Unloading cooperation method, device and equipment of unmanned mine car and medium
By obtaining the status information of the dump port and the placing machine, the unloading position of the unmanned mine car is automatically selected, which solves the problem of manpower occupation during the unloading process of the unmanned mine car and realizes efficient and stable automatic unloading operation.
Patent Information
- Application Number
- CN202510780939.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-12
- Publication Date
- 2025-10-14
AI Technical Summary
Existing unmanned mining vehicles require manual confirmation of upstream and downstream conditions during the unloading process, resulting in large human resource utilization and low unloading efficiency, affecting the efficient and stable operation of the system.
By obtaining the vehicle status of the dumping port and the operating status of the material placing machine, the dumping port where the unmanned mining car can unload is automatically selected, reducing human intervention and improving unloading efficiency.
It realizes the automatic unloading of unmanned mining vehicles, reduces the use of manpower, simplifies the control logic, improves the unloading efficiency, and provides support for the efficient and stable operation of the system.
Smart Images
Figure CN120779933A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of metallurgy, and particularly relates to a discharging cooperation method, device, equipment and medium of an unmanned mine car. BACKGROUND
[0002] With the increasingly wide application of unmanned technology, the unmanned mine car has become an important transportation equipment in a metal mine. A large amount of ore relies on the transportation of the unmanned mine car, and the unmanned mine car can reduce the staff in a harsh environment and make a contribution to the construction of a people-oriented mine.
[0003] In the prior art, the unmanned mine car is a link closely connected with an upstream process and a downstream process of a mining system. Specifically, the unmanned mine car loads the mine material produced by the upstream process and transports the mine material to a production device of the downstream process, so as to realize the close connection between the upstream process and the downstream process.
[0004] However, when the unmanned mine car travels from the upstream to the downstream, a person needs to confirm that the upstream and downstream conditions meet the discharging conditions, and then controls the unmanned mine car to travel to a discharging position for discharging. This manual confirmation control mode occupies human resources, has high centralized control work intensity, is low in discharging efficiency, and has an impact on efficient and stable operation. SUMMARY
[0005] In view of the above problems, the present application is proposed to provide a discharging cooperation method, device, equipment and medium of an unmanned mine car, which can automatically select a turning and discharging opening of the unmanned mine car according to the car state of the turning and discharging opening and the running state of the corresponding distributing machine, reduce the use of manpower, have simple control logic, improve the discharging efficiency, and provide support for efficient and stable operation of the system.
[0006] In a first aspect, the present application provides a discharging cooperation method of an unmanned mine car, applied to a mining system, the mining system comprising a turning and discharging platform, at least two turning and discharging openings are arranged on the turning and discharging platform, and a distributing machine is arranged corresponding to each turning and discharging opening, and the method comprises the following steps.
[0007] Obtaining a car state of each turning and discharging opening, the car state comprising an allowed car state and a disallowed car state;
[0008] Determining a turning and discharging opening with the allowed car state as a first target turning and discharging opening;
[0009] If the number of the first target turning and discharging opening is greater than 1, obtaining a running state of the distributing machine corresponding to the first target turning and discharging opening, the running state comprising a normal running state and a stop running state;
[0010] The first target dumping port corresponding to the cloth machine in the normal operation state is determined as a second target dumping port.
[0011] A dumping position of one of the second target dumping ports is determined as a target dumping position of the unmanned mine car.
[0012] Optionally, the first target dumping port corresponding to the cloth machine in the normal operation state is determined as a second target dumping port.
[0013] If the number of the second target dumping ports is greater than 1, the stockyard position of the second target dumping port is obtained.
[0014] According to the stockyard position, a dumping position of one of the second target dumping ports is determined as a target dumping position of the unmanned mine car.
[0015] Optionally, according to the stockyard position, a dumping position of one of the second target dumping ports is determined as a target dumping position of the unmanned mine car.
[0016] The dumping position of the second target dumping port with the lowest stockyard position is determined as the target dumping position of the unmanned mine car.
[0017] Optionally, according to the stockyard position, a dumping position of one of the second target dumping ports is determined as a target dumping position of the unmanned mine car.
[0018] If the number of the second target dumping ports is equal to 1, the dumping position of the second target dumping port is determined as the target dumping position of the unmanned mine car.
[0019] Optionally, after the dumping port in the allowed coupling state is determined as the first target dumping port, the method further comprises:
[0020] If the number of the first target dumping ports is equal to 1, the dumping position of the first target dumping port is determined as the target dumping position of the unmanned mine car.
[0021] Optionally, after the dumping port in the allowed coupling state is determined as the first target dumping port, the method further comprises:
[0022] If the number of the first target dumping ports is less than 1, a waiting instruction is generated and sent to the unmanned mine car, so that the unmanned mine car travels to a preset waiting area after receiving the waiting instruction.
[0023] Optionally, after determining a second target dumping position of a second target dumping port from all the second target dumping ports as a target dumping position of the unmanned mine car, the method further comprises:
[0024] generating a position instruction based on the target dumping position and sending the position instruction to the unmanned mine car, so that the unmanned mine car travels to the target dumping position after receiving the position instruction.
[0025] In a second aspect, the present application provides a dumping coordination device of an unmanned mine car, which is applied to a mining system, the mining system comprising a dumping platform, the dumping platform being provided with at least two dumping ports, and each dumping port being provided with a distributing machine correspondingly, and the device comprising:
[0026] a first acquisition module, configured to acquire a car-approaching state of each dumping port, the car-approaching state comprising an allowed car-approaching state and a disallowed car-approaching state;
[0027] a first determination module, configured to determine a dumping port with the allowed car-approaching state as a first target dumping port;
[0028] a second acquisition module, configured to acquire an operating state of a distributing machine corresponding to the first target dumping port if the number of the first target dumping ports is greater than 1, the operating state comprising a normal operating state and a stop operating state;
[0029] a second determination module, configured to determine a first target dumping port corresponding to the distributing machine with the normal operating state as a second target dumping port;
[0030] a third determination module, configured to determine a dumping position of a second target dumping port from all the second target dumping ports as a target dumping position of the unmanned mine car.
[0031] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, which are communicatively connected with each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method of the first aspect.
[0032] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions for making the computer execute the method of the first aspect.
[0033] The technical scheme provided in the embodiments of the present application has at least the following technical effects or advantages:
[0034] The unmanned mine car unloading cooperation method, device, equipment and medium provided by the embodiment of the application can obtain the car state of each tipping opening, the car state including the allowed car state and the disallowed car state; the tipping opening with the car state being the allowed car state is determined as a first target tipping opening, and the allowed car state is separately marked; if the number of the first target tipping openings is greater than 1, it is indicated that multiple tipping openings can be used to park the car, and the running state of the distributor corresponding to the first target tipping opening is obtained, the running state including the normal running state and the stop running state; the first target tipping opening corresponding to the distributor with the normal running state is determined as a second target tipping opening, and the tipping opening in which the distributor is running is selected as the final candidate tipping opening; the unloading position of one second target tipping opening is determined as the target unloading position of the unmanned mine car from all the second target tipping openings, and a suitable tipping opening is determined as the final unloading tipping opening from all the candidate tipping openings. The method automatically selects the tipping opening in which the unmanned mine car can unload, reduces the use of manpower, has simple control logic, improves the unloading efficiency, and provides support for the efficient and stable operation of the system.
[0035] The above description is only a summary of the technical solutions of the application. In order to enable the technical means of the application to be more clearly understood and implemented according to the content of the description, and in order to enable the above and other purposes, characteristics and advantages of the application to be more apparent and easy to understand, the following specific embodiments of the application are described. BRIEF DESCRIPTION OF DRAWINGS
[0036] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several drawings to represent similar components. In the drawings:
[0037] Figure 1 FIG. 1 is a flowchart of an unmanned mine car unloading cooperation method provided by an embodiment of the application;
[0038] Figure 2 FIG. 2 is a structural block diagram of an unmanned mine car unloading cooperation device provided by an embodiment of the application. DETAILED DESCRIPTION
[0039] In order to make the purposes, technical solutions and advantages of the application more clear, the embodiments of the application will be further described in detail below with reference to the drawings, and it should be understood that the embodiments of the disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the application, rather than limitations of the technical solutions of the application. In the case of no conflict, the technical features in the embodiments of the application and the embodiments can be combined with each other.
[0040] The embodiment of the present application provides a kind of unmanned mine car's unloading coordination method, it is applied to mining system, mining system includes tipping platform, tipping platform is arranged with at least two tipping ports, each tipping port is correspondingly provided with distributor and bunker.Unmanned mine car will unload in the unloading position of tipping port, bunker is used to store the material unloaded, distributor is used to transport the material in bunker.
[0041] Figure 1 It is the flow chart of a kind of unmanned mine car's unloading coordination method provided by the embodiment of the present application, as Figure 1 Shown, the method comprises:
[0042] Step S110, the state of each tipping port is obtained, and the state includes the state of allowing and the state of not allowing.
[0043] In the embodiment of the present application, the state of tipping port is not allowed when tipping platform is cleaning accumulated material, tipping port is being overhauled or there is a vehicle at tipping port.The state of tipping port is allowed when tipping platform is not cleaning accumulated material, tipping port is not being overhauled and there is no vehicle at tipping port.Only when the state is allowed, unmanned mine car can enter tipping platform to unload.
[0044] Step S120, the tipping port with the state of allowing is determined as the first target tipping port.
[0045] In the embodiment of the present application, among all tipping ports, the state of some tipping ports can be allowed, and the state of some tipping ports can not be allowed.Therefore, the tipping port with the state of allowing can be determined as the first target tipping port to distinguish.
[0046] Step S130, if the number of first target tipping port is greater than 1, the running state of distributor corresponding to first target tipping port is obtained.
[0047] The running state includes normal running state and stop running state.Distributor in normal running state will continuously transport material in bunker, and distributor in stop running state will not run, and material in bunker will not be reduced.
[0048] In the embodiment of the present application, if the number of first target tipping port is greater than 1, it means that multiple tipping ports allow unloading, so the running state of distributor corresponding to first target tipping port is obtained to know whether the distributor of first target tipping port is transporting material.
[0049] Step S140, the first target tipping port corresponding to distributor with normal running state is determined as the second target tipping port.
[0050] In the embodiment of the present application, in all the first target tipping outlets, some first target tipping outlets correspond to the running belt feeders, and some first target tipping outlets correspond to the belt feeders that are not running. Therefore, the first target tipping outlet corresponding to the belt feeder in the normal running state can be determined as the second target tipping outlet to distinguish.
[0051] In step S150, the unloading position of one second target tipping outlet is determined as the target unloading position of the unmanned mine car from all the second target tipping outlets.
[0052] In the embodiment of the present application, the running state of the belt feeder directly affects whether the material in the corresponding tipping outlet can be transported away, thereby affecting whether the tipping outlet can receive the material. Therefore, according to the running state of each first target tipping outlet, the unloading position of the first target tipping outlet in the normal running state is selected as the target unloading position of the unmanned mine car, so that the unmanned mine car can unload the material into the corresponding tipping outlet. This method automatically selects the unloading position of the unmanned mine car, reduces the use of manpower, has simple control logic, improves the efficiency of unloading, and provides support for the efficient and stable operation of the system.
[0053] Optionally, step S150 includes:
[0054] Firstly, if the number of second target tipping outlets is greater than 1, the stockyard position of the second target tipping outlet is obtained.
[0055] In the embodiment of the present application, the belt feeder corresponding to the second target tipping outlet is running, so the stockyard position of the second target unloading outlet is further referred to determine the target unloading position of the unmanned mine car.
[0056] Optionally, step S150 includes:
[0057] If the number of second target tipping outlets is equal to 1, the unloading position of the second target tipping outlet is determined as the target unloading position of the unmanned mine car.
[0058] In the embodiment of the present application, if the number of second target tipping outlets is less than 1, a waiting instruction is generated and sent to the unmanned mine car, so that the unmanned mine car drives to the preset waiting area after receiving the waiting instruction.
[0059] In the embodiment of the present application, if there is only one second target tipping opening, the material can only be unloaded into the second target tipping opening, so the unloading position of the second target tipping opening is determined as the target unloading position of the unmanned mine car. If the number of second target tipping openings is less than 1, it indicates that there is no second target tipping opening, and all the first target tipping openings corresponding to the distribution machines are not running, and the material cannot be unloaded into the first target tipping opening corresponding to the distribution machine which is not running, so a waiting instruction is generated and sent to the unmanned mine car, so that the unmanned mine car drives to a preset waiting area to wait after receiving the waiting instruction, and waits until the running state of the car and the running state of the distribution machine are both allowed, and then unloads the material.
[0060] In the second step, according to the stockyard level, the unloading position of one of all the second target tipping openings is determined as the target unloading position of the unmanned mine car.
[0061] In the embodiment of the present application, according to the stockyard level of the second target tipping opening, a suitable second target tipping opening is selected for unloading.
[0062] Optionally, the third step includes:
[0063] The unloading position of the second target tipping opening with the lowest stockyard level is determined as the target unloading position of the unmanned mine car.
[0064] In the embodiment of the present application, the material can be unloaded into the second target tipping opening with the lowest stockyard level, so that the material will not be excessively stacked.
[0065] Optionally, after step S120, the method further includes:
[0066] If the number of first target tipping openings is equal to 1, the unloading position of the first target tipping opening is determined as the target unloading position of the unmanned mine car.
[0067] In the embodiment of the present application, if there is only one first target tipping opening, it indicates that the material can only be unloaded into the first target tipping opening, so the unloading position of the first target tipping opening is determined as the target unloading position of the unmanned mine car.
[0068] Optionally, after step S120, the method further includes:
[0069] If the number of first target tipping openings is less than 1, a waiting instruction is generated and sent to the unmanned mine car, so that the unmanned mine car drives to a preset waiting area after receiving the waiting instruction.
[0070] In the embodiment of the present application, if the number of the first target tipping opening is less than 1, it indicates that the state of the vehicle opposite to the tipping opening is the allowed state of the vehicle opposite to the tipping opening, i.e. no tipping opening can unload the material, and then a waiting instruction is generated and sent to the unmanned mine vehicle, so that the unmanned mine vehicle drives to a preset waiting area to wait after receiving the waiting instruction, and waits until the state of the vehicle opposite to the tipping opening and the running state of the distributor are both allowed to unload the material.
[0071] Optionally, after step S150, the method further comprises:
[0072] generating a position instruction based on the target unloading position, and sending the position instruction to the unmanned mine vehicle, so that the unmanned mine vehicle drives to the target unloading position after receiving the position instruction.
[0073] In the embodiment of the present application, after the target unloading position is determined, a position instruction is generated and sent to the unmanned mine vehicle. After the unmanned mine vehicle receives the position instruction, it will automatically drive to the target unloading position. After the unmanned mine vehicle drives to the target unloading position, it will send a to-position instruction to the mining system. If the mining system receives the to-position instruction and detects that the running state of the distributor corresponding to the tipping opening of the target unloading position is the normal running state and the material level corresponding to the tipping opening is lower than the preset material level threshold, the mining system will send an unloading instruction to the unmanned mine vehicle. After the unmanned mine vehicle receives the unloading instruction, it will perform an unloading operation to unload the material into the tipping opening corresponding to the target unloading position.
[0074] Based on the same application concept, the embodiment of the present application also provides an unloading coordination device of an unmanned mine vehicle, Figure 2 is a structural block diagram of an unloading coordination device of an unmanned mine vehicle provided by the embodiment of the present application, as Figure 2 shown, the device 200 comprises a first acquisition module 201, a first determination module 202, a second acquisition module 203, a second determination module 204 and a third determination module 205.
[0075] The first acquisition module 201 is configured to acquire the state of the vehicle opposite to each tipping opening, and the state of the vehicle opposite to the tipping opening comprises the allowed state of the vehicle opposite to the tipping opening and the disallowed state of the vehicle opposite to the tipping opening.
[0076] The first determination module 202 is configured to determine the tipping opening with the allowed state of the vehicle opposite to the tipping opening as the first target tipping opening.
[0077] The second acquisition module 203 is configured to acquire the running state of the distributor corresponding to the first target tipping opening if the number of the first target tipping opening is greater than 1, and the running state comprises the normal running state and the stop running state.
[0078] The second determining module 204 is configured to determine the first target tipping port corresponding to the cloth machine in the normal operation state as a second target tipping port.
[0079] The third determining module 205 is configured to determine a discharge position of one of the second target tipping ports as a target discharge position of the unmanned mine car.
[0080] Optionally, the third determining module 205 comprises:
[0081] The acquisition unit is configured to acquire a stockyard location of the second target tipping port if the number of the second target tipping ports is greater than 1.
[0082] The second determining unit is configured to determine a discharge position of one of the second target tipping ports as the target discharge position of the unmanned mine car according to the stockyard location.
[0083] Optionally, the second determining unit is further configured to:
[0084] The discharge position of the second target tipping port with the lowest stockyard location is determined as the target discharge position of the unmanned mine car.
[0085] Optionally, the third determining module 205 further comprises a third determining unit configured to:
[0086] If the number of the second target tipping ports is equal to 1, the discharge position of the second target tipping port is determined as the target discharge position of the unmanned mine car.
[0087] Optionally, the device 200 further comprises a fourth determining module configured to:
[0088] If the number of the first target tipping ports is equal to 1, the discharge position of the first target tipping port is determined as the target discharge position of the unmanned mine car.
[0089] Optionally, the device 200 further comprises a fifth determining module configured to:
[0090] If the number of the first target tipping ports is less than 1, a waiting instruction is generated and sent to the unmanned mine car, so that the unmanned mine car drives to a preset waiting area after receiving the waiting instruction.
[0091] Optionally, the device 200 further comprises a sending module configured to:
[0092] A position instruction is generated based on the target discharge position and sent to the unmanned mine car, so that the unmanned mine car drives to the target discharge position after receiving the position instruction.
[0093] It can be understood that the apparatus provided by the above embodiments is only exemplified by the division of the above functional modules, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the functions described above.
[0094] The electronic device can include a processor and a memory, wherein the processor and the memory can be connected to each other in communication through a bus or other means.
[0095] The processor can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the embodiments of the present application, or can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. chips, or a combination of the above chips.
[0096] The memory can include a mass storage for data or instructions. By way of example and not limitation, the memory can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory can include removable or non-removable (or fixed) media. Where appropriate, the memory can be internal or external to the electronic device. In a particular embodiment, the memory can be a non-volatile solid-state memory.
[0097] In one example, the memory can be a read only memory (ROM). In one example, the ROM can be a mask programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory, or a combination of two or more of these.
[0098] The processor reads and executes computer program instructions stored in the memory to implement the unloading coordination method of the unmanned mine car in any of the above embodiments.
[0099] In an example, the electronic device can further include a communication interface and a bus. The processor, the memory and the communication interface are connected through the bus and complete communication with each other. The communication interface is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the application. The bus can include one or more buses as appropriate.
[0100] In addition, in combination with the unloading coordination method of the unmanned mine car in the above embodiments, the embodiments of the application can provide a computer readable storage medium to implement. The computer readable storage medium has computer program instructions stored thereon; the computer program instructions are executed by the processor to implement the unloading coordination method of the unmanned mine car in any of the above embodiments.
[0101] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiments. The storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD), etc. The storage medium can also include a combination of the above types of memories.
[0102] The technical solutions in the above embodiments of the application have at least the following technical effects or advantages:
[0103] The unmanned mine car unloading cooperation method, device, equipment and medium provided by the embodiment of the application can obtain the car state of each tipping opening, the car state including the allowed car state and the disallowed car state; the tipping opening with the allowed car state is determined as a first target tipping opening, and the allowed car state is marked separately; if the number of the first target tipping openings is greater than 1, it is indicated that multiple tipping openings can be used to unload the car, and the running state of the distributor corresponding to the first target tipping opening is obtained, the running state including the normal running state and the stop running state; the first target tipping opening corresponding to the distributor with the normal running state is determined as a second target tipping opening, and the tipping opening of the distributor in operation is selected as the final candidate tipping opening; the unloading position of one second target tipping opening is determined as the target unloading position of the unmanned mine car from all the second target tipping openings, and one suitable tipping opening is determined as the final unloading tipping opening from all the candidate tipping openings. The method automatically selects the tipping opening that can be used by the unmanned mine car to unload, reduces the use of manpower, has simple control logic, improves the unloading efficiency, and provides support for the efficient and stable operation of the system.
[0104] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
[0105] Similarly, it is to be understood that the embodiments of the present application can be used in the exact form disclosed herein, or with minor modifications, and the present application is not limited to the exact details of construction. Similarly, it is to be understood that the embodiments of the present application can be used in the exact form disclosed herein, or with minor modifications, and the present application is not limited to the exact details of construction.
[0106] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps not listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unitary claim, several devices or means can be listed, comprising means which can be implemented by one and the same hardware item. The use of the word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The word 'first','second', 'third' etc. can merely be used for distinguishing between similar elements, and do not imply any order or priority.
Claims
1. A collaborative unloading method for an unmanned mining vehicle, characterized in that: Applied to a mining system, the mining system includes a dumping platform, the dumping platform is provided with at least two dumping openings, each dumping opening is provided with a corresponding placing boom, the method includes: Obtaining the vehicle-facing status of each dumping port, wherein the vehicle-facing status includes a vehicle-facing-allowed status and a vehicle-facing-unallowed status; Determine the dumping port whose vehicle-pairing state is the vehicle-pairing-allowed state as the first target dumping port; If the number of the first target unloading openings is greater than 1, obtaining the operating status of the material placing boom corresponding to the first target unloading opening, wherein the operating status includes a normal operating state and a stopped operating state; Determine the first target unloading opening corresponding to the material placing machine whose operating state is the normal operating state as the second target unloading opening; A unloading position of a second target unloading opening is determined from all the second target unloading openings as a target unloading position of the unmanned mining vehicle.
2. The unloading coordination method of an unmanned mining vehicle according to claim 1, characterized in that: Each dumping port is correspondingly provided with a silo, and determining a unloading position of a second target dumping port from all second target dumping ports as a target unloading position of the unmanned mining vehicle includes: If the number of the second target unloading ports is greater than 1, obtaining the silo material level of the second target unloading port; According to the material level of the silo, the unloading position of one second target unloading opening among all the second target unloading openings is determined as the target unloading position of the unmanned mining vehicle.
3. The unloading coordination method of an unmanned mining vehicle according to claim 2, characterized in that: The step of determining the unloading position of one of the second target unloading openings as the target unloading position of the unmanned mining vehicle according to the material level of the silo comprises: The unloading position of the second target dumping port with the lowest material level in the silo is determined as the target unloading position of the unmanned mining vehicle.
4. The unloading coordination method of an unmanned mining vehicle according to claim 1, characterized in that: The step of determining the unloading position of one of the second target unloading openings as the target unloading position of the unmanned mining vehicle comprises: If the number of the second target unloading openings is equal to 1, the unloading position of the second target unloading opening is determined as the target unloading position of the unmanned mining vehicle.
5. The unloading coordination method of an unmanned mining vehicle according to claim 1, characterized in that: After determining the unloading port whose vehicle-pairing state is the vehicle-pairing-allowed state as the first target unloading port, the method further includes: If the number of the first target unloading openings is equal to 1, the unloading position of the first target unloading opening is determined as the target unloading position of the unmanned mining vehicle.
6. The unloading coordination method of an unmanned mining vehicle according to claim 1, characterized in that: After determining the unloading port whose vehicle-pairing state is the vehicle-pairing-allowed state as the first target unloading port, the method further includes: If the number of the first target dumping ports is less than 1, a waiting instruction is generated and sent to the unmanned mining vehicle, so that the unmanned mining vehicle drives to a preset waiting area after receiving the waiting instruction.
7. The unloading coordination method of an unmanned mining vehicle according to claim 1, characterized in that: After determining the unloading position of a second target unloading opening from all the second target unloading openings as the target unloading position of the unmanned mining vehicle, the method further includes: A position instruction is generated based on the target unloading position, and the position instruction is sent to the unmanned mining vehicle, so that the unmanned mining vehicle travels to the target unloading position after receiving the position instruction.
8. A coordinated unloading device for an unmanned mining vehicle, characterized in that: Applied to a mining system, the mining system includes a dumping platform, the dumping platform is provided with at least two dumping openings, each dumping opening is provided with a corresponding material placing machine, and the device includes: A first acquisition module is used to acquire the vehicle-facing status of each dump port, wherein the vehicle-facing status includes a vehicle-facing-allowed status and a vehicle-facing-unallowed status; A first determining module is configured to determine the dumping port whose vehicle-pairing state is the vehicle-pairing-allowed state as a first target dumping port; a second acquisition module, configured to acquire, if the number of the first target unloading openings is greater than 1, an operating state of the material placing boom corresponding to the first target unloading opening, the operating state including a normal operating state and a stopped operating state; a second determining module, configured to determine the first target unloading opening corresponding to the material placing machine whose operating state is the normal operating state as the second target unloading opening; The third determining module is used to determine the unloading position of a second target unloading opening from all the second target unloading openings as the target unloading position of the unmanned mining vehicle.
9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.
10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method according to any one of claims 1 to 7.