Simulation method and distributed simulation system for the entire process of unmanned driving in mines

Abstract

The present invention provides a simulation method and distributed simulation system for the entire process of unmanned driving in mines, and relates to the technical field of unmanned driving simulation in mines. The present invention is based on a simulation system with a distributed architecture, which parameters all complex scenes of mine operations in the entire process of unmanned driving in mines to be simulated and then inputs them through a simulation client; then the simulation service is executed based on the simulation server, and the scene terrain and map are updated based on the simulation client; finally, the simulation server determines whether the updated scene terrain and map meet the preset requirements. If so, the simulation client updates the scene terrain and map that meet the preset requirements and switches to the next complex scene business of mine operations, until the simulation of all the complex scene businesses of mine operations to be input is completed. The present invention comprehensively, completely and efficiently realizes the simulation of the entire process and all business scenarios of mine operations, and effectively verifies and promotes the process of unmanned driving to complete actual production tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned driving simulation technology in mines, and in particular to a simulation method and a distributed simulation system for the entire process of unmanned driving in mines. Background Art

[0002] Mines are a representative application of autonomous driving technology. Their enclosed operating areas, relatively fixed haul roads, and slow vehicle speeds significantly enhance the potential for the implementation of intelligent driving technology. During the R&D process to promote the implementation of autonomous driving technology, unmanned mining trucks primarily undergo on-site commissioning and utilize existing mining simulation system software. Testing based on mining simulation systems offers significant advantages in both efficiency and cost-effectiveness, making it the mainstream testing method for unmanned mining trucks.

[0003] At present, the more common mining scene-related simulation technologies are generally based on an initial state of mine information to build a scene, so as to test and verify the scheduling and operation of mining trucks in the mining scene. Some of them are based on this and perform cloud-based processing on other system modules related to the mining scene simulation system (such as the scheduling system, etc.).

[0004] However, in reality, the surface morphology of the mine is constantly changing dynamically with the advancement of the overall business. Therefore, only based on the initial state of the mine information to build the scene and perform related simulations of the mine operation scene, although it includes the basic transportation process of the mining truck, it does not include the simulation of the entire process and the entire business scene involved in the dynamic advancement of the mine. Therefore, the final simulation results are incomplete and cannot verify and promote the unmanned driving to complete actual production tasks. In addition, the simulation system needs to have the ability to support hundreds to thousands of mining trucks operating at the same time, coupled with the dynamic changes and movements of the mine, so the basic scheduling real-time communication data involved in the simulation process of the mine operation scene and the various data generated by the changes in complex business scenarios are massive, and the calculation and processing between these massive data are also quite complex. The single core architecture of the existing simulation system cannot be fully and efficiently implemented. Summary of the Invention

[0005] (1) Technical problems solved

[0006] In response to the shortcomings of the existing technology, the present invention provides a simulation method and distributed simulation system for the entire process of unmanned driving in mines, which solves the problem that the existing technology cannot efficiently complete the full-process simulation and full-business scenario simulation of mining operations.

[0007] (2) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] In a first aspect, the present invention proposes a simulation method for the entire process of unmanned driving in a mine, the method comprising:

[0010] S1. Parameterize the relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated;

[0011] S2. Starting a distributed architecture simulation system including a simulation client and a simulation server, and inputting the first parameterized complex mining operation scenario business and related parameter constraints of the complex mining operation scenario business through the simulation client;

[0012] S3, executing simulation services based on the simulation server, and updating scene terrain and maps based on the simulation client;

[0013] S4, judging whether the updated scene terrain and map meet the preset requirements based on the simulation server, if so, go to S5; if not, go to S3;

[0014] S5. Based on the simulation client, the scene terrain and map that meet the preset requirements are updated, and the next complex scene business of mining operation is switched to. At the same time, go to step S2 until the simulation of all the complex scene businesses of mining operation is completed.

[0015] Preferably, the relevant production factors include: production time factors and production plan factors; the complex mining operation scenario business includes: ramp operation business, upward slope mining operation business, downward slope mining operation business, retaining wall repair operation business, retaining wall pushing operation business, and trenching operation business; the relevant parameter constraints include: mining boundary parameter constraints, mining height parameter constraints, and mining direction parameter constraints.

[0016] Preferably, the step S3, executing the simulation service based on the simulation server, and updating the scene terrain and map based on the simulation client, includes:

[0017] S31. Form simulated operation routes and space planning based on the business requirements of complex mining operation scenarios;

[0018] S32. The simulation server performs simulation services based on the simulation operation route and space planning, and the simulation client updates scene terrain and maps based on the results of the simulation services.

[0019] Preferably, the simulation service includes: real-time simulation service, terrain calculation service, collision calculation service, and data acquisition service.

[0020] In a second aspect, the present invention further proposes a distributed simulation system for the entire process of unmanned driving in mines, the system comprising:

[0021] A processing unit is configured to perform the following steps:

[0022] S1. Parameterize the relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated;

[0023] S2. Starting a distributed architecture simulation system including a simulation client and a simulation server, and inputting the first parameterized complex mining operation scenario business and related parameter constraints of the complex mining operation scenario business through the simulation client;

[0024] S3, executing simulation services based on the simulation server, and updating scene terrain and maps based on the simulation client;

[0025] S4, judging whether the updated scene terrain and map meet the preset requirements based on the simulation server, if so, go to S5; if not, go to S3;

[0026] S5. Based on the simulation client, the scene terrain and map that meet the preset requirements are updated, and the next complex mining operation scene business is switched to. At the same time, the process goes to step S2 until the simulation of all the complex mining operation scene businesses is completed;

[0027] Output unit, used to output simulation results.

[0028] Preferably, the relevant production factors include: production time factors and production plan factors; the complex mining operation scenario business includes: ramp operation business, upward slope mining operation business, downward slope mining operation business, retaining wall repair operation business, retaining wall pushing operation business, and trenching operation business; the relevant parameter constraints include: mining boundary parameter constraints, mining height parameter constraints, and mining direction parameter constraints.

[0029] Preferably, when the processing unit executes step S3, executes the simulation service based on the simulation server, and updates the scene terrain and map based on the simulation client, it includes:

[0030] S31. Form simulated operation routes and space planning based on the business requirements of complex mining operation scenarios;

[0031] S32. The simulation server performs simulation services based on the simulation operation route and space planning, and the simulation client updates scene terrain and maps based on the results of the simulation services.

[0032] Preferably, the simulation service includes: real-time simulation service, terrain calculation service, collision calculation service, and data acquisition service.

[0033] In a third aspect, the present invention also proposes a computer-readable storage medium, which stores a computer program for distributed simulation of the entire process of unmanned driving in mines, wherein the computer program enables the computer to execute the above-mentioned simulation method for the entire process of unmanned driving in mines.

[0034] In a fourth aspect, the present invention further provides an electronic device, comprising:

[0035] one or more processors;

[0036] Memory; and

[0037] One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a simulation method for executing the full process of unmanned driving in mines as described above.

[0038] (3) Beneficial effects

[0039] The present invention provides a simulation method and distributed simulation system for the entire process of unmanned mining. Compared with the existing technology, it has the following advantages:

[0040] 1. The present invention is based on a distributed architecture simulation system including a simulation client and a simulation server. The relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated are parameterized and input through the simulation client; then the simulation service is executed based on the simulation server, and the scene terrain and map are updated based on the simulation client; finally, the simulation server determines whether the updated scene terrain and map meet the preset requirements. When the requirements are met, the simulation client updates the scene terrain and map that meet the preset requirements and switches to the next complex mining operation scenario business until the simulation of all the complex mining operation scenarios to be input is completed. The present invention takes into account the dynamic change process of different complex scenarios of mining operations, and updates and replaces the complex scenario business data and scene terrain and map data in this process in real time during the simulation process. The whole process forms a closed loop, which truly restores the operation process of mining trucks in various complex mining operation scenarios, and comprehensively, completely and efficiently realizes the full process and full business scenario simulation of mining business, and effectively verifies and promotes the process of unmanned driving to complete actual production tasks.

[0041] 2. The present invention utilizes a distributed architecture simulation system, separating front-end display and interaction from back-end simulation calculations. This distributed deployment improves the system's operational capabilities, enabling it to simultaneously support the scheduling and operation of large-scale train formations in complex scenarios, along with change simulation calculations, business data flow, data acquisition and update calculations, and real-time operation and rendering. This data is then used as raw data to drive the continuous updating of scene terrain, maps, and terrain, ensuring that mining trucks can operate normally in continuously changing scenarios. The present invention's distributed architecture simulation system overcomes the shortcomings of existing mining simulation systems, which suffer from poor data processing capabilities and low data processing efficiency, often found in the single-architecture core. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 This is a flow chart of a simulation method for the entire process of unmanned driving in a mine according to an embodiment of the present invention;

[0044] Figure 2 This is a diagram illustrating an embodiment of a simulation method for the entire process of unmanned driving in a mine according to an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of a distributed architecture simulation system according to an embodiment of the present invention;

[0046] Figure 4 The figure is a flowchart of a complex mining operation scenario in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0048] The embodiments of the present application solve the problem that the existing technology cannot efficiently complete the full-process simulation and full-business scenario simulation of mining business by providing a simulation method and distributed simulation system for the entire process of unmanned driving in mines, and achieve the purpose of efficiently and comprehensively verifying and promoting unmanned driving in completing actual production tasks.

[0049] The technical solution in the embodiments of the present application is to solve the above technical problems, and the overall idea is as follows:

[0050] In order to overcome the problem that the existing unmanned driving simulation technology in mines is unable to simulate the full process and full business scenarios of the mining business involved in the dynamic advancement of the mine, and at the same time solve the problem that the single architecture of the existing simulation system core cannot fully and efficiently realize the calculation and processing of the massive data generated in the unmanned driving simulation process of the mine, the present invention has built a distributed architecture simulation system including a simulation client and a simulation server, and parameterized the relevant production factors involved in the dynamic changes of all complex mining operation scenarios to be simulated in the full process of the mining business and the full business scenario, and input them through the simulation client; then the simulation service is executed based on the simulation server, and the scene terrain and map are updated based on the simulation client; finally, based on the simulation server, it is judged whether the updated scene terrain and map meet the preset requirements. When the requirements are met, the scene terrain and map that meet the preset requirements are updated based on the simulation client and switched to the next complex mining operation scenario business until the simulation of all the complex mining operation scenarios to be input is completed.

[0051] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0052] Example 1:

[0053] Complex mining operation scenarios. The mine is divided into terraces at different elevations, with mining and dumping areas at either end of each terrace. With continuous mining in the loading area and dumping in the dump, the entire mine slowly shifts and changes along the planned mining direction. The changing operational scenarios involve several necessary operations, such as trenching, ramp construction, ramp removal, and retaining wall deployment. These processes require the repeated coordination of multiple vehicles, driving changes and updates to the terrain in the simulation scenario. A dynamically changing scenario involving multiple trucks and excavators, designed to simulate a specific mining process, is called a complex scenario. Common complex mining operation scenarios include ramping, upward slope mining, downward slope mining, retaining wall repair, retaining wall displacement, trenching, and so on.

[0054] In complex scenarios, in addition to completing the basic mining and loading processes, mining trucks and excavators also need to be given different parameter constraints based on different specific mining processes, so that the scene changes that occur in each mining and loading process are planned. Ultimately, after the accumulation of multiple operation changes, the scene state that needs to be formed in the relevant specific links is formed.

[0055] In actual operations, specific business processes are dominated by manned excavators. However, in unmanned simulation scenarios, these dominant factors are converted into input constraint parameters. These converted parameters can be divided into two categories: one for automatically guiding the excavator's subsequent mining routes; the other for constraining the excavator's operations during each mining process. Through unified parameter constraints, the excavator in the simulation scenario can automatically drive changes in specific business processes.

[0056] The entire mining process and all business scenarios. In practice, a given mining operation often encompasses multiple complex mining operation scenarios. When one complex operation scenario is completed, the terrain is updated, and then the next complex scenario is switched to, and so on, until all complex scenarios are completed. Therefore, mining operations are a closed-loop process encompassing the entire process and all business scenarios.

[0057] In the first aspect, the present invention first proposes a simulation method for the entire process of unmanned driving in mines, see Figure 1 , the method comprising:

[0058] S1. Parameterize the relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated;

[0059] S2. Starting a distributed architecture simulation system including a simulation client and a simulation server, and inputting the first parameterized complex mining operation scenario business and related parameter constraints of the complex mining operation scenario business through the simulation client;

[0060] S3, executing simulation services based on the simulation server, and updating scene terrain and maps based on the simulation client;

[0061] S4, judging whether the updated scene terrain and map meet the preset requirements based on the simulation server, if so, go to S5; if not, go to S3;

[0062] S5. Based on the simulation client, the scene terrain and map that meet the preset requirements are updated, and the next complex scene business of mining operation is switched to. At the same time, go to step S2 until the simulation of all the complex scene businesses of mining operation is completed.

[0063] It can be seen that this embodiment is based on a distributed architecture simulation system including a simulation client and a simulation server. The relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated are parameterized and input through the simulation client; then the simulation service is executed based on the simulation server, and the scene terrain and map are updated based on the simulation client; finally, the simulation server determines whether the updated scene terrain and map meet the preset requirements. When the requirements are met, the simulation client updates the scene terrain and map that meet the preset requirements and switches to the next complex mining operation scenario business until the simulation of all the complex mining operation scenarios to be input is completed. The present invention takes into account the dynamic change process of different complex scenarios of mining operations, and updates and replaces the complex scenario business data and scene terrain and map data in this process in real time during the simulation process. The whole process forms a closed loop, which truly restores the operation process of mining trucks in various complex mining operation scenarios, and comprehensively, completely and efficiently realizes the full process and full business scenario simulation of mining business, and effectively verifies and promotes the process of unmanned driving to complete actual production tasks.

[0064] The following is an example of the first complex mining operation scenario of ramp operation in the whole process of unmanned driving in a mine. Figure 1-4 , and explanations of specific steps S1-S5 are provided to describe in detail the implementation process of an embodiment of the present invention.

[0065] In actual mining operation scenarios, the surface morphology changes dynamically as the overall business progresses. Therefore, in order to meet the needs of implementing unmanned driving technology in mines, unmanned mining trucks must not only be able to operate normally under scheduling control, but also participate in the business aspects related to specific scene changes, so that the entire simulation scene can form a closed loop and drive the advancement of the entire mining scene. Therefore, this embodiment proposes the following method:

[0066] S1. Parameterize the relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated.

[0067] The relevant production factors involved in the dynamic changes in all complex mining operation scenarios within the entire autonomous mining process to be simulated are parameterized and embedded into the simulation scenario as input, participating in the calculation of different operations in the scenario. Generally speaking, the relevant production factors of each complex mining operation scenario mainly include production time and production plan.

[0068] S2. Start a distributed architecture simulation system including a simulation client and a simulation server, and input the first parameterized complex mining operation scenario business and related parameter constraints of the complex mining operation scenario business through the simulation client.

[0069] See also Figure 2 The distributed architecture simulation system of this embodiment includes a simulation client and a simulation server. When executing a specific simulation task, the complex mining operation scene file to be run is opened through the simulation client and sent to the distributed simulation server. The corresponding simulation process is started, and the scene change data during the simulation process is fed back to the simulation client for rendering and display. In this distributed architecture simulation system, the simulation client is only responsible for front-end interaction and rendering. Other simulation-related processes and services are run on the simulation server, which mainly include real-time simulation services, terrain calculation services, collision calculation services, and data acquisition services, etc.

[0070] After the distributed architecture simulation system is launched, the first parameterized complex mining scenario and its parameter constraints are entered into the simulation client. Common complex mining scenarios include ramp operations, upward slope mining, downward slope mining, retaining wall repair and removal, and trenching. Parameter constraints for complex scenarios typically include, but are not limited to, mining boundary constraints, mining height constraints, and mining direction constraints.

[0071] S3. Execute simulation services based on the simulation server, and update scene terrain and maps based on the simulation client.

[0072] The distributed architecture simulation system performs simulation operations according to the above-mentioned input parameters of the complex mining operation scenario business and the parameter constraints of the complex mining operation scenario business, and continuously collects simulation data and updates the scene terrain and map in real time. Figure 4 ,The simulation process of ramp operation as a complex mining operation scenario is as follows:

[0073] 1) Form operation routes and space planning based on the business requirements of complex slope operation scenarios.

[0074] Establish operational requirements for ramp operations. As mining progresses, new connecting ramps will need to be built between different steps and old ramps will need to be demolished according to the planned progress, resulting in a changing and updated scenario. Specifically, a new ramp will be built along the side of the old ramp, using the overall progress direction as a reference. Mining trucks will continue to operate on the old ramp until construction is complete. Once the new ramp is complete, the old ramp will be demolished and the new ramp will serve as the driving route.

[0075] Based on these business requirements, corresponding operation routes and spatial planning are formed as the business logic to drive the mining trucks. For ramp operations, the starting and ending points and depths of mining at different elevations need to be planned according to the slope requirements. This serves as the basis for horizontal push operations at different elevations.

[0076] The parameters corresponding to different vehicle types are input into a single operation process. Combined with the above-planned operation routes and space planning, scene changes that meet the input business requirements are formed through multiple accumulation of automatic operations.

[0077] 2) Based on the above-mentioned operation route and spatial planning, the simulation server is used to provide real-time simulation services, terrain calculation services, collision calculation services, data collection services, etc. The simulation client is used to interact with the simulation server to perform terrain update and map update rendering work, thereby updating and displaying the scene terrain and map.

[0078] During the change process, the changes after each operation will affect the subsequent operations of the unmanned mining truck, so it is necessary to update the scene terrain and map in time. This process is completed through the simulation data acquisition service, and after the map is updated, it is used to guide the subsequent operations. The overall process is as follows Figure 3 As shown, specifically:

[0079] Under the constraints of complex scenario parameters and parameters, the mining-transport-discharge process is repeated. Specifically, within the complex mining boundary, height, and direction parameters of mining operations, the surface changes within the operating area are continuously promoted, thus providing real-time simulation services. The simulation server of the distributed architecture simulation system performs terrain calculation services, calculating terrain changes caused by different parameters. The calculation results are sent to other terrain-related service modules for execution, such as data collection and collision detection services. Terrain updates and map updates from the data collection service are then synchronously transmitted to the simulation client for rendering, enabling synchronized visual updates.

[0080] S4. Determine based on the simulation server whether the updated scene terrain and map meet the preset requirements. If so, go to S5; if not, go to S3.

[0081] The simulation server determines whether the real-time updates of the scene terrain and map during the simulation in S3 meet the business requirements of the complex scenario. Specifically, if the relevant parameters of the resulting scene terrain and map, after the accumulation of multiple mining operation changes, meet the parameter constraints preset for the complex mining operation scenario, then the business requirements of the complex mining operation scenario are considered to have been met. For example, if the mining boundary, mining height, and mining direction set for ramp operations are simultaneously met, then the business requirements of the complex ramp operation scenario are considered to have been met.

[0082] If the scene terrain and map meet the preset requirements, go to step S5; if not, go to step S3.

[0083] S5. Based on the simulation client, the scene terrain and map that meet the preset requirements are updated, and the next complex mining operation scene business is switched to according to the arrangement order of each complex mining operation scene in the entire process of unmanned driving in the mine to be simulated, and at the same time, go to step S2 until the simulation of all the complex mining operation scene businesses is completed.

[0084] After completing a complex mining scenario, the terrain and map of the entire scenario undergo a qualitative transformation, transforming from quantitative changes. The simulation then switches to the next state based on the mining plan data and the current changes. It then continues to simulate the next complex mining scenario using the same operational logic as the previous one, continuing until all complex mining scenarios specified by the input planning objectives are simulated, ultimately outputting the desired simulation results.

[0085] At this point, the entire process of the simulation method for the entire process of unmanned driving in mines of the present invention is completed.

[0086] Example 2:

[0087] In a second aspect, the present invention further provides a distributed simulation system for the entire process of unmanned driving in mines, the system comprising:

[0088] A processing unit is configured to perform the following steps:

[0089] S1. Parameterize the relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated;

[0090] S2. Starting a distributed architecture simulation system including a simulation client and a simulation server, and inputting the first parameterized complex mining operation scenario business and related parameter constraints of the complex mining operation scenario business through the simulation client;

[0091] S3, executing simulation services based on the simulation server, and updating scene terrain and maps based on the simulation client;

[0092] S4, judging whether the updated scene terrain and map meet the preset requirements based on the simulation server, if so, go to S5; if not, go to S3;

[0093] S5. Based on the simulation client, the scene terrain and map that meet the preset requirements are updated, and the next complex mining operation scene business is switched to. At the same time, the process goes to step S2 until the simulation of all the complex mining operation scene businesses is completed;

[0094] Output unit, used to output simulation results.

[0095] Optionally, the relevant production factors include: production time factors and production plan factors; the complex mining operation scenario business includes: ramp operation business, upward slope mining operation business, downward slope mining operation business, retaining wall repair operation business, retaining wall pushing operation business, and trenching operation business.

[0096] Optionally, when the processing unit executes step S3, executes the simulation service based on the simulation server, and updates the scene terrain and map based on the simulation client, the processing unit includes:

[0097] S31. Form simulated operation routes and space planning based on the business requirements of complex mining operation scenarios;

[0098] S32. The simulation server performs simulation services based on the simulation operation route and space planning, and the simulation client updates scene terrain and maps based on the results of the simulation services.

[0099] Optionally, the simulation service includes: real-time simulation service, terrain calculation service, collision calculation service, and data acquisition service.

[0100] Optionally, the relevant parameter constraints include: mining boundary parameter constraints, mining height parameter constraints, and mining direction parameter constraints.

[0101] It can be understood that the distributed simulation system for the entire process of unmanned driving in mines provided by the embodiment of the present invention corresponds to the above-mentioned simulation method for the entire process of unmanned driving in mines. The explanations, examples, beneficial effects, etc. of the relevant contents can refer to the corresponding contents in the simulation method for the entire process of unmanned driving in mines, and will not be repeated here.

[0102] Example 3:

[0103] In a third aspect, the present invention also provides a computer-readable storage medium storing a computer program for distributed simulation of the entire process of unmanned driving in mines, wherein the computer program enables a computer to execute the simulation method for the entire process of unmanned driving in mines as described above.

[0104] Example 4:

[0105] In a fourth aspect, the present invention further provides an electronic device, comprising:

[0106] one or more processors;

[0107] Memory; and

[0108] One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a simulation method for executing the above-mentioned full process of unmanned driving in mines.

[0109] In summary, compared with the existing technology, the present invention has the following beneficial effects:

[0110] 1. The present invention is based on a distributed architecture simulation system including a simulation client and a simulation server. The relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated are parameterized and input through the simulation client; then the simulation service is executed based on the simulation server, and the scene terrain and map are updated based on the simulation client; finally, the simulation server determines whether the updated scene terrain and map meet the preset requirements. When the requirements are met, the simulation client updates the scene terrain and map that meet the preset requirements and switches to the next complex mining operation scenario business until the simulation of all the complex mining operation scenarios to be input is completed. The present invention takes into account the dynamic change process of different complex scenarios of mining operations, and updates and replaces the complex scenario business data and scene terrain and map data in this process in real time during the simulation process. The whole process forms a closed loop, which truly restores the operation process of mining trucks in various complex mining operation scenarios, and comprehensively, completely and efficiently realizes the full process and full business scenario simulation of mining business, and effectively verifies and promotes the process of unmanned driving to complete actual production tasks.

[0111] 2. The present invention utilizes a distributed architecture simulation system, separating front-end display and interaction from back-end simulation calculations. This distributed deployment improves the system's operational capabilities, enabling it to simultaneously support the scheduling and operation of large-scale train formations in complex scenarios, along with change simulation calculations, business data flow, data acquisition and update calculations, and real-time operation and rendering. This data is then used as raw data to drive the continuous updating of scene terrain, maps, and terrain, ensuring that mining trucks can operate normally in continuously changing scenarios. The present invention's distributed architecture simulation system overcomes the shortcomings of existing mining simulation systems, which suffer from poor data processing capabilities and low data processing efficiency, often found in the single-architecture core.

[0112] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0113] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A simulation method for the entire process of unmanned driving in mines, characterized by: The method comprises: S1. Parameterize the relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated; S2. Starting a distributed architecture simulation system including a simulation client and a simulation server, and inputting the first parameterized complex mining operation scenario business and related parameter constraints of the complex mining operation scenario business through the simulation client; S3, executing a simulation service based on the simulation server, and updating a scene terrain and a map based on the simulation client, wherein the simulation client updates the scene terrain and the map based on a result of the simulation service; S4, judging whether the updated scene terrain and map meet the preset requirements based on the simulation server, if so, go to S5; if not, go to S3; S5. Based on the simulation client, the scene terrain and map that meet the preset requirements are updated, and the next complex mining operation scene business is switched to. At the same time, the process goes to step S2 until the simulation of all the complex mining operation scene businesses is completed; The complex mining operation scenarios include: ramp operation, upward slope mining operation, downward slope mining operation, retaining wall repair operation, retaining wall pushing operation, and trenching operation.

2. The method according to claim 1, wherein The relevant production factors include: production time factors and production plan factors; the relevant parameter constraints include: mining boundary parameter constraints, mining height parameter constraints, and mining direction parameter constraints.

3. The method according to claim 1, wherein The step S3, executing the simulation service based on the simulation server and updating the scene terrain and map based on the simulation client, includes: S31. Form simulated operation routes and space planning based on the business requirements of complex mining operation scenarios; S32. The simulation server performs simulation services based on the simulation operation route and space planning.

4. The method according to claim 3, wherein The simulation service includes: real-time simulation service, terrain calculation service, collision calculation service, and data acquisition service.

5. A distributed simulation system for the entire process of unmanned driving in mines, characterized by: The system comprises: A processing unit is configured to perform the following steps: S1. Parameterize the relevant production factors involved in the dynamic changes of all complex mining operation scenarios in the entire process of unmanned driving in the mine to be simulated; S2. Starting a distributed architecture simulation system including a simulation client and a simulation server, and inputting the first parameterized complex mining operation scenario business and related parameter constraints of the complex mining operation scenario business through the simulation client; S3, executing a simulation service based on the simulation server, and updating a scene terrain and a map based on the simulation client, wherein the simulation client updates the scene terrain and the map based on a result of the simulation service; S4, judging whether the updated scene terrain and map meet the preset requirements based on the simulation server, if so, go to S5; if not, go to S3; S5. Based on the simulation client, the scene terrain and map that meet the preset requirements are updated, and the next complex mining operation scene business is switched to. At the same time, the process goes to step S2 until the simulation of all the complex mining operation scene businesses is completed; Output unit, used for outputting simulation results; The complex mining operation scenarios include: ramp operation, upward slope mining operation, downward slope mining operation, retaining wall repair operation, retaining wall pushing operation, and trenching operation.

6. The system according to claim 5, wherein: The relevant production factors include: production time factors and production plan factors; the relevant parameter constraints include: mining boundary parameter constraints, mining height parameter constraints, and mining direction parameter constraints.

7. The system according to claim 5, wherein: When the processing unit executes step S3, executes the simulation service based on the simulation server, and updates the scene terrain and map based on the simulation client, it includes: S31. Form simulated operation routes and space planning based on the business requirements of complex mining operation scenarios; S32. The simulation server performs simulation services based on the simulation operation route and space planning.

8. The system according to claim 7, wherein: The simulation service includes: real-time simulation service, terrain calculation service, collision calculation service, and data acquisition service.

9. A computer-readable storage medium, characterized in that It stores a computer program for distributed simulation of the entire process of unmanned driving in mines, wherein the computer program enables a computer to execute the simulation method for the entire process of unmanned driving in mines as described in any one of claims 1-4.

10. An electronic device, characterized in that: include: one or more processors; Memory; as well as One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the programs include a method for executing the simulation method for the full process of unmanned driving in a mine as described in any one of claims 1 to 4.

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