Operating system, auxiliary operation method, auxiliary operation device, and storage medium

Abstract

The present disclosure provides an operation system, an auxiliary operation method, an auxiliary operation device, and a storage medium, relating to the technical field of unmanned transportation auxiliary operation in mines. An operation system of the present disclosure includes: a transport vehicle configured to send a clearance request to a management platform according to obstacle information when an obstacle is detected; a management platform configured to select a target auxiliary operation vehicle according to the clearance request, generate an operation task, and provide it to the target auxiliary operation vehicle; and an auxiliary operation vehicle configured to, when being the target auxiliary operation vehicle, go to the position of the obstacle according to the corresponding operation task to execute the operation task. Such an operation system can improve the degree of automation and processing efficiency of obstacle clearance.

Description

Technical Field

[0001] The present disclosure relates to the technical field of unmanned transportation auxiliary operations in mines, and particularly to an operation system, an auxiliary operation method, an auxiliary operation device, and a storage medium. Background Art

[0002] In an unmanned open-pit mine production system, unmanned production has advantages such as reducing the demand for drivers, improving production safety and personnel safety, and improving production efficiency. However, unmanned open-pit mine production is a systematic project that requires multi-machine type collaborative operations.

[0003] There are many factors that affect the safe driving of unmanned transport vehicles. For example, on the driving road, transport vehicles spill materials (such as stones and coal blocks) on the road, falling rocks rolling down the hillside, or silt washed by rain blocking the road, etc., resulting in unmanned transport vehicles either taking a detour, or stopping and waiting, or even the transport road being blocked and the process being interrupted. This situation will cause low production and transportation efficiency, increased energy consumption, and increased production costs. Therefore, in addition to driverless transport vehicles, there are also a large number of auxiliary operation vehicles, such as graders. The auxiliary operation vehicles can assist the unmanned transport vehicles to transport materials safely and smoothly. The cleaning and leveling of the road are the prerequisites for ensuring the safe and efficient driving of unmanned transport vehicles. How to quickly clean and repair the road when the road surface is uneven or roadblocks occur is a very important and indispensable link in the unmanned open-pit mine production system. Summary of the Invention

[0004] An object of the present disclosure is to improve the automation degree and processing efficiency of obstacle cleaning.

[0005] According to one aspect of some embodiments of the present disclosure, an operation system is proposed, including: a transport vehicle configured to send a road clearing request to a management platform according to obstacle information when detecting an obstacle; a management platform configured to select a target auxiliary operation vehicle according to the road clearing request, generate an operation task and provide it to the target auxiliary operation vehicle; and an auxiliary operation vehicle configured to execute the operation task by going to the position of the obstacle according to the corresponding operation task when being the target auxiliary operation vehicle.

[0006] In some embodiments, the transport vehicle is configured to: collect obstacle information; determine an operation area according to the obstacle information, generate operation area information; and send the operation area information to the management platform.

[0007] In some embodiments, the obstacle information includes the obstacle position, the obstacle size, and the number of obstacles; the operation area information includes the operation area area and shape, the number of obstacles, the obstacle size, and the obstacle position.

[0008] In some embodiments, the management platform is configured to: receive operation area information from an unmanned transport vehicle; determine a set of auxiliary operation vehicles capable of clearing corresponding obstacles according to the operation area information; and select a target auxiliary operation vehicle according to one or more of the operation status, current position, estimated time to reach the obstacle, or the number of remaining unfinished tasks of the auxiliary operation vehicles in the set of auxiliary operation vehicles.

[0009] In some embodiments, the management platform is further configured to: generate an operation path for the target auxiliary operation vehicle at the obstacle position, and generate an operation task in combination with the packing number of the corresponding operation target.

[0010] In some embodiments, the auxiliary operation vehicle is configured to: obtain the information of the operation task from the task queue in sequence, wherein the operation tasks are stored in the task queue in the order of being assigned to the current auxiliary operation vehicle; determine the path information to the target position corresponding to the operation task according to the information of the operation task; travel to the target position according to the path information; and perform the operation according to the information of the operation task when arriving at the target position.

[0011] In some embodiments, the auxiliary operation vehicle is configured to: send a path request to the management platform according to the information of the operation task and obtain the path information fed back by the management platform; the management platform is further configured to: generate path information according to the path request from the auxiliary operation vehicle, the target position of the operation task, and the current position of the auxiliary operation vehicle, and feed it back to the corresponding auxiliary operation vehicle.

[0012] In some embodiments, the auxiliary operation vehicle is further configured to: detect the obstacle state after arriving at the position of the obstacle; in the case where it is determined that the obstacle state does not match the corresponding obstacle information in the operation task, determine whether the obstacle state exceeds the processing capacity of the auxiliary operation vehicle; if the obstacle state exceeds the processing capacity of the auxiliary operation vehicle, send an exception information to the management platform; the management platform is further configured to: reselect a target auxiliary operation vehicle according to the exception information, and generate an operation task for the reselected target auxiliary operation vehicle according to the exception information and the obstacle information.

[0013] In some embodiments, the auxiliary operation vehicle is further configured to: perform the operation according to the information of the operation task in the case where it is determined that the obstacle state matches the corresponding obstacle information in the operation task, or the obstacle state does not exceed the processing capacity of the auxiliary operation vehicle.

[0014] In some embodiments, the auxiliary operation vehicle is further configured to: detect the obstacle state during the operation; in the case where it is determined that the obstacle clearing is completed according to the obstacle state, execute the next operation task according to the task queue until the task queue is empty.

[0015] In some embodiments, the auxiliary operation vehicle is further configured to: stop in place or pull over in case of a determined fault; send fault information to the management platform; the management platform is further configured to: assign a target auxiliary operation vehicle to each unexecuted operation task and each operation task that fails to execute according to one or more of the operation capabilities, operation status, current location, estimated time to reach an obstacle, or number of remaining uncompleted tasks of each auxiliary operation vehicle; and provide the operation task to the corresponding target auxiliary operation vehicle.

[0016] In some embodiments, the transport vehicle is further configured to: pull over or re-plan a path that can bypass the obstacle when detecting an obstacle.

[0017] According to one aspect of some embodiments of the present disclosure, an auxiliary operation method is provided, including: when detecting an obstacle, the transport vehicle sends a clearance request to the management platform according to the obstacle information; the management platform selects a target auxiliary operation vehicle according to the clearance request, generates an operation task and provides it to the target auxiliary operation vehicle; and the target auxiliary operation vehicle goes to the location of the obstacle according to the corresponding operation task to execute the operation task.

[0018] In some embodiments, sending a clearance request to the management platform according to the obstacle information includes: collecting the obstacle information; determining an operation area according to the obstacle information and generating operation area information; and sending the operation area information to the management platform; selecting a target auxiliary operation vehicle according to the clearance request includes: receiving the operation area information from the unmanned transport vehicle; determining a set of auxiliary operation vehicles capable of clearing the corresponding obstacle according to the operation area information; and selecting a target auxiliary operation vehicle according to one or more of the operation status, current location, estimated time to reach the obstacle, or number of remaining uncompleted tasks of the auxiliary operation vehicles in the set of auxiliary operation vehicles.

[0019] In some embodiments, going to the location of the obstacle according to the corresponding operation task to execute the operation task includes: obtaining the information of the operation task in sequence from the task queue, where the operation tasks are stored in the task queue in the order of being assigned to the current auxiliary operation vehicle; determining path information to the target location corresponding to the operation task according to the information of the operation task; going to the target location according to the path information; and when arriving at the target location, executing the operation according to the information of the operation task.

[0020] In some embodiments, the method further includes: after the target auxiliary operation vehicle arrives at the position of the obstacle, detecting the state of the obstacle; in the case where it is determined that the state of the obstacle does not match the corresponding obstacle information in the operation task, determining whether the state of the obstacle exceeds the processing capacity of the auxiliary operation vehicle; if the state of the obstacle exceeds the processing capacity of the auxiliary operation vehicle, sending an exception message to the management platform; the management platform reselects the target auxiliary operation vehicle according to the exception message, and generates an operation task for the reselected target auxiliary operation vehicle according to the exception message and the obstacle information.

[0021] In some embodiments, the method further includes: the target auxiliary operation vehicle detecting the state of the obstacle during the operation; in the case where it is determined that the obstacle removal is completed according to the state of the obstacle, executing the next operation task according to the task queue until the task queue is empty.

[0022] In some embodiments, the method further includes: when the target auxiliary operation vehicle determines that a failure has occurred, stopping in place or pulling over; the target auxiliary operation vehicle sending a failure message to the management platform; the management platform allocating a target auxiliary operation vehicle for each unexecuted operation task and each operation task that has failed according to one or more of the operation capabilities, operation status, current position, estimated time to reach the obstacle, or the number of remaining uncompleted tasks of each auxiliary operation vehicle; the management platform providing the operation task to the corresponding target auxiliary operation vehicle.

[0023] According to one aspect of some embodiments of the present disclosure, an auxiliary operation method for a management platform is proposed, including: obtaining a breakdown removal request from a transport vehicle, wherein, when the transport vehicle detects an obstacle, sending a breakdown removal request to the management platform according to the obstacle information; determining a set of auxiliary operation vehicles capable of clearing the corresponding obstacle according to the breakdown removal request, and selecting a target auxiliary operation vehicle from the set of auxiliary operation vehicles; generating an operation task for the target auxiliary operation vehicle, and providing the operation task to the target auxiliary operation vehicle so that the target auxiliary operation vehicle goes to the position of the obstacle according to the corresponding operation task to execute the operation task.

[0024] In some embodiments, the method further includes at least one of the following: reselecting a target auxiliary operation vehicle according to abnormal information from an auxiliary operation vehicle, and generating an operation task for the reselected target auxiliary operation vehicle according to the abnormal information and obstacle information, where the auxiliary operation vehicle sends the abnormal information when it determines that the obstacle state does not match the corresponding obstacle information in the operation task and the obstacle state exceeds the processing capacity of the auxiliary operation vehicle; or reassigning a target auxiliary operation vehicle for each unexecuted operation task and each operation task with execution failure of the faulty auxiliary operation vehicle according to one or more of the fault information from the faulty auxiliary operation vehicle, the operation capacity, operation state, current position, estimated time to reach the obstacle, or the number of remaining uncompleted tasks of each auxiliary operation vehicle, where the faulty auxiliary operation vehicle sends the fault information to the management platform when a fault occurs.

[0025] According to one aspect of some embodiments of the present disclosure, an auxiliary operation method for an auxiliary operation vehicle is provided, including: obtaining and storing an operation task from a management platform, where the management platform selects a target auxiliary operation vehicle according to a breakdown removal request from a transport vehicle, generates an operation task and provides it to the target auxiliary operation vehicle, and the transport vehicle sends the breakdown removal request to the management platform according to the obstacle information when detecting an obstacle; and performing the operation task by going to the position of the obstacle according to the corresponding operation task.

[0026] In some embodiments, the method further includes: detecting the obstacle state after reaching the position of the obstacle; judging whether the obstacle state exceeds the processing capacity of the auxiliary operation vehicle when it is determined that the obstacle state does not match the corresponding obstacle information in the operation task; if the obstacle state exceeds the processing capacity of the auxiliary operation vehicle, sending abnormal information to the management platform; otherwise, driving the operation task execution module to execute the operation.

[0027] In some embodiments, the method further includes: stopping in place or pulling over to the side of the road when it is determined that a fault has occurred; sending fault information to the management platform so that the management platform is further configured to reassign a target auxiliary operation vehicle for each unexecuted operation task and each operation task with execution failure.

[0028] According to one aspect of some embodiments of the present disclosure, an auxiliary operation method for a transport vehicle is provided, including: detecting an obstacle on a traveling path and obtaining obstacle information; sending a breakdown removal request to a management platform according to the obstacle information so that the management platform selects an auxiliary operation vehicle according to the breakdown removal request, generates an operation task and provides it to the corresponding auxiliary operation vehicle, and the auxiliary operation vehicle goes to the position of the obstacle according to the assigned operation task to perform the operation task.

[0029] According to one aspect of some embodiments of the present disclosure, an auxiliary operation device is provided, including: a memory; and a processor coupled to the memory, the processor being configured to execute any of the methods mentioned above based on instructions stored in the memory.

[0030] According to one aspect of some embodiments of the present disclosure, a non-transitory computer-readable storage medium is provided, on which computer program instructions are stored, and when the instructions are executed by a processor, the steps of any of the methods above are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present disclosure, and constitute a part of the present disclosure. The illustrative embodiments and descriptions thereof of the present disclosure are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure. In the drawings:

[0032] Figure 1 It is a schematic diagram of some embodiments of the operation system of the present disclosure.

[0033] Figure 2A It is a schematic diagram of some embodiments of the auxiliary operation device on the transport vehicle side of the present disclosure.

[0034] Figure 2B It is a schematic diagram of some embodiments of the auxiliary operation device on the management platform side of the present disclosure.

[0035] Figure 2C It is a schematic diagram of some embodiments of the auxiliary operation device on the auxiliary operation vehicle side of the present disclosure.

[0036] Figure 3 It is a flowchart of some embodiments of the auxiliary operation method of the present disclosure.

[0037] Figure 4A It is a flowchart of some other embodiments of the auxiliary operation method of the present disclosure.

[0038] Figure 4B It is a flowchart of some further embodiments of the auxiliary operation method of the present disclosure.

[0039] Figure 5A It is a flowchart of some embodiments of the auxiliary operation method of the transport vehicle of the present disclosure.

[0040] Figure 5B It is a flowchart of some embodiments of the auxiliary operation method of the management platform of the present disclosure.

[0041] Figure 5C It is a flowchart of some embodiments of the auxiliary operation method of the auxiliary operation vehicle of the present disclosure.

[0042] Figure 6Schematic diagrams of some embodiments of the auxiliary operation device of the present disclosure.

[0043] Figure 7 Schematic diagrams of other embodiments of the auxiliary operation device of the present disclosure. Detailed implementation manners

[0044] The technical solutions of the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments.

[0045] In the current mine production process, the transport vehicle has taken the lead in achieving driverless operation. In addition to the driverless transport vehicle, there are also a large number of other manned auxiliary vehicles. Although the auxiliary vehicles are all equipped with a management system and a GPS (Global Positioning System) positioning device, they can send their own positioning information to the management platform of the fleet operation and other vehicles in real time, and can solve the safety problem of mixed operation of manned and unmanned vehicles. However, in the face of safety road conditions that affect vehicle driving, such as road falling rocks, coal blocks, silt, etc., the main technical means is still to communicate with the on-site driver through walkie-talkies, telephones or wireless networks. Manually, according to the real-time position information of the auxiliary vehicles in the mining area and the results of communication with the driver, arrange a vehicle that can handle roadblocks, and tell the driver the approximate location of the roadblock, such as information on a certain platform and a certain section of the road. The driver of the auxiliary operation vehicle goes there by himself according to this information to find the roadblock target.

[0046] The solution proposed by the present disclosure realizes the automatic processing of the whole process from obstacle discovery, selection of auxiliary operation vehicles to obstacle clearance of auxiliary operation vehicles through the interconnection and scheduling among the transport vehicle, the management platform and the auxiliary operation vehicles, without manual scheduling, improving the automation degree and processing efficiency of obstacle clearance.

[0047] Schematic diagrams of some embodiments of the operation system of the present disclosure are as Figure 1 shown.

[0048] The operation system includes at least one management platform 12, and also includes transport vehicles 111-11m and auxiliary operation vehicles 131-13n, where m and n are integers greater than 1. In some embodiments, the auxiliary operation vehicle can be a grader or other equipment with the function of obstacle clearance. In some embodiments, the auxiliary operation vehicle can be a driverless vehicle, thereby further reducing the manpower requirement.

[0049] In some embodiments, the transport vehicle can be a driverless transport vehicle, which has the ability of obstacle recognition and scanning, thereby reducing the human resource consumption of the whole operation system.

[0050] In some embodiments, when any transport vehicle detects an obstacle on the traveling road, it can collect obstacle information and send a clearance request to the management platform according to the obstacle information. In some embodiments, the transport vehicle and the management platform interact through wireless signals.

[0051] In some embodiments, the transport vehicle may be configured with obstacle detection devices, such as image detection devices, radars, X-ray detectors, or infrared scanners, etc., which can detect obstacles on the road. In some embodiments, it can also identify the size and quantity of the obstacles. In some embodiments, it can also identify the type of material of the obstacles. In some embodiments, the obstacle information collected by the transport vehicle may include the obstacle position, obstacle size, and obstacle quantity.

[0052] In some embodiments, the obstacle information may also include the type of the obstacle (such as material).

[0053] In some embodiments, the transport vehicle can determine the operation area according to the obstacle information, generate operation area information, and send the operation area information to the management platform 12 through the clearance request. In some embodiments, the operation area information may include the operation area area and shape, the number of obstacles, the size of obstacles, and the obstacle position. In some embodiments, the obstacle information may also include the type of the obstacle (such as material). In some embodiments, the operation area area can accommodate at least two of the largest auxiliary operation vehicles in the system, facilitating the operation of the auxiliary operation vehicles inside the area. In some embodiments, the shape of the operation area can be rectangular, further facilitating the operation of the auxiliary operation vehicles.

[0054] In some embodiments, the transport vehicle can temporarily pull over to the side of the road and wait for the obstacle to be cleared, while avoiding blocking the action path of the auxiliary operation vehicle itself and improving the execution success rate of the auxiliary operation vehicle. In some embodiments, the transport vehicle can find a feasible detour path to improve the execution efficiency of its transportation task.

[0055] In some embodiments, the transport vehicle can implement the above functions through the configured auxiliary operation device. A schematic diagram of some embodiments of the auxiliary operation device 21 located on the side of the transport vehicle is as Figure 2A shown, including an operation target acquisition and processing module 211 and an operation target transmission module 212.

[0056] The operation target acquisition and processing module 211 can detect obstacles on the traveling path and obtain obstacle information. In some embodiments, the operation target acquisition and processing module 211 can also generate operation area information based on the obstacle information.

[0057] The operation target transmission module 212 can send a clearance request to the management platform according to the obstacle information. In some embodiments, the clearance request carries operation area information.

[0058] Such auxiliary operation devices can automatically identify obstacles and provide sufficient information about the obstacles to the management platform, facilitating the management platform to allocate appropriate auxiliary operation vehicles, and improving the automation level, success rate, and processing efficiency of the obstacle clearance operation.

[0059] In some embodiments, the transport vehicle can be installed and deployed with a navigation and positioning system, a vehicle-end operation management system, an unmanned driving and operation system, a communication system, a perception system, etc. The communication system has the function of the operation target transmission module, and the perception system includes a laser sensor and a millimeter-wave sensor to ensure that the transport vehicle has the ability to implement the functions mentioned above.

[0060] In some embodiments, after the management platform 12 obtains the clearance request from the transport vehicle, it selects a target auxiliary operation vehicle according to the information carried in the clearance request, generates an operation task for the target auxiliary operation vehicle and the clearance request, and provides the operation task to the corresponding target auxiliary operation vehicle. In some embodiments, the management platform 12 can put the operation task into the task queue of the corresponding target auxiliary operation vehicle according to the sequence of generation and allocation of the operation task, facilitating the target auxiliary operation vehicle to process the task in sequence and improving the timeliness of the execution of the operation task.

[0061] In some embodiments, the management platform 12 can first screen the auxiliary operation vehicles 131-13n according to the operation area information carried in the clearance request, and screen out the auxiliary operation vehicles with the ability to clear the corresponding obstacles. In some embodiments, all the auxiliary operation vehicles with the ability to clear the corresponding obstacles can be screened out to form a set of auxiliary operation vehicles. In some embodiments, the auxiliary operation vehicles capable of performing the task can be screened according to one or more of the operation area area and shape, and the number, size, and position of the obstacles, for example, being able to go to the corresponding position, the remaining load capacity being able to carry all or part of the obstacles, the size of a single obstacle being less than the upper limit of the processing capacity of the auxiliary operation vehicle, the auxiliary operation vehicle being able to move smoothly in the operation area, the auxiliary operation vehicle being able to pass through the road to the obstacle position, and the auxiliary operation vehicle being in a non-fault state. Such an operation system can improve the probability of successful operation and the success rate and efficiency of obstacle clearance.

[0062] In some embodiments, when the set of auxiliary work vehicles determined by the management platform 12 includes multiple auxiliary work vehicles, a target auxiliary work vehicle is further selected therefrom. In some embodiments, the management platform 12 may select the target auxiliary work vehicle according to one or more of the working status, current position, estimated time to reach the obstacle, or the number of remaining unfinished tasks of the auxiliary work vehicles in the set of auxiliary work vehicles. In some embodiments, the management platform preferentially selects a relatively idle auxiliary work vehicle according to the number of remaining unfinished tasks of the auxiliary work vehicle; in some embodiments, the management platform may preferentially select an auxiliary work vehicle that is not currently performing a work task; in some embodiments, the management platform may preferentially select an auxiliary work vehicle that is closer to the position of the obstacle; in some embodiments, the management platform may determine the time required for the auxiliary work vehicles in the set of auxiliary work vehicles to reach the position of the obstacle through path planning, and then preferentially select the auxiliary work vehicle with a shorter time. In some embodiments, the management platform may set weights for the considered factors according to requirements, and select the target auxiliary work vehicle by synthesizing various factors. Such a work system can further select an auxiliary work vehicle that can process the task as soon as possible on the basis of multiple auxiliary work vehicles that can handle the obstacle removal task, improving the obstacle removal efficiency.

[0063] In some embodiments, after determining the target auxiliary work vehicle, the management platform 12 generates a work task for the target auxiliary work vehicle. In some embodiments, the management platform 12 may generate a packaged number for the work target for the aforementioned obstacle removal request, and then generate a work path of the target auxiliary work vehicle at the obstacle position in combination with the parameters of the target auxiliary work vehicle, bind the work path to the packaged number, and generate a work task. Such a work system can generate a detailed work path for the auxiliary work vehicle, facilitating the auxiliary work vehicle to perform obstacle removal operations according to the work path after reaching the obstacle position, improving the automation degree of the operation of the auxiliary work vehicle, and reducing the labor cost.

[0064] In some embodiments, the management platform 12 may use the auxiliary work equipment located on the management platform side to perform the above functions of the management platform 12. As Figure 2B shown, the auxiliary work equipment 22 located on the management platform side includes a work target acquisition module 221, a work target analysis module 222, a vehicle scheduling module 223, a work task generation module 224, and a work task transmission module 225.

[0065] The work target acquisition module 221 can acquire the obstacle removal request from the transport vehicle. In some embodiments, the work target acquisition module 221 can store the information carried by the obstacle removal request, such as the work area information.

[0066] The operation target analysis module 222 can determine a set of auxiliary operation vehicles capable of clearing the corresponding obstacles according to the obstacle clearing request.

[0067] The vehicle scheduling module 223 can select a target auxiliary operation vehicle from the set of auxiliary operation vehicles.

[0068] The operation task generation module 224 can generate an operation task for the target auxiliary operation vehicle.

[0069] The operation task transmission module 225 can provide the operation task to the target auxiliary operation vehicle.

[0070] Such an operation system can select an auxiliary operation vehicle with corresponding processing capabilities and capable of quickly processing obstacles according to the obstacle clearing request of the transport vehicle, and generate an operation task including an operation path according to the obstacle situation and the situation of the auxiliary operation vehicle, without manual intervention, improving the execution efficiency and automation level.

[0071] In some embodiments, the auxiliary operation vehicle can go to the location of the obstacle to execute according to the operation task assigned to itself. In some embodiments, the auxiliary operation vehicle can read the task queue, and the task queue follows the first-in, first-out principle, so that the auxiliary operation vehicle can read the tasks in the order of task generation, and then execute the operation tasks. In some embodiments, the auxiliary operation vehicle corresponds to the task queue one by one, and the task queue can be stored in the auxiliary operation vehicle or stored in the management platform for the corresponding auxiliary operation vehicle to read, avoiding tasks from being missed or executed repeatedly.

[0072] In some embodiments, the auxiliary operation vehicle can have path planning capabilities. According to the location information (such as coordinate information) of the operation area included in the operation task (or the location of the obstacle), combined with the current location of the auxiliary operation vehicle itself, it can determine the path information to the target location corresponding to the operation task. In some other embodiments, the auxiliary operation vehicle can send its own location information to the management platform, and the management platform generates the path information and then sends the path information to the auxiliary operation vehicle. In some embodiments, in addition to considering the location, path planning can also consider the current direction of the vehicle body to further improve the accuracy of path planning.

[0073] In some embodiments, the auxiliary operation vehicle can send a path planning request to the management platform. The path planning request can include the number of the auxiliary operation vehicle, the task number, the current location of the auxiliary operation vehicle, and the vehicle body direction. The management platform can determine the location of the operation area corresponding to the operation task according to the task number, and determine the parameters of the auxiliary operation vehicle according to the number of the auxiliary operation vehicle, so as to generate path information that meets the performance of the auxiliary operation vehicle, improve the executability of the path information, and ensure that the auxiliary operation vehicle can reach the operation area.

[0074] In some embodiments, the auxiliary operation vehicle can utilize the auxiliary operation equipment located on the side of the auxiliary operation vehicle to achieve the above functions, such as Figure 2C as shown in

[0075] The auxiliary operation vehicle includes an operation task storage module 231 and an operation task execution module 232.

[0076] The operation task storage module 231 can obtain and store the operation tasks from the management platform.

[0077] The operation task execution module 232 can go to the position of the obstacle according to the corresponding operation task to execute the operation task.

[0078] Such auxiliary operation equipment can receive the operation tasks assigned by the management platform and go to execute them without manual dispatching intervention, improving the automation degree and efficiency of the obstacle removal process, and thus improving the automation degree and efficiency of the operation of the operation system.

[0079] In some embodiments, after the auxiliary operation vehicle arrives at the position of the obstacle, it can first check the state of the obstacle, such as determining whether the number, volume, operation area area and shape of the obstacle match the obstacle information corresponding to the operation task. If they match, the auxiliary operation vehicle starts to execute the operation task. If they do not match, the auxiliary operation vehicle further determines whether it has the ability to handle the current obstacle, such as whether the single volume or single weight of the obstacle exceeds the processing ability of the auxiliary operation vehicle, or whether the total volume or total weight of the obstacle exceeds the processing ability of the auxiliary operation vehicle, or whether the road conditions of the operation area exceed the processing ability of the auxiliary operation vehicle, etc. If the current obstacle state does not exceed the processing ability of the auxiliary operation vehicle, the auxiliary operation vehicle starts to execute the operation task.

[0080] Such an operation system can promptly detect that the obstacle information collected by the transport vehicle is inaccurate or the obstacle has changed. Furthermore, the auxiliary operation vehicle can try its best to handle the obstacle according to its own ability, further improving the efficiency of obstacle removal and also improving the reliability.

[0081] In some embodiments, when the state of the obstacle has exceeded the processing capacity of the auxiliary operation vehicle, the auxiliary operation vehicle sends an exception message to the management platform 12. In some embodiments, the exception message may include the state of the obstacle collected by the auxiliary operation vehicle, and the management platform 12 will reselect an auxiliary operation vehicle capable of handling the current obstacle and reselect the target auxiliary operation vehicle. In some embodiments, the management platform may also regenerate an operation task according to the state of the current obstacle and the parameters of the reselected target auxiliary operation vehicle and send it to the reselected target auxiliary operation vehicle. In some embodiments, the management platform 12 may reselect the target auxiliary operation vehicle using a similar logic to that of selecting the target auxiliary operation vehicle according to the obstacle removal request as described above.

[0082] Such an operation system can promptly detect that the obstacle exceeds the processing capacity of the auxiliary operation vehicle, and then the management platform reschedules the auxiliary operation vehicle, avoiding equipment damage and delaying the obstacle removal process caused by forced execution of the obstacle removal operation, and further improving the reliability of obstacle removal.

[0083] In some embodiments, during the operation of the auxiliary operation vehicle, including but not limited to when performing an operation task, traveling to the operation task area, etc., it can also determine whether it has a fault. In some embodiments, the faults can be divided into faults of the communication system and other faults. If a fault of the communication system occurs and the interaction with the management platform is affected, the auxiliary operation vehicle can stop on the spot or pull over to the side of the road to avoid affecting traffic and causing potential safety hazards, improving the reliability of the system. In some embodiments, if a non-communication system fault occurs, the auxiliary operation vehicle can send a fault message to the management platform. The fault message includes the fault status information of the auxiliary operation vehicle, the information of the unexecuted operation tasks, the information of the operation tasks that have failed to be executed, and the reasons for failure. In some embodiments, when the management platform receives the fault message, according to one or more of the operation capabilities, operation status, current location, estimated time to reach the obstacle, or the number of remaining uncompleted tasks of each auxiliary operation vehicle, it assigns a target auxiliary operation vehicle to each unexecuted operation task and operation task that has failed to be executed, and provides the operation task to the corresponding target auxiliary operation vehicle. In some embodiments, the processing logic for the management platform to reassign the target auxiliary operation vehicle can be similar to the logic for the management platform to assign the target auxiliary operation vehicle according to the obstacle removal request. In some embodiments, the management platform can regenerate the operation task according to the parameters of the reselected target auxiliary operation vehicle, thereby improving the matching degree between the operation task and the auxiliary operation vehicle and increasing the probability of successful obstacle removal.

[0084] Such an operating system can respond in a timely manner to the situation where an auxiliary operation vehicle breaks down, and allocate the operation tasks that have been assigned to the malfunctioning auxiliary operation vehicle but have not been completed to other auxiliary operation vehicles, thereby ensuring that the operation tasks can be executed and improving the reliability of the system.

[0085] In some embodiments, the functions of the above-mentioned auxiliary operation vehicle and the management platform can be respectively realized by the auxiliary operation devices on the corresponding sides.

[0086] In some embodiments, as Figure 2C shown, the auxiliary operation device on the side of the auxiliary operation vehicle may further include an operation task monitoring module 233, which can detect the obstacle state after reaching the position of the obstacle; in the case where it is determined that the obstacle state does not match the corresponding obstacle information in the operation task, judge whether the obstacle state exceeds the processing capacity of the auxiliary operation vehicle; if the obstacle state exceeds the processing capacity of the auxiliary operation vehicle, send an abnormal information to the management platform, otherwise, drive the operation task execution module to execute the operation.

[0087] Such an auxiliary operation vehicle can judge whether it can clear the corresponding obstacle before executing the operation task, improve the reliability of obstacle clearance, improve the safety of task execution, and also avoid meaningless obstacle clearance operations, thereby improving the execution efficiency.

[0088] In some embodiments, as Figure 2B shown, the auxiliary operation device on the side of the management platform may further include an operation task exception handling module 226, which can reselect the target auxiliary operation vehicle according to the abnormal information from the auxiliary operation vehicle, and generate an operation task for the reselected target auxiliary operation vehicle according to the abnormal information and the obstacle information, thereby improving the reliability of the obstacle clearance operation.

[0089] In some embodiments, the operation task monitoring module 233 of the auxiliary operation device on the side of the auxiliary operation vehicle can control the auxiliary operation vehicle to stop on the spot or pull over to the side in the case of determining a malfunction, and send a fault message to the management platform. The fault message includes the fault status information of the auxiliary operation vehicle, the information of the unexecuted operation tasks, the information of the operation tasks that have failed to be executed, and the cause of failure. The operation task exception handling module on the side of the management platform can allocate a target auxiliary operation vehicle for each unexecuted operation task and the operation task that has failed to be executed according to one or more of the fault information from the malfunctioning auxiliary operation vehicle, the operation capabilities, operation status, current position, estimated time to reach the obstacle, or the number of remaining uncompleted tasks of each auxiliary operation vehicle. Such an auxiliary operation device can ensure that the operation tasks can be executed and improve the reliability of the operation system.

[0090] When the operating system of the present disclosure detects roadblocks such as falling rocks, coal blocks, silt, and mounds that affect driving on the road where the transport vehicle is traveling, it can automatically dispatch appropriate auxiliary operating vehicles for handling; the auxiliary operating vehicles can respond in a timely manner according to the dispatching information and go to the target location to perform the road cleaning operation task, thereby improving the operation guarantee ability and the automation degree and processing efficiency of obstacle cleaning.

[0091] In some embodiments, a management platform for fleet operations is deployed in a server (such as a server deployed in a mine). The management platform is connected to each vehicle in the mine through a communication network and can communicate and send and receive data. The database of the management platform stores the specification parameters, models, types, and other necessary information of all vehicles to ensure the ability to implement the functions mentioned above.

[0092] In some embodiments, the auxiliary operating vehicle is installed with a navigation and positioning device, a vehicle-end operation management system, an unmanned driving and operating system, a communication system, a perception system, etc. The communication system has the function of an operation task transmission module. The perception system includes a laser sensor and a millimeter-wave sensor and has the function of detecting roadblock information. Such an auxiliary operating vehicle can ensure the ability to implement the functions mentioned above.

[0093] In some embodiments, the transmission of operation targets and operation tasks in the operating system has a receiving and response mechanism. When the receiver receives the data sent by the sender, it verifies the data and returns a response message to the sender. The response message includes a message sequence number, a message timestamp, a message type, and a response identifier. The response identifier is divided into two types, 1 represents successful reception, and 2 represents data error. If the sender does not receive the response message, it will resend. If it still does not receive the response message after resending 5 times, the target grader will be recalculated, thereby improving the reliability of communication and ensuring the reliability of the operating system.

[0094] The flowchart of some embodiments of the auxiliary operation method of the present disclosure is as Figure 3 shown in

[0095] In step 301, when the transport vehicle detects an obstacle, it sends a roadblock removal request to the management platform according to the obstacle information. In some embodiments, when any transport vehicle detects an obstacle on the traveling road, it can collect the obstacle information and send a roadblock removal request to the management platform according to the obstacle information. In some embodiments, the transport vehicle and the management platform interact through wireless signals. In some embodiments, the obstacle information collected by the transport vehicle may include the obstacle position, the obstacle size, and the number of obstacles. In some embodiments, the obstacle information may also include the type of obstacle (such as the material).

[0096] In some embodiments, the transport vehicle can determine the operation area based on the obstacle information, generate operation area information, and send the operation area information to the management platform via a clearance request. In some embodiments, the operation area information may include the area and shape of the operation area, the number of obstacles, the size of the obstacles, and the positions of the obstacles. In some embodiments, the obstacle information may further include the types of obstacles (such as materials). In some embodiments, the operation area is large enough to accommodate at least two of the largest auxiliary operation vehicles in the system, facilitating the operation of the auxiliary operation vehicles within the area. In some embodiments, the shape of the operation area may be rectangular, further facilitating the operation of the auxiliary operation vehicles.

[0097] In some embodiments, the transport vehicle can temporarily pull over and wait for the obstacle to be cleared, while avoiding blocking the movement path of the auxiliary operation vehicles itself, thereby improving the execution success rate of the auxiliary operation vehicles. In some embodiments, the transport vehicle can find a feasible detour path to improve the execution efficiency of its transportation task.

[0098] In step 302, the management platform selects a target auxiliary operation vehicle according to the clearance request, generates an operation task, and provides it to the target auxiliary operation vehicle.

[0099] In some embodiments, after the management platform obtains the clearance request from the transport vehicle, it selects a target auxiliary operation vehicle according to the information carried in the clearance request, generates an operation task for the target auxiliary operation vehicle and the clearance request, and provides the operation task to the corresponding target auxiliary operation vehicle. In some embodiments, the management platform can put the operation tasks into the task queue of the corresponding target auxiliary operation vehicle in the order of generation and allocation of the operation tasks, facilitating the target auxiliary operation vehicle to process the tasks in sequence and improving the timeliness of the execution of the operation tasks.

[0100] In some embodiments, the management platform can first screen all available auxiliary operation vehicles in the system according to the operation area information carried in the clearance request, and select the auxiliary operation vehicles that have the ability to clear the corresponding obstacles. In some embodiments, an auxiliary operation vehicle set can be formed. In some embodiments, the auxiliary operation vehicles capable of executing the task can be screened according to one or more of the area and shape of the operation area, and the number, size, and position of the obstacles. For example, the auxiliary operation vehicle can go to the corresponding position, the remaining load capacity can carry all or part of the obstacles, the size of a single obstacle is less than the upper limit of the processing capacity of the auxiliary operation vehicle, the auxiliary operation vehicle can move smoothly in the operation area, and the auxiliary operation vehicle can pass through the road to the obstacle position, thereby increasing the probability of successful operation and the success rate and efficiency of obstacle clearance.

[0101] In some embodiments, when the set of auxiliary work vehicles determined by the management platform includes multiple auxiliary work vehicles, a target auxiliary work vehicle is further selected therefrom. In some embodiments, the management platform may select the target auxiliary work vehicle based on one or more of the working status, current location, estimated time to reach the obstacle, or the number of remaining unfinished tasks of the auxiliary work vehicles in the set of auxiliary work vehicles, so as to further select the auxiliary work vehicle that can process the task as soon as possible on the basis of multiple auxiliary work vehicles capable of handling the obstacle removal task, thereby improving the obstacle removal efficiency.

[0102] In some embodiments, after determining the target auxiliary work vehicle, the management platform generates a work task for the target auxiliary work vehicle. In some embodiments, the management platform may generate a packaged number for the work target for the aforementioned obstacle removal request, and then generate a work path of the target auxiliary work vehicle at the obstacle location in combination with the parameters of the target auxiliary work vehicle, bind the work path to the packaged number, and generate a work task. Such a work system can generate a detailed work path for the auxiliary work vehicle, facilitating the auxiliary work vehicle to perform the obstacle removal operation according to the work path after reaching the obstacle location, improving the degree of automation of the operation of the auxiliary work vehicle, and reducing the labor cost.

[0103] In step 303, the target auxiliary work vehicle travels to the location of the obstacle according to the corresponding work task to perform the work task.

[0104] In some embodiments, the auxiliary work vehicle can travel to the location of the obstacle according to the work task assigned to itself to perform the work. In some embodiments, the auxiliary work vehicle can read the task queue, and the task queue follows the first-in-first-out principle, so that the auxiliary work vehicle can read the tasks in the order of generation of the tasks, and then perform the work tasks. In some embodiments, the auxiliary work vehicle corresponds to the task queue one by one, and the task queue can be stored in the auxiliary work vehicle or stored in the management platform for the corresponding auxiliary work vehicle to read, so as to avoid the tasks from being missed or executed repeatedly.

[0105] In some embodiments, the auxiliary work vehicle may have the ability of path planning. According to the location information (such as coordinate information) of the work area (or the location of the obstacle) included in the work task, combined with the current location of the auxiliary work vehicle itself, it determines the path information to the target location corresponding to the work task. In some other embodiments, the auxiliary work vehicle may send its own location information to the management platform, and the management platform generates the path information and then sends the path information to the auxiliary work vehicle. In some embodiments, in addition to considering the location, the path planning may also consider the current direction of the vehicle body to further improve the accuracy of the path planning.

[0106] In some embodiments, the auxiliary operation vehicle may send a path planning request to the management platform. The path planning request may include the number of the auxiliary operation vehicle, the task number, the current position of the auxiliary operation vehicle, and the vehicle body direction. The management platform can determine the position of the operation area corresponding to the operation task according to the task number, and determine the parameters of the auxiliary operation vehicle according to the number of the auxiliary operation vehicle, so as to generate path information that conforms to the performance of the auxiliary operation vehicle, improve the executability of the path information, and ensure that the auxiliary operation vehicle can reach the operation area.

[0107] By such a method, when roadblocks such as falling rocks, coal blocks, silt, and mounds that affect driving are detected on the road where the transport vehicle is traveling, appropriate auxiliary operation vehicles can be automatically dispatched for processing; the auxiliary operation vehicles can respond in a timely manner according to the dispatching information and go to the target location to perform the road cleaning operation task, thereby improving the operation guarantee ability and the automation degree and processing efficiency of obstacle cleaning.

[0108] In some embodiments, the auxiliary operation vehicle may monitor the cleaning status of the obstacle in real time and determine whether the currently executing operation task is completed. If the operation task has been completed, the next operation task assigned to itself may be executed. In some embodiments, the auxiliary operation vehicle may actively request the next task from the management platform when the next task is empty.

[0109] By such a method, it is possible to timely discover that the obstacle cleaning is completed, improve the timeliness of the execution of the next task, and thus improve the operation efficiency.

[0110] The flowchart of another embodiment of the auxiliary operation method of the present disclosure is as Figure 4A shown in

[0111] In step 411, after the auxiliary operation vehicle arrives at the position of the obstacle, it detects the obstacle state, such as determining the number, volume, operation area area and shape of the obstacle.

[0112] In step 412, the auxiliary operation vehicle determines whether the obstacle state matches the corresponding obstacle information in the operation task. If they match, step 417 is executed; if they do not match, step 413 is executed.

[0113] In step 413, the auxiliary operation vehicle determines whether the obstacle state exceeds its own processing capacity. If it has exceeded the processing capacity, step 414 is executed; otherwise, step 417 is executed.

[0114] In step 414, the auxiliary operation vehicle sends abnormal information to the management platform. In some embodiments, the abnormal information may include the state of the obstacle collected by the auxiliary operation vehicle.

[0115] In step 415, the management platform reselects the target auxiliary operation vehicle according to the abnormal information. In some embodiments, the management platform may reselect the target auxiliary operation vehicle by using a similar logic as selecting the target auxiliary operation vehicle according to the breakdown clearing request.

[0116] In step 416, the management platform generates an operation task for the reselected target auxiliary operation vehicle according to the abnormal information and the obstacle information.

[0117] In step 417, the auxiliary operation vehicle performs the operation according to the information of the operation task.

[0118] By such a method, it is possible to timely discover that the obstacle exceeds the processing capacity of the auxiliary operation vehicle, and then the management platform reschedules the auxiliary operation vehicle, avoiding equipment damage and delaying the breakdown clearing process caused by forcibly performing the breakdown clearing operation, and further improving the reliability of obstacle clearing.

[0119] In some embodiments, as Figure 4A shown, the auxiliary operation method may further include steps 421 to 423.

[0120] In step 421, the auxiliary operation vehicle detects the obstacle state during the operation.

[0121] In step 422, the auxiliary operation vehicle determines whether the obstacle clearing is completed. If the obstacle clearing is completed, step 423 is executed; otherwise, step 421 is executed to continue the operation task.

[0122] In some embodiments, an image acquisition device or a sensor may be configured on the auxiliary operation vehicle, and it is determined whether the obstacle clearing is completed by detecting whether there are still obstacles in the operation area. In some embodiments, if the planned path in the operation task has been completed, it is determined that the obstacle clearing is completed, thereby reducing the requirement for the ability of the auxiliary operation vehicle; in some embodiments, if the planned path in the operation task has been completed, but obstacles are still detected, it can be considered that the obstacle clearing has not been completed, and the newly emerged obstacles are continuously cleared, thereby improving the reliability of obstacle clearing and coping with the situation of temporary changes of obstacles. In some embodiments, if the planned path in the operation task has not been completed, but no obstacles are detected, it can be considered that the clearing has been completed, and the current operation task is ended, thereby improving the execution efficiency of the operation task.

[0123] In step 423, it is judged whether the task queue is empty. If it is not empty, the next operation task is executed according to the task queue. If the task queue is empty, the vehicle can choose to pull over to the side or go to the preset parking point to avoid affecting the operation of other vehicles.

[0124] Through such a method, the reliability and efficiency of task execution can be improved, thereby improving the efficiency of the work.

[0125] In some embodiments, taking the operation process of an unmanned mine grader as an example, the auxiliary operation method includes the following steps.

[0126] S1: When the unmanned transport vehicle is driving on the road and detects obstacles such as fallen rocks, ruts, and earth piles on the road ahead, the operation target acquisition and processing module collects obstacle information and processes it to form an operation area with a certain geometric shape.

[0127] S2: Encode the obstacle information and the operation area to generate the operation target. The operation target information includes: operation area information, obstacle quantity, size, location coordinates, and operation target number.

[0128] S3: Send the job target information to the job target acquisition module for parsing and storage.

[0129] S4: According to the area, number, size and position of obstacles, all suitable graders that can handle the target are analyzed and recorded as set A.

[0130] S5: Traverse the vehicles in set A, analyze the vehicle's operating status, location, number of remaining tasks, and distance to the target operating area to calculate the time to reach the target operating area, select the grader with the shortest arrival time to perform the task, and record it as the first grader.

[0131] S6: Generate an operation path of the first grader in the target area according to the vehicle parameters and operation target information of the first grader. Pack and number the operation target information and generate an operation task. In some embodiments, the starting point and the end point of the operation path in the target area are greater than or equal to 5 meters away from the closest point of the unmanned transport vehicle body contour, and the grader can be ensured to safely enter and exit the target area from the starting point and the end point.

[0132] S7: Send the operation task to the first grader. After receiving the task, the grader parses it and stores it in the task queue. The task queue is a first-in-first-out queue. The data type stored in the queue is the grader operation task type, including the task number, the target area boundary coordinate array, and the obstacle information array. The obstacle information includes the position coordinates and size.

[0133] S8: If the first grader is not currently executing a task or performing a routine inspection, a task is taken out from the task queue and started to execute, and then the process goes to S9; if the first grader is currently executing a task, the process continues to execute, and then the process goes to S9 after the current task is completed. If there is no task in the task queue, the process starts to execute a routine inspection or drives to the parking lot to wait.

[0134] S9: The first grader task execution module requests the best path from the current location to the target area from the job task generation module. After the module calculates the best path, it is handed over to the job task execution module of the first grader. The request message when the first grader requests the best path includes the grader number, task number, current location of the grader, and vehicle body direction.

[0135] S10: After the first grader receives the best path from the current location to the target area, it starts to execute the task, sets the working status of the first grader to "executing", and follows the path to the target area.

[0136] S11: After the first grader travels to the target area, it reads the working path in the job task information and starts working to clean the road surface.

[0137] S12: The first grader monitors the vehicle failure status and working status in real time, and reports the status information to the vehicle scheduling module in real time. When it detects that the task is successfully completed and the road surface is suitable for the safe driving of the driverless transport vehicle, it repeats steps S8 - S12.

[0138] In addition, when any failure or abnormal situation that prevents the first grader from completing the task occurs, an exception handling process can also be executed, including steps S13 - S14.

[0139] S13: When the first grader fails and there are no unexecuted tasks, it stops driving or pulls over to the side of the road. When the failure or obstacle information is inconsistent with the detected information, such as new and larger obstacles are added in the current target area, the first grader sends the failure information, unexecuted task information, currently failed task information, and the reason for the failure to the job task exception handling module.

[0140] S14: The job task exception handling module decomposes each task, modifies the tasks with changed obstacle information, and executes steps S4 - S7 for each task to determine the second grader. The second grader executes steps S7 - S12.

[0141] Through the method in the above embodiments, after detecting roadblocks during vehicle driving, it can automatically and quickly generate job tasks, and dispatch a suitable grader to the target area to execute the cleaning task; the roadblock information is transmitted faster and more accurately, and it can be quickly matched to a suitable grader; during the process of the grader executing the task, when a failure or a change in roadblock information causes the task to be unable to be continued, it can automatically respond quickly, match other suitable graders, and dispatch the operation to ensure that road roadblocks can be processed in time; it can reduce the number of times the driverless transport vehicle bypasses obstacles and the number of stops, improve the vehicle transportation efficiency, and save transportation costs.

[0142] The flowcharts of some embodiments of the auxiliary operation method of the present disclosure are as Figure 4B shown below.

[0143] In step 431, the auxiliary operation vehicle determines in real time whether a failure occurs during driving or operation. If a failure occurs, step 432 is executed; if no failure occurs, its driving or operation state is continued.

[0144] In step 432, the auxiliary operation vehicle determines whether the failure is a communication system failure. If it is a communication failure, step 433 is executed; if it is not a communication failure, step 434 is executed.

[0145] In step 433, the auxiliary operation vehicle stops on the spot or pulls over to the side of the road to avoid danger.

[0146] In step 434, the auxiliary operation vehicle stops on the spot or pulls over to the side of the road and executes step 435.

[0147] In step 435, the auxiliary operation vehicle sends failure information to the management platform. In some embodiments, the failure information includes the failure status information of the auxiliary operation vehicle, the information of unexecuted operation tasks, the information of operation tasks that have failed to be executed, and the reasons for failure.

[0148] In step 436, the management platform assigns target auxiliary operation vehicles to each unexecuted operation task and operation task that has failed to be executed. In some embodiments, when the management platform receives the failure information, according to one or more of the operation capabilities, operation states, current positions, estimated time to reach obstacles, or the number of remaining uncompleted tasks of each auxiliary operation vehicle, target auxiliary operation vehicles are assigned to each unexecuted operation task and operation task that has failed to be executed. In some embodiments, the processing logic for the management platform to reassign target auxiliary operation vehicles may be similar to the logic for the management platform to assign target auxiliary operation vehicles according to the obstacle clearing request, excluding the vehicles that have failed from the alternative vehicles.

[0149] In step 437, the operation tasks are provided to the corresponding target auxiliary operation vehicles.

[0150] Through such a method, it is possible to timely respond to the situation where the auxiliary operation vehicle fails, and assign the operation tasks that have been assigned to the failed auxiliary operation vehicle but have not been completed to other auxiliary operation vehicles, so as to ensure that the operation tasks can be executed and improve the reliability of the system.

[0151] The flowcharts of some embodiments of the auxiliary operation method on the transport vehicle side of the present disclosure are as Figure 5A shown below.

[0152] In step 511, the auxiliary operation device on the transport vehicle side detects obstacles on the travel path and obtains obstacle information.

[0153] In step 512, a clearance request is sent to the management platform according to the obstacle information.

[0154] The generation and processing method of the obstacle information and the generation and sending method of the clearance request can be as shown in any of the above embodiments.

[0155] Through such a method, the transport vehicle can timely detect obstacles and trigger the management platform to respond, improving the processing efficiency and automation degree of obstacle clearance.

[0156] The flowchart of some embodiments of the auxiliary operation method on the management platform side of the present disclosure is as Figure 5B shown.

[0157] In step 521, the auxiliary operation device on the management platform side obtains the clearance request from the transport vehicle.

[0158] In step 522, according to the clearance request, a set of auxiliary operation vehicles capable of clearing the corresponding obstacles is determined, and a target auxiliary operation vehicle is selected from the set of auxiliary operation vehicles.

[0159] In step 523, an operation task is generated for the target auxiliary operation vehicle and the operation task is provided to the target auxiliary operation vehicle.

[0160] The method executed by the auxiliary operation device on the management platform side can be as shown in any of the above operation systems or auxiliary operation methods, and will not be elaborated here.

[0161] Through such a method, the management platform can automatically dispatch the auxiliary operation devices capable of handling the current obstacle clearance, thereby improving the automation degree and processing efficiency of obstacle clearance and reducing the dependence on manual labor.

[0162] The flowchart of some embodiments of the auxiliary operation method on the auxiliary operation vehicle side of the present disclosure is as Figure 5C shown.

[0163] In step 531, the auxiliary operation device on the auxiliary operation vehicle side can obtain and store the operation task from the management platform.

[0164] In step 532, the auxiliary operation vehicle is driven to the position of the obstacle according to the corresponding operation task to execute the operation task.

[0165] The method executed by the auxiliary operation device on the auxiliary operation vehicle side can be as shown in any of the above operation systems or auxiliary operation methods, and will not be elaborated here.

[0166] By such a method, the auxiliary operation vehicle can execute the obstacle clearing task based on the scheduling of the management platform, improve the degree of automation and processing efficiency of obstacle clearing, and reduce the dependence on manual labor. Further, based on the method for collecting obstacle states and fault detection in the above embodiments, the reliability of task execution can be improved, and the processing efficiency can be further improved.

[0167] In some embodiments, taking the auxiliary operation vehicle as a grader and taking three scenarios as examples to introduce the operation and auxiliary operation processes of the present disclosure, this introduction is only for illustration and does not constitute an improper limitation to this application.

[0168]

Scenario 1

[0169] An unmanned transport vehicle is driving on the road. The roadblock detection module of the perception system of the unmanned transport vehicle detects that there are several falling rocks within the range of 30 meters to 100 meters ahead. Then, the size, position coordinates, and quantity of each falling rock are used to generate a rectangular area that meets the requirements according to the method of S1. This area contains at least four vertex coordinate information. Then, the methods of S2 and S3 are executed to send the operation target to the management platform. The operation task acquisition module receives and parses the operation target information and stores the information in the platform database.

[0170] The management platform calls the operation target analysis module and analyzes all the compatible graders that can handle the target according to the area of the region, the number of obstacles, size, and position, which is denoted as set A. The ID numbers of all the compatible graders are stored in set A.

[0171] The management platform calls the vehicle scheduling module to traverse and analyze the vehicles in set A, calculates the estimated time for each grader to reach the operation target area according to the operation status, current position, remaining task quantity, and distance from the operation target area of each grader, selects the grader with the shortest arrival time, and executes this task, which is denoted as the first grader.

[0172] According to the vehicle parameters and operation target information of the first grader, the operation task generation module generates an operation path within the target area for the first grader, and combines the operation target information to pack and number, generating the operation task of the first grader.

[0173] After receiving the task, the first grader first parses and saves the task in the task queue. Until the first grader has no task being executed currently, the first grader takes out the task that was first stored in the queue from the task queue, and requests the best path information from the current position to the target area from the operation task generation module of the fleet operation management platform according to the task information. The end point of the best path is the starting point of the internal operation path in the operation area.

[0174] After the first grader receives the optimal path, it starts to drive according to the optimal path, changes its operation status to "executing", and sends the status to the fleet operation management platform.

[0175] After the first grader reaches the end of the optimal path, it detects, analyzes, and determines whether the roadblocks in the operation area are inconsistent with the roadblock information in the received task information, and analyzes whether it exceeds the processing capacity of the first grader. If it exceeds the processing capacity, the abnormal handling process is executed. If it does not exceed the processing capacity, it reads the operation path information in the area and starts the cleaning operation according to the operation path. During the operation, the perception system of the first grader continuously detects changes in roadblock information, and the operation task monitoring module of the operation management system analyzes the roadblock information in real time to determine whether the roadblocks have been cleared. If cleared, the next task is started; if not, the task continues to be executed until the task is completed and the next task is started.

[0176]

Scenario 2

[0177] Based on Scenario 1 of the normal operation process, if a communication failure occurs when the first grader is executing a task, it pulls over and stops safely to wait. If a non-communication type of systematic failure occurs and it is unable to continue executing the task, it pulls over and sends the failure information of the first grader, the unexecuted task information, the currently failed task information, and the reason for the failure to the management platform. The operation task abnormal handling module starts to analyze the unexecuted task information and the currently failed task information, calls the task analysis module for each task, and starts to execute Step S4 to re-select the second grader, the third grader, and so on, until the appropriate Nth grader is selected for all tasks, where N is the number of operation tasks released by the first grader.

[0178]

Scenario 3

[0179] Based on Scenario 1 of the normal operation process, after the first grader reaches the end of the optimal path, it detects, analyzes, and determines whether the roadblocks in the operation area are inconsistent with the roadblock information in the received task information, and analyzes whether it exceeds the processing capacity of the first grader. If it exceeds the processing capacity, the execution of the current operation task is stopped. The first grader sends the current task information and the latest roadblock information in the operation area to the fleet operation management platform, and the operation task abnormal handling module modifies the obstacle information of the current task. Then it calls the task analysis module to re-execute Step S4 and subsequent steps to select a suitable second grader and continue to execute the task.

[0180] The first grader then continues to read the task data in the task queue and starts to execute the next task.

[0181] Based on the method in the above scenario, during the production process of an unmanned mine, when facing roadblocks such as fallen rocks, coal blocks, and silt on the road surface, compared with the existing task management and vehicle dispatching of manual communication, scheduling, or network information management and monitoring, it can automatically and quickly generate operation tasks after detecting roadblocks during vehicle driving and dispatch a suitable grader to the target area to perform cleaning tasks; the roadblock information is transmitted faster and more accurately, and it can quickly match a suitable grader; during the process of the grader performing tasks, when a failure or a change in roadblock information causes the task to be unable to be completed continuously, it can automatically respond quickly, match other suitable graders, and dispatch operations to ensure that roadblocks can be processed in a timely manner; it can reduce the number of times of detouring and parking of transport vehicles, improve the vehicle transport efficiency, and save transport costs.

[0182] The structural schematic diagram of an embodiment of the auxiliary operation device of the present disclosure is as Figure 6 shown. The auxiliary operation device can be an auxiliary operation device located on a transport vehicle, or an auxiliary operation device located on a management platform or an auxiliary operation vehicle, or include auxiliary operation devices located on a transport vehicle, a management platform, and an auxiliary operation vehicle. The auxiliary operation device includes a memory 601 and a processor 602. Among them: The memory 601 can be a disk, a flash memory, or any other non-volatile storage medium. The memory is used to store instructions in the corresponding embodiments of any one of the above auxiliary operation methods. The processor 602 is coupled to the memory 601 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller. The processor 602 is used to execute the instructions stored in the memory, which can improve the degree of automation and processing efficiency of obstacle cleaning.

[0183] In one embodiment, it can also be as Figure 7 shown. The auxiliary operation device 700 includes a memory 701 and a processor 702. The processor 702 is coupled to the memory 701 through the BUS bus 703. The auxiliary operation device 700 can also be connected to an external storage device 705 through a storage interface 704 to call external data, and can also be connected to a network or another computer system (not marked) through a network interface 706. Details are not described here.

[0184] In this embodiment, by storing data instructions in the memory and then processing the above instructions through the processor, the degree of automation and processing efficiency of obstacle cleaning can be improved.

[0185] In another embodiment, a computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the steps of the method in any corresponding embodiment of the auxiliary job device method. Those skilled in the art should understand that the embodiments of the present disclosure can be provided as methods, apparatuses, or computer program products. Therefore, the present disclosure can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0186] The present disclosure is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0187] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0188] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0189] So far, the present disclosure has been described in detail. To avoid obscuring the concept of the present disclosure, some details well known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0190] The methods and apparatuses of the present disclosure may be implemented in many ways. For example, the methods and apparatuses of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the methods is for illustrative purposes only. The steps of the methods of the present disclosure are not limited to the specific order described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, and these programs include machine-readable instructions for implementing the methods according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the methods according to the present disclosure.

[0191] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure and are not intended to limit them. Although the present disclosure has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that it is still possible to modify the specific implementation manners of the present disclosure or perform equivalent replacements for some technical features. Without departing from the spirit of the technical solutions of the present disclosure, they should all be covered within the scope of the technical solutions claimed by the present disclosure.

Claims

1. An operating system, comprising: A transport vehicle configured to send a clearance request to a management platform according to obstacle information when an obstacle is detected; The management platform is configured to select a target auxiliary operation vehicle according to the clearance request, generate an operation task and provide it to the target auxiliary operation vehicle; and An auxiliary operation vehicle configured to, when being the target auxiliary operation vehicle, go to the position of the obstacle according to the corresponding operation task to execute the operation task; wherein, the auxiliary operation vehicle is further configured to: After arriving at the position of the obstacle, detect the obstacle state; When it is determined that the obstacle state does not match the corresponding obstacle information in the operation task, determine whether the obstacle state exceeds the processing capacity of the auxiliary operation vehicle; If the obstacle state exceeds the processing capacity of the auxiliary operation vehicle, send an exception message to the management platform; The management platform is further configured to: reselect the target auxiliary operation vehicle according to the exception message, and generate an operation task for the reselected target auxiliary operation vehicle according to the exception message and the obstacle information.

2. The system according to claim 1, wherein, The transport vehicle is configured to: Collect the obstacle information; Determine an operation area according to the obstacle information, generate operation area information; and Send the operation area information to the management platform.

3. The system according to claim 2, wherein, The obstacle information includes the obstacle position, the obstacle size and the number of obstacles; The operation area information includes the operation area area and shape, the number of obstacles, the obstacle size and the obstacle position.

4. The system according to claim 2, wherein, The management platform is configured to: Receive the operation area information from the unmanned transport vehicle; Determine a set of auxiliary operation vehicles capable of clearing the corresponding obstacles according to the operation area information; and Select the target auxiliary operation vehicle according to one or more of the operation status, the current position, the estimated time to reach the obstacle, or the number of remaining unfinished tasks of the auxiliary operation vehicles in the set of auxiliary operation vehicles.

5. The system according to claim 4, wherein, The management platform is further configured to: generate an operation path of the target auxiliary operation vehicle at the obstacle position, and generate the operation task in combination with the package number of the corresponding operation target.

6. The system according to any one of claims 1 to 3, wherein, The auxiliary operation vehicle is configured to: Obtain the information of the operation task in sequence from a task queue, wherein the operation tasks are stored in the task queue in the order of being assigned to the current auxiliary operation vehicle; Determine path information to the target position corresponding to the operation task according to the information of the operation task; Go to the target position according to the path information; and When arriving at the target position, execute the operation according to the information of the operation task.

7. The system according to claim 6, wherein, The auxiliary operation vehicle is configured to: send a path request to the management platform according to the information of the operation task, and obtain the path information fed back by the management platform; The management platform is further configured to: generate the path information according to the path request from the auxiliary operation vehicle, the target location of the operation task, and the current location of the auxiliary operation vehicle, and feed it back to the corresponding auxiliary operation vehicle.

8. The system according to claim 1, wherein, The auxiliary operation vehicle is further configured to: When it is determined that the obstacle state matches the corresponding obstacle information in the operation task, or the obstacle state does not exceed the processing capacity of the auxiliary operation vehicle, perform the operation according to the information of the operation task.

9. The system according to claim 8, wherein, The auxiliary operation vehicle is further configured to: Detect the obstacle state during the operation; When it is determined that the obstacle removal is completed according to the obstacle state, execute the next operation task according to the task queue until the task queue is empty.

10. The system according to claim 1, wherein, The auxiliary operation vehicle is further configured to: Stop in place or pull over when a failure is determined; Send a failure message to the management platform; The management platform is further configured to: Allocate a target auxiliary operation vehicle for each unexecuted operation task and the operation task that fails to execute according to one or more of the operation capacity, operation status, current location, estimated time to reach the obstacle, or remaining number of uncompleted tasks of each auxiliary operation vehicle; Provide the operation task to the corresponding target auxiliary operation vehicle.

11. The system according to claim 1, wherein, The transport vehicle is further configured to: When an obstacle is detected, pull over or re-plan a path that can bypass the obstacle.

12. An auxiliary operation method, including: When the transport vehicle detects an obstacle, send a clearance request to the management platform according to the obstacle information; The management platform selects a target auxiliary operation vehicle according to the clearance request, generates an operation task and provides it to the target auxiliary operation vehicle; The target auxiliary operation vehicle goes to the location of the obstacle according to the corresponding operation task to execute the operation task; After the target auxiliary operation vehicle arrives at the location of the obstacle, it detects the obstacle state; When it is determined that the obstacle state does not match the corresponding obstacle information in the operation task, determine whether the obstacle state exceeds the processing capacity of the auxiliary operation vehicle; If the obstacle state exceeds the processing capacity of the auxiliary operation vehicle, send an exception message to the management platform; The management platform re-selects the target auxiliary operation vehicle according to the exception message, and generates an operation task for the re-selected target auxiliary operation vehicle according to the exception message and the obstacle information.

13. The method according to claim 12, wherein, The sending a clearance request to the management platform according to the obstacle information includes: Collect the obstacle information; Determine an operation area based on the obstacle information and generate operation area information; and Send the operation area information to the management platform; The selecting a target auxiliary operation vehicle according to the obstacle removal request includes: Receiving the operation area information from the unmanned transport vehicle; Determining a set of auxiliary operation vehicles capable of clearing the corresponding obstacles according to the operation area information; and Selecting the target auxiliary operation vehicle according to one or more of the operation status, current position, estimated time to reach the obstacle, or the number of remaining uncompleted tasks of the auxiliary operation vehicles in the set of auxiliary operation vehicles.

14. The method according to claim 12, wherein, The going to the position of the obstacle to perform the operation task according to the corresponding operation task includes: Obtaining the information of the operation task in sequence from a task queue, wherein the operation tasks are stored in the task queue in the order of being assigned to the current auxiliary operation vehicle; Determining path information for going to the target position corresponding to the operation task according to the information of the operation task; Going to the target position according to the path information; and When arriving at the target position, performing the operation according to the information of the operation task.

15. The method according to claim 14, further including: The target auxiliary operation vehicle detecting the obstacle state during the operation; In the case of determining that the obstacle removal is completed according to the obstacle state, performing the next operation task according to the task queue until the task queue is empty.

16. The method according to claim 12, further including: The target auxiliary operation vehicle stopping in place or pulling over when a failure is determined; The target auxiliary operation vehicle sending a failure information to the management platform; The management platform assigning a target auxiliary operation vehicle to each of the unexecuted operation tasks and the operation tasks that failed to be executed according to one or more of the operation capabilities, operation status, current position, estimated time to reach the obstacle, or the number of remaining uncompleted tasks of each auxiliary operation vehicle; The management platform providing the operation tasks to the corresponding target auxiliary operation vehicles.

17. An auxiliary operation method for a management platform, including: Obtaining an obstacle removal request from a transport vehicle, wherein when the transport vehicle detects an obstacle, it sends an obstacle removal request to the management platform according to the obstacle information; Determining a set of auxiliary operation vehicles capable of clearing the corresponding obstacles according to the obstacle removal request, and selecting a target auxiliary operation vehicle from the set of auxiliary operation vehicles; Generating an operation task for the target auxiliary operation vehicle and providing the operation task to the target auxiliary operation vehicle, so that the target auxiliary operation vehicle goes to the position of the obstacle to perform the operation task according to the corresponding operation task; Re-select a target auxiliary operation vehicle according to the abnormal information from the auxiliary operation vehicle, and generate an operation task for the re-selected target auxiliary operation vehicle according to the abnormal information and the obstacle information, where the auxiliary operation vehicle sends the abnormal information when it determines that the obstacle state does not match the corresponding obstacle information in the operation task and the obstacle state exceeds the processing capacity of the auxiliary operation vehicle.

18. The method according to claim 17, further comprises: Allocating a target auxiliary operation vehicle for each unexecuted operation task and the operation task that fails to be executed of the faulty auxiliary operation vehicle according to one or more of the fault information from the faulty auxiliary operation vehicle, the operation capacity, operation status, current position, estimated time to reach the obstacle, or the number of remaining uncompleted tasks of each auxiliary operation vehicle, where the fault information is sent to the management platform when the auxiliary operation vehicle breaks down.

19. An auxiliary operation method for an auxiliary operation vehicle, comprises: Obtaining and storing an operation task from a management platform, where the management platform selects a target auxiliary operation vehicle according to a breakdown removal request from a transport vehicle, generates an operation task and provides it to the target auxiliary operation vehicle, and the transport vehicle sends a breakdown removal request to the management platform according to the obstacle information when detecting an obstacle; Going to the position of the obstacle according to the corresponding operation task to execute the operation task; Detecting the obstacle state after reaching the position of the obstacle; When determining that the obstacle state does not match the corresponding obstacle information in the operation task, judging whether the obstacle state exceeds the processing capacity of the auxiliary operation vehicle; If the obstacle state exceeds the processing capacity of the auxiliary operation vehicle, sending abnormal information to the management platform; Otherwise, driving the operation task execution module to execute the operation.

20. The method according to claim 19, further comprises: Controlling the auxiliary operation vehicle to stop in place or pull over when determining that a fault has occurred; Sending fault information to the management platform so that the management platform allocates a target auxiliary operation vehicle for each unexecuted operation task and the operation task that fails to be executed.

21. An auxiliary operation device, comprises: A memory; And A processor coupled to the memory, the processor being configured to execute the method according to any one of claims 12 to 20 based on instructions stored in the memory.

22. A non-transitory computer-readable storage medium, on which computer program instructions are stored, and when the instructions are executed by a processor, the steps of the method according to any one of claims 12 to 20 are implemented.

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