detection in real time, and in the worst case, the vehicles which are already running in the loading area and have lower priority than the vehicles need to be stopped and avoided.

At present, the method for scheduling and planning the track of the vehicles in the multi-vehicle multi-shovel scene of the loading operation area of the surface mine has less research, and the invention designs a complete system for scheduling and planning the track of the vehicles in the multi-vehicle multi-shovel collaborative loading operation area. The vehicle priority allocation principle in the multi-vehicle multi-shovel scene of the loading area can effectively ensure the running safety of the vehicle and save the energy consumption; the vehicle passable area dividing method can effectively prevent the occurrence of deadlock during track planning; the dynamic conflict detection and processing method can effectively avoid potential conflicts among multiple vehicles, ensure the running efficiency of the vehicles and further ensure the running safety and completeness of the vehicles.

The embodiment of the invention also provides a loading area multi-vehicle multi-shovel collaborative loading scheduling and track planning device which comprises a task scheduling module, a track planning module and a conflict detection module.

The task scheduling module is used for determining the priority order of the vehicles according to the entrance time, the exit time and the empty/heavy load condition of the vehicles.

The track planning module is used for generating a scheduling instruction according to the priority order and planning the running track of each mine card.

The conflict detection module is used for estimating the position of each mine card at each moment according to the planned running track of each mine card, carrying out multi-vehicle dynamic conflict detection, and enabling the mine cards with low priority to avoid the mine cards with high priority in real time according to the priority sequence.

In one embodiment, the track planning module specifically includes a scheduling instruction generating unit, where the scheduling instruction generating unit is configured to determine, after receiving an entry request sent by a vehicle that is about to reach a loading entry point, whether a loading waiting point is in a non-occupied state; if so, the ore card is scheduled to go to the appointed loading waiting point for waiting, the priority queue is updated, then the track from the loading entry point to the appointed loading waiting point is planned according to the updated priority sequence, and meanwhile the appointed loading waiting point is set to be in an occupied state; in the process that the ore card drives to a designated loading waiting point, monitoring whether a loading position is in an idle state in real time; if yes, generating a dispatching instruction of the ore card to the appointed loading position, planning a track from the loading waiting point to the appointed loading position, and resetting the loading waiting point from which the ore card is driven to be in a non-occupied state; when the ore card is in a loading state, judging whether a loading completion instruction is received or not in real time; if yes, the ore cards are scheduled to leave the loading area, the priority queue is updated, then the track from the loading position to the loading outlet point of the vehicle is planned according to the updated priority sequence, and when the ore cards leave the loading outlet point, the priority queue is updated.

In one embodiment, the track planning module specifically includes a driving track planning unit, where the driving track planning unit is used for path planning: when planning the path of the ore card entering the loading area at the same loading excavator, the profile of the ore card path corresponding to the preparation of the ore card exiting the loading area is regarded as an obstacle, and the obstacle configuration space C _obs is described as the following formula:

C_obs＝{p_i|i＝1,2,…,N}∪{o_j|j＝1,2,…,M}∪{c_k,m|k＝1,2,…,Q,m＝1,2,…,P}

Where k is a path point index, Q is the total number of path points on the reverse path of the same loading excavator, M is an ore card envelope point index, P is the total number of ore card envelope points, P _i is the ith boundary point coordinate in the loading area map, N is the total number of boundary points in the loading area map, o _j is the other jth static obstacle point coordinates except for the ore card in the loading area, M is the total number of static obstacle points, and c _k,m is the mth ore card envelope point coordinate at the kth path point position of the reverse path of the same loading excavator.

In one embodiment, the collision detection module specifically includes a mine card distance detection unit, a collision processing detection unit, and a collision detection unit. Wherein:

the ore card distance detection unit is used for calculating the distance D between any two ore cards in real time and judging whether the distance is smaller than a set threshold D.

The conflict processing detection unit is used for judging whether two mine cards have been subjected to conflict processing under the condition that the distance D is smaller than the set threshold D, and if so, parking the mine card with the original high priority to avoid the mine card with the original low priority.

The collision detection unit is used for inquiring the priorities of the two ore cards in the priority queue under the condition that the collision processing detection unit judges that the two ore cards do not have collision processing, the ore cards with high priorities do not need to consider parking, and the collision detection is carried out according to the originally planned set track; the collision detection method specifically comprises the following steps:

Step 331, starting from the current position of the vehicle, traversing a section of local track to be driven by the mining card with low priority, estimating the position of the mining card with high priority at the corresponding moment according to the time information of each track point in sequence, and carrying out dynamic collision detection; the track-following length of the local track for collision detection by the ore cards with low priority is set as a threshold D; if collision risk exists between the section of local track and the ore clamps with high priority, the step 332 is shifted to, and the two ore clamps normally run according to the final running track, so that the current collision detection is completed;

Step 332, calculating avoidance parking points of the mining cards with low priority; the calculation mode of avoiding the parking spot is as follows: starting from the current position of the vehicle, irrespective of time information, finding a first track point interfering with the final running track of the mine card with high priority on the final running track of the mine card with low priority; then, starting from the first interfered track point, and finding a corresponding track point which is separated from the interfered track point by a safety distance d _safe before the interfered track point which is calculated on the local track of the vehicle with low priority as an alternative parking point; and then, calculating whether the position of the point and the current position of the ore card with low priority are not smaller than the safe parking distance of the vehicle along the track, if so, confirming that the alternative parking point is an avoidance parking point of the vehicle, dispatching the ore card with low priority to park before the avoidance parking point, after the ore card with high priority drives, dispatching the ore card with low priority to drive again along the planned driving track before the avoidance of the vehicle, otherwise, executing the parking of the ore card with high priority to avoid the ore card with low priority.

The invention is also applicable in principle to unloading, changing the excavator element to a bulldozer, but with some details different.

Finally, it should be pointed out that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting. Those of ordinary skill in the art will appreciate that: the technical schemes described in the foregoing embodiments may be modified or some of the technical features may be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The method for scheduling and planning the track of the multi-vehicle multi-shovel collaborative loading in the loading area is characterized by comprising the following steps:

step 1, determining the priority order of vehicles according to the entrance time, the exit time and the empty/heavy load condition of the vehicles;

step 2, generating a scheduling instruction according to the priority order, and planning the running track of each mine card;

and 3, estimating the position of each mine card at each moment according to the planned running track of each mine card, performing multi-car dynamic conflict detection, and enabling the mine cards with low priority to avoid the mine cards with high priority in real time according to the priority sequence.

2. The method for scheduling and planning tracks for multi-vehicle multi-shovel collaborative loading in a loading area according to claim 1, wherein the method for determining the priority order of vehicles in the step 1 is as follows:

For a mine card that is driven into a loading zone: adding vehicles with track-along distances from the loading entry point smaller than a set distance threshold to a priority queue, wherein the earlier the vehicles enter a loading area, the higher the priority of the mining cards;

For a mine card ready to exit the loading zone: the priority of the heavy-load ore card is higher than that of the no-load ore card, and the earlier the ore card ready to be driven out of the loading area is started, the higher the priority of the ore card is;

for a mine card that has been driven out of the loading zone: deleted from the priority queue.

3. The method for scheduling and planning tracks for multi-vehicle multi-shovel collaborative loading in a loading area according to claim 1, wherein step 2 specifically comprises:

After receiving an entrance request sent by a vehicle which is about to reach a loading entrance point, judging whether a loading waiting point is in a non-occupied state or not; if so, the ore card is scheduled to go to the appointed loading waiting point for waiting, the step 1 is returned to update the priority queue, and then the track from the loading entry point to the appointed loading waiting point is planned according to the updated priority sequence, and meanwhile the appointed loading waiting point is set to be in an occupied state;

In the process that the ore card drives to a designated loading waiting point, monitoring whether a loading position is in an idle state in real time; if yes, generating a dispatching instruction of the ore card to the appointed loading position, planning a track from the loading waiting point to the appointed loading position, and resetting the loading waiting point from which the ore card is driven to be in a non-occupied state;

When the ore card is in a loading state, judging whether a loading completion instruction is received or not in real time; if yes, the ore cards are scheduled to leave the loading area, the priority queue is updated in the step 1, the track from the loading position to the loading outlet point of the vehicle is planned according to the updated priority sequence, and when the ore cards leave the loading outlet point, the priority queue is updated in the step 1.

4. The method for scheduling and planning tracks for multi-vehicle multi-shovel collaborative loading in a loading area according to claim 3, wherein the method for planning the running tracks in step 2 specifically comprises the following steps:

Path planning: when planning the path of the ore card entering the loading area at the same loading excavator, the profile of the ore card path corresponding to the preparation of the ore card exiting the loading area is regarded as an obstacle, and the obstacle configuration space C _obs is described as the following formula:

C_obs＝{p_i|i＝1,2,…,N}∪{o_j|j＝1,2,…,M}∪{c_k,m|k＝1,2,…,Q,m＝1,2,…,P}

Where k is a path point index, Q is the total number of path points on the reverse path of the same loading excavator, M is an ore card envelope point index, P is the total number of ore card envelope points, P _i is the ith boundary point coordinate in the loading area map, N is the total number of boundary points in the loading area map, o _j is the other jth static obstacle point coordinates except for the ore card in the loading area, M is the total number of static obstacle points, and c _k,m is the mth ore card envelope point coordinate at the kth path point position of the reverse path of the same loading excavator.

5. The method for scheduling and planning tracks for multi-vehicle multi-shovel collaborative loading in a loading area according to claim 4, wherein the step 3 specifically comprises:

Step 31, calculating the distance D between any two mine cards in real time, judging whether the distance is smaller than a set threshold D, and if yes, executing step 32;

step 32, judging whether two mine cards have been subjected to conflict processing, if so, jumping to step 34, otherwise, executing step 33;

step 33, inquiring the priorities of the two mine cards in the priority queue, wherein the mine card with high priority does not need to consider parking, and runs according to the originally planned set track, and collision detection is carried out on the mine card with low priority; the collision detection method specifically comprises the following steps:

Step 331, starting from the current position of the vehicle, traversing a section of local track to be driven by the mining card with low priority, estimating the position of the mining card with high priority at the corresponding moment according to the time information of each track point in sequence, and carrying out dynamic collision detection; the track-following length of the local track for collision detection by the ore cards with low priority is set as a threshold D; if collision risk exists between the section of local track and the ore clamps with high priority, the step 332 is shifted to, and the two ore clamps normally run according to the final running track, so that the current collision detection is completed;

Step 332, calculating avoidance parking points of the mining cards with low priority; the calculation mode of avoiding the parking spot is as follows: starting from the current position of the vehicle, irrespective of time information, finding a first track point interfering with the final running track of the mine card with high priority on the final running track of the mine card with low priority; then, starting from the first interfered track point, and finding a corresponding track point which is separated from the interfered track point by a safety distance d _safe before the interfered track point which is calculated on the local track of the vehicle with low priority as an alternative parking point; then, calculating whether the track distance corresponding to the position of the point and the current position of the mining card with low priority is not smaller than the safe parking distance of the vehicle, if so, confirming that the alternative parking point is an avoidance parking point of the vehicle, and jumping to the step 35, otherwise, executing the step 34;

step 34, stopping the mining card with the original high priority to avoid the mining card with the original low priority, and jumping to step 35;

And 35, parking the ore cards with low priority in the process of parking before avoiding parking spots, and after the ore cards with high priority drive, rescheduling the ore cards with low priority to drive along the planned driving track before parking and avoiding again.

6. The method for scheduling and trajectory planning for multi-truck and multi-shovel collaborative loading in a loading area according to claim 5, wherein the threshold D in step 31 is determined by:

wherein v ₁、v₂ is the current speed of the two mine cards respectively; a ₁、a₂ is the comfortable deceleration of two mine cards respectively; d _f1、d_f2 is the distance from the center of the rear axle of the two mine cards to the locomotive if the center of the rear axle is taken as a reference; if the vehicle collection center is taken as a reference, d _f1、d_f2 is the distance from the mine card collection center to the two mine card heads respectively; d _safe1、d_safe2 is the two-vehicle safety distance under the comprehensive consideration of the vehicle response time delay and the parking space respectively.

7. The utility model provides a loading area many cars many shovel cooperation load dispatch and track planning device which characterized in that includes:

the task scheduling module is used for determining the priority order of the vehicles according to the entering time, the exiting time and the empty/heavy load condition of the vehicles;

the track planning module generates a scheduling instruction according to the priority order and plans the running track of each mine card;

And the conflict detection module predicts the position of each mine card at each moment according to the planned running track of each mine card, carries out multi-vehicle dynamic conflict detection, and enables the mine cards with low priority to avoid the mine cards with high priority in real time according to the priority sequence.

8. The multi-truck multi-shovel collaborative loading scheduling and trajectory planning device of claim 7, wherein the trajectory planning module comprises:

A dispatch instruction generating unit for judging whether a loading waiting point is in a non-occupied state after receiving an entrance request sent by a vehicle which is about to reach a loading entry point; if so, the ore card is scheduled to go to the appointed loading waiting point for waiting, the priority queue is updated, then the track from the loading entry point to the appointed loading waiting point is planned according to the updated priority sequence, and meanwhile the appointed loading waiting point is set to be in an occupied state; in the process that the ore card drives to a designated loading waiting point, monitoring whether a loading position is in an idle state in real time; if yes, generating a dispatching instruction of the ore card to the appointed loading position, planning a track from the loading waiting point to the appointed loading position, and resetting the loading waiting point from which the ore card is driven to be in a non-occupied state; when the ore card is in a loading state, judging whether a loading completion instruction is received or not in real time; if yes, the ore cards are scheduled to leave the loading area, the priority queue is updated, then the track from the loading position to the loading outlet point of the vehicle is planned according to the updated priority sequence, and when the ore cards leave the loading outlet point, the priority queue is updated.

9. The multi-truck multi-shovel collaborative loading scheduling and trajectory planning device of claim 8, wherein the trajectory planning module comprises:

A travel track planning unit for path planning: when planning the path of the ore card entering the loading area at the same loading excavator, the profile of the ore card path corresponding to the preparation of the ore card exiting the loading area is regarded as an obstacle, and the obstacle configuration space C _obs is described as the following formula:

C_obs＝{p_i|i＝1,2,…,N}∪{o_j|j＝1,2,…,M}∪{c_k,m|k＝1,2,…,Q,m＝1,2,…,P}

Where k is a path point index, Q is the total number of path points on the reverse path of the same loading excavator, M is an ore card envelope point index, P is the total number of ore card envelope points, P _i is the ith boundary point coordinate in the loading area map, N is the total number of boundary points in the loading area map, o _j is the other jth static obstacle point coordinates except for the ore card in the loading area, M is the total number of static obstacle points, and c _k,m is the mth ore card envelope point coordinate at the kth path point position of the reverse path of the same loading excavator.

10. The multi-truck multi-shovel collaborative loading scheduling and trajectory planning device of claim 4 loading area, wherein the collision detection module specifically comprises:

the ore card distance detection unit is used for calculating the distance D between any two ore cards in real time and judging whether the distance is smaller than a set threshold D or not;

The conflict processing detection unit is used for judging whether two mine cards have been subjected to conflict processing under the condition that the distance D is smaller than the set threshold D, and if so, parking the mine card with the original high priority to avoid the mine card with the original low priority;

The collision detection unit is used for inquiring the priorities of the two ore cards in the priority queue under the condition that the collision processing detection unit judges that the two ore cards do not have collision processing, the ore cards with high priority do not need to consider parking, and the collision detection unit runs according to the originally planned set track, and the ore cards with low priorities carry out collision detection; the collision detection method specifically comprises the following steps:

Step 331, starting from the current position of the vehicle, traversing a section of local track to be driven by the mining card with low priority, estimating the position of the mining card with high priority at the corresponding moment according to the time information of each track point in sequence, and carrying out dynamic collision detection; the track-following length of the local track for collision detection by the ore cards with low priority is set as a threshold D; if collision risk exists between the section of local track and the ore clamps with high priority, the step 332 is shifted to, and the two ore clamps normally run according to the final running track, so that the current collision detection is completed;

Step 332, calculating avoidance parking points of the mining cards with low priority; the calculation mode of avoiding the parking spot is as follows: starting from the current position of the vehicle, irrespective of time information, finding a first track point interfering with the final running track of the mine card with high priority on the final running track of the mine card with low priority; then, starting from the first interfered track point, and finding a corresponding track point which is separated from the interfered track point by a safety distance d _safe before the interfered track point which is calculated on the local track of the vehicle with low priority as an alternative parking point; and then, calculating whether the position of the point and the current position of the ore card with low priority are not smaller than the safe parking distance of the vehicle along the track, if so, confirming that the alternative parking point is an avoidance parking point of the vehicle, dispatching the ore card with low priority to park before the avoidance parking point, after the ore card with high priority drives, dispatching the ore card with low priority to drive again along the planned driving track before the avoidance of the vehicle, otherwise, executing the parking of the ore card with high priority to avoid the ore card with low priority.