Mine traffic control system and command fusion method

Abstract

The application discloses a mine traffic control system and a command fusion method, and belongs to the field of engineering mechanical dispatching control. The system comprises a control center server and self-driving vehicles, and a video monitoring device is arranged in a mine area. The self-driving vehicles detect vehicle state information and transmit the vehicle state information to the control center server. The control center server generates a control command according to the monitoring data of the mine area and the vehicle state information of each vehicle without manual control command information, and sends the control command to corresponding vehicles. In the case of external manual control command information, the control center server generates a control command according to the monitoring data of the mine area and the vehicle state information of each vehicle, combines the manual control command to generate a fusion command, and sends the fusion command to the vehicles in the mine area. The vehicles in the mine area automatically drive according to the received command. The application considers the situation that the manual control needs to be intervened in the case of emergencies, can fuse the manual control command with the original command, and improves the efficiency of system dispatching control and the safety of mine operation in special situations.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery scheduling and control technology, and in particular to a mine traffic control system and command fusion method. Background Technology

[0002] In open-pit mines, autonomous vehicles are used to transport ore or earthwork. These autonomous vehicles require traffic control to improve safety and reduce vehicle damage.

[0003] Patent CN106663369 B provides a traffic control system for open-pit mines. It involves installing communication devices on dump trucks and other manned vehicles to connect to a traffic control server, and installing positioning devices to obtain vehicle location. By setting permitted driving zones and restricted driving zones, it aims to prevent interference when vehicles meet. However, this technical solution does not consider handling emergencies such as rockfalls or disabled vehicles blocking the road, as well as other events such as rain, snow, or mining production events like blasting operations. In such cases, manual intervention is required for traffic control, resulting in low efficiency in dispatching. Summary of the Invention

[0004] The purpose of this invention is to provide a mine traffic control system and command fusion method that takes into account situations requiring manual control, such as emergencies, into account. It can integrate manual control commands with the original automatic control commands to improve the efficiency of system scheduling and control in special circumstances.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is a mine traffic control system, including a control center server and autonomous vehicles. A video monitoring device is installed in the vehicle driving area of ​​the mine, and the video monitoring device transmits monitoring data to the control center server.

[0006] The autonomous vehicle is equipped with a communication module, a driving control system, and a state perception system. The state perception system is used to detect the vehicle's state information and transmit it to the driving control system. The driving control system is used to transmit the vehicle's state information to the control center server through the communication module, and to receive instructions from the control center server and perform autonomous driving control according to the instructions.

[0007] The control center server is used to: receive mine area monitoring data, vehicle status information of each vehicle in the mine area, and manual control command information; in the absence of manual control command information, generate control commands for controlling vehicles in the mine area based on the mine area monitoring data and the status information of each vehicle in the mine area, and issue them to the corresponding vehicles; in the presence of manual control command information, generate the control commands based on the mine area monitoring data and the status information of each vehicle in the mine area, generate a fusion command based on the control commands and the manual control commands, and issue the fusion command to the vehicles in the mine area.

[0008] Optionally, the control center server includes a web server, and obtains manual control commands input by users through the web interface via the web server. Alternatively, manual control commands can also be transmitted to the control center server via the control center field server computer management interface or wireless communication, etc., which will not be elaborated further.

[0009] Optionally, the vehicle status information includes at least one or more of the following: vehicle position, speed, load, and heading.

[0010] The autonomous vehicle state perception system includes a weighing device, an environmental perception device, a vehicle speed detection device, and a positioning device. The environmental perception device uses microwave radar and / or lidar, and the positioning device uses GNSS (Global Navigation Satellite System).

[0011] Optionally, the control commands for autonomous vehicles include at least the following control types: start, drive, decelerate, accelerate, and stop, and the control commands for driving control include driving trajectory information and vehicle speed information.

[0012] The control content of the manual control command includes at least one of the following: whether bypassing obstacles is allowed in a designated area, whether passage is allowed in a designated area, speed reduction in a designated area, speed reduction across the entire area, and emergency stop across the entire area.

[0013] Optionally, the manual control instructions include control instructions for a specified area and global control instructions. The control instructions for a specified area include: area information, whether passage is permitted, whether obstacle detour is required, whether obstacle detour is permitted, speed limit information, and instruction validity information, or, may also include event information corresponding to the instruction. The global control instructions include: control content information, instruction value, and instruction validity information.

[0014] Optionally, the control command for the designated area is issued when rockfalls, blasting operations, slippery roads, or disabled vehicles blocking the road occur in the designated area; it is not limited to other situations requiring manual intervention.

[0015] The global control commands include global speed reduction commands in severe weather and global parking commands in extreme weather; they are not limited to other situations requiring manual intervention for unified global control.

[0016] Optionally, the control center server generates a fusion instruction based on the control command and the manual control command, including:

[0017] Determine whether there is a manual control command for the entire area to stop, and whether there is a control command for the purpose of controlling vehicle parking; if there is a manual control command for the entire area to stop, generate a fusion command to control the parking of all vehicles in the mining area; if there is only a control command for the purpose of controlling the parking of a specific vehicle, generate a fusion command to control the parking of the corresponding vehicle.

[0018] If there is no overall parking instruction, and at least one vehicle's control instruction is an instruction other than parking, then:

[0019] For manual control instructions for a specified area, all manual control instructions for each specified area are defined according to the different area divisions.

[0020] For each designated area, the vehicle about to enter the designated area is determined according to the control instructions corresponding to each vehicle, and the vehicle speed information in the corresponding vehicle control instruction information is obtained.

[0021] Based on all manual control commands corresponding to the designated area, determine whether passage to the area is permitted. If not, generate a fusion command to control the corresponding vehicle to stop in front of the designated area. Otherwise, based on all manual control commands corresponding to the designated area, determine whether obstacle detour is required and permitted: if obstacle detour is required but not permitted, generate a fusion command to control the corresponding vehicle to stop in front of the designated area; if obstacle detour is not required and no speed limit is specified in any of the manual control commands corresponding to the area, use the control command as the fusion command; if obstacle detour is not required and at least one of the manual control commands corresponding to the area specifies a speed limit, adjust the vehicle speed in the control command to the minimum of the speed specified in the control command and the speed specified in the manual control command. If obstacle avoidance is required and permitted, and none of the manual control commands for that area specify a speed limit, then an obstacle avoidance trajectory is generated based on the specified area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory, and the control command with the adjusted driving trajectory is used as the fusion command. If obstacle avoidance is required and permitted, and at least one of the manual control commands for that area specifies a speed limit, then an obstacle avoidance trajectory is generated based on the specified area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory. The vehicle speed information in the control command is adjusted based on the minimum value between the control command speed and the manual control command speed. The driving trajectory and the control command with the adjusted speed are used as the fusion command.

[0022] Optionally, the control center server is also used to manage the timeliness of manual control instructions, and delete manual control instructions that have exceeded the validity period according to the instruction timeliness information, or store manual control instructions that have exceeded the validity period and valid manual control instructions separately.

[0023] The process of generating a fusion command based on the control command and the manual control command is as follows: generating a fusion command based on the control command and the effective manual control command.

[0024] On the other hand, the present invention also provides a method for fusion of mine traffic control commands, comprising:

[0025] Acquire monitoring data of the mining area and vehicle status information of each vehicle in the mining area, and receive manual control instructions from external sources;

[0026] Without human control instructions, based on the monitoring data of the mining area and the vehicle status information of each vehicle in the mining area, control instructions for controlling vehicles in the mining area are generated and sent to the corresponding vehicles.

[0027] When there is manual control instruction information, the control instruction is generated based on the monitoring data of the mining area and the vehicle status information of each vehicle in the mining area, and the fusion instruction is generated based on the control instruction and the manual control instruction, and the fusion instruction is sent to the vehicles in the mining area.

[0028] The step of generating fusion instructions based on control commands and manual control commands includes:

[0029] Determine whether there is a manual control command for the entire area to stop, and whether there is a control command for the purpose of controlling vehicle parking; if there is a manual control command for the entire area to stop, generate a fusion command to control the parking of all vehicles in the mining area; if there is only a control command for the purpose of controlling the parking of a specific vehicle, generate a fusion command to control the parking of the corresponding vehicle.

[0030] If there is no overall parking instruction, and at least one vehicle's control instruction is an instruction other than parking, then:

[0031] For manual control instructions for a specified area, all manual control instructions for each specified area are defined according to the different area divisions.

[0032] For each designated area, the vehicle about to enter the designated area is determined according to the control instructions corresponding to each vehicle, and the vehicle speed information in the corresponding vehicle control instruction information is obtained.

[0033] Based on all manual control commands corresponding to the designated area, determine whether passage to the area is permitted. If not, generate a fusion command to control the corresponding vehicle to stop in front of the designated area. Otherwise, based on all manual control commands corresponding to the designated area, determine whether obstacle detour is required and permitted: if obstacle detour is required but not permitted, generate a fusion command to control the corresponding vehicle to stop in front of the designated area; if obstacle detour is not required and no speed limit is specified in any of the manual control commands corresponding to the area, use the control command as the fusion command; if obstacle detour is not required and at least one of the manual control commands corresponding to the area specifies a speed limit, adjust the vehicle speed in the control command to the minimum of the speed specified in the control command and the speed specified in the manual control command. If obstacle avoidance is required and permitted, and none of the manual control commands for that area specify a speed limit, then an obstacle avoidance trajectory is generated based on the specified area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory, and the control command with the adjusted driving trajectory is used as the fusion command. If obstacle avoidance is required and permitted, and at least one of the manual control commands for that area specifies a speed limit, then an obstacle avoidance trajectory is generated based on the specified area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory. The vehicle speed information in the control command is adjusted based on the minimum value between the control command speed and the manual control command speed. The driving trajectory and the control command with the adjusted speed are used as the fusion command.

[0034] Optionally, the manual control command includes command timeliness information;

[0035] The method also includes managing the timeliness of manual control instructions, deleting manual control instructions that have exceeded their validity period based on the instruction validity information, or storing manual control instructions that have exceeded their validity period and valid manual control instructions separately.

[0036] In the method, generating a fusion instruction based on the control command and the manual control command means generating a fusion instruction based on the control command and the effective manual control command.

[0037] Beneficial effects

[0038] The mine traffic control system and command fusion method of the present invention integrates control commands with manual control commands, which facilitates the intervention of manual management, makes up for the shortcomings of automatic traffic control, can cope with emergency control of mine vehicles under various emergencies, and can improve the efficiency of system scheduling and management in special circumstances, thereby improving mine safety. Attached Figure Description

[0039] Figure 1 The diagram shown is a schematic diagram of the control principle of the mine traffic control system of the present invention.

[0040] Figure 2The image shows a control instruction data structure table for a specified area in one embodiment;

[0041] Figure 3 The table shown is a data structure table for global control commands in one embodiment;

[0042] Figure 4 The diagram shown is a flowchart of one embodiment of the mine traffic control command fusion method of the present invention. Detailed Implementation

[0043] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details.

[0044] Example 1

[0045] This embodiment introduces a mine traffic control system, including a control center server and autonomous vehicles. The vehicle driving area in the mine is equipped with a video monitoring device, which transmits monitoring data to the control center server.

[0046] The autonomous vehicle is equipped with a communication module, a driving control system, and a state perception system for remote automatic driving control. The state perception system detects the vehicle's state information and transmits it to the driving control system. The driving control system transmits the vehicle's state information to the control center server through the communication module. When it receives an automatic control command from the control center server, the driving control system performs automatic driving control according to the received command.

[0047] The control center server receives monitoring data from the mining area, status information of each vehicle within the mining area, and manual control instructions. In the absence of manual control instructions, it generates control instructions for the vehicles within the mining area based on the monitoring data and status information of each vehicle, and sends these instructions to the corresponding vehicles. In the presence of manual control instructions, it generates control instructions based on the monitoring data and status information of each vehicle, and then generates a fusion instruction based on the control instructions and the manual control instructions, which is then sent to the vehicles within the mining area.

[0048] The vehicle status perception system in the mining area includes a weighing device, an environmental sensing device, a vehicle speed detection device, and a positioning device. The environmental sensing device may use microwave radar and / or lidar, and the positioning device uses a GNSS global navigation satellite system. The vehicle status information transmitted by the vehicle to the control center server includes, but is not limited to, the vehicle's location, environment, speed, load, and heading information.

[0049] Without human intervention, the control commands generated by the control center server control autonomous vehicles, including but not limited to: starting, driving, decelerating, accelerating, and stopping. The control command information for driving control includes driving trajectory information and vehicle speed information. Specifically, generating corresponding vehicle control commands based on vehicle status information can be referenced from existing technologies.

[0050] In this embodiment, the control center server runs an automatic traffic control program, a database, a web server, and a traffic command fusion program. The automatic traffic control program is used to dispatch and control the automatic driving of all vehicles in the mining area. Manual control commands are input through the web interface, and the web server retrieves the corresponding commands, stores them in the database, and performs timely storage management. The traffic command fusion program is used to merge the original control command information with the manual control command information to generate a fused command, which is then issued to the corresponding mining area vehicles. Figure 1 As shown.

[0051] In this embodiment, the manual control instructions include control instructions for a specified area and control instructions for the entire domain. The control instructions for a specified area include: area information, whether passage is permitted, whether obstacle bypass is required, whether obstacle bypass is permitted, speed limit information, and instruction validity information, or, may also include event information corresponding to the instruction. The control instructions for the entire domain include: control content information, instruction value, and instruction validity information.

[0052] When incidents such as rockfalls, blasting operations, slippery roads, or disabled vehicles blocking the road occur in specific areas of the mining area, manual intervention is required to issue control commands for the corresponding areas. When the entire mining area is in extreme or severe weather, manual intervention is required to issue control commands for the entire area.

[0053] When manually inputting control commands through a web interface, the command content can be set through the command input interface. For example, for area control commands, the settings include, but are not limited to: area location information, whether the area is permitted, whether obstacle bypass is required, whether obstacle bypass is permitted, speed limit, and command validity period. For global control commands, the settings include, but are not limited to, control content information, command value, and command validity period information.

[0054] After the control center server's web server obtains the relevant instruction information, it stores the instructions in the database. The storage structure for control instructions in a specific area can be found in [reference needed]. Figure 2 The control command data structure table for the specified area is shown below. For the storage structure of global control commands, please refer to [reference needed]. Figure 3 The table showing the data structure for authority and control instructions is shown.

[0055] The instruction validity information in the instruction data is used to provide a basis for the server to determine whether the instruction is valid. The control center server also manages the validity of manual control instructions. Based on the instruction validity information, it deletes manual control instructions that have exceeded the validity period, or stores manual control instructions that have exceeded the validity period and valid manual control instructions separately. When performing instruction fusion, it only generates fusion instructions based on control instructions and valid manual control instructions.

[0056] refer to Figure 4 In this embodiment, the process of the control center server executing the traffic instruction fusion program is as follows:

[0057] S1, acquires monitoring data of the mining area, vehicle status information of each vehicle in the mining area, and currently valid manual control command information;

[0058] S2, without human control instructions, generates control instructions for controlling vehicles in the mining area based on mining area monitoring data and vehicle status information of each vehicle in the mining area, and sends them to the corresponding vehicles.

[0059] When there is external manual control instruction information, the control instruction is generated based on the monitoring data of the mining area and the vehicle status information of each vehicle in the mining area, and the fusion instruction is generated based on the control instruction and the manual control instruction, and the fusion instruction is sent to the vehicles in the mining area.

[0060] Among them, combined Figure 4 The process of generating fusion instructions based on control commands and manual control commands includes:

[0061] S21, determine whether there is a manual control command for the entire area to stop, and whether there is a control command for the purpose of controlling vehicle parking; if there is a manual control command for the entire area to stop, generate a fusion command for controlling all vehicles in the mining area to stop; if there is only a control command for the purpose of controlling a specific vehicle to stop, generate a fusion command for controlling the corresponding vehicle to stop.

[0062] S22, if there is no overall parking instruction, and at least one vehicle's control instruction is an instruction other than parking, then:

[0063] S221, For manual control instructions for a specified area, all manual control instructions corresponding to each specified area are divided according to the different areas. This includes global control instructions, that is, for all areas, all valid global control instructions need to be considered.

[0064] S222, For each designated area, determine the vehicle that is about to enter the designated area according to the control command corresponding to each vehicle, and obtain the vehicle speed information in the corresponding vehicle control command information;

[0065] S223: Determine whether the designated area is open to traffic based on all manual control commands corresponding to the designated area. If not, generate a fusion command to control the corresponding vehicle to stop in front of the designated area. If the designated area is open to traffic, proceed to S224.

[0066] S224, based on all manual control commands corresponding to the designated area, determine whether the area requires obstacle avoidance, whether obstacle avoidance is permitted, and whether a speed limit is specified:

[0067] If it is necessary to bypass the obstacle while not allowing it to bypass the obstacle, a fusion command is generated to control the corresponding vehicle to stop in front of the designated area.

[0068] If obstacle avoidance is not required, and speed limits are not specified in any of the manual control commands for the area, then the specific parameters in the control command will not be changed, and it will be issued as a fusion command.

[0069] If obstacle avoidance is not required, and at least one of the manual control commands for the area specifies a speed limit, then the vehicle speed in the original control command is adjusted to the minimum of the original speed and the speed in the manual control command, and the control command with the adjusted vehicle speed information is issued as a fusion command.

[0070] If obstacle avoidance is required and allowed, and there is no speed limit specified in any of the manual control commands for that area, then an obstacle avoidance trajectory is generated based on the specified area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory, and the control command with the adjusted driving trajectory is used as the fusion command.

[0071] If obstacle avoidance is required and permitted, and at least one of the manual control commands for that area specifies a speed limit, then an obstacle avoidance trajectory is generated based on the specified area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory. The speed information in the control command is adjusted based on the minimum value between the speed in the control command and the speed in the manual control command. The driving trajectory and the control command after speed adjustment are then used as a fusion command.

[0072] After receiving instructions, vehicles within the mining area can perform automated driving control based on those instructions. This enables unified acceleration, deceleration, and stopping, as well as stopping before emergency zones, slowing down within emergency zones, and detouring outside emergency zones, thereby improving the overall control efficiency and safety of the mining area.

[0073] Example 2

[0074] Based on the same inventive concept as Embodiment 1, this embodiment introduces a method for fusing mine traffic control commands. This method can be executed by the mine control center server. (Refer to...) Figure 4 The method includes the following steps:

[0075] S1, acquires monitoring data of the mining area, vehicle status information of each vehicle in the mining area, and currently valid manual control command information;

[0076] S2, without human control instructions, generates control instructions for controlling vehicles in the mining area based on mining area monitoring data and vehicle status information of each vehicle in the mining area, and sends them to the corresponding vehicles.

[0077] When there is external manual control instruction information, the control instruction is generated based on the monitoring data of the mining area and the vehicle status information of each vehicle in the mining area, and the fusion instruction is generated based on the control instruction and the manual control instruction, and the fusion instruction is sent to the vehicles in the mining area.

[0078] Among them, combined Figure 4 The process of generating fusion instructions based on control commands and manual control commands includes:

[0079] S21, determine whether there is a manual control command for the entire area to stop, and whether there is a control command for the purpose of controlling vehicle parking; if there is a manual control command for the entire area to stop, generate a fusion command for controlling all vehicles in the mining area to stop; if there is only a control command for the purpose of controlling a specific vehicle to stop, generate a fusion command for controlling the corresponding vehicle to stop.

[0080] S22, if there is no overall parking instruction, and at least one vehicle's control instruction is an instruction other than parking, then:

[0081] S221, For manual control instructions for a specified area, all manual control instructions corresponding to each specified area are divided according to the different areas. This includes global control instructions, that is, for all areas, all valid global control instructions need to be considered.

[0082] S222, For each designated area, determine the vehicle that is about to enter the designated area according to the control command corresponding to each vehicle, and obtain the vehicle speed information in the corresponding vehicle control command information;

[0083] S223: Determine whether the designated area is open to traffic based on all manual control commands corresponding to the designated area. If not, generate a fusion command to control the corresponding vehicle to stop in front of the designated area. If the designated area is open to traffic, proceed to S224.

[0084] S224, based on all manual control commands corresponding to the designated area, determine whether the area requires obstacle avoidance, whether obstacle avoidance is permitted, and whether a speed limit is specified:

[0085] If it is necessary to bypass the obstacle while not allowing it to bypass the obstacle, a fusion command is generated to control the corresponding vehicle to stop in front of the designated area.

[0086] If obstacle avoidance is not required, and speed limits are not specified in any of the manual control commands for the area, then the specific parameters in the control command will not be changed, and it will be issued as a fusion command.

[0087] If obstacle avoidance is not required, and at least one of the manual control commands for the area specifies a speed limit, then the vehicle speed in the original control command is adjusted to the minimum of the original speed and the speed in the manual control command, and the control command with the adjusted vehicle speed information is issued as a fusion command.

[0088] If obstacle avoidance is required and allowed, and there is no speed limit specified in any of the manual control commands for that area, then an obstacle avoidance trajectory is generated based on the specified area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory, and the control command with the adjusted driving trajectory is used as the fusion command.

[0089] If obstacle avoidance is required and permitted, and at least one of the manual control commands for that area specifies a speed limit, then an obstacle avoidance trajectory is generated based on the designated area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory. The vehicle speed information in the control command is adjusted based on the minimum value between the speed in the control command and the speed in the manual control command. The driving trajectory and the speed-adjusted control command are then used as a fused command. Optionally, the manual control command includes command validity information.

[0090] The method in this embodiment further includes managing the timeliness of manual control instructions, deleting manual control instructions that have exceeded their validity period based on the instruction validity information, or storing manual control instructions that have exceeded their validity period and valid manual control instructions separately.

[0091] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A mine traffic control system, characterized in that: It includes a control center server and autonomous vehicles. The area where the vehicles travel in the mining area is equipped with video surveillance devices, which transmit monitoring data to the control center server. The autonomous vehicle is equipped with a communication module, a driving control system, and a state perception system. The state perception system is used to detect the vehicle's state information and transmit it to the driving control system. The driving control system is used to transmit the vehicle's state information to the control center server through the communication module, and to receive instructions from the control center server and perform autonomous driving control according to the instructions. The control center server is used to: receive mining area monitoring data, vehicle status information of each vehicle in the mining area, and manual control command information; Without human control instructions, control instructions for controlling vehicles in the mining area are generated and sent to the corresponding vehicles based on mining area monitoring data and the status information of each vehicle in the mining area. When there is manual control instruction information, the control instruction is generated based on the mine area monitoring data and the status information of each vehicle in the mine area. The control instruction and the manual control instruction are combined to generate a fusion instruction, which is then sent to the vehicles in the mine area. The control center server generates fusion instructions based on the control instructions and the manual control instructions, including: Determine whether there is a manual control command for the entire area to stop, and whether there is a control command for the purpose of controlling vehicle parking; if there is a manual control command for the entire area to stop, generate a fusion command to control the parking of all vehicles in the mining area; if there is only a control command for the purpose of controlling the parking of a specific vehicle, generate a fusion command to control the parking of the corresponding vehicle. If there is no overall parking instruction, and at least one vehicle's control instruction is an instruction other than parking, then: For manual control instructions for a specified area, all manual control instructions for each specified area are defined according to the different area divisions. For each designated area, the vehicle about to enter the designated area is determined according to the control instructions corresponding to each vehicle, and the vehicle speed information in the corresponding vehicle control instruction information is obtained. Based on all manual control commands corresponding to the designated area, determine whether passage is permitted in the designated area. If not, generate a fusion command to control the corresponding vehicle to stop in front of the designated area. Otherwise, based on all manual control commands corresponding to the designated area, determine whether obstacle detour is required, whether obstacle detour is permitted, and whether speed limits are specified in all manual control commands corresponding to the designated area, and generate a fusion command based on the determination results.

2. The mine traffic control system according to claim 1, characterized in that: The control center server includes a web server, and obtains manual control command information input by the user from the web interface through the web server.

3. The mine traffic control system according to claim 1, characterized in that: The vehicle status information includes at least one or more of the following: vehicle position, speed, load, and heading. The autonomous vehicle state perception system includes a weighing device, an environmental perception device, a vehicle speed detection device, and a positioning device. The environmental perception device uses microwave radar and / or lidar, and the positioning device uses a GNSS global navigation satellite system.

4. The mine traffic control system according to claim 1, characterized in that: The control commands for autonomous vehicles include at least the following control types: start, drive, decelerate, accelerate, and stop. The control commands for driving control include driving trajectory information and vehicle speed information. The control content of the manual control command includes at least one of the following: whether bypassing obstacles is allowed in a designated area, whether passage is allowed in a designated area, speed reduction in a designated area, speed reduction across the entire area, and emergency stop across the entire area.

5. The mine traffic control system according to claim 4, characterized in that: The manual control commands include control commands for a specified area and global control commands. The control commands for a specified area include: area information, whether passage is permitted, whether obstacle detour is required, whether obstacle detour is permitted, speed limit information, and command validity information, or, may also include event information corresponding to the command. The global control commands include: control content information, command value, and command validity information.

6. The mine traffic control system according to claim 5, characterized in that: The control command for the designated area is issued when rockfalls, blasting operations, slippery roads, or disabled vehicles blocking the road occur in the designated area. The global control commands include global speed reduction commands under severe weather conditions and global parking commands under extreme weather conditions.

7. The mine traffic control system according to any one of claims 1-6, characterized in that: The step of determining whether obstacle avoidance is required or permitted in a designated area based on all manual control commands corresponding to that area, and whether speed limits are specified in all manual control commands corresponding to that area, and generating fusion commands based on the determination results, includes: If obstacle avoidance is required but not permitted, a fusion command is generated to control the corresponding vehicle to stop in front of the designated area. If obstacle avoidance is not required, and none of the manual control commands for that area specify a speed limit, the control command is used as the fusion command. If obstacle avoidance is not required, and at least one of the manual control commands for that area specifies a speed limit, the vehicle speed in the control command is adjusted to the minimum of the speeds specified in the control command and the manual control command, and the control command with the adjusted speed information is used as the fusion command. If obstacle avoidance is required and permitted, and none of the manual control commands for that area specify a speed limit, an obstacle avoidance trajectory is generated based on the designated area information, the driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory, and the control command with the adjusted driving trajectory is used as the fusion command. If obstacle avoidance is required and permitted, and at least one of the manual control commands for that area specifies a speed limit, an obstacle avoidance trajectory is generated based on the designated area information, the driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory, the vehicle speed information in the control command is adjusted based on the minimum of the speeds specified in the control command and the manual control command, and the driving trajectory and the control command with the adjusted speed are used as the fusion command.

8. The mine traffic control system according to claim 7, characterized in that: The control center server is also used to manage the timeliness of manual control instructions, and based on the instruction timeliness information, delete manual control instructions that have exceeded the validity period, or store manual control instructions that have exceeded the validity period and valid manual control instructions separately. The process of generating a fusion command based on the control command and the manual control command is as follows: generating a fusion command based on the control command and the effective manual control command.

9. A method for integrating mine traffic control commands, comprising: Acquire monitoring data of the mining area, vehicle status information of each vehicle in the mining area, and manual control command information; Without human control instructions, based on the monitoring data of the mining area and the vehicle status information of each vehicle in the mining area, control instructions for controlling vehicles in the mining area are generated and sent to the corresponding vehicles. When there is manual control instruction information, the control instruction is generated based on the monitoring data of the mining area and the vehicle status information of each vehicle in the mining area, and the fusion instruction is generated based on the control instruction and the manual control instruction, and the fusion instruction is sent to the vehicles in the mining area. The step of generating fusion instructions based on control commands and manual control commands includes: Determine whether there is a manual control command for the entire area to stop, and whether there is a control command for the purpose of controlling vehicle parking; if there is a manual control command for the entire area to stop, generate a fusion command to control the parking of all vehicles in the mining area; if there is only a control command for the purpose of controlling the parking of a specific vehicle, generate a fusion command to control the parking of the corresponding vehicle. If there is no overall parking instruction, and at least one vehicle's control instruction is an instruction other than parking, then: For manual control instructions for a specified area, all manual control instructions for each specified area are defined according to the different area divisions. For each designated area, the vehicle about to enter the designated area is determined according to the control instructions corresponding to each vehicle, and the vehicle speed information in the corresponding vehicle control instruction information is obtained. Based on all manual control commands corresponding to the designated area, determine whether passage to the area is permitted. If not, generate a fusion command to control the corresponding vehicle to stop in front of the designated area. Otherwise, based on all manual control commands corresponding to the designated area, determine whether obstacle detour is required and permitted: if obstacle detour is required but not permitted, generate a fusion command to control the corresponding vehicle to stop in front of the designated area; if obstacle detour is not required and no speed limit is specified in any of the manual control commands corresponding to the area, use the control command as the fusion command; if obstacle detour is not required and at least one of the manual control commands corresponding to the area specifies a speed limit, adjust the vehicle speed in the control command to the minimum of the speed specified in the control command and the speed specified in the manual control command. If obstacle avoidance is required and permitted, and none of the manual control commands for that area specify a speed limit, then an obstacle avoidance trajectory is generated based on the specified area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory, and the control command with the adjusted driving trajectory is used as the fusion command. If obstacle avoidance is required and permitted, and at least one of the manual control commands for that area specifies a speed limit, then an obstacle avoidance trajectory is generated based on the specified area information. The driving trajectory in the control command is adjusted based on the obstacle avoidance trajectory. The vehicle speed information in the control command is adjusted based on the minimum value between the control command speed and the manual control command speed. The driving trajectory and the control command with the adjusted speed are used as the fusion command.

10. The method according to claim 9, characterized in that, The manual control commands include command timeliness information; The method also includes managing the timeliness of manual control instructions, deleting manual control instructions that have exceeded their validity period based on the instruction validity information, or storing manual control instructions that have exceeded their validity period and valid manual control instructions separately. In the method for fusing control commands in mine traffic, the step of generating a fused command based on control commands and manual control commands is to generate a fused command based on control commands and valid manual control commands.

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