Control method and device for collaborative operation of multiple mining trucks in a mining area

Abstract

The present invention discloses a control method and device for the collaborative operation of multiple mining trucks in a mining area, which relates to the field of unmanned driving control technology. The main purpose is to solve the problem that the collaborative operation of multiple mining trucks in existing mining areas requires more manual operations and is inefficient. It includes: obtaining path data in the mining operation area; when receiving an entry request from a first mining truck, monitoring whether there is a second mining truck in the operation area; if so, judging whether the entry conditions are currently met based on the parking points in the entry path; when the entry conditions are met, controlling the first mining truck to enter the operation area according to the entry path. It is mainly used for the control of the collaborative operation of multiple mining trucks in a mining area.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned driving control, and in particular to a control method and device for collaborative operation of multiple mining trucks in a mining area. Background Art

[0002] Mining has always been a focus of attention due to environmental and safety issues. In order to reduce the losses caused by mining accidents and with the rapid development of unmanned driving technology, unmanned mining trucks have been widely used in mining. Unmanned mining trucks can be controlled by signals to transport and drive in the mining area, thus replacing the original manual mining and transportation operation mode.

[0003] The efficiency of vehicle-shovel coordination in unmanned operation scenarios in mining areas is a very important link in unmanned operation in mining areas. At present, the control of vehicle-shovel coordination when multiple mining trucks are operating is mainly through manual judgment and control by staff. Therefore, in order to ensure absolute safety, under normal circumstances, only one mining truck is accommodated in the operation area. That is, after it is judged that the mining truck has completely left the operation area, another mining truck waiting in line is manually controlled to enter the operation area. This means that the electric shovel always has to wait a long time before the next mining truck arrives, which requires more manual operation and has low efficiency in vehicle-shovel coordination. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a control method and device for collaborative operation of multiple mining trucks in a mining area that overcomes the above problems or at least partially solves the above problems.

[0005] According to one aspect of the present invention, a control method for collaborative operation of multiple mining trucks in a mining area is provided, comprising:

[0006] Acquire path data in the mining operation area, wherein the path data at least includes an entry point, an operation point, an exit point, an entry path, and an exit path, wherein the entry path is a path between the entry point and the operation point, and the exit path is a path between the exit point and the operation point;

[0007] When receiving an entry request from a first mining card, monitoring whether a second mining card exists in the operation area;

[0008] If it exists, judging whether the entry conditions are met according to the parking points in the entry path, where the mining trucks stop and wait and drive to the operation point when allowed;

[0009] When the entry condition is met, the first mining truck is controlled to enter the working area along the entry path.

[0010] Furthermore, after obtaining the path data in the mining operation area, the method further includes:

[0011] Monitoring whether there is a reversing point in the entry path, the reversing point is used for the mining truck to adjust the driving direction so that the direction of the transport end is consistent with the direction of the loading and unloading end;

[0012] If it exists, determining the reversing point as the parking point;

[0013] If not present, the parking point is determined according to the size of the mining truck body and the first preset distance.

[0014] Furthermore, the first preset distance includes:

[0015] The first preset distance is determined according to the size of the mining truck body and the adjustment factor.

[0016] Furthermore, if there is a second mining truck in the operating area, the method further includes:

[0017] Acquire first KD tree data, where the first KD tree data is used to identify a position point included between the operation point and the exit point in the exit path;

[0018] Traversing the position points in the first KD tree data to determine a first distance between the position points and the parking point;

[0019] If the first distance is less than the first preset distance, it is determined that there is a first conflict area between the position point in the first KD tree data and the parking point, and the first mining truck is controlled to wait.

[0020] Furthermore, the method further comprises:

[0021] If the first distance is greater than or equal to a first preset distance, obtaining the status of the second mining truck, the status including entry status, operation status and exit status;

[0022] When the state of the second mining card is the entry state, it is determined that the entry condition is not met currently.

[0023] Further, when the entry condition is met, controlling the first mining truck to enter the working area according to the entry path includes:

[0024] When the state of the second mining truck is the operating state, the first mining truck is controlled to travel to the parking point to wait.

[0025] Furthermore, the method further comprises:

[0026] When the first mining truck arrives at the parking point and the second mining truck completes the operation, the second mining truck is controlled to exit the mining area according to the exit path.

[0027] Further, when the state of the second mining truck changes from the operating state to the exit state, the method further includes:

[0028] Acquire second KD tree data, where the second KD tree data is used to identify a position point included between the parking point and the working point in the entry path;

[0029] Traversing the position points in the second KD tree data to determine a second distance between the position points and the second mining truck;

[0030] If the second distance is less than the first preset distance, it is determined that there is a second conflict area between the second KD tree and the second mining truck, and the first mining truck is controlled to wait at the parking point until the second mining truck leaves the second conflict area, thereby controlling the first mining truck to travel from the parking point to the working point.

[0031] Further, when the state of the second mining card is the exit state and the state of the first mining card is the operation state, if an entry request of a third mining card is received, the method further includes:

[0032] Acquire third KD tree data, wherein the third KD tree data is used to identify a position point included between the entry point and the parking point in the entry path;

[0033] Traverse the position points in the third KD tree data, compare the distance between the position point and the position of the second mining truck with the first preset distance, and if the distance is less than the first preset distance, determine that there is a third conflict area between the third KD tree and the second mining truck, and control the third mining truck to wait at the entry point until the second mining truck leaves the third conflict area, thereby controlling the third mining truck to enter the working area.

[0034] Furthermore, the method further comprises:

[0035] If there is no second mining truck in the operation area, the first mining truck is controlled to enter the operation area according to the entry path.

[0036] According to another aspect of the present invention, a control device for collaborative operation of multiple mining trucks in a mining area is provided, comprising:

[0037] An acquisition module is used to acquire path data in a mining operation area, wherein the path data at least includes an entry point, an operation point, an exit point, an entry path, and an exit path, wherein the entry path is a path between the entry point and the operation point, and the exit path is a path between the exit point and the operation point;

[0038] A monitoring module, for monitoring whether a second mining card exists in the operation area when receiving an entry request of the first mining card;

[0039] A judgment module, for judging whether the entry condition is currently met according to the parking point in the entry path if the monitoring module detects that there is a second mining truck in the operation area, wherein the parking point is used for the mining truck to stop and wait and drive to the operation point when permitted;

[0040] The control module is used to control the first mining truck to enter the working area according to the entry path when the entry condition is met.

[0041] According to another aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps corresponding to the control method for collaborative operation of multiple mining trucks in a mining area as described above.

[0042] According to another aspect of the present invention, there is provided a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, the steps corresponding to the control method for collaborative operation of multiple mining trucks in a mining area as described above are implemented.

[0043] According to another aspect of the present invention, there is provided a chip, comprising at least one processor and a communication interface, wherein the communication interface is coupled to the at least one processor, and the at least one processor is used to run a computer program or instruction to implement the steps corresponding to the control method for collaborative operation of multiple mining trucks in a mining area as described above.

[0044] According to yet another aspect of the present invention, there is provided a terminal comprising the control device for collaborative operation of multiple mining trucks in a mining area as described above.

[0045] By means of the above technical solution, the technical solution provided by the embodiment of the present invention has at least the following advantages:

[0046] The present invention provides a control method and device for the coordinated operation of multiple mining trucks in a mining area. Compared with the prior art, the embodiment of the present invention obtains path data in a mining operation area, wherein the path data at least includes an entry point, an operation point, an exit point, an entry path and an exit path, wherein the entry path is a path between the entry point and the operation point, and the exit path is a path between the exit point and the operation point; when an entry request of a first mining truck is received, it is monitored whether there is a second mining truck in the operation area; if so, it is determined according to the parking point in the entry path. Whether the entry conditions are currently met, the parking point is used for the mining truck to park and wait and drive to the work point when permitted; when the entry conditions are met, the first mining truck is controlled to enter the work area according to the entry path, so that when there are multiple mining trucks working at the same time in the mining area, by monitoring whether there are already mining trucks in the work area, if so, it is judged whether the mining truck requesting entry can enter the site according to the parking point where the mining truck temporarily stops when entering the site, and if allowed, the mining truck requesting entry is controlled to enter the site, thereby realizing automatic monitoring and control of mining trucks in the mining area, and improving the efficiency and safety of collaborative operation of multiple mining trucks in the mining area.

[0047] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0049] Figure 1 A flow chart of a control method for collaborative operation of multiple mining trucks in a mining area provided by an embodiment of the present invention is shown;

[0050] Figure 2 Another flow chart of a control method for collaborative operation of multiple mining trucks in a mining area provided by an embodiment of the present invention is shown;

[0051] Figure 3 A schematic diagram showing a parking point in an entry path provided by an embodiment of the present invention;

[0052] Figure 4 A schematic diagram showing another parking point in an entrance path provided by an embodiment of the present invention;

[0053] Figure 5 A schematic diagram of a multi-mining truck collaborative operation control process provided by an embodiment of the present invention is shown;

[0054] Figure 6 Another schematic diagram of a multi-mining card collaborative operation control process provided by an embodiment of the present invention is shown;

[0055] Figure 7 A schematic diagram of another multi-mining truck collaborative operation control process provided by an embodiment of the present invention is shown;

[0056] Figure 8 A schematic diagram of another multi-mining truck collaborative operation control process provided by an embodiment of the present invention is shown;

[0057] Fig. 9 A schematic diagram of another multi-mining truck collaborative operation control process provided by an embodiment of the present invention is shown;

[0058] Fig.10 A block diagram showing the composition of a control device for collaborative operation of multiple mining trucks in a mining area provided by an embodiment of the present invention is shown;

[0059] Fig.11 It shows a block diagram of another control device for collaborative operation of multiple mining trucks in a mining area provided by an embodiment of the present invention;

[0060] Fig.12 A schematic diagram of the structure of a computer-readable storage medium provided by an embodiment of the present invention is shown;

[0061] Fig.13 A schematic diagram of the structure of a computer device provided by an embodiment of the present invention is shown;

[0062] Fig.14 A schematic diagram of the structure of a chip provided by an embodiment of the present invention is shown;

[0063] Fig.15 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0064] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0065] In the existing situation, when multiple mining trucks are working, the coordinated control of the vehicle and shovel is mainly determined and controlled by the staff. Therefore, in order to ensure absolute safety, usually only one mining truck is allowed to enter the working area. That is, after the mining truck is judged to have completely left the working area, another mining truck waiting in line is manually controlled to enter the working area. This means that the electric shovel always has to wait for a long time before the next mining truck arrives, which requires more manual operations and the efficiency of the coordinated operation of the vehicle and shovel is low. The embodiment of the present invention provides a control method for the coordinated operation of multiple mining trucks in a mining area, such as Figure 1 As shown, the method includes:

[0066] 101. Obtain path data within the mining operation area.

[0067] Among them, the path data at least includes an entry point, an operation point, an exit point, an entry path and an exit path. The entry path is the path between the entry point and the operation point, the exit path is the path between the exit point and the operation point, and the operation point can be a loading point or an unloading point.

[0068] It should be noted that in this embodiment, the existing path planning algorithm is used to generate and update the corresponding path data. Here, the path planning algorithm is not further limited. The path planning algorithm is stored in the server, the industrial computer of the loading end device, or the industrial computer of the unloading end device. For example, the loading end device includes an electric shovel or an excavator, and the unloading end device includes a bulldozer. On the one hand, the mining truck can communicate data with the server through the V2N communication method to realize the server's scheduling of the mining truck; on the other hand, the mining truck can communicate data with the loading end device or the unloading end device through the V2V communication method to realize the scheduling of the mining truck by the loading end device or the unloading end device; in addition, the path planning data can be synchronized between the loading end device or the unloading end device and the server, between the mining truck and the server, between the loading end device or the unloading end device and the mining truck, and between the mining trucks to ensure the efficiency and safety of vehicle scheduling in the mining area.

[0069] 102. When receiving an entry request from a first mining card, monitor whether a second mining card exists in the operation area.

[0070] In the embodiment of the present invention, each time a mining card entry request is received, whether there is an operating mining card in the mining area is monitored, and the second mining card in this step can be one mining card or two mining cards, such as there is one mining card operating in the operating area, and at the same time there is another mining card exiting along the exit path, etc. By monitoring the mining card situation in the operating area in this step, the mining card currently requesting entry can be controlled to wait or enter according to the monitoring result.

[0071] 103. If so, determine whether the entry condition is currently met based on the parking points in the entry path.

[0072] The parking spot is used for the mining truck to park and wait and drive to the operation spot when permitted.

[0073] However, due to the different design plans of different entry and exit paths in the mining operation area, not all parking points in the entry path have no effect on the exit of other mining trucks. When the parking point has an impact on the exit of other mining trucks, the entry conditions are not met. Therefore, in this step, whether the parking point has an impact on the exit of other mining trucks is first monitored to ensure the accuracy of mining truck control.

[0074] For the embodiment of the present application, if it is detected in the above step 102 that there is no second mining truck in the working area, the mining truck currently requesting entry can be controlled to directly enter the working area, and there is no need to perform the judgment operation in this step.

[0075] 104. When an entry condition is met, control the first mining truck to enter the working area along the entry path.

[0076] Specifically, the server, the industrial computer of the loading end device or the industrial computer of the unloading end device generates a control signal and transmits the control signal to the first mining truck requesting entry through the above-mentioned V2V, V2N and other signal transmission methods, thereby completing the entry operation of the first mining truck.

[0077] For the embodiment of the present application, whenever a mining truck entry request is received, it is first monitored whether there is a mining truck in the operating area. When a mining truck already exists, it is further monitored whether the parking spot for temporary parking meets the entry conditions. Only when it is determined that the entry conditions are met, the mining truck currently requesting entry is controlled to enter the operating area. Through multiple monitoring, automated control of multiple mining trucks working in coordination is achieved, while improving the safety of controlling mining truck operations.

[0078] It can be seen that compared with the prior art, the embodiment of the present invention obtains path data in the mining operation area, and the path data at least includes an entry point, an operation point, an exit point, an entry path and an exit path, wherein the entry path is a path between the entry point and the operation point, and the exit path is a path between the exit point and the operation point; when an entry request of a first mining truck is received, it is monitored whether a second mining truck exists in the operation area; if so, it is judged whether the entry condition is currently met according to the parking point in the entry path, and the parking point is used for the mining truck to park and wait and drive to the operation point when allowed; when the entry condition is met, the first mining truck is controlled to enter the operation area according to the entry path, so that when there are multiple mining trucks working at the same time in the mining area, by monitoring whether there are mining trucks in the operation area, if so, it is judged whether the mining truck requesting entry can enter according to the parking point where the mining truck temporarily stops when entering, and if allowed, the mining truck requesting entry is controlled to enter, so as to realize the automatic monitoring and control of mining trucks in the mining area, and improve the efficiency and safety of the collaborative operation of multiple mining trucks in the mining area.

[0079] Furthermore, the present invention provides another control method for the coordinated operation of multiple mining trucks in a mining area, such as Figure 2 As shown, the method includes:

[0080] 201. Obtain path data within the mining operation area.

[0081] The specific implementation and functional effect of step 201 are the same as those of the above step 101, and will not be repeated here.

[0082] After step 201, the embodiment of the present application may further include: monitoring whether there is a reversing point in the entry path; if there is, determining the reversing point as the parking point; if not, determining the parking point according to the size of the mine truck body and the first preset distance. The reversing point is used for the mine truck to adjust the driving direction so that the direction of the transport end is consistent with the direction of the loading and unloading end. Specifically, the first preset distance includes: determining the first preset distance according to the size of the mine truck body and the adjustment factor. The adjustment factor can be set according to different application scenarios, and the embodiment of the present application does not make specific limitations on this. Exemplarily, the first preset distance in this step is:

[0083]

[0084] Among them, V l and V w are the length and width of the mining card, V s The adjustment factor to ensure the minimum safe distance between vehicles can be taken between 5 meters and 10 meters.

[0085] For example, Figure 3As shown, if the mining truck directly drives to the loading and unloading point, it cannot effectively connect with the loading and unloading end equipment. Therefore, it is necessary to configure a corresponding reversing point in the entry path so that when the mining truck enters the work area along the entry path, it first drives to the reversing point and adjusts its transport end direction at the reversing point, and then reverses from the reversing point to the work point. Therefore, in the embodiment of the present application, for the entry path with a reversing point, the reversing point is directly set as a parking point, so that the mining truck can adjust the transport end direction and temporarily stop here to wait. For the entry path without a reversing point, as shown in FIG. Figure 4 As shown in the figure, the spatial retrieval technology can be used to select a point in the entry path that does not affect the exit of the mining truck as the parking point. The specific selection method can be: first, the basic distance L = the maximum length of the mining truck * 2 is calculated according to the size of the mining truck body, and then a point L away from the working point in the entry path is found as the preliminary parking point, and the first preset distance R is used as the center of the circle. s Draw a circular area with a radius, and monitor whether the circular area contains an exit path. If the circular area contains an exit path, it means that the preliminary parking point affects the exit of the mining truck. Finally, the preliminary parking point is used as the starting point to query the points in the entry path in the direction away from the operation point in sequence until a point that does not affect the exit of the mining truck is found, and the point is used as the parking point of the entry path, but the embodiment of the present application does not specifically limit the selection of the parking point. It should be noted that the configuration of the corresponding parking point in the entry path can make the mining truck that enters the site later to temporarily stop at the parking point when there are multiple mining trucks in the operation area, waiting for other mining trucks to complete the operation or exit, and directly drive from the parking point to the operation point to operate when the entry conditions are met. Compared with the prior art method that can only wait for the previous operation mining truck to completely drive to the safe area and then control the mining truck that enters the site later to enter the operation area from the entry point, the embodiment of the present application can more effectively control the collaborative operation of multiple mining trucks and improve the operation efficiency of mining trucks.

[0086] 202. When receiving an entry request from a first mining card, monitor whether a second mining card exists in the operation area.

[0087] The specific implementation and effect of step 202 are the same as step 102, and the same content will not be repeated. In addition, each mine car in the mining area is equipped with a unique identification (ID), and the location information, operation status and identification information collected by itself are integrated and packaged and sent to the server, the industrial computer of the loading end device and / or the industrial computer of the unloading end device for storage, so that when the server, the industrial computer of the loading end device and the industrial computer of the unloading end device receive the mine card entry request, they can find out whether there are other mine cards in the operating area according to the recorded mine card data. Similarly, the second mine card described in this step can also be one mine card or two mine cards. The embodiment of the present application does not specifically limit the second mine card situation and monitoring method in this step.

[0088] 203. If there is a second mining card in the operation area, obtain first KD tree data.

[0089] Among them, the first KD tree data is used to identify the position point included between the work point and the exit point in the exit path. For the KD tree data in the embodiment of the present application, it can be existing KD tree data, so the acquisition method in this step can be to call a preset interface to directly obtain it from the storage area, but it is not limited to this. It should be noted that based on the KD tree data and the technical solution, the distance between each point in the exit path and the mine card can be calculated, and then the distance can be used to determine whether there is interference when multiple mine cards pass. Therefore, in the embodiment of the present application, the KD tree data corresponding to the exit path is obtained to facilitate the acquisition of the point position in the path and calculate the distance between the path point and the mine card as a basis for determining whether the mine card is allowed to pass.

[0090] In the embodiment of the present application, the step parallel to step 203 is: if there is no second mining truck in the working area, controlling the first mining truck to enter the working area according to the entry path.

[0091] When there are no other mining trucks in the mining operation area, the mining truck requesting to enter can directly follow the pre-set path, i.e., entry point-parking point-operation point, enter and perform operations, and then leave the operation area according to the exit path, i.e., operation point-exit point.

[0092] 204. Traverse the position points in the first KD tree data to determine a first distance between the position points and the parking point.

[0093] It should be noted that, since the first KD tree data contains all the position points in the exit path, the KD tree data is used to calculate the distance between each position point and the parking point in turn. If the distance between any position point and the parking point is less than the safe distance, it means that when there is a mining truck traveling on the exit path, the parking point cannot be parked. Therefore, in this step, the position points in the first KD tree data are traversed and the distance between each position point and the parking point is determined, so as to judge whether another mining truck can be controlled to enter and wait at the parking point when there is a mining truck operating in the operating area.

[0094] 205a. If the first distance is less than the first preset distance, determine that there is a first conflict area between the position point in the first KD tree data and the parking point, and control the first mining truck to wait.

[0095] As described in step 204 above, when the calculated distance between the position point in the exit path and the parking point is less than the first preset distance, it indicates that if there is a mining truck at the parking point, then another mining truck will conflict with the mining truck at the parking point when exiting, which means that the entry conditions for the second mining truck are not met at present, so in this step, the first mining truck requesting to enter will be controlled to wait.

[0096] In step 205b, parallel to step 205a, if the first distance is greater than or equal to a first preset distance, obtaining the state of the second mining truck.

[0097] The states include entry state, operation state and exit state. The entry state refers to the section from the mine truck to the entry point to the parking point, the operation state refers to the section at the loading point / unloading point, and the exit state refers to the exit path between the loading point / unloading point and the exit point. Therefore, in the embodiment of the present application, the operation state of the mine truck can be determined based on the location information of the mine truck itself. Of course, corresponding sensors can also be configured on the mine truck to determine the operation state of the mine truck based on the relative distance between the mine truck and the loading and unloading end, the weight of the mine truck, etc. The embodiment of the present application does not make specific limitations on this.

[0098] 206b. When the state of the second mining card is the entry state, it is determined that the entry condition is not met currently.

[0099] It should be noted that when the current mining truck is in the entry state, if the second mining truck is allowed to enter at the same time, there is a possibility of collision between the two mining trucks. Therefore, in order to ensure the safety of collaborative operation of mining trucks, it is necessary to wait for the front mining truck to arrive at the operation point and enter the operation state before allowing the rear mining truck to enter the operation area.

[0100] 207b. When the state of the second mining truck is the operating state, control the first mining truck to travel to the parking point and wait.

[0101] In the embodiment of the present application, according to the foregoing, because it has been determined that the mining truck temporarily parked at the parking point will not affect the exit of the previous mining truck, the second mining truck is controlled to drive to the parking point when the previous mining truck is in operation, which can not only achieve non-interference between multiple mining trucks but also improve the operating efficiency of the mining trucks.

[0102] Furthermore, the embodiment of the present application may further include: when the first mining truck arrives at the parking point and the second mining truck completes the operation, controlling the second mining truck to exit according to the exit path.

[0103] It should be noted that when there are two mining trucks in the operation area at the same time, and the status of the two vehicles is that the first mining truck is heading to the parking point and the second mining truck is at the operation point, the first mining truck is preferentially controlled to drive to the parking point. If the second mining truck completes the loading / unloading task while the first mining truck is driving to the parking point, it is necessary to control the second mining truck to wait at the operation point until the first mining truck arrives at the parking point, and then control the second mining truck to exit. In the embodiment of the present application, under the premise that parking at the parking point does not affect the exit of other mining trucks along the exit path, when there is a mining truck operating at the operation point, another mining truck can be controlled to enter the operation area and the mining truck in operation can be controlled to exit after ensuring that the mining truck has driven to the parking point. This can avoid the problem of mining truck collision caused by the conflict area between the two mining trucks caused by the control of the previous mining truck to exit before the mining truck that enters the site later has not driven to the parking point, thereby improving the safety of collaborative operation of multiple mining trucks.

[0104] Furthermore, when the state of the second mining truck changes from the operating state to the exit state, the embodiment of the present application further includes: obtaining second KD tree data; traversing the position points in the second KD tree data to determine the second distance between the position points and the second mining truck; if the second distance is less than the first preset distance, it is determined that the second KD tree and the second mining truck have a second conflict area, and the first mining truck is controlled to wait at the parking point until the second mining truck leaves the second conflict area, thereby controlling the first mining truck to travel from the parking point to the operating point. The second KD tree data is used to identify the position points included between the parking point and the operating point in the entry path.

[0105] Similarly, the second KD tree data contains the position points from the parking point to the operation point in the entry path. When the second mining truck exits along the exit path, the real-time position of the mining truck can be obtained and the distance between the mining truck and the position point in the second KD tree data can be calculated. When the distance is less than the first preset distance R S When the safety distance indicated is reached, it means that if the first mining truck parked at the parking point drives from the parking point to the operation point along the access path, there will be a conflict between the two mining trucks, so the first mining truck needs to be controlled to wait at the parking point. While the first mining truck is waiting at the parking point, the distance between the real-time position of the second mining truck and each position point in the second KD tree data is calculated. When the distance between the real-time position of the second mining truck and each position point in the second KD tree data is greater than the first preset distance R S , indicating that at this time the second mining truck exits along the exit path and the first mining truck drives from the parking point to the operation point along the entry path. There is no conflict area between the two mining trucks, so the first mining truck can be controlled to drive from the parking point to the operation point.

[0106] It can be seen that during the exit process of the second mining truck, it is necessary to monitor whether there is a risk of collision between it and the first mining truck from the parking point to the working point. Therefore, it is necessary to further obtain the second KD tree data of the section from the parking point to the working point in the entry path, and combine the real-time position of the second mining truck to determine whether the distance between the second mining truck and each position point in the second KD tree data is less than the first preset distance R S If yes, the mining truck at the parking point is controlled to wait until it is determined that there is no conflict area based on the distance, and then the waiting mining truck is controlled to drive to the operation point, ensuring the safety of multiple mining trucks operating at the same time.

[0107] Furthermore, the embodiment of the present application also includes: when the state of the second mining truck is the exit state and the state of the first mining truck is the operating state, if an entry request of a third mining truck is received, the method also includes: obtaining third KD tree data; traversing the position points in the third KD tree data, comparing the distance between the position point and the position of the second mining truck with the first preset distance, if the distance is less than the first preset distance, determining that there is a third conflict area between the third KD tree and the second mining truck, and controlling the third mining truck to wait at the entry point until the second mining truck leaves the third conflict area, thereby controlling the third mining truck to enter the operating area. The third KD tree data is used to identify the position points included between the entry point and the parking point in the entry path.

[0108] Similarly, the third KD tree data contains the position points from the entry point to the parking point in the entry path. When the second mining truck exits along the exit path, the real-time position of the second mining truck can be obtained and the distance between the second mining truck and each position point in the third KD tree data can be calculated. When the distance is less than the first preset distance R S When the safety distance indicated is 0, it means that if the third mining truck requesting entry travels from the entry point to the parking point along the entry path, there will be a conflict between the two mining trucks. Therefore, when the calculated distance between the second mining truck position and the position point in the third KD tree data is less than the first distance, the third mining truck needs to be controlled to wait at the entry point. While the third mining truck is waiting at the entry point, the distance between the real-time position of the second mining truck and each position point in the third KD tree data is continued to be calculated. When the calculated distance between the real-time position of the second mining truck and each position point is greater than the first preset distance R S , indicating that at this time, the second mining truck exits along the exit path and the third mining truck travels from the entry point to the parking point along the entry path. There is no conflict area between the two mining trucks. Therefore, the third mining truck can be controlled to enter the working area from the entry point along the entry path. After that, the coordinated control between the third mining truck and the first mining truck can execute the above steps in a loop.

[0109] For example, after judging that the parking point in the current entry path has no impact on the exit of the mining truck, the collaborative operation process of multiple mining trucks in the mining area is as follows: Figures 5 to 9 As shown:

[0110] Figure 5 When the first mining truck is requested to enter the site, another mining truck in the operation area is reversing from the parking point to the loading point, that is, there is a second mining truck in the entry state, so the first mining truck is controlled to wait for entry at the entry point;

[0111] Figure 6 The second mining truck has arrived at the loading point for loading. At this time, the first mining truck is controlled to enter the site according to the entry path and drive to the parking point;

[0112] Figure 7 When the second mining truck is loaded and the first mining truck has stopped at the parking point, the second mining truck is controlled to leave the loading point and the second mining truck is monitored according to its real-time position to see if there is a conflict with the reversing path of the first mining truck.

[0113] Figure 8 When the second mining truck drives to the safe area, the first mining truck is controlled to reverse to the loading point. At this time, the third mining truck requests to enter the site and waits at the entry point.

[0114] Fig. 9 When the second mining truck passes the intersection of the entry path and the exit path and has driven into a safe range, the third mining truck is controlled to drive to a parking point and wait for the first mining truck to leave the loading point.

[0115] It should be noted that Figure 5-Figure 9 This is a schematic diagram drawn using the loading area as an example. It should be known that when facing the unloading area, it is sufficient to set the loading point as the unloading point.

[0116] In this embodiment, the execution end of the method may be one or more of a server, an industrial computer of a loading end device, or an industrial computer of an unloading end device.

[0117] It can be seen that compared with the prior art, the embodiment of the present invention obtains path data in the mining operation area, and the path data at least includes an entry point, an operation point, an exit point, an entry path and an exit path, wherein the entry path is a path between the entry point and the operation point, and the exit path is a path between the exit point and the operation point; when an entry request of a first mining truck is received, it is monitored whether a second mining truck exists in the operation area; if so, it is judged whether the entry condition is currently met according to the parking point in the entry path, and the parking point is used for the mining truck to park and wait and drive to the operation point when allowed; when the entry condition is met, the first mining truck is controlled to enter the operation area according to the entry path, so that when there are multiple mining trucks working at the same time in the mining area, by monitoring whether there are already mining trucks in the operation area, if so, it is judged whether the mining truck requesting entry can enter according to the parking point where the mining truck temporarily stops when entering, and if allowed, the mining truck requesting entry is controlled to enter, so as to realize the automatic monitoring of mining trucks in the mining area, and improve the efficiency and safety of the collaborative operation of multiple mining trucks in the mining area.

[0118] Furthermore, as a response to the above Figure 1 The implementation of the method shown in the figure, the embodiment of the present application provides a control device for the coordinated operation of multiple mining trucks in a mining area, such as Fig.10 As shown, the device includes: an acquisition module 31, a monitoring module 32, a judgment module 33, and a control module 34.

[0119] The acquisition module 31 is used to acquire path data in the mining operation area, wherein the path data at least includes an entry point, an operation point, an exit point, an entry path and an exit path, wherein the entry path is a path between the entry point and the operation point, and the exit path is a path between the exit point and the operation point;

[0120] The monitoring module 32 is used to monitor whether there is a second mining card in the operation area when receiving an entry request of the first mining card;

[0121] A judgment module 33 is used to judge whether the entry condition is currently met according to the parking point in the entry path if the monitoring module detects that there is a second mining truck in the operation area, and the parking point is used for the mining truck to stop and wait and drive to the operation point when allowed;

[0122] The control module 34 is used to control the first mining truck to enter the working area according to the entry path when the entry condition is met.

[0123] Furthermore, if Fig.11 As shown, the device further includes: a first determining module 35,

[0124] The monitoring module 32 is also used to monitor whether there is a reversing point in the entry path, and the reversing point is used for the mining truck to adjust the driving direction so that the direction of the transportation end is consistent with the direction of the loading and unloading end;

[0125] The first determination module 35 is configured to determine the reversing point as the parking point if the monitoring module detects that there is a reversing point in the entry path;

[0126] The first determination module 35 is further configured to determine the parking point according to the size of the mining truck body and the first preset distance if the monitoring module detects that there is no reversing point in the entry path.

[0127] Furthermore, if Fig.11 As shown,

[0128] The first determination module 35 is specifically configured to determine the first preset distance according to the size of the mining truck body and the adjustment factor.

[0129] Furthermore, if Fig.11 As shown, the device further includes: a second determining module 36,

[0130] The acquisition module 31 is further used to acquire first KD tree data, where the first KD tree data is used to identify a position point included between the operation point and the exit point in the exit path;

[0131] The second determination module 36 is used to traverse the position points in the first KD tree data to determine a first distance between the position points and the parking point;

[0132] The second determination module 36 is further configured to determine that a first conflict region exists between the position point in the first KD tree data and the parking point if the first distance is less than the first preset distance.

[0133] The control module 34 is further configured to control the first mining truck to wait when the second determining module 36 determines that there is a first conflicting area.

[0134] Furthermore, if Fig.11 As shown,

[0135] The acquisition module 31 is further configured to acquire the state of the second mining truck if the first distance is greater than or equal to a first preset distance, wherein the state includes an entry state, an operation state, and an exit state;

[0136] The judging module 33 is further configured to judge that the entry condition is not met currently when the state of the second mining card is the entry state.

[0137] Furthermore, if Fig.11 As shown,

[0138] The control module 34 is further configured to control the first mining truck to travel to the parking point and wait when the state of the second mining truck is the operating state.

[0139] Furthermore, if Fig.11 As shown,

[0140] The control module 34 is further configured to control the second mining truck to exit the mining area according to the exit path when the first mining truck arrives at the parking point and the second mining truck completes the operation.

[0141] Furthermore, if Fig.11 As shown, the device further includes: a third determining module 37,

[0142] The acquisition module 31 is further used to acquire second KD tree data, where the second KD tree data is used to identify a position point included between the parking point and the operation point in the entry path;

[0143] The third determination module 37 is used to traverse the position points in the second KD tree data to determine the second distance between the position points and the second mining truck;

[0144] The third determination module 37 is further configured to determine that a second conflicting area exists between the second KD tree and the second mining truck if the second distance is less than the first preset distance.

[0145] The control module 34 is further configured to control the first mining truck to wait at the parking point until the second mining truck leaves the second conflict area when the third determining module 37 determines that the second conflict area exists, thereby controlling the first mining truck to travel from the parking point to the operating point.

[0146] Furthermore, if Fig.11 As shown, the device further includes: a fourth determining module 38,

[0147] The acquisition module 31 is further used to acquire third KD tree data, wherein the third KD tree data is used to identify a position point included between the entry point and the parking point in the entry path;

[0148] The fourth determination module 38 is used to traverse the position points in the third KD tree data, compare the distance between the position point and the position of the second mining truck with the first preset distance, and if the distance is less than the first preset distance, determine that there is a third conflict area between the third KD tree and the second mining truck.

[0149] The control module 34 is further configured to control the third mining truck to wait at the entry point until the second mining truck leaves the third conflict area if the fourth determination module 38 determines that there is a third conflict area, thereby controlling the third mining truck to enter the working area.

[0150] Furthermore, if Fig.11 As shown,

[0151] The control module 34 is further configured to control the first mining truck to enter the working area according to the entry path if there is no second mining truck in the working area.

[0152] It should be noted that the implementation steps and functions of the control device for collaborative operation of multiple mining trucks in a mining area in this embodiment correspond to the control method for collaborative operation of multiple mining trucks in a mining area mentioned above, that is, the technical solution of the device corresponds to the technical solution of the method, and the beneficial effects achieved by various aspects and corresponding feasible implementation methods are similar, and will not be repeated.

[0153] It can be seen that compared with the prior art, the embodiment of the present invention obtains path data in the mining operation area, and the path data at least includes an entry point, an operation point, an exit point, an entry path and an exit path, wherein the entry path is a path between the entry point and the operation point, and the exit path is a path between the exit point and the operation point; when an entry request of a first mining truck is received, it is monitored whether a second mining truck exists in the operation area; if so, it is judged whether the entry condition is currently met according to the parking point in the entry path, and the parking point is used for the mining truck to park and wait and drive to the operation point when allowed; when the entry condition is met, the first mining truck is controlled to enter the operation area according to the entry path, so that when there are multiple mining trucks working at the same time in the mining area, by monitoring whether there are already mining trucks in the operation area, if so, it is judged whether the mining truck requesting entry can enter according to the parking point where the mining truck temporarily stops when entering, and if allowed, the mining truck requesting entry is controlled to enter, so as to realize the automatic monitoring and control of mining trucks in the mining area, and improve the efficiency and safety of the collaborative operation of multiple mining trucks in the mining area.

[0154] Fig.12 A schematic diagram of a computer-readable storage medium provided in an embodiment of the present invention is shown in FIG. Fig.12 As shown, a computer readable storage medium 300 stores a computer program 310, which, when executed by a processor, is used to implement the following Figure 1 and Figure 2 The control method for the coordinated operation of multiple mining trucks in a mining area has been described in detail in the above embodiment, and will not be repeated here.

[0155] The methods described in the above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. The computer-readable medium 300 may include computer storage media and communication media, and may also include any medium that can transfer a computer program from one place to another. The storage medium may be any target medium that can be accessed by a computer.

[0156] As a possible design, the computer readable medium 300 may include a compact disc read-only memory (CD-ROM), RAM, ROM, EEPROM or other optical disc storage; the computer readable medium may include a magnetic disk storage or other magnetic disk storage device. Moreover, any connection line may also be appropriately referred to as a computer readable medium. For example, if the software is transmitted from a website, server or other remote source using a coaxial cable, fiber optic cable, twisted pair, DSL or wireless technology (such as infrared, radio and microwave), the coaxial cable, fiber optic cable, twisted pair, DSL or wireless technology such as infrared, radio and microwave are included in the definition of medium. Disk and disc as used herein include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks usually reproduce data magnetically, while optical discs reproduce data optically using lasers.

[0157] Fig.13 A schematic diagram of the structure of a computer device provided by an embodiment of the present invention is shown in FIG. Fig.13 As shown, the computer device 400 includes a memory 410, a processor 420, and a computer program stored in the memory 410 and executable by the processor, wherein the processor 420 executes the computer program 440 to perform the steps of the method of the present invention, and can realize the control of the collaborative operation of multiple mining trucks in the mining area. It should be noted that the computer program 440 in this embodiment is Fig.12 The same as the computer program 310 in .

[0158] The memory 410 may be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), an EPROM, a hard disk or a ROM. The memory 420 has a storage space 430 for storing a computer program 440 for performing any method steps in the above method. The computer program 440 may be read from or written to one or more computer program products. These computer program products include program code carriers such as a hard disk, a compact disk (CD), a memory card or a floppy disk. Such a computer program product is usually, for example, Fig.12The computer readable storage medium. A computer device may include multiple processors, each of which may be a single-CPU processor or a multi-CPU processor. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0159] Fig.14 A schematic diagram of the structure of a chip provided in an embodiment of the present application is shown in FIG. Fig.14 As shown, the chip 500 includes one or more (including two) processors 510 and a communication interface 530. The communication interface 530 is coupled to the at least one processor 510, and the at least one processor 510 is used to run a computer program or instruction to implement the following. Figure 1 The control method for collaborative operation of multiple mining trucks in a mining area.

[0160] Preferably, the memory 540 stores the following elements: executable modules or data structures, or a subset thereof, or an extended set thereof.

[0161] In the embodiment of the present application, the memory 540 may include a read-only memory and a random access memory, and provide instructions and data to the processor 510. A portion of the memory 540 may also include a non-volatile random access memory (NVRAM).

[0162] In the embodiment of the present application, the memory 540, the communication interface 530 and the memory 540 are coupled together through the bus system 520. The bus system 520 may include a power bus, a control bus and a status signal bus in addition to a data bus. Fig.13 Various buses are labeled as bus system 520 .

[0163] The method described in the above embodiment of the present application can be applied to the processor 510, or implemented by the processor 510. The processor 510 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware or software instructions in the processor 510. The above processor 510 can be a general-purpose processor (for example, a microprocessor or a conventional processor), a digital signal processor (digital signal processing, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field-programmable gate array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gates, transistor logic devices or discrete hardware components. The processor 510 can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present invention.

[0164] Fig.15 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention, such as Fig.15 As shown, terminal 600 includes Fig.10 The control device 100 for collaborative operation of multiple mining trucks in a mining area.

[0165] The terminal 600 can execute the method described in the above embodiment through the control device 100 for collaborative operation of multiple mining trucks in a mining area. It can be understood that the implementation method of the terminal 600 controlling the control device 100 for collaborative operation of multiple mining trucks in a mining area can be set according to the actual application scenario, and the embodiment of the present application is not specifically limited.

[0166] The terminal 600 includes but is not limited to: vehicles, vehicle-mounted terminals, vehicle-mounted controllers, vehicle-mounted modules, vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, vehicle-mounted units, vehicle-mounted radars or vehicle-mounted cameras and other sensors. The vehicle can implement the method provided in this application through the vehicle-mounted terminal, vehicle-mounted controller, vehicle-mounted module, vehicle-mounted module, vehicle-mounted components, vehicle-mounted chips, vehicle-mounted units, vehicle-mounted radars or cameras.

[0167] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0168] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for collaborative operation of multiple mining trucks in a mining area, characterized in that: include: Acquire path data in the mining operation area, wherein the path data at least includes an entry point, an operation point, an exit point, an entry path, and an exit path, wherein the entry path is a path between the entry point and the operation point, and the exit path is a path between the exit point and the operation point; When receiving an entry request from a first mining card, monitoring whether a second mining card exists in the operation area; If it exists, judging whether the entry conditions are met according to the parking points in the entry path, where the mining trucks stop and wait and drive to the operation point when allowed; When the entry condition is met, controlling the first mining truck to enter the working area along the entry path; Wherein, judging whether the entry condition is currently met according to the parking point in the entry path, and when the entry condition is met, controlling the first mining truck to enter the working area according to the entry path includes: Traversing the position points in the first KD tree data to determine a first distance between the position points and the parking point, the first KD tree data being used to identify the position points included between the working point and the exit point in the exit path, the parking point being determined by a reversing point or a size of a mining truck body; If the first distance is greater than or equal to a first preset distance, obtaining the status of the second mining card; When the state of the second mining truck is the exit state, a second distance between the position point in the second KD tree data and the second mining truck is determined, and the second KD tree data is used to identify the position point included in the entry path between the parking point and the working point; if it is determined according to the second distance that the second KD tree and the second mining truck have a second conflict area, the first mining truck is controlled to wait at the parking point until the second mining truck leaves the second conflict area, and the first mining truck is controlled to travel from the parking point to the working point.

2. The method according to claim 1, characterized in that After obtaining the path data in the mining operation area, the method further includes: Monitoring whether there is a reversing point in the entry path, the reversing point is used for the mining truck to adjust the driving direction so that the direction of the transport end is consistent with the direction of the loading and unloading end; If it exists, determining the reversing point as the parking point; If not present, the parking point is determined according to the size of the mining truck body and the first preset distance.

3. The method according to claim 2, characterized in that The first preset distance includes: The first preset distance is determined according to the size of the mining truck body and the adjustment factor.

4. The method according to claim 1, characterized in that: The method further comprises: If the first distance is less than the first preset distance, it is determined that there is a first conflict area between the position point in the first KD tree data and the parking point, and the first mining truck is controlled to wait.

5. The method according to claim 1, characterized in that: The state of the second mining truck includes an entry state, an operation state and an exit state. The method further includes: When the state of the second mining card is the entry state, it is determined that the entry condition is not met currently.

6. The method according to claim 5, characterized in that The method further comprises: When the state of the second mining truck is the operating state, the first mining truck is controlled to travel to the parking point to wait.

7. The method according to claim 6, characterized in that The method further comprises: When the first mining truck arrives at the parking point and the second mining truck completes the operation, the second mining truck is controlled to exit the mining area according to the exit path.

8. The method according to claim 7, characterized in that If it is determined according to the second distance that the second KD tree and the second mining truck have a second conflict area, the first mining truck is controlled to wait at the parking point until the second mining truck leaves the second conflict area, and the first mining truck is controlled to travel from the parking point to the operating point, including: Traversing the position points in the second KD tree data to determine a second distance between the position points and the second mining truck; If the second distance is less than the first preset distance, it is determined that there is a second conflict area between the second KD tree and the second mining truck, and the first mining truck is controlled to wait at the parking point until the second mining truck leaves the second conflict area, thereby controlling the first mining truck to travel from the parking point to the working point.

9. The method according to claim 8, characterized in that When the state of the second mining card is the exit state and the state of the first mining card is the operation state, if an entry request of a third mining card is received, the method further includes: Acquire third KD tree data, wherein the third KD tree data is used to identify a position point included between the entry point and the parking point in the entry path; Traverse the position points in the third KD tree data, compare the distance between the position point and the position of the second mining truck with the first preset distance, and if the distance is less than the first preset distance, determine that there is a third conflict area between the third KD tree and the second mining truck, and control the third mining truck to wait at the entry point until the second mining truck leaves the third conflict area, thereby controlling the third mining truck to enter the working area.

10. The method according to claim 1, characterized in that The method further comprises: If there is no second mining truck in the operation area, the first mining truck is controlled to enter the operation area according to the entry path.

11. A control device for cooperative operation of multiple mining trucks in a mining area, characterized in that: include: An acquisition module is used to acquire path data in a mining operation area, wherein the path data at least includes an entry point, an operation point, an exit point, an entry path, and an exit path, wherein the entry path is a path between the entry point and the operation point, and the exit path is a path between the exit point and the operation point; A monitoring module, for monitoring whether a second mining card exists in the operation area when receiving an entry request of the first mining card; A judgment module, for judging whether the entry condition is currently met according to the parking point in the entry path if the monitoring module detects that there is a second mining truck in the operation area, wherein the parking point is used for the mining truck to stop and wait and drive to the operation point when permitted; A control module, configured to control the first mining truck to enter the working area along the entry path when an entry condition is met; The judgment module is specifically used to traverse the position point in the first KD tree data to determine the first distance between the position point and the parking point, the first KD tree data is used to identify the position point included between the working point and the exit point in the exit path, and the parking point is determined by the reversing point or the size of the mining truck body; if the first distance is greater than or equal to the first preset distance, the state of the second mining truck is obtained; when the state of the second mining truck is the exit state, the second distance between the position point in the second KD tree data and the second mining truck is determined, and the second KD tree data is used to identify the position point included between the parking point and the working point in the entry path; The control module is specifically configured to control the first mining truck to wait at the parking point until the second mining truck leaves the second conflict area if it is determined according to the second distance that the second KD tree and the second mining truck have a second conflict area, and control the first mining truck to travel from the parking point to the operating point.

12. The device according to claim 11, characterized in that The device further includes: a first determining module, The monitoring module is further used to monitor whether there is a reversing point in the entry path, and the reversing point is used for the mining truck to adjust the driving direction so that the direction of the transportation end is consistent with the direction of the loading and unloading end; The first determination module is configured to determine the reversing point as the parking point if the monitoring module detects that there is a reversing point in the entry path; The first determination module is further configured to determine the parking point according to the size of the mining truck body and the first preset distance if the monitoring module detects that there is no reversing point in the entry path.

13. The device according to claim 12, characterized in that The first determination module is specifically configured to determine the first preset distance according to the size of the mining truck body and the adjustment factor.

14. The device according to claim 11, characterized in that The device further includes: a second determining module, The second determining module is used to determine that a first conflict area exists between the position point in the first KD tree data and the parking point if the first distance is less than the first preset distance; The control module is further configured to control the first mining truck to wait when the second determining module determines that the first conflicting area exists.

15. The device according to claim 11, characterized in that The judging module is further configured to judge that the entry condition is not met currently when the state of the second mining card is the entry state.

16. The device according to claim 15, characterized in that The control module is further configured to control the first mining truck to travel to the parking point and wait when the state of the second mining truck is the operating state.

17. The device according to claim 16, characterized in that The control module is further configured to control the second mining truck to exit the mining area according to the exit path when the first mining truck arrives at the parking point and the second mining truck completes the operation.

18. The device according to claim 17, characterized in that The device further includes: a third determining module, The third determination module is used to traverse the position points in the second KD tree data to determine the second distance between the position point and the second mining truck; The third determination module is further configured to determine that a second conflict area exists between the second KD tree and the second mining card if the second distance is less than the first preset distance; The control module is further configured to control the first mining truck to wait at the parking point until the second mining truck leaves the second conflict area when the third determination module determines that the second conflict area exists, thereby controlling the first mining truck to travel from the parking point to the operation point.

19. The device according to claim 18, characterized in that The device further includes: a fourth determining module, The acquisition module is further used to acquire third KD tree data, wherein the third KD tree data is used to identify a position point included between the entry point and the parking point in the entry path; The fourth determination module is used to traverse the position points in the third KD tree data, compare the distance between the position point and the position of the second mining truck with the first preset distance, and if the distance is less than the first preset distance, determine that there is a third conflict area between the third KD tree and the second mining truck; The control module is further configured to control the third mining truck to wait at the entry point until the second mining truck leaves the third conflict area if the fourth determination module determines that there is a third conflict area, thereby controlling the third mining truck to enter the working area.

20. The device according to claim 11, characterized in that The control module is further configured to control the first mining truck to enter the working area according to the entry path if there is no second mining truck in the working area.

21. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

22. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, the steps of the method according to any one of claims 1 to 10 are implemented.

23. A chip, characterized in that: The chip includes at least one processor and a communication interface, wherein the communication interface is coupled to the at least one processor, and the at least one processor is used to run a computer program or instruction to implement the control method for collaborative operation of multiple mining trucks in a mining area as described in any one of claims 1 to 10.

24. A terminal, characterized in that: The terminal includes a control device for collaborative operation of multiple mining trucks in a mining area as described in claims 11-20.

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