Multi-vehicle mixing interaction method of loading area vehicle shovel for unmanned transportation in mining area

Abstract

The invention relates to a loading area vehicle-shovel multi-vehicle mixing interaction method and device for unmanned transportation in a mining area, electronic equipment and a storage medium. The method comprises the following steps: after a mine card reaches or is about to reach an entrance of a loading area, a shovel end judges a shovel receiving position according to a loading position request of a loading area path planning module; the forklift adjusts the position of a forklift loading position and the forklift posture according to the forklift posture and the anti-collision prediction; and based on the adjusted position of the forklift loading position and the forklift posture, a loading area driving path is planned, and mine truck driving-in, forklift loading and mine truck driving-out operation is completed. According to the invention, integrated navigation, network communication equipment and car-shovel cooperation software are additionally arranged at the forklift end, so that a forklift driver is helped to select a proper loading position for the unmanned mine car.

Description

Background Art

[0002] In recent years, the unmanned transportation technology for open-pit mines has gradually matured. During the earthwork transportation process, one of the main links restricting the transportation efficiency is the loading process of unmanned mining trucks. When an unmanned mining truck has arrived or is about to arrive at the entrance of the loading area, it needs to know the parking pose for this loading. This loading position has the characteristics of irregular changes at all times, accurate pose requirements, and multiple positions corresponding to one shovel. This information requires the forklift end to be equipped with forklift end interaction software. The driver operates this software to select the loading position and send it out. The cloud or the vehicle end conducts path planning from the entrance point of the loading area to the loading position. Then the vehicle drives to the loading position and waits for the forklift to complete loading before driving out of the loading area. Among them, whether the loading position selected through the forklift end interaction software can quickly and accurately reflect the loading intention of the excavator driver and whether multi-vehicle mixed formation is allowed to reach different loading positions in the loading area are the key points restricting the loading efficiency of the loading area.

[0003] In the prior art, for the parking and docking method based on the integration of vehicle, electric shovel, and cloud in unmanned transportation in mining areas, after the mining vehicle enters the loading area, it sends an entry application to the electric shovel; the electric shovel determines the docking position and docking direction and sends them to the cloud platform; the cloud platform plans the forward path and the reverse path according to the collected boundary information, main path information, and docking position direction, and sends them to the mining vehicle through the cloud method; the mining vehicle parks and docks according to the issued trajectory, and after docking is completed, it feeds back the status to the electric shovel for loading. This invention mainly completes the parking and docking process during the transportation process in the loading area through the asynchronous planning of the trajectory for driving into the loading position by the cloud, improving the transportation efficiency of the mining truck. Compared with the present invention, it does not explain the entire process of the loading area (it does not include the process of driving out of the loading area), and does not explain the method of selecting the loading position by the forklift end software.

[0004] Therefore, one or more methods are needed to solve the above problems.

[0005] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of the present disclosure. Therefore, it may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0006] The purpose of the present disclosure is to provide a method, device, electronic device, and computer-readable storage medium for vehicle-shovel multi-vehicle mixed formation interaction in the loading area of unmanned transportation in mining areas, thereby at least to a certain extent overcoming one or more problems caused by the limitations and defects of related technologies.

[0007] According to one aspect of the present disclosure, there is provided a method for vehicle-shovel multi-vehicle mixed formation interaction in the loading area of unmanned transportation in mining areas, including:

[0008] Steps for the mining truck to request: After the mining truck arrives at or is about to arrive at the entrance of the loading area, the shovel end determines the receiving shovel position according to the loading position request of the loading area path planning module;

[0009] Steps for the forklift to adjust the loading position: The forklift adjusts the position and posture of the forklift loading position according to the forklift position and posture and anti-collision prediction;

[0010] Steps for the forklift to load: Based on the adjusted position and posture of the forklift loading position, plan the driving path in the loading area to complete the operations of the mining truck driving in, the forklift loading, and the mining truck driving away.

[0011] In an exemplary embodiment of the present disclosure, the mining truck request step of the method further includes:

[0012] The first step: The mining truck arrives at or is about to arrive at the entrance of the loading area, and the loading area path planning module requests a loading position;

[0013] The second step: After receiving the request, the shovel end records information such as the vehicle model and ID, and determines whether there is an available receiving shovel position. If there is no idle receiving shovel position, wait for an idle receiving shovel position to appear. If there is an idle receiving shovel position, change the status of this receiving shovel position to occupied.

[0014] In an exemplary embodiment of the present disclosure, the forklift loading position adjustment step of the method further includes:

[0015] The third step: Determine whether the current shovel end status is automatic guidance. If it is automatic guidance, directly return the loading position and posture calculated from the relative position and posture recorded by the current loading position of the electric shovel end software, and enter the fifth step. If it is not automatic guidance, the front end of the electric shovel end software reminds the forklift driver to operate the front end control of the software;

[0016] The fourth step: The driver operates the relative position control of the electric shovel end software to determine the relative position and posture between the forklift and the loading position, and the software records this information and the corresponding loading position;

[0017] The fifth step: The software backend parses the integrated navigation and positioning information to calculate and obtain the forklift position and posture;

[0018] The sixth step: The software combines the obtained relative position and posture information with the forklift position information to further calculate the loading position and posture;

[0019] The seventh step: The shovel end software indexes the vehicle size according to the vehicle models of all occupied loading positions;

[0020] The eighth step: The shovel end software reads the latest map information of the loading area;

[0021] Step 9: The shovel-end software combines the size of the mining truck requested to be loaded, the map information of the loading area, and the pose of the loading position, expands the occupied loading position according to the corresponding mining truck size, and jointly determines whether a collision occurs in combination with the map information. If a collision occurs, the forklift driver is reminded to reselect a point. If there is no collision, the pose of the loading position is sent out.

[0022] In an exemplary embodiment of the present disclosure, the fourth step of the method further includes:

[0023] The relative position between the loading position and the electric shovel is described in a planar polar coordinate system as two degrees of freedom of angle and distance, and a total of three degrees of freedom parameters including the orientation of the loading position itself;

[0024] The two degrees of freedom of angle and distance, and the degree of freedom parameter of the orientation of the loading position itself are respectively controlled by three controls of the northerly angle of the vector from the forklift to the loading position, the distance from the forklift to the loading position, and the orientation of the loading position, and are displayed on the upper layer of the map base map.

[0025] In an exemplary embodiment of the present disclosure, the sixth step of the method further includes:

[0026] The forklift position information is obtained by the forklift-end software parsing the combined positioning information installed on the forklift. The output point of the installed combined positioning device should be the rotation center of the forklift boom. Ensure that during the rotation process, the output position of the combined positioning hardware remains unchanged, and the orientation changes with the rotation. The UTM coordinates and relative position information are respectively set;

[0027] The pose of the loading position is calculated and the pose of the loading position and the UTM coordinates are jointly displayed on the map base map at the front end of the software, and then the pose of the forklift and the pose of the loading position can be displayed in real time by adjusting the relative position control.

[0028] In an exemplary embodiment of the present disclosure, the ninth step of the method further includes:

[0029] Query the mining truck size corresponding to the mining truck model of the already occupied loading position, expand the mining truck into a rectangle, expand the forklift into an octagon according to its maximum turning radius, and calculate whether the forklift will collide with the mining truck and the obstacles in the map according to the position and attitude of the forklift and the mining truck and the size of the obstacles in the map.

[0030] In an exemplary embodiment of the present disclosure, the forklift loading step of the method further includes:

[0031] Step 10: After receiving the pose of the loading position, the loading area path planning module plans the driving path in the loading area;

[0032] Step 11: The driverless mining truck travels to the loading position according to the planned trajectory and notifies the start of loading;

[0033] Step 12: The forklift driver loads the ore truck, and after completion, the ore truck is allowed to leave.

[0034] Step 13: The ore truck leaves.

[0035] Step 14: The software at the shovel end changes the status of this loading position to idle.

[0036] In one aspect of the present disclosure, a loading area vehicle-shovel multi-vehicle mixed formation interaction device for driverless transportation in a mining area is provided, including:

[0037] An ore truck request module, configured to, after the ore truck arrives at or is about to arrive at the entrance of the loading area, the shovel end makes a determination of the loading position according to the loading position request of the loading area path planning module.

[0038] A forklift loading position adjustment module, configured to adjust the position and posture of the forklift loading position according to the forklift position and posture and anti-collision prediction.

[0039] A forklift loading module, configured to plan a driving path in the loading area based on the adjusted position and posture of the forklift loading position, and complete the operations of the ore truck driving in, the forklift loading, and the ore truck driving away.

[0040] In one aspect of the present disclosure, an electronic device is provided, including:

[0041] A processor; and

[0042] A memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, the method according to any one of the above is implemented.

[0043] In one aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the method according to any one of the above is implemented.

[0044] A method for multi - vehicle mixed - formation interaction between a shovel and trucks in the loading area of unmanned transportation in a mining area according to an exemplary embodiment of the present disclosure. The method includes: after the mining truck arrives at or is about to arrive at the entrance of the loading area, the shovel end determines the shovel - receiving position according to the loading position request of the loading area path planning module; the shovel truck adjusts the position and posture of the loading position of the shovel truck according to the shovel truck's position and posture and anti - collision prediction; based on the adjusted position and posture of the loading position of the shovel truck, the driving path in the loading area is planned to complete the operations of the mining truck driving in, the shovel truck loading, and the mining truck driving out. The present disclosure helps the shovel truck driver select a suitable loading position for the unmanned mining truck by installing combined navigation, network communication equipment, and vehicle - shovel cooperation software at the shovel truck end. The software at the shovel truck end displays the real positions of the shovel truck and the loading position on the map, and cooperates with the relative - position selection component, enabling the driver to intuitively control the position and posture of the loading position without operating the shovel truck, achieving the purpose of rapid selection. And because the real position is calculated using relative positions, during the movement of the shovel truck, the real position of the loading position will remain relatively unchanged as the shovel truck moves, facilitating the reduction of the driver's operation times during the process of the shovel truck's excavation and advancement; after the vehicle - shovel cooperation software enables the automatic guidance function, it will automatically return to the loading position after receiving the loading position request, further reducing the driver's operation times of the software; the software makes full use of high - precision map information, obstacle information, and vehicle size information to detect whether a collision will occur at the shovel - receiving position. After the detection result shows no collision, the loading position is sent out, otherwise, it prompts the driver which obstacle has been collided with and requires re - selecting a point; after the vehicle arrives at the loading position, it notifies the driver to load. After the driver finishes loading, the vehicle can be notified to leave the loading area through the vehicle - shovel cooperation software.

[0045] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] By referring to the accompanying drawings to describe its exemplary embodiments in detail, the above and other features and advantages of the present disclosure will become more obvious.

[0047] Figure 1 FIG. shows a flowchart of a method for multi - vehicle mixed - formation interaction between a shovel and trucks in the loading area of unmanned transportation in a mining area according to an exemplary embodiment of the present disclosure;

[0048] Figure 2 FIG. shows a schematic diagram of the loading area of a method for multi - vehicle mixed - formation interaction between a shovel and trucks in the loading area of unmanned transportation in a mining area according to an exemplary embodiment of the present disclosure;

[0049] Figure 3 FIG. shows a flowchart of the operation of an unmanned transportation loading area in an open - pit mine based on vehicle - shovel interaction of a method for multi - vehicle mixed - formation interaction between a shovel and trucks in the loading area of unmanned transportation in a mining area according to an exemplary embodiment of the present disclosure;

[0050] Figure 4 Shows a schematic diagram of relative position controls for a method of multi-vehicle mixed formation interaction between a loading area vehicle and a shovel in driverless transportation in a mining area according to an exemplary embodiment of the present disclosure;

[0051] Figure 5 Shows a schematic diagram of collision detection for a method of multi-vehicle mixed formation interaction between a loading area vehicle and a shovel in driverless transportation in a mining area according to an exemplary embodiment of the present disclosure;

[0052] Figure 6 Shows a structural block diagram of a device for multi-vehicle mixed formation interaction between a loading area vehicle and a shovel in driverless transportation in a mining area according to an exemplary embodiment of the present disclosure;

[0053] Figure 7 Schematically shows a block diagram of an electronic device according to an exemplary embodiment of the present disclosure;

[0054] Figure 8 Schematically shows a schematic diagram of a computer-readable storage medium according to an exemplary embodiment of the present disclosure. Detailed implementation manners

[0055] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. Identical reference numerals in the figures denote identical or similar parts, and thus their repeated description will be omitted.

[0056] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or other methods, components, materials, devices, steps, etc. can be used. In other cases, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail to avoid obscuring aspects of the present disclosure.

[0057] The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more software-hardened modules, or in different networks and / or processor devices and / or microcontroller devices.

[0058] In the present exemplary embodiment, first, a method of multi-vehicle mixed formation interaction between a loading area vehicle and a shovel in driverless transportation in a mining area is provided; refer toFigure 1 As shown in Figure 1 , the method for multi-vehicle mixed formation interaction between a loader and a truck in the loading area of driverless transportation in a mining area may include the following steps:

[0059] Truck request step S110: After the truck arrives at or is about to arrive at the entrance of the loading area, the shovel end makes a connection shovel position determination according to the loading position request of the loading area path planning module;

[0060] Loader loading position adjustment step S120: The loader adjusts the position and posture of the loader loading position according to the loader position and posture and anti-collision prediction;

[0061] Loader loading step S130: Based on the adjusted position and posture of the loader loading position, the driving path in the loading area is planned to complete the operations of the truck driving into, the loader loading, and the truck driving out.

[0062] A method for multi-vehicle mixed formation interaction between a loader and a truck in the loading area of driverless transportation in a mining area according to an exemplary embodiment of the present disclosure, wherein the method includes: after the truck arrives at or is about to arrive at the entrance of the loading area, the shovel end makes a connection shovel position determination according to the loading position request of the loading area path planning module; the loader adjusts the position and posture of the loader loading position according to the loader position and posture and anti-collision prediction; based on the adjusted position and posture of the loader loading position, the driving path in the loading area is planned to complete the operations of the truck driving into, the loader loading, and the truck driving out. The present disclosure helps the loader driver select a suitable loading position for the driverless mining truck by installing combined navigation, network communication equipment and vehicle-loader cooperation software at the loader end. The software at the loader end displays the real positions of the loader and the loading position on the map, and cooperates with the relative position selection component, enabling the driver to intuitively control the position and posture of the loading position without operating the loader, achieving the purpose of quick selection. And since the real position is calculated using relative positions, during the movement of the loader, the real position of the loading position will remain relatively unchanged as the loader moves, facilitating the reduction of the driver's operation times during the excavation and propulsion process of the loader; after the vehicle-loader cooperation software enables the automatic guidance function, it will automatically return to the loading position after receiving the loading position request, further reducing the driver's operation times of the software; the software makes full use of high-precision map information, obstacle information, and vehicle size information to detect whether a collision will occur at the connection shovel position. After the detection result shows no collision, the loading position is sent out, otherwise the driver is prompted with which obstacle is collided and a new point needs to be selected; when the vehicle arrives at the loading position, the driver is notified to load. After the driver finishes loading, the vehicle can be notified to be allowed to drive out of the loading area through the vehicle-loader cooperation software.

[0063] Next, a method for multi-vehicle mixed formation interaction between a loader and a truck in the loading area of driverless transportation in this exemplary embodiment will be further described.

[0064] Embodiment 1:

[0065] AsFigure 2 As shown in Figure 2 , in driverless transportation in the mining area, the "loading area" is a concept of an area, which includes points such as the forklift position, the shovel receiving position, the loading area entrance position, and the loading area exit position (the "position" is a concept of a point with a direction); the vehicle-shovel interaction refers to the information interaction between the driverless mining truck and the forklift with the cloud control platform through forms such as V2X and the Internet. The information interacted includes: vehicle entry permission and vehicle loading position, vehicle exit permission, vehicle driving interruption, forklift position, etc. Through reasonable interaction logic, the loading position determined by the electric shovel end is convenient for the forklift to load, and the loading process adapts to multi-vehicle loading and mixed loading, improving the loading work efficiency.

[0066] In the mining truck request step S110, after the mining truck arrives at or is about to arrive at the loading area entrance, the shovel end makes a determination of the shovel receiving position according to the loading position request of the loading area path planning module.

[0067] In the embodiment of this example, the mining truck request step of the method further includes:

[0068] The first step: The mining truck arrives at or is about to arrive at the loading area entrance, and the loading area path planning module requests the loading position;

[0069] The second step: After receiving the request, the shovel end records information such as the vehicle model and ID, and determines whether there is an available shovel receiving position. If there is no idle shovel receiving position, wait for an idle shovel receiving position to appear. If there is an idle shovel receiving position, change the status of this shovel receiving position to occupied.

[0070] In the forklift loading position adjustment step S120, the forklift can adjust the position and posture of the forklift loading position according to the forklift position and posture and anti-collision prediction.

[0071] In the embodiment of this example, the forklift loading position adjustment step of the method further includes:

[0072] The third step: Determine whether the current forklift end status is automatic guidance. If it is automatic guidance, directly return the loading position and posture calculated from the relative position and posture recorded by the current loading position of the electric shovel end software, and enter the fifth step. If it is not automatic guidance, the front end of the electric shovel end software reminds the forklift driver to operate the front end control of the software;

[0073] The fourth step: The driver operates the relative position control of the electric shovel end software to determine the relative position and posture between the forklift and the loading position, and the software records this information and the corresponding loading position;

[0074] The fifth step: The software backend parses the integrated navigation and positioning information to calculate and obtain the forklift position and posture;

[0075] The sixth step: The software combines the obtained relative position and posture information with the forklift position information to further calculate the loading position and posture;

[0076] Step 7: The software at the shovel end indexes the vehicle dimensions according to the vehicle models occupying the loading positions.

[0077] Step 8: The software at the shovel end reads the latest map information of the loading area.

[0078] Step 9: The software at the shovel end combines the dimensions of the ore truck requesting loading, the map information of the loading area, and the pose of the loading position, expands the occupied loading positions according to the corresponding ore truck dimensions, and jointly judges whether a collision occurs in combination with the map information. If a collision occurs, the forklift driver is reminded to reselect a point. If there is no collision, the pose of the loading position is sent out.

[0079] In the embodiment of this example, the fourth step of the method further includes:

[0080] The relative position between the loading position and the electric shovel is described in a planar polar coordinate system as three degrees of freedom parameters, namely two degrees of freedom of angle and distance, and the orientation of the loading position itself.

[0081] The two degrees of freedom of angle and distance, and the degree of freedom parameter of the orientation of the loading position itself are respectively controlled by three controls, namely the vector north deviation angle from the forklift to the loading position, the distance from the forklift to the loading position, and the orientation of the loading position, and are displayed on the upper layer of the map base map.

[0082] In the embodiment of this example, the sixth step of the method further includes:

[0083] The forklift position information is obtained by the software at the forklift end parsing the combined positioning information installed on the forklift. The output point of the installed combined positioning device should be the rotation center of the forklift boom. To ensure that during the rotation process, the output position of the combined positioning hardware remains unchanged and the orientation changes with the rotation, the UTM coordinates and relative position information are respectively set.

[0084] The pose of the loading position is calculated and the pose of the loading position and the UTM coordinates are jointly displayed on the map base map at the front end of the software, so that the poses of the forklift and the loading position can be displayed in real time by adjusting the relative position control.

[0085] In the embodiment of this example, the ninth step of the method further includes:

[0086] Query the ore truck dimensions corresponding to the ore truck models at the already occupied shovel receiving positions, expand the ore truck into a rectangle, expand the forklift into an octagon according to its maximum turning radius, and calculate whether the forklift will collide with the ore truck and the obstacles in the map according to the position and attitude of the forklift and the ore truck and the dimensions of the obstacles in the map.

[0087] In the forklift loading step S130, based on the adjusted position and pose of the forklift loading position, the driving path in the loading area can be planned to complete the operations of the ore truck driving in, the forklift loading, and the ore truck driving away.

[0088] In the embodiment of this example, the forklift loading step of the method further includes:

[0089] Step 10: After receiving the pose of the loading position, the loading area path planning module plans the driving path in the loading area;

[0090] Step 11: The driverless mining truck travels to the loading position according to the planned trajectory and notifies the start of loading;

[0091] Step 12: The forklift driver performs loading and permits the mining truck to drive away after completion;

[0092] Step 13: The mining truck drives away;

[0093] Step 14: The shovel-end software changes the status of the loading position to idle.

[0094] Embodiment 2:

[0095] In the embodiment of this example, the present disclosure realizes the precise selection of the loading position through the calculation of the relative position between the forklift and the truck. By installing combined positioning hardware and network communication hardware on the forklift side, the interactive software on the forklift side can receive the information of the combined positioning hardware and parse the position of the forklift, and can interact with the vehicle side and the cloud side. By providing three controls on the software interface to control the magnitudes of the three degrees of freedom of "the northerly angle of the vector from the forklift to the loading position", "the distance from the forklift to the transfer position", and "the orientation of the loading position" respectively, the relative pose of the loading position relative to the shovel position can be accurately determined. Combining with the parsed shovel position, the precise absolute pose (GPS position and attitude) of the loading position can be determined.

[0096] The rapid selection and automatic guidance of the loading position are realized through distance prompts and the invariance of the relative position. Since the mining truck box is relatively high relative to the forklift bucket during transfer, the forklift usually builds a dirt platform for itself and performs loading on it. If the slope of the side of the dirt platform is too small, it is not conducive to the mining truck approaching the forklift. If the slope is too large, it is prone to landslides. After requiring the forklift driver to trim the side of the dirt platform and parking the electric shovel at a safe and suitable position for loading, a large number of repeated measurements of the distance between the electric shovel and the mining truck are carried out. It is found that when loading in the reverse direction (the rear of the vehicle faces the forklift), a distance of about 11.5 m is better, and when loading on the side (the side of the vehicle faces the forklift), a distance of about 10.5 m is better. By marking the distance on the control of "the distance from the forklift to the transfer position", it is convenient for the driver to quickly select the loading position. And because the relative position calculation method is used to select the loading position, without operating the software, as the mining progresses, the sent loading position will move with the movement of the forklift. Therefore, the software can be set to the automatic guidance mode for a long time and automatically return to the idle loading position after receiving the loading position request.

[0097] Multi - vehicle loading and mixed - formation loading are achieved by checking the loading positions through collision detection. The latest high - precision map of the loading area is pulled from the cloud control platform through the interactive software at the electric shovel end. The software will display this map on the front - end base map, and components such as the forklift position, mining truck position, and degree - of - freedom control are displayed on the base map. The back - end, by configuring a linked list of engineering equipment models and corresponding dimensions, will perform collision detection on the selected loading positions. When it is detected that the engineering equipment requesting loading docks at the selected loading position and there is a collision with the forklift, vehicles at other loading positions, earthwork, etc., the front - end will prompt the collision reason and require re - selecting a point until the loading position meets the requirements and is sent out, realizing multi - vehicle loading and mixed - formation loading without end - point collision. The high - precision map of the loading area is manually divided according to the operation environment and obstacles are added.

[0098] The method of vehicle - shovel cooperation and multi - vehicle mixed - formation interaction in the loading area of unmanned transportation in the mining area relies on vehicle - to - vehicle (V2V) or vehicle - to - network (V2N) communication. The loading position request of the mining truck to the forklift, the return of the loading position by the forklift, the completion of the mining truck driving into the transfer position, and the completion of the forklift loading are necessary information for guiding the mining truck to drive in, dock, drive out, and the forklift to load in vehicle - shovel cooperation interaction.

[0099] Generally speaking, the present disclosure is directed to the vehicle - shovel interaction process in the loading area during the unmanned transportation in open - pit mines. Based on V2V or V2N communication, by installing vehicle - shovel interaction software at the forklift end, the driver can quickly, accurately, and safely provide loading positions for unmanned mining trucks, enabling multi - vehicle, multi - model vehicle, and mixed - formation loading between manned and unmanned vehicles in the unmanned loading area. In addition, each loading process starts with the behavior of the mining truck requesting a loading position, so this method is also applicable to asynchronous planning; this method ensures that multiple loading positions do not interfere with each other through collision detection, saves the waiting time of the forklift, and improves the operation efficiency.

[0100] In the embodiment of this example, as Figure 3 shown, the operation method of the loading area based on mining - truck - end - forklift - end interaction in the unmanned transportation of the mining area is characterized by including the following steps:

[0101] The first step: The mining truck arrives at or is about to arrive at the entrance of the loading area, and the loading - area path - planning module requests a loading position.

[0102] The second step: After receiving the request, the forklift end records information such as the vehicle model and ID, and judges whether there is an available loading position. If there is no idle loading position, it waits for an idle loading position to appear. If there is an idle loading position, the status of this loading position is changed to occupied.

[0103] Step 3: Determine whether the current state of the forklift end is automatic guidance. If it is automatic guidance, directly return the position and attitude of the loading position calculated from the relative position and attitude recorded by the software at the current loading position of the electric shovel end, and proceed to Step 5; if it is not automatic guidance, the software at the electric shovel end will prompt the forklift driver to operate the front-end control of the software.

[0104] Step 4: The driver operates the relative position control of the software at the electric shovel end to determine the relative position and attitude between the forklift and the loading position, and the software records this information and the corresponding loading position.

[0105] Specifically, as Figure 4 shown, the driver operates the relative position control of the software at the electric shovel end to determine the relative position and attitude between the forklift and the loading position, and the software records this information and the corresponding loading position.

[0106] The relative position between the loading position and the electric shovel can be described in a plane polar coordinate system with two degrees of freedom of angle and distance, plus the orientation of the loading position itself, for a total of three degrees of freedom, which are controlled by the three controls of "the vector northward angle from the forklift to the loading position", "the distance from the forklift to the transfer position", and "the orientation of the loading position" in the following figure, and are displayed on the upper layer of the map base map.

[0107] Step 5: The software backend parses the combined navigation and positioning information to calculate the forklift position and attitude.

[0108] Step 6: The software combines the obtained relative position and attitude information with the forklift position information to further calculate the position and attitude of the loading position.

[0109] Specifically, the software combines the obtained relative position and attitude information with the forklift position information to further calculate the position and attitude of the loading position.

[0110] The forklift position information is obtained by the software at the forklift end parsing the combined positioning information installed on the forklift. The output point of the installed combined positioning device should be the rotation center of the forklift boom. Ensure that during the rotation process, the output position of the combined positioning hardware remains unchanged, and the orientation changes with the rotation. Let its UTM coordinates be set as: (T_northing, T_easting, T_heading); the relative position information is set as: (theta, distance, heading); the position and attitude of the loading position can be calculated as follows (where theta is the northward deviation angle):

[0111] P_Northing = northing + _distance * cos(M_PI * theta / 180.0)

[0112] P_Easting = easting + _distance * sin(M_PI * theta / 180.0)

[0113] P_Heading = heading

[0114] Display (P_Northing1, P_Easting1, P_Heading) and (T_northing, T_easting, T_heading) on the base map of the software front-end map, and the pose of the shovel position and the loading position can be displayed in real time by adjusting the relative position control, which is convenient for observing their relative positions and selecting a suitable loading position.

[0115] Step 7: The shovel-end software indexes the vehicle dimensions according to the vehicle models of all occupied loading positions;

[0116] Step 8: The shovel-end software reads the latest map information of the loading area;

[0117] Step 9: The shovel-end software combines the dimensions of the mining truck requesting loading, the map information of the loading area, and the pose of the loading position, expands the occupied loading positions according to the corresponding mining truck dimensions, and jointly judges whether a collision occurs in combination with the map information. If a collision occurs, remind the forklift driver to re-select a point. If there is no collision, send out the pose of the loading position.

[0118] Specifically, as Figure 5 shown, the shovel-end software combines the dimensions of the mining truck requesting loading, the map information of the loading area, and the pose of the loading position, expands the occupied loading positions according to the corresponding mining truck dimensions, and jointly judges whether a collision occurs in combination with the map information. If a collision occurs, remind the forklift driver to re-select a point. If there is no collision, send out the pose of the loading position.

[0119] First, query the mining truck dimensions corresponding to the mining truck models of the already occupied loading positions, expand the mining truck into a rectangular expansion position, expand the forklift into an octagon according to its maximum turning radius, and calculate whether a collision will occur according to their respective position postures. It is also necessary to calculate whether there will be a collision between the obstacles in the map and the mining truck according to the obstacle dimensions in the map. The specific calculation method of the collision can use the ray method, for example:

[0120] Suppose one of the point coordinates of the octagon obtained by expanding the forklift is O: (slovel_x, slovel_y), and the four corner point coordinates after expanding the mining truck 1 are: T1_1, T1_2, T1_3, T1_4;

[0121] Initialize a counter count to 0, which is used to record the number of intersection points of the horizontal ray starting from point O and the polygon edges. For each edge, assuming it is the edge corresponding to T1_1 and T1_2, check the following situations to decide whether to continue processing this edge:

[0122] If the y coordinates of the two vertices T1_1 and T1_2 of the edge are the same (i.e., the edge is horizontal), skip this edge.

[0123] If the y - coordinate of point O is less than the y - coordinate of the lowest point of the edge, skip this edge.

[0124] If the y - coordinate of point O is greater than or equal to the y - coordinate of the highest point of the edge, also skip this edge.

[0125] If the y - coordinate of point O is between the y - coordinates of the two vertices of the edge, calculate the x - coordinate of the intersection point of the horizontal ray and this edge.

[0126] If the x - coordinate of the intersection point x is greater than the x - coordinate of point O, it means the intersection point is on the right side of point O. At this time, increment the counter count by 1.

[0127] After traversing all the edges, determine whether point O is inside the polygon according to the parity of count. If count is odd, the point is inside the polygon (including the boundary); if it is even, the point is outside the polygon.

[0128] Step 10: After receiving the pose of the loading position, the loading area path planning module plans the driving path of the loading area;

[0129] Step 11: The driverless mining truck drives to the loading position according to the planned trajectory and notifies the start of loading;

[0130] Step 12: The forklift driver performs loading and permits the mining truck to drive away after completion;

[0131] Step 13: The mining truck drives away;

[0132] Step 14: The software at the shovel end changes the status of this loading position to idle.

[0133] In the embodiment of this example, the method of the present disclosure for calculating the pose of the loading position by combining the forklift position and the relative position has the advantages of accurate and fast pose selection, being able to move with the forklift, and simple operation, and improves the accuracy and rapidity of point selection by marking the relative distance; the loading position collision detection matches different vehicle models and sizes, ensuring the usability of the loading position and having the advantages of multi - vehicle loading and mixed - formation loading. This method solves the problem that in the process of driverless transportation in the mining area, the position of the loading position changes continuously, so the mining truck needs to dock and load according to the intention of the forklift driver, achieving the goals of rapid selection, automatic following, multi - vehicle loading, etc., saving the waiting time of the forklift through point following and multi - vehicle loading and improving the efficiency of the loading area.

[0134] In the embodiment of this example, during the driverless transportation in open - pit mines, the vehicle - shovel interaction in the loading area is one of the key links restricting transportation efficiency. Achieving simple, fast, efficient, and safe interaction between driverless mining trucks and forklifts in the loading area is the goal of improving transportation efficiency. The present invention proposes a method for vehicle - shovel multi - vehicle mixed - formation interaction in the loading area of driverless transportation in mining areas, and the problems solved and advantages are as follows:

[0135] By installing combined navigation, network communication equipment and vehicle-shovel cooperation software at the forklift end, it helps the forklift driver select a suitable loading position for the driverless mining truck. The software at the forklift end displays the real positions of the forklift and the loading position on the map, and cooperates with the relative position selection component, enabling the driver to intuitively control the position and attitude of the loading position without operating the forklift, achieving the purpose of quick selection. And because the real position is calculated using relative positions, during the movement of the forklift, the real position of the loading position will remain relatively unchanged as the forklift moves, facilitating the reduction of the number of driver operations during the excavation and propulsion process of the forklift;

[0136] After the vehicle-shovel cooperation software enables the automatic guidance function, it will automatically return the loading position after receiving the loading position request, further reducing the number of times the driver operates the software;

[0137] The software makes full use of high-precision map information, obstacle information, and vehicle size information to detect whether there will be a collision at the docking shovel position. After the detection result shows no collision, it sends out the loading position. Otherwise, it prompts the driver which obstacle has been collided with and requires reselecting a point;

[0138] After the vehicle arrives at the loading position, it will notify the driver to load. After the driver finishes loading, the vehicle can be notified to be allowed to drive out of the loading area through the vehicle-shovel cooperation software.

[0139] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that these steps must be executed in that specific order, or that all the steps shown must be executed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc.

[0140] In addition, in the present exemplary embodiment, a vehicle-shovel multi-vehicle mixed formation interaction device in the loading area for driverless transportation in a mining area is also provided. Referring to Figure 6 As shown, the vehicle-shovel multi-vehicle mixed formation interaction device 200 in the loading area for driverless transportation in a mining area may include: a mining truck request module 210, a forklift loading position adjustment module 220, and a forklift loading module 230. Among them:

[0141] The mining truck request module 210 is used to determine the docking shovel position according to the loading position request of the loading area path planning module after the mining truck arrives at or is about to arrive at the entrance of the loading area;

[0142] The forklift loading position adjustment module 220 is used to adjust the position of the forklift loading position and the posture of the forklift according to the posture of the forklift and anti-collision prediction;

[0143] The forklift loading module 230 is used to plan the driving path in the loading area based on the position of the adjusted forklift loading position and the forklift attitude, and complete the operations of the mining truck driving in, the forklift loading, and the mining truck driving away.

[0144] The specific details of each of the above-mentioned loading area vehicle-shovel multi-vehicle mixed formation interaction device modules for driverless transportation in a mining area have been described in detail in the corresponding method for vehicle-shovel multi-vehicle mixed formation interaction in the loading area of driverless transportation in a mining area, so they will not be elaborated here.

[0145] It should be noted that although several modules or units of the loading area vehicle-shovel multi-vehicle mixed formation interaction device 200 for driverless transportation in a mining area are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0146] In addition, in the exemplary embodiments of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0147] Those skilled in the art can understand that various aspects of the present invention can be implemented as a system, a method, or a program product. Therefore, various aspects of the present invention can be specifically implemented in the following forms, namely: a complete hardware embodiment, a complete software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, which can be collectively referred to as "circuit", "module", or "system" here.

[0148] Next, refer to Figure 7 to describe the electronic device 300 according to this embodiment of the present invention. Figure 7 The electronic device 300 shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0149] As Figure 7 shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one of the above-mentioned processing units 310, at least one of the above-mentioned storage units 320, a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310), and a display unit 340.

[0150] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 310, so that the processing unit 310 executes the steps according to various exemplary embodiments of the present invention described in the above "exemplary method" part of this specification. For example, the processing unit 310 can execute as Figure 1Steps S110 to S130 shown in

[0151] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 3201 and / or a cache storage unit 3202, and may further include a read-only storage unit (ROM) 3203.

[0152] The storage unit 320 may also include a program / utilities 3204 having a set (at least one) of program modules 3205. Such program modules 3205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0153] The bus 330 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus structures.

[0154] The electronic device 300 may also communicate with one or more external devices 370 (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 300, and / or may communicate with any device that enables the electronic device 300 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be through an input / output (I / O) interface 350. Moreover, the electronic device 300 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 360. As shown in the figure, the network adapter 360 communicates with other modules of the electronic device 300 through the bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0155] Through the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0156] In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of this specification. In some possible embodiments, various aspects of the present invention may also be implemented in the form of a program product, which includes program code that, when the program product runs on a terminal device, causes the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0157] Reference Figure 8 As shown, a program product 400 for implementing the above method according to an embodiment of the present invention is described. It may be in the form of a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0158] The program product may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, but not be limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0159] A computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal may take various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A readable signal medium may also be any readable medium other than a readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0160] The program code contained on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0161] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computing device, partly on the user's device, executed as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user's computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0162] In addition, the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, and are not for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes may be executed synchronously or asynchronously in, for example, multiple modules.

[0163] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the claims.

[0164] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A method for multi-vehicle mixed formation interaction between a loading area vehicle and a shovel in driverless transportation in a mining area, characterized in that, The method includes: A mining truck request step. After the mining truck arrives at or is about to arrive at the entrance of the loading area, the shovel end determines the receiving shovel position according to the loading position request of the loading area path planning module. A forklift loading position adjustment step. The forklift adjusts the position and posture of the forklift loading position according to the forklift position and posture and anti-collision prediction. A forklift loading step. Based on the adjusted position and posture of the forklift loading position, the driving path in the loading area is planned to complete the operations of the mining truck driving in, the forklift loading, and the mining truck driving away.

2. The method according to claim 1, wherein The mining truck request step of the method further includes: The first step: The mining truck arrives at or is about to arrive at the entrance of the loading area, and the loading area path planning module requests the loading position. The second step: After receiving the request, the shovel end records information such as the vehicle model and ID, and determines whether there is an available receiving shovel position. If there is no idle receiving shovel position, it waits for an idle receiving shovel position to appear. If there is an idle receiving shovel position, the status of this receiving shovel position is changed to occupied.

3. The method according to claim 2, wherein The forklift loading position adjustment step of the method further includes: The third step: Determine whether the current shovel end status is automatic guidance. If it is automatic guidance, directly return the loading position and posture calculated from the relative position and posture recorded by the current loading position of the electric shovel end software, and enter the fifth step. If it is not automatic guidance, the front end of the electric shovel end software reminds the forklift driver to operate the front end control of the software. The fourth step: The driver operates the relative position control of the electric shovel end software to determine the relative position and posture between the forklift and the loading position, and the software records this information and the corresponding loading position. The fifth step: The software backend analyzes the integrated navigation and positioning information to calculate the forklift position and posture. The sixth step: The software combines the obtained relative position and posture information with the forklift position information to further calculate the loading position and posture. The seventh step: The shovel end software indexes the vehicle size according to the vehicle models of all occupied loading positions. The eighth step: The shovel end software reads the latest map information of the loading area. The ninth step: The shovel end software combines the size of the mining truck to be loaded, the map information of the loading area, and the position and posture of the loading position, expands the occupied loading positions according to the corresponding mining truck size, and jointly judges whether a collision occurs in combination with the map information. If a collision occurs, it reminds the forklift driver to re-select a point. If there is no collision, it issues the position and posture of the loading position.

4. The method according to claim 3, wherein The fourth step of the method further includes: The relative position between the loading position and the electric shovel is described in a planar polar coordinate system with two degrees of freedom of angle and distance, and a total of three degrees of freedom parameters including the orientation of the loading position itself. The two degrees of freedom of angle and distance, and the degree of freedom parameter of the orientation of the loading position itself are respectively controlled by three controls of the vector north deviation angle from the forklift to the loading position, the distance from the forklift to the loading position, and the orientation of the loading position, and are displayed on the upper layer of the map base map.

5. The method according to claim 3, characterized in that, The sixth step of the method further includes: The forklift position information is obtained by the electric shovel end software analyzing the integrated positioning information installed on the forklift. The output point of the installed integrated positioning device should be the rotation center of the forklift boom. Ensure that during the rotation process, the output position of the integrated positioning hardware remains unchanged, and the orientation changes with the rotation. The UTM coordinates and relative position information are respectively set. Calculate the pose of the loading position, and display the pose of the loading position and the UTM coordinates on the base map of the front-end map of the software. Then, the pose of the forklift and the pose of the loading position can be displayed in real time by adjusting the relative position control.

6. The method according to claim 3, wherein The ninth step of the method further includes: Query the size of the mining truck corresponding to the mining truck model at the receiving shovel position that has been occupied, expand the mining truck into a rectangular shape for the inflated position, expand the forklift into an octagon according to its maximum turning radius, and calculate whether the forklift will collide with the mining truck and the obstacles in the map according to the position and attitude of the forklift and the mining truck and the size of the obstacles in the map.

7. The method according to claim 3, wherein The forklift loading step of the method further includes: Step 10: After receiving the pose of the loading position, the loading area path planning module plans the driving path in the loading area; Step 11: The driverless mining truck drives to the loading position according to the planned trajectory and notifies the start of loading; Step 12: The forklift driver performs the loading, and after completion, allows the mining truck to drive away; Step 13: The mining truck drives away; Step 14: The software at the shovel end changes the status of the loading position to idle.

8. A method and device for multi-vehicle mixed formation interaction between a loading area vehicle and a shovel in driverless transportation in a mining area, characterized in that, The device includes: A mining truck request module, which is used to determine the receiving shovel position at the shovel end according to the loading position request of the loading area path planning module after the mining truck arrives at or is about to arrive at the entrance of the loading area; A forklift loading position adjustment module, which is used to adjust the position and pose of the forklift loading position according to the pose of the forklift and the anti-collision prediction; A forklift loading module, which is used to plan the driving path in the loading area based on the adjusted position and pose of the forklift loading position, and complete the operations of the mining truck driving into, the forklift loading, and the mining truck driving away.

9. An electronic device, characterized in that, It includes a processor; and a memory, and computer-readable instructions are stored on the memory. When the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images