Open-pit mine loading collaborative operation method, transportation equipment platform, collaborative operation platform and system

Abstract

The present invention discloses an open-pit mine loading collaborative operation method, a transportation equipment platform, a collaborative operation platform and a system, including: parameter setting, initializing the loading position; obtaining the loading position data and its path point set in the operation area, collecting the equipment position coordinates in real time, and updating the loading position status; upon receiving a truck entry request, allocating an idle loading position and its corresponding path point set and right of way; controlling the truck to enter the loading position according to the collaborative operation status and collision prediction results; during the loading operation, collecting the truck load, bucket position or triggering instructions to judge the exit conditions; after the exit conditions are met, controlling the truck to exit the operation area according to the collaborative operation status and collision prediction results, and completing the collaborative operation control. The present invention solves the problem of low efficiency of multi-vehicle loading collaborative operation in the unmanned transportation system of open-pit mines, can realize automatic guidance of multiple vehicles, improve the utilization rate of loading equipment, and thus improve the efficiency of collaborative loading in the operation area.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned driving in open-pit mines, and in particular relates to an open-pit mine loading collaborative operation method, a transportation equipment platform, a collaborative operation platform and a system. Background Art

[0002] With the development of domestic unmanned driving technology, domestic open-pit mines have gradually put into practice the application of unmanned driving technology in mine production. However, the particularity and complexity of the production operations of open-pit mines have led to many technical challenges in the implementation of unmanned systems in open-pit mines. Among them, the collaborative loading operation of unmanned transportation equipment in the loading area is one of the important technologies in the field of unmanned transportation technology in open-pit mines, and it is also a key link that restricts mine production efficiency. At present, the collaborative operation of multiple mine trucks shoveling is mainly guided by manual control of mining equipment to enter and exit the site. After a mine truck is loaded and leaves, another mine truck waiting in line can enter the loading position. During this process, the loading equipment will have a standby waiting time, and the loading operation efficiency cannot be maximized. Therefore, reducing the labor intensity of collaborative operations of mining equipment drivers and improving the efficiency of collaborative loading operations in the operation area are crucial in the unmanned transportation system of open-pit mines. Summary of the Invention

[0003] The present invention aims to improve the efficiency of collaborative loading in an operating area, reduce the collaborative labor intensity of mining equipment drivers, and provide a full-process collaborative operation method for transport equipment in an operating area.

[0004] In order to achieve the above technical objectives, the present invention adopts the following technical solutions.

[0005] In a first aspect, the present invention provides a method for collaborative loading operations in an open-pit mine, the method being applied to a collaborative loading platform, the method comprising:

[0006] Receive an entry request from a target transport device participating in the collaborative operation, where the target transport device has entered a designated position in front of the loading area, is in an entry waiting state, and is added to an entry waiting list;

[0007] Allocate an idle loading space to the target transport device that sent the entry request, and update the status of the allocated loading space to occupied. Generate an entry instruction based on the target transport device ID, entry instruction ID, allocated loading space ID, and the corresponding path point set and right of way from the target transport device that sent the entry request to the allocated loading space. Return the entry request to the transport device platform.

[0008] Send an entry driving instruction to the transport equipment platform, so that the transport equipment platform removes the target transport equipment from the entry waiting list, changes its state from the entry waiting state to the entry driving state, and controls the target transport equipment to drive to the loading position, or to drive to a temporary parking point and wait until the collision risk is eliminated, and then continue driving until it reaches the loading position and enters the loading state according to the entry driving instruction and the content of the entry instruction; the target transport equipment is the target transport equipment that enters the entry waiting list first;

[0009] Receive the target transport equipment's own loading weight collected and transmitted in real time during the loading operation, and determine whether the target transport equipment meets the exit requirements;

[0010] If the target equipment meets the exit requirements, it will be used as the exit target transport equipment. Based on the exit target transport equipment identification, exit instruction identification, assigned loading position identification, and the corresponding path point set and right of way for the exit target transport equipment to exit the loading area, an exit instruction is generated; and the exit instruction is sent to the transport equipment platform.

[0011] Send an exit travel instruction to the exit transport equipment platform, so that the transport equipment platform changes the state of the exit target transport equipment from the loading state to the exit travel state; and according to the exit travel instruction and the exit instruction content, control the exit target transport equipment to move out of the loading area, or drive to a temporary parking point and wait until the collision risk is eliminated before leaving the loading area;

[0012] Update the loading position status assigned to the target transport equipment leaving the loading position to an idle state;

[0013] Among them, collision prediction is performed according to the status of all transportation equipment participating in the collaborative operation, and entry driving instructions or exit driving instructions are sent based on the collision prediction results.

[0014] Furthermore, before receiving the entry request sent by the transport equipment platform, the loading position is initialized;

[0015] Obtain the loading location data and path point set in the loading area, and collect the coordinates and heading information of all transport equipment and loading equipment in the loading area;

[0016] The loading position status is updated based on the coordinates and heading information of all transport equipment and loading equipment, including: real-time acquisition of the coordinates and heading of the loading equipment and its bucket, as well as the coordinates and heading of all transport equipment participating in the collaborative operation; based on the three-dimensional size of the loading equipment and the coordinates and heading of the current loading equipment and its bucket, as well as the coordinates and heading of all vehicles participating in the collaborative operation, the coordinates of the four vertices of the bounding boxes of the loading equipment and the transport equipment are calculated, and it is determined whether the bounding boxes of each device intersect with the loading position not assigned to the transport equipment. If there is an intersection, the loading position status is occupied;

[0017] If there is no intersection, the status of the loading position is updated to an idle loading position.

[0018] Furthermore, the coordinates and headings of the auxiliary vehicles other than the transporting equipment and the loading equipment are also introduced when calculating the coordinates of the four vertices of the device bounding box.

[0019] Furthermore, initializing the loading position specifically includes: determining whether there is a loading position in the loading area; if so, determining whether the loading position is within the loading range of the loading device; if there is no loading position in the loading area or the loading position is not within the loading range of the loading device, the loading device resets the loading position to complete the initialization of the loading position.

[0020] Furthermore, the method for setting the loading position of the loading equipment includes: the loading equipment extends the bucket to the position where loading is required, sets it as the loading point, calculates the bucket tooth position coordinates according to the positioning information of the loading equipment, generates a loading position on both sides of the loading equipment according to the bucket tooth position coordinates, and determines the four vertex position coordinates of the loading position.

[0021] Furthermore, if it is determined that the target equipment meets the exit requirements, the exit instruction is sent only after it is determined that the bucket has left the loading position by calculating the positional relationship between the bucket position and the loading position.

[0022] Furthermore, allocating an idle loading space to the target transport equipment that sent the entry request includes:

[0023] Set up paired loading equipment for target transport equipment;

[0024] Determine whether there is an empty loading position within the loading range of the paired loading device;

[0025] If there is a free loading space and it is available, it is assigned to the target transport equipment;

[0026] If it is determined that there is an idle loading position on each side of the loading equipment and both are available, the historical advancement trajectory of the loading equipment is obtained, the advancement direction of the loading equipment is calculated, and the set distance is extended along the advancement direction. The starting point of the historical advancement trajectory is connected with the point extended by the set distance, and it is determined whether the position coordinates of the bucket of the loading equipment fall on the left or right side of the connection line. If it falls on the left side, the idle loading position on the left is allocated. If it falls on the right side, the idle loading position on the right is allocated.

[0027] Furthermore, the collaborative operation platform performs collision prediction based on the status of all transportation equipment participating in the collaborative operation, and sends entry or exit driving instructions based on the collision prediction results, including:

[0028] Determine whether any of the transport equipment participating in the collaborative operation is in the entry or exit state, and if not, send an entry or exit instruction;

[0029] If yes, then based on the acquired coordinates and heading of the incoming target transport equipment, obtain the set of travel path points of the incoming target transport equipment or the outgoing target transport equipment, and determine the set of path points that the incoming target transport equipment has not traveled; calculate whether there is a risk of collision between the set of path points that have not traveled and other transport equipment in the incoming travel state or the outgoing travel state; if there is no collision risk, send an incoming travel instruction or an outgoing travel instruction;

[0030] If there is a collision risk, an entry driving instruction or an exit driving instruction will be sent, and a temporary parking location will be sent to the target transport equipment entering the site, and the right of way of the collision risk section will be recovered; after the collision risk is eliminated, an entry driving instruction or an exit driving instruction will be sent to the target transport equipment again to release the right of way of the collision risk section.

[0031] Furthermore, during the process of the incoming target transport equipment driving towards the loading position, a spatial collision prediction of the driving trajectory of the incoming transport equipment and the loading equipment is also performed. When the prediction determines that there is a collision risk, a stop instruction is sent to the transport equipment platform so that the transport equipment platform controls the incoming target transport equipment to stop; when the predicted collision risk is eliminated, an entry driving instruction is sent to the transport equipment platform again.

[0032] Furthermore, the spatial collision prediction of the driving trajectory of the incoming transport equipment and the loading equipment includes:

[0033] The real-time spatial position coordinates of the loading equipment and its bucket, the path point set of the target transport equipment entering the site, and the three-dimensional dimensions of the target transport equipment entering the site;

[0034] Determine the set of travel path points for the target transport equipment entering the site within the operating radius of the loading equipment;

[0035] Based on the spatial position coordinates of the loading equipment and its bucket, determine whether the loading equipment and its bucket are within the operating radius of the loading equipment and the three-dimensional space of the target transport equipment's driving path trajectory. If they are within the operating radius of the loading equipment, there is a risk of collision with the target transport equipment.

[0036] Further, determining the target transport equipment that sends the entry request to the corresponding set of waypoints of the loading location assigned thereto includes: obtaining the set of waypoints in the loading area;

[0037] Obtain the maximum operating radius of the loading equipment and the coordinates of the current rotation center position;

[0038] Calculate the target transport equipment travel path point set within the safe operating radius of the loading equipment;

[0039] According to the three-dimensional size, tracking error and safety factor of the transportation equipment, a spatial point set of the driving path is generated.

[0040] In a second aspect, the present invention provides a method for collaborative loading operations in an open-pit mine, comprising: applying the method to a transport equipment platform, the method comprising:

[0041] Control the target transport equipment participating in the collaborative operation to enter the designated position in front of the loading area, send an entry request, enter the entry waiting state and join the entry waiting queue, so that the collaborative operation platform allocates an idle loading space to the target transport equipment that sent the entry request and updates the status of the allocated loading space to occupied state;

[0042] Obtaining an entry instruction sent by the collaborative operation platform, wherein the entry instruction is generated by the collaborative operation platform based on the target transport equipment identifier sending the entry request, the entry instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way from the target transport equipment sending the entry request to the assigned loading position;

[0043] Obtain the entry driving instruction sent by the collaborative operation platform, remove the entry target transport equipment from the entry waiting list, and change the state from the entry waiting state to the entry driving state; according to the entry driving instruction and the content of the entry instruction, control the entry target transport equipment to drive to the loading position, or drive to a temporary parking point and wait until the collision risk is eliminated, and then continue driving until it reaches the loading position and enters the loading state; the entry target transport equipment is the target transport equipment that enters the entry waiting list first;

[0044] The target transport equipment in the loading state collects and transmits its own loading weight in real time during the loading operation, and sends it to the collaborative operation platform to determine whether the target transport equipment meets the exit requirements;

[0045] Obtaining an exit instruction sent by the collaborative operation platform, wherein the exit instruction is generated by the collaborative operation platform based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and right of way for the exit target transport equipment to exit the loading area, and the exit target transport equipment is the target transport equipment that meets the exit requirements;

[0046] Obtain the exit driving instruction sent by the collaborative operation platform, change the state of the exit target transport equipment from the loading state to the exit driving state, and control the exit target transport equipment to drive out of the loading area or drive to a temporary parking point and wait until the collision risk is eliminated before exiting the loading area according to the exit driving instruction and the exit instruction content, so that the collaborative operation platform updates the loading position allocated to the exit target transport equipment that has left the loading position to an idle state;

[0047] The entry and exit driving instructions are both sent by the collaborative operation platform based on collision predictions made according to the status of all transportation equipment participating in the collaborative operation and the collision prediction results.

[0048] Furthermore, the coordinates and heading information of the target transport equipment are collected and transmitted in real time, and the collaborative operation platform is used to determine whether the loading position is an idle loading position based on the coordinates and headings of all target transport equipment participating in the collaborative operation, as well as the coordinates and headings of the loading equipment and its bucket, or the collaborative operation platform is used to determine the collision risk based on the coordinates and heading information of the target transport equipment.

[0049] In a third aspect, a loading collaboration platform is characterized in that it includes: a parameter configuration module, a first communication module, a guidance control module, a loading position management module, and a position solution and collision prediction module;

[0050] The parameter configuration module is used to initialize the loading position, obtain the loading position data and its path point set in the loading area, collect the coordinates and heading information of all transport equipment and loading equipment in the loading area, and update the loading position status according to the coordinates and heading information of all transport equipment and loading equipment;

[0051] The first communication module is used to exchange information with the transportation equipment platform;

[0052] The guidance control module is configured to receive, through the first communication module, an entry request sent by a target transport device participating in the collaborative operation, wherein the target transport device has entered a designated position in front of the loading area, is in an entry waiting state, and has joined an entry waiting queue;

[0053] The loading space management module is used to allocate an idle loading space to the target transport equipment that sends the admission request, and update the allocated loading space to an occupied state;

[0054] The guidance control module is further configured to generate an entry instruction based on the target transport equipment identifier that sends the entry request, the entry instruction identifier, the assigned loading position identifier, and the corresponding path point set and right of way from the target transport equipment that sends the entry request to the assigned loading position; and to send the entry instruction to the transport equipment platform via the first communication module;

[0055] The guidance control module is further configured to send an entry driving instruction to the transport equipment platform via the first communication module, so that the transport equipment platform removes the target transport equipment from the entry waiting list and changes its state from the entry waiting state to the entry driving state. The transport equipment platform controls the target transport equipment to drive to the loading position, or to drive to a temporary parking point and wait until the collision risk is eliminated, and then continues to drive until it reaches the loading position and enters the loading state according to the entry driving instruction and the content of the entry instruction. The target transport equipment is the target transport equipment that enters the entry waiting list first.

[0056] The guidance control module is further configured to receive, via the first communication module, the load weight of the target transport equipment in the loading state, which is collected and transmitted in real time during the loading operation, and determine whether the target transport equipment meets the exit requirements; if the target equipment is determined to meet the exit requirements, it is used as the exit target transport equipment, and an exit instruction is generated based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way for the exit target transport equipment to exit the loading area; and the exit instruction is sent to the transport equipment platform;

[0057] Send an exit driving instruction to the transport equipment platform, so that the transport equipment platform changes the state of the exit target transport equipment from the loading state to the exit driving state; the transport equipment platform controls the exit target transport equipment to drive out of the loading area, or to drive to a temporary parking point and wait until the collision risk is eliminated before exiting the loading area according to the exit driving instruction and the exit instruction content;

[0058] The loading position management module is used to update the loading position allocated to the exit target transport equipment to an idle state after the exit target transport equipment leaves the loading area;

[0059] The position calculation and collision prediction module is used to predict collisions based on the status of all transport equipment involved in the collaborative operation;

[0060] The guidance control module is used to send an entry driving instruction or an exit driving instruction through the first communication module based on the collision prediction result.

[0061] In a fourth aspect, the present invention provides a transportation equipment platform, comprising a second communication module and an unmanned driving control system; the second communication module is used to exchange information with the loading coordination platform;

[0062] The unmanned driving control system is used to control the target transport equipment participating in the collaborative operation to enter a designated position in front of the loading area, enter an entry waiting state and join an entry waiting list, and send an entry request for the target transport equipment through the second communication module, so that the collaborative operation platform that has completed the initialization parameter configuration allocates an idle loading space to the target transport equipment that sent the entry request, and updates the allocated loading space to an occupied state. The collaborative operation platform completes the initialization parameter configuration, including: initializing the loading space, obtaining the loading space data and path point set in the loading area, collecting the coordinates and heading information of all transport equipment and loading equipment in the loading area, and updating the loading space status according to the coordinates and heading information of all transport equipment and loading equipment;

[0063] Acquire, through the second communication module, an entry instruction sent by the collaborative operation platform, wherein the entry instruction is generated by the collaborative operation platform based on the target transport equipment identifier of the sending entry request, the entry instruction identifier, the assigned loading position identifier, the corresponding path point set from the target transport equipment to the assigned loading position, and the right of way;

[0064] The unmanned driving control system is used to obtain the entry driving instruction sent by the collaborative operation platform through the second communication module, change the state of the entry target transport equipment from the entry waiting state to the entry driving state, and exit the entry waiting list; according to the entry driving instruction and the content of the entry instruction, control the entry target transport equipment to drive to the loading position or drive to a temporary parking point and wait until the collision risk is eliminated, then drive to the loading position and enter the loading state; the entry target transport equipment is the target transport equipment that enters the entry waiting list first;

[0065] The target transport equipment in the loading state collects and transmits its own loading weight in real time during the loading operation, which is used by the collaborative operation platform to determine whether the exit requirements of the target transport equipment are met and whether to send an exit instruction;

[0066] The exit instruction sent by the collaborative operation platform is obtained through the second communication module, and is generated based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way for the exit target transport equipment to exit the loading area; the exit target transport equipment is the target transport equipment that meets the exit requirements;

[0067] The second communication module obtains the exit driving instruction sent by the collaborative operation platform, changes the state of the target transport equipment from the loading state to the exit driving state, and controls the target transport equipment to drive out of the loading area or to a temporary parking point to stop and wait until the collision risk is eliminated before exiting the loading area, so that the collaborative operation platform updates the loading position allocated to the exiting target transport equipment to an idle state;

[0068] The entry and exit driving instructions are both sent by the collaborative operation platform based on collision predictions made according to the status of all transportation equipment participating in the collaborative operation and according to the collision prediction results.

[0069] In the fifth aspect, the present invention provides an open-pit mine loading collaborative operation system, including a transportation equipment platform and a loading collaborative platform; the loading collaborative platform is such as the loading collaborative platform described in any possible embodiment of the third aspect, and the transportation equipment platform is such as the transportation equipment platform described in any possible embodiment of the fourth aspect.

[0070] In a sixth aspect, the present invention provides a computer storage medium, characterized in that the computer storage medium stores a computer program, and the computer program is executed by a processor as the open-pit mine loading collaborative operation method described in any possible implementation of the first aspect or the second aspect.

[0071] Beneficial technical effects achieved by the present invention:

[0072] The present invention can solve the problem of low efficiency of multi-vehicle loading collaborative operation in unmanned transportation systems in open-pit mines, realize automatic guidance of multiple vehicles, reduce the labor intensity of drivers, improve the utilization rate of loading equipment, and thus improve the efficiency of loading collaborative operation in the working area.

[0073] The loading equipment in the present invention can be set with two loading positions at the same time, solving the technical problem that the existing multi-vehicle collaborative operation method has only one loading position scenario in the operation area and fails to give full play to the efficiency of the excavator loading collaborative operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0075] Figure 1 This is a flow chart of a bilateral loading collaborative operation method for an open-pit mine according to an embodiment of the present invention;

[0076] Figure 2 This is a schematic block diagram of an open-pit mine loading collaborative operation system according to an embodiment of the present invention;

[0077] Figure 3 This is a flow chart of site entry coordination in the open-pit mine bilateral loading coordinated operation method according to an embodiment of the present invention;

[0078] Figure 4This is a flowchart of collision prediction between trucks and loading equipment during the entry guidance process of bilateral loading collaborative operation in an open-pit mine according to an embodiment of the present invention;

[0079] Figure 5 This is a flow chart of the exit coordination in the open-pit mine bilateral loading coordinated operation method according to an embodiment of the present invention;

[0080] Figure 6 1 is a schematic diagram of the operation process of the open-pit mine bilateral loading collaborative operation system according to an embodiment of the present invention; wherein (a) is a schematic diagram of process one; (b) is a schematic diagram of process two; (c) is a schematic diagram of process three; (d) is a schematic diagram of process four; (e) is a schematic diagram of process five; (f) is a schematic diagram of process six; and (g) is a schematic diagram of process seven. DETAILED DESCRIPTION

[0081] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0082] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0083] Example 1

[0084] A method for collaborative loading operations in an open-pit mine, the method being applied to a collaborative loading platform. The collaborative loading platform can be provided in a control backend and communicate with a loading device, or can be provided on a loading device, such as an excavator or electric forklift.

[0085] The method comprises:

[0086] S100: Figure 1 As shown, after startup, the loading position is optionally initialized, specifically including: determining whether there is a loading position in the working area; if there is a loading position, further determining whether the loading position is within the loading range of the loading device (the loading device in this embodiment is an excavator); if there is no loading position or the loading position is not within the loading range, prompting the loading device to reset the loading position until the loading position is initialized.

[0087] Optionally, the method for setting the loading position of the loading equipment includes: the excavator driver extends the bucket to the position where loading is required according to the on-site working conditions, and clicks the loading point on the human-machine interface, and calculates the bucket tooth position coordinates according to the positioning information of the loading equipment; generates a loading position on both sides of the loading equipment according to the bucket tooth position coordinates, and determines the four vertex position coordinates of the loading position.

[0088] Optionally, in other embodiments, if there is a loading position and it is within the loading range of the loading equipment, it is further determined whether it is on the left or right side of the excavator. If there is a loading position only on one side of the loading equipment, the loading position is set on the other side of the loading equipment (excavator) where the loading equipment is idle. The method includes: the excavator driver extends the bucket to the position where loading is required according to the on-site working conditions, and clicks the loading point on the human-machine interface, and calculates the bucket tooth position coordinates according to the positioning information of the loading equipment; generates a loading position on the idle side of the loading equipment according to the bucket tooth position coordinates, and determines the four vertex position coordinates of the loading position.

[0089] S200: Real-time collection of loading equipment posture information and update of loading position status, including:

[0090] The loading position data in the working area (i.e., the loading area) includes the position coordinates of the four vertices of each loading position. The loading equipment broadcasts its own position information at a certain frequency, and the loading equipment position information is collected in real time. The method for updating the loading position status is to collect the position coordinates and heading of the transportation equipment (in this embodiment, the transportation equipment is a truck), the loading equipment and its bucket within the working area, and calculate the four vertex coordinates of the bounding box of each device based on the three-dimensional dimensions and current position coordinates and heading of each loading equipment and transportation equipment in the working area, and further determine whether the device bounding box and the loading position have an intersection. If there is an intersection, the loading position is occupied and the loading position status is updated; after the loading position is occupied, the device leaves the loading position and there is no intersection with the loading position, then the loading position is released and the loading position status is updated to the idle state.

[0091] In other embodiments, if there are other auxiliary vehicles in the work area, optionally, the coordinates and headings of the auxiliary vehicles other than the transport equipment and loading equipment are also introduced when calculating the coordinates of the four vertices of the device bounding box. In the unmanned transportation system of the open-pit mine, the transport equipment (such as a truck) is unmanned, and the loading equipment and the auxiliary vehicles are manned. The bilateral loading collaborative operation refers to the collaborative loading operation of the loading equipment and multiple unmanned transport equipment in the work area. Auxiliary vehicles usually assist in maintaining the flatness of the roads and loading positions in the work area according to the on-site conditions. When the auxiliary vehicle is leveling the road surface at the loading position, its bounding box intersects with the loading position, and the loading position is occupied, and the loading position status is updated to the occupied state. When the equipment leaves the loading position after completing the operation, that is, the equipment bounding box has no intersection with the loading position area, the loading position is released, and the occupied state is updated to the idle state.

[0092] S300: Figure 3 As shown, an entry request sent by a truck traveling within a certain range from the work area (which can be a range specified in front of the work area) is obtained. At this time, the truck is in an entry waiting state and joins the entry waiting queue; the loading position status is queried, and an idle loading position and its corresponding path point set and road rights are allocated to the truck that sent the entry request, and the status of the allocated loading position is updated to an occupied state; an entry instruction is generated based on the target transport equipment identifier (the transport equipment ID that sent the entry request), the entry instruction identifier, the allocated loading position identifier (loading position ID), and the corresponding path point set and road rights from the target transport equipment to the allocated loading position; the entry instruction is sent to the transport equipment platform; optionally, the status of the loading equipment is updated from a standby state to an entry guidance state.

[0093] Optionally, allocating an idle loading space for the target transport equipment that sends the admission request includes: setting a paired loading equipment for the target transport equipment;

[0094] Determine whether there is an empty loading position within the loading range of the paired loading device;

[0095] If there is a free loading space and it is available, it is assigned to the target transport equipment;

[0096] If it is determined that there is an idle loading position on each side of the loading equipment and both are available, the historical advancement trajectory of the loading equipment is obtained, the advancement direction of the loading equipment is calculated, and the set distance is extended along the advancement direction. The starting point of the historical advancement trajectory is connected with the point extended by the set distance, and it is determined whether the position coordinates of the bucket of the loading equipment fall on the left or right side of the connection line. If it falls on the left side, the idle loading position on the left is allocated. If it falls on the right side, the idle loading position on the right is allocated.

[0097] The loading equipment in the present invention can be set with two loading positions at the same time, solving the technical problem that the existing multi-vehicle collaborative operation method has only one loading position scenario in the operation area and fails to give full play to the efficiency of the excavator loading collaborative operation.

[0098] Optionally, determining the target transport equipment for sending the entry request to a corresponding set of waypoints of a loading location allocated thereto includes: obtaining a set of waypoints in the loading area;

[0099] Obtain the maximum operating radius of the loading equipment and the coordinates of the current rotation center position;

[0100] Calculate the target transport equipment travel path point set within the safe operating radius of the loading equipment;

[0101] According to the three-dimensional size, tracking error and safety factor of the transportation equipment, a spatial point set of the driving path is generated.

[0102] In this embodiment, the collaborative operation state is a general term for the operation state assigned to each device after the truck and the loading equipment interact and collaborate on the task within the operation area. Specifically, the collaborative operation state of the loading equipment includes the entry guidance state, loading state, and exit guidance state. The loading equipment can have two collaborative operation states. The collaborative operation state of the truck includes the entry waiting state, entry driving state, loading state, and exit driving state. Each truck can have only one collaborative operation state at any time.

[0103] S400: Controls the trucks to enter the loading position based on the status of all trucks participating in the collaborative operation and the collision prediction results; including:

[0104] Obtain the collaborative operation status list of the loading equipment, determine whether there is a truck in the entry driving state or the exit driving state, and if not, send an entry driving instruction to enable the transportation equipment platform to remove the target transportation equipment that first enters the entry waiting queue (that is, the entry target transportation equipment, which is the entry target truck in this embodiment) from the entry waiting queue and use it as the entry target transportation equipment. The status is updated from the entry waiting state to the entry driving state. Optionally, the status of the exit target transportation equipment is added to the collaborative operation status list, and the loading equipment platform controls the truck to enter the work area along the entry path point set; optionally, the truck is controlled to enter the loading position based on the collision prediction result between the truck and the excavator.

[0105] The specific method for predicting collisions between transport equipment (trucks) and loading equipment (excavators) is as follows:

[0106] Obtain the real-time position information of the excavator and its bucket (including the real-time position coordinates of the truck in the working area), the current truck driving path point set and the three-dimensional size of the truck, and calculate the truck driving path point set contained in the excavator's operating radius; further, based on the spatial position coordinates of the excavator and its bucket, determine whether the excavator and its bucket invade the three-dimensional space of the truck driving path trajectory within the excavator's operating radius. If so, there is a collision risk within the excavator's operating radius. The truck is controlled to stop at the nearest path point within the excavator's operating radius. When the excavator or bucket leaves the three-dimensional space of the truck driving path trajectory, the risk is eliminated and the truck continues to drive. When the truck enters the excavator's operating radius, if there is a collision risk, the truck is controlled to stop. After the risk is eliminated, the truck continues to drive until it enters the loading position. The collaborative operation changes from the entry guidance state to the loading state.

[0107] If there is transport equipment (such as trucks) in the entry or exit state,

[0108] Based on the coordinates and heading of the incoming target transport equipment, the set of travel path points of the incoming target transport equipment or the outgoing target transport equipment is obtained, and the set of path points that the incoming target transport equipment (entry truck) has not traveled is determined; the set of path points that have not traveled is calculated to determine whether there is a collision risk between the set of path points that have not traveled and other transport equipment (trucks) in the incoming or outgoing travel state. If there is no collision risk, an entry travel instruction or an outgoing travel instruction is sent;

[0109] If there is a collision risk, an entry driving instruction or an exit driving instruction will be sent, and a temporary parking location will be sent to the target transport equipment entering the site, and the right of way of the collision risk section will be recovered; after the collision risk is eliminated, an entry driving instruction or an exit driving instruction will be sent to the target transport equipment again to release the right of way of the collision risk section.

[0110] Optionally, during the process of the incoming target transport equipment driving towards the loading position, a spatial collision prediction of the driving trajectory of the incoming transport equipment and the loading equipment is also performed. When the prediction determines that there is a collision risk, a stop instruction is sent to the transport equipment platform so that the transport equipment platform controls the incoming target transport equipment to stop; when the predicted collision risk is eliminated, an entry driving instruction is sent to the transport equipment platform again.

[0111] The specific method for predicting a truck-to-truck collision is as follows:

[0112] The current position information of the truck and the set of path points that have not been traveled in the collaborative operation state of the truck's current entry or exit are obtained, the road section with collision risk between the two paths is calculated, and a temporary parking point for the collision risk section is generated. The road section with collision risk is controlled. The truck that enters or exits the site first has priority right of travel on the collision risk section. The truck that is controlled to travel later stops and waits at the temporary parking point to reclaim the right of way of the collision risk section. After the truck with higher driving priority exits the collision risk section, the truck that is controlled to travel later enters the collision risk section, and the control of the collision risk section is lifted.

[0113] In the operation area, as the loading equipment advances in mining, the loading position will be frequently updated, and the entry and exit local paths corresponding to the loading position will also be updated. Therefore, in the operation area, the collision prediction of trucks needs to be dynamically predicted based on the path point set corresponding to the loading position occupied by the specific truck. When a truck enters the loading area, the collaborative operation system predicts the collision between the truck and the existing trucks in the operation area; after the truck meets the exit conditions, the collaborative operation system predicts the collision between the truck and the existing trucks in the operation area based on the collaborative operation status of other trucks in the operation area.

[0114] S500: Figure 5As shown, during the loading operation, the truck load and bucket position are collected to determine the exit conditions; the truck load threshold is obtained, the truck loading weight and the loading equipment bucket position are collected in real time, and the load is determined after each bucket of material is loaded. If the truck load threshold is reached, the spatial position relationship between the bucket and the current loading position of the truck is further determined. If the bucket leaves the loading position, the truck meets the automatic exit conditions and is used as the exit target transportation equipment.

[0115] An exit instruction is generated based on the exit target transport equipment identification, the exit instruction identification, the assigned loading position identification, and the corresponding path point set and road rights for the exit target transport equipment to exit the loading area.

[0116] In this embodiment, the triggering method for generating each instruction (entry instruction, entry driving instruction, exit instruction and exit driving instruction) can be set to automatic triggering or manual triggering. After automatic triggering or manual triggering, a triggering instruction is generated, and each instruction is generated according to the triggering instruction.

[0117] Optionally, when the automatic exit conditions are not met, the trigger instruction is detected in real time. If a trigger instruction exists, the truck is forced to meet the exit conditions, that is, the exit instruction is generated based on the exit target transport equipment identification (transport equipment ID), the assigned loading position identification (loading position ID), the exit instruction identification, and the corresponding path point set and road rights from the exit target transport equipment to the assigned loading position.

[0118] S600: Sending an exit instruction to the target truck, and the loading equipment updates the collaborative operation status of the truck from the loading state to the exit guidance state;

[0119] Then, based on the collaborative operation status and collision prediction results, the truck is controlled to leave the operation area to complete the collaborative operation; including:

[0120] After the collaborative operation system determines that the truck meets the exit conditions, it obtains the truck collaborative operation status list and determines whether there is a truck in the entry driving state or the exit driving state. If not, it sends an exit driving instruction to control the target truck to drive out of the operation area along the exit path point set. The truck collaborative operation status is updated from the loading state to the exit driving state.

[0121] If there is a truck in the entry or exit state, the truck is further controlled to leave the operation area based on the collision prediction results between trucks, and the loading equipment completes the collaborative operation control of the truck;

[0122] During the truck's departure, the truck's position information is obtained in real time, and the positional relationship between the truck's bounding box and the corresponding loading position is calculated. If the two do not intersect, the truck leaves the loading position and the loading position status is updated from occupied to idle.

[0123] The method provided in this embodiment also includes parameter setting, initializing the loading position; obtaining the loading position data and its path point set in the working area, collecting the equipment position coordinates in real time, and updating the loading position status.

[0124] Loading bay states include free, occupied, and unavailable. The free state indicates that a loading bay is not occupied by a piece of equipment; the occupied state indicates that it is allocated to a transport device, or that the loading bay intersects with the device's bounding box and cannot be allocated. The unavailable state occurs when the loading bay is outside the loading range or has been manually set to unavailable. A truck is in the driving state when traveling outside the operating area; it enters the collaborative operation state only when operating in conjunction with an excavator. Once the mining truck exits the operating area, the collaborative operation state ends, the exit driving state is canceled, and the truck enters the driving state. Once the mining truck exits the operating area, the loading equipment's exit guidance for the truck ends, and the loading equipment enters the standby state.

[0125] For the loading equipment, after sending the entry instruction, the state is updated from the standby state to the entry guidance state;

[0126] When the truck arrives at the loading location, the loading equipment is updated from the entry guidance state to the loading state;

[0127] After sending the exit instruction: the loading state is updated to the exit guidance state;

[0128] When the truck leaves the working area, the loading equipment's collaborative working status with the truck disappears.

[0129] Correspondingly, after the truck sends an entry request, the state is updated from driving to waiting for entry; after receiving the entry driving instruction, the truck's collaborative operation state is updated from waiting for entry to driving for entry; when the truck enters the loading position, the truck's collaborative operation state is updated from driving for entry to loading; after receiving the exit driving instruction, the truck's collaborative operation state is updated from loading to exit driving; when the mining truck leaves the operation area, the collaborative operation state ends, the exit driving state is cancelled, and the truck changes to driving state;

[0130] When the mining truck leaves the operation area, the loading equipment ends its exit guidance state for the truck and enters the standby state.

[0131] The present invention can solve the problem of low efficiency of multi-vehicle loading collaborative operation in unmanned transportation systems in open-pit mines, realize automatic guidance of multiple vehicles, reduce the labor intensity of drivers, improve the utilization rate of loading equipment, and thus improve the efficiency of loading collaborative operation in the working area.

[0132] Example 2

[0133] A collaborative loading operation method for an open-pit mine, the method being applied to a transport equipment platform, the method comprising:

[0134] Control the target transport equipment participating in the collaborative operation to enter the designated position in front of the loading area, send an entry request, enter the entry waiting state and join the entry waiting queue, so that the collaborative operation platform allocates an idle loading space to the target transport equipment that sent the entry request and updates the status of the allocated loading space to occupied state;

[0135] Obtaining an entry instruction sent by the collaborative operation platform, wherein the entry instruction is generated by the collaborative operation platform based on the target transport equipment identifier sending the entry request, the entry instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way from the target transport equipment sending the entry request to the assigned loading position;

[0136] Obtain the entry driving instruction sent by the collaborative operation platform, remove the entry target transport equipment from the entry waiting list, and change the state from the entry waiting state to the entry driving state; according to the entry driving instruction and the content of the entry instruction, control the entry target transport equipment to drive to the loading position, or drive to a temporary parking point and wait until the collision risk is eliminated, and then continue driving until it reaches the loading position and enters the loading state; the entry target transport equipment is the target transport equipment that enters the entry waiting list first;

[0137] The target transport equipment in the loading state collects and transmits its own loading weight in real time during the loading operation, and sends it to the collaborative operation platform to determine whether the target transport equipment meets the exit requirements;

[0138] Obtaining an exit instruction sent by the collaborative operation platform, wherein the exit instruction is generated by the collaborative operation platform based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and right of way for the exit target transport equipment to exit the loading area, and the exit target transport equipment is the target transport equipment that meets the exit requirements;

[0139] Obtain the exit driving instruction sent by the collaborative operation platform, change the state of the exit target transport equipment from the loading state to the exit driving state, and control the exit target transport equipment to drive out of the loading area or drive to a temporary parking point and wait until the collision risk is eliminated before exiting the loading area according to the exit driving instruction and the exit instruction content, so that the collaborative operation platform updates the loading position allocated to the exit target transport equipment that has left the loading position to an idle state;

[0140] The entry and exit driving instructions are both sent by the collaborative operation platform based on collision predictions made according to the status of all transportation equipment participating in the collaborative operation and the collision prediction results.

[0141] Furthermore, the coordinates and heading information of the target transport equipment are collected and transmitted in real time, and the collaborative operation platform is used to determine whether the loading position is an idle loading position based on the coordinates and headings of all target transport equipment participating in the collaborative operation, as well as the coordinates and headings of the loading equipment and its bucket, or the collaborative operation platform is used to determine the collision risk based on the coordinates and heading information of the target transport equipment.

[0142] Example 3: Figure 2 As shown, the loading collaboration platform 90 includes: a parameter configuration module 902, a first communication module 908, a guidance control module 906, a loading position management module 904 and a position solution and collision prediction module 910;

[0143] The parameter configuration module 902 is used to initialize the loading position, obtain the loading position data and its path point set in the work area, collect the coordinates and heading information of all transport equipment and loading equipment in the work area, and update the loading position status based on the coordinates and heading information of all transport equipment and loading equipment;

[0144] The first communication module 908 is used to exchange information with the transportation equipment platform;

[0145] The guidance control module is configured to receive, through the first communication module, an entry request sent by a target transport device participating in the collaborative operation, wherein the target transport device has entered a designated position in front of the loading area, is in an entry waiting state, and has joined an entry waiting queue;

[0146] The loading space management module is used to allocate an idle loading space to the target transport equipment that sends the admission request, and update the allocated loading space to an occupied state;

[0147] The guidance control module is further configured to generate an entry instruction based on the target transport equipment identifier that sends the entry request, the entry instruction identifier, the assigned loading position identifier, and the corresponding path point set and right of way from the target transport equipment that sends the entry request to the assigned loading position; and to send the entry instruction to the transport equipment platform via the first communication module;

[0148] The guidance control module is further configured to send an entry driving instruction to the transport equipment platform via the first communication module, so that the transport equipment platform removes the target transport equipment from the entry waiting list and changes its state from the entry waiting state to the entry driving state. The transport equipment platform controls the target transport equipment to drive to the loading position, or to drive to a temporary parking point and wait until the collision risk is eliminated, and then continues to drive until it reaches the loading position and enters the loading state according to the entry driving instruction and the content of the entry instruction. The target transport equipment is the target transport equipment that enters the entry waiting list first.

[0149] The guidance control module is further configured to receive, via the first communication module, the load weight of the target transport equipment in the loading state, which is collected and transmitted in real time during the loading operation, and determine whether the target transport equipment meets the exit requirements; if the target equipment is determined to meet the exit requirements, it is used as the exit target transport equipment, and an exit instruction is generated based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way for the exit target transport equipment to exit the loading area; and the exit instruction is sent to the transport equipment platform;

[0150] Send an exit driving instruction to the transport equipment platform, so that the transport equipment platform changes the state of the exit target transport equipment from the loading state to the exit driving state; the transport equipment platform controls the exit target transport equipment to drive out of the loading area, or to drive to a temporary parking point and wait until the collision risk is eliminated before exiting the loading area according to the exit driving instruction and the exit instruction content;

[0151] The loading position management module is used to update the loading position allocated to the exit target transport equipment to an idle state after the exit target transport equipment leaves the loading area;

[0152] The position calculation and collision prediction module is used to predict collisions based on the status of all transport equipment involved in the collaborative operation;

[0153] The guidance control module is used to send an entry driving instruction or an exit driving instruction through the first communication module based on the collision prediction result.

[0154] Optionally, the loading collaboration platform 90 further includes a human-computer interaction module 912 for setting loading positions, displaying loading position status, collaborative operation status, and manual entry and exit guidance interaction.

[0155] Example 4

[0156] like Figure 2 As shown, a transport equipment platform 70 includes a second communication module 808 and an unmanned driving control system 810; the second communication module 808 is used to exchange information with the loading coordination platform;

[0157] The second communication module is used to exchange information with the loading collaboration platform;

[0158] The unmanned driving control system is used to control the target transport equipment participating in the collaborative operation to enter a designated position in front of the loading area, enter an entry waiting state and join an entry waiting list, and send an entry request for the target transport equipment through the second communication module, so that the collaborative operation platform that has completed the initialization parameter configuration allocates an idle loading space to the target transport equipment that sent the entry request, and updates the allocated loading space to an occupied state. The collaborative operation platform completes the initialization parameter configuration, including: initializing the loading space, obtaining the loading space data and path point set in the loading area, collecting the coordinates and heading information of all transport equipment and loading equipment in the loading area, and updating the loading space status according to the coordinates and heading information of all transport equipment and loading equipment;

[0159] Acquire, through the second communication module, an entry instruction sent by the collaborative operation platform, wherein the entry instruction is generated by the collaborative operation platform based on the target transport equipment identifier of the sending entry request, the entry instruction identifier, the assigned loading position identifier, the corresponding path point set from the target transport equipment to the assigned loading position, and the right of way;

[0160] The unmanned driving control system is used to obtain the entry driving instruction sent by the collaborative operation platform through the second communication module, change the state of the entry target transport equipment from the entry waiting state to the entry driving state, and exit the entry waiting list; according to the entry driving instruction and the content of the entry instruction, control the entry target transport equipment to drive to the loading position or drive to a temporary parking point and wait until the collision risk is eliminated, then drive to the loading position and enter the loading state; the entry target transport equipment is the target transport equipment that enters the entry waiting list first;

[0161] The target transport equipment in the loading state collects and transmits its own loading weight in real time during the loading operation, which is used by the collaborative operation platform to determine whether the exit requirements of the target transport equipment are met and whether to send an exit instruction;

[0162] The exit instruction sent by the collaborative operation platform is obtained through the second communication module, and is generated based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way for the exit target transport equipment to exit the loading area; the exit target transport equipment is the target transport equipment that meets the exit requirements;

[0163] The second communication module obtains the exit driving instruction sent by the collaborative operation platform, changes the state of the target transport equipment from the loading state to the exit driving state, and controls the target transport equipment to drive out of the loading area or to a temporary parking point to stop and wait until the collision risk is eliminated before exiting the loading area, so that the collaborative operation platform updates the loading position allocated to the exiting target transport equipment to an idle state;

[0164] The entry and exit driving instructions are both sent by the collaborative operation platform based on collision predictions made according to the status of all transportation equipment participating in the collaborative operation and the collision prediction results.

[0165] Example 5

[0166] The open-pit mine loading collaborative operation system includes the transportation equipment platform provided in the above embodiment and a loading collaborative platform.

[0167] Example 6

[0168] In combination with a preferred embodiment, as Figure 6 As shown in the figure, taking a hydraulic excavator as an example, the bilateral loading collaborative operation process in an open-pit mine is described. The specific steps are as follows:

[0169] Open-pit mine unmanned transport system bilateral loading operation area Figure 6 As shown in (a), there is a loading area 100, an excavator working platform boundary 101, a structured road 110, an exit point 111, an exit path 112, an excavator propulsion trajectory 113, an entry path 114, an entry point 115, a left loading position 120, and a right loading position 121. Usually, a hydraulic excavator needs to build a platform during shoveling operations to increase its own loading height and facilitate loading operations for trucks.

[0170] like Figure 6 As shown in (a): In parameter configuration module 902, parameters are set and calibrated. The bilateral loading (loading equipment and transport equipment) type, the entry guidance mode and the exit guidance mode are set to automatic triggering. The three-dimensional dimensions of the excavator and the operating radius of the excavator are obtained and calibrated by maximally extending the excavator arm. The three-dimensional dimensions and load threshold of the coordinated truck are automatically synchronized.

[0171] After the loading equipment is started, the loading position management module detects whether there is a loading position in the work area. If not, it prompts to reset the loading position. If there is a loading position, the position calculation and judgment module further determines whether the loading position is within the excavator's loading range. If not, the human-computer interaction interface prompts to reset the loading position. If so, the path point set within the loading area is obtained. The method for setting the loading position is that the excavator driver extends the bucket to the position where loading is required according to the on-site working conditions and clicks the loading point on the human-computer interface. The loading position management module then generates two loading positions based on the bucket tooth position coordinates calculated by the position calculation module and obtains the local path to the loading position.

[0172] Obtain the loading position data and its path point set in the work area, collect equipment posture information, and update the loading position status. Currently, there is only an excavator in the work area, and the excavator body does not occupy the loading position, so there are two idle loading positions in the work area;

[0173] When the unmanned truck 70 travels a certain distance to the entry point 115, it sends an entry request and enters the entry waiting state. After the excavator receives the entry request, it queries the loading position status of the operation area and pre-allocates the loading position according to the loading position status and bucket position. As can be seen from the figure, at this time, two loading positions are idle in the loading operation area. Then, based on the current position of the bucket 61 falling to the right of the excavator propulsion trajectory line 113, the loading position 121 on the right is pre-allocated to the truck 70, and the mark of the pre-allocated loading position 121 is made bold or highlighted on the human-computer interaction interface 912, thereby prompting the excavator driver that the current loading collaborative operation system 90 automatically allocates the loading position 121 to the truck 70 waiting to enter.

[0174] Determine the corresponding waypoint set and right of way from the target transport equipment to the assigned loading location, and assign the path 114 to the truck 70;

[0175] Furthermore, based on the configured automatic entry guidance mode and the loading position allocation result, an entry instruction is automatically generated, the entry instruction including at least the pre-allocated loading position 121, the entry instruction mark, and the corresponding truck 70 information; the loading position 121 status changes from idle to occupied; the entry instruction is generated based on the target transport equipment identifier, the allocated loading position identifier, and the corresponding path point set and right of way from the target transport equipment to the allocated loading position; and the entry instruction is sent to the truck 70;

[0176] Furthermore, the collaborative operation status is obtained to determine whether there is an entry driving state or an exit driving state in the operation area 100. If there is no truck in the entry driving state or the exit driving state in the operation area in the figure, an entry driving instruction is sent to truck 70. After truck 70 receives and verifies the entry driving instruction, it does not slow down or stop to wait at the entry point. Based on its position coordinates, it passes the entry point 115 and enters the operation area along the entry path 114. The collaborative operation status of the truck is updated from the entry waiting state to the entry driving state.

[0177] like Figure 6 As shown in (b), the truck 70 follows the entry path 114, passes through the collision prediction between the truck and the excavator, and enters the loading position 121. The cooperative operation status of the excavator 60 with the truck 70 changes from the entry guidance operation state to the loading state. The excavator 60 begins loading the truck 70, and the cooperative operation status of the truck 70 is updated from the entry driving state to the loading state.

[0178] At this time, truck 71 drives to the vicinity of entry point 115 and sends an entry request to enter the entry waiting state. After receiving the entry request, excavator 60 queries the loading position status of the working area and pre-allocates the loading positions based on the loading position status. As can be seen from the figure, at this time, only the left loading position 120 in the working area 100 is idle. The left loading position 120 is pre-allocated to truck 71, and the pre-allocated loading position 120 is marked in bold or highlighted on the human-computer interaction interface 912.

[0179] Furthermore, according to the configured automatic admission guidance mode and the loading position allocation result, an admission instruction is generated, and the loading position 120 changes from an idle state to an occupied state;

[0180] Furthermore, the collaborative operation status is obtained to determine whether there are any trucks in the entry or exit state in the operation area 100. If there are no trucks in the entry or exit state in the operation area in the figure, a control command is sent to truck 71. After receiving the driving command and verifying that it is correct, truck 71 enters the operation area along the entry path. The collaborative operation status of truck 72 is updated from the entry waiting state to the entry driving state.

[0181] like Figure 6 As shown in (c), the excavator 60 continues to load materials into the unmanned truck 70 and determines the exit condition. The excavator 60 obtains the truck 70 load threshold, collects the truck 70 load weight and the bucket position of the loading device 60 in real time, and determines the load after each bucket is loaded. If the truck load threshold is reached, the spatial position relationship between the bucket 61 and the current loading position of the truck is further determined. If the bucket 61 leaves the loading position 121, the truck 70 meets the automatic exit condition.

[0182] Truck 71 follows entry path 114, passes through the predicted collision between the truck and the excavator, and enters loading bay 120, where it awaits loading by excavator 60. The excavator 60's collaborative operation status with truck 71 changes from entry guidance to loading, and the truck 71's collaborative operation status changes from entry driving to loading.

[0183] When the unmanned truck 72 reaches a certain distance from the entry point 115, it sends an entry request. After receiving the entry request, the excavator 60 pre-allocates the loading spaces based on the current loading space status in the work area. As shown in the figure, if both loading spaces are occupied and there are no free loading spaces to pre-allocate, the unmanned truck 72 will queue outside the loading area and send entry requests at a certain frequency.

[0184] like Figure 6As shown in (d): After the truck 70 meets the exit conditions, the collaborative operation system human-computer interaction interface reminds the excavator driver, who then completes the loading operation on the truck 70 and sends an exit instruction to the truck 70. Simultaneously, the excavator 60 updates the collaborative operation status of the truck 70 from the loading state to the exit guidance state.

[0185] The excavator starts loading materials into the truck 71 parked at the loading position 120 on the other side;

[0186] Furthermore, a list of the collaborative working states of all trucks in the work area is obtained to determine whether there are any trucks in the entry or exit driving state. If there are no trucks in the entry or exit driving state other than truck 70 in the figure, an exit driving instruction is sent to truck 70. After receiving the exit driving instruction and verifying that it is correct, truck 70 begins to drive along the exit path 112, and the collaborative working state of truck 70 is updated from the loading state to the exit driving state. During the exit driving process of truck 70, the position information of truck 70 is obtained in real time, and the positional relationship between the truck bounding box and the corresponding loading position 121 is calculated to determine whether the two have no intersection. If the two have no intersection, it means that truck 70 has left the loading position 121, and the loading position state is further updated.

[0187] Truck 72 continues to wait in line outside work area 100;

[0188] like Figure 6 As shown in (e), the truck 70 leaves the loading space 121, and the state of the loading space is updated from the occupied state to the idle state;

[0189] The collaborative operation system receives the entry request from truck 72 and allocates the vacant loading space 121 and its corresponding path point set and right of way to truck 72. The status of loading space 121 is updated from vacant to occupied. Truck 72 receives the entry instruction, and excavator 60 begins to assist truck 72 in entering the site. The collaborative operation status of truck 72 is set to entry guidance status.

[0190] Furthermore, a collaborative operation status list in the operation area 100 is obtained to determine whether there is an entry or exit state. In the figure, there is a truck 70 in the exit state in the operation area;

[0191] Furthermore, the set of exit path points that truck 70 has not traveled through and the set of entry path points that truck 72 has not traveled through are obtained. Based on the safe driving radius of the two trucks, the collision risk sections of the two paths are calculated. The black line segment 155 in the figure is the collision risk section, and the first temporary parking point 150, the second temporary parking point 151, the third temporary parking point 152, and the fourth temporary parking point 153 are generated before the collision risk section.

[0192] Send the exit driving instruction and the coordinates of the temporary parking point 150 to the mining truck 72. The temporary parking point is selected based on the current truck's driving path point set and the temporary parking point closest to the current truck. Update the collaborative operation status of truck 72 from the entry waiting state to the entry driving state. Truck 72 enters the site and stops at the temporary parking point 150 to wait. Collect the posture information of truck 70 in real time and determine whether it has left the collision risk section 155 area.

[0193] The excavator 60 continues to load the truck 71 and determines the exit conditions;

[0194] like Figure 6 As shown in (f): the excavator 60 continues to load the truck 71 and determines the exit condition;

[0195] After truck 70 exits the collision risk section 155, the right of way for the collision risk section is released. The collaborative operation system sends an entry driving instruction to truck 72. After receiving the entry driving instruction, mining truck 72 continues to drive along the entry path. After entering the collision risk section 155, the system releases the control of the collision risk section, that is, deletes the collision risk section 155, the first temporary parking point 150, the second temporary parking point 151, the third temporary parking point 152, and the fourth temporary parking point 153.

[0196] like Figure 6 As shown in (g): the excavator 60 continues to load materials into the unmanned truck 71 and determines the exit conditions;

[0197] The truck 70 travels along the exit path 112. The real-time position information of the truck 70 is compared with the position coordinates of the exit point 111. When the distance between the two is less than a threshold, the truck exits the work area, the loading equipment ends the collaborative operation control of the truck, and the truck 70 exits the exit driving state.

[0198] Truck 72 continues to travel along entry path 115, passing the collision prediction between the truck and the excavator until it enters loading position 121. The excavator 60's cooperative operation status with truck 72 changes from entry guidance operation status to loading status, and the truck 72's cooperative operation status is updated from entry driving status to loading status.

[0199] When truck 74 reaches a certain distance from entry point 115, it sends an entry request. After receiving the entry request, excavator 60 queries the loading position status in the work area and pre-allocates the loading position based on the loading position status. As can be seen from the figure, at this time, both loading positions in the loading work area are occupied and there is no free loading position to be allocated to truck 74. Truck 74 then queues outside loading area 100 and sends entry requests at a certain frequency.

[0200] During the bilateral loading collaborative operation cycle, repeat steps ag until the loading position is no longer suitable for loading operations. Then, the loading position needs to be initialized and a new bilateral loading collaborative operation cycle begins until the shift change, maintenance, or mining reaches the boundary.

[0201] The present invention realizes automatic guidance of multiple vehicles, reduces the labor intensity of drivers, improves the utilization rate of loading equipment, and thus improves the efficiency of collaborative loading in the working area.

[0202] Example 7

[0203] The embodiments of the present application disclose a computer storage medium, which stores a computer program. The computer program is executed by a processor in accordance with Embodiment 1 of the present application and the open-pit mine loading collaborative operation method disclosed in Embodiment 1.

[0204] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0205] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0206] These computer program instructions may 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, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0207] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0208] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all protected by the present invention.

Claims

1. Open pit mine loading collaborative operation method, characterized in that: include: The method is applied to a loading collaborative platform, and the method includes: Receive an entry request from a target transport device participating in the collaborative operation, where the target transport device has entered a designated position in front of the loading area, is in an entry waiting state, and is added to an entry waiting list; Allocate an idle loading space to the target transport device that sent the entry request, and update the status of the allocated loading space to occupied. Generate an entry instruction based on the target transport device ID, entry instruction ID, allocated loading space ID, and the corresponding path point set and right of way from the target transport device that sent the entry request to the allocated loading space. Return the entry request to the transport device platform. Send an entry driving instruction to the transport equipment platform, so that the transport equipment platform removes the target transport equipment from the entry waiting list, changes its state from the entry waiting state to the entry driving state, and controls the target transport equipment to drive to the loading position, or to drive to a temporary parking point and wait until the collision risk is eliminated, and then continue driving until it reaches the loading position and enters the loading state according to the entry driving instruction and the content of the entry instruction; the target transport equipment is the target transport equipment that enters the entry waiting list first; Receive the target transport equipment's own loading weight collected and transmitted in real time during the loading operation, and determine whether the target transport equipment meets the exit requirements; If the target equipment meets the exit requirements, it will be used as the exit target transport equipment. Based on the exit target transport equipment identification, exit instruction identification, assigned loading position identification, the corresponding path point set and right of way for the exit target transport equipment to exit the loading area, an exit instruction is generated; and the exit instruction is sent to the transport equipment platform. Send an exit travel instruction to the exit transport equipment platform, so that the transport equipment platform changes the state of the exit target transport equipment from the loading state to the exit travel state; and according to the exit travel instruction and the exit instruction content, control the exit target transport equipment to move out of the loading area, or drive to a temporary parking point and wait until the collision risk is eliminated before leaving the loading area; Update the loading position status assigned to the target transport equipment leaving the loading position to an idle state; Among them, collision prediction is performed according to the status of all transportation equipment participating in the collaborative operation, and entry or exit driving instructions are sent based on the collision prediction results; Allocate an available loading space to the target transport equipment that sends the entry request, including: Set up paired loading equipment for target transport equipment; Determine whether there is an empty loading position within the loading range of the paired loading device; If there is a free loading space and it is available, it is assigned to the target transport equipment; If it is determined that there is an idle loading position on each side of the loading equipment and both are available, the historical advancement trajectory of the loading equipment is obtained, the advancement direction of the loading equipment is calculated, and the set distance is extended along the advancement direction of the loading equipment. The starting point of the historical advancement trajectory of the loading equipment is connected with the point extended by the set distance, and it is determined whether the position coordinates of the bucket of the loading equipment fall on the left or right side of the connection line. If it falls on the left side, the idle loading position on the left is allocated; if it falls on the right side, the idle loading position on the right is allocated.

2. The open-pit mine loading collaborative operation method according to claim 1, characterized in that: Before receiving the entry request sent by the transport equipment platform, initialize the loading position, including: Obtain the loading location data and path point set in the loading area, and collect the coordinates and heading information of all transport equipment and loading equipment in the loading area; The loading position status is updated according to the coordinate and heading information of all transport equipment and loading equipment, including: real-time collection of the coordinates and heading of the loading equipment and its bucket, as well as the coordinates and heading of all transport equipment participating in the collaborative operation; based on the three-dimensional size of the loading equipment and the coordinates and heading of the current loading equipment and its bucket, as well as the coordinates and heading of all vehicles participating in the collaborative operation, the coordinates of the four vertices of the bounding box of the loading equipment and the transport equipment are calculated, and it is determined whether the equipment bounding box has an intersection with the loading position not assigned to the transport equipment. If there is an intersection, the status of the loading position is occupied; if there is no intersection, the status of the loading position is updated to an idle loading position.

3. The open-pit mine loading collaborative operation method according to claim 2, characterized in that: When calculating the coordinates of the four vertices of the bounding boxes of the loading device and the transporting device, the coordinates and heading of the auxiliary vehicle other than the transporting device and the loading device are also introduced.

4. The open-pit mine loading collaborative operation method according to claim 2, characterized in that: Initializing the loading position specifically includes: determining whether there is a loading position in the loading area; if so, determining whether the loading position is within the loading range of the loading device; if there is no loading position in the loading area or the loading position is not within the loading range of the loading device, the loading device resets the loading position to complete the initialization of the loading position.

5. The open-pit mine loading collaborative operation method according to claim 4, characterized in that: The method for setting a loading position of a loading device includes: the loading device extends the bucket to the position where loading is required, sets it as the loading point, calculates the position coordinates of the bucket teeth according to the positioning information of the loading device, generates a loading position on both sides of the loading device according to the position coordinates of the bucket teeth, and determines the position coordinates of the four vertices of the loading position.

6. The open-pit mine loading collaborative operation method according to claim 1, characterized in that: If it is determined that the target equipment meets the exit requirements, the exit instruction is sent only after the bucket leaves the loading position by calculating the positional relationship between the bucket position and the loading position.

7. The open-pit mine loading collaborative operation method according to claim 1, characterized in that: The collaborative operation platform predicts collisions based on the status of all participating transport equipment. Based on the collision prediction results, it issues entry or exit instructions, including: Determine whether any of the transport equipment participating in the collaborative operation is in the entry or exit state, and if not, send an entry or exit instruction; If yes, then based on the acquired coordinates and heading of the incoming target transport equipment, obtain the set of travel path points of the incoming target transport equipment or the outgoing target transport equipment, determine the set of untraveled path points of the incoming target transport equipment or the outgoing target transport equipment; calculate whether there is a collision risk between the untraveled path point set and other transport equipment in the incoming travel state or the outgoing travel state; if there is no collision risk, send an incoming travel instruction or an outgoing travel instruction; If there is a collision risk, an entry or exit driving instruction will be sent, and a temporary parking location will be sent, and the right of way of the collision risk section will be recovered; after the collision risk is eliminated, an entry or exit driving instruction will be sent again to release the right of way of the collision risk section.

8. The open-pit mine loading collaborative operation method according to claim 1, characterized in that: During the process of the incoming target transport equipment driving towards the loading position, a spatial collision prediction of the driving trajectory of the incoming transport equipment and the loading equipment is also performed. When the prediction determines that there is a collision risk, a stop instruction is sent to the transport equipment platform so that the transport equipment platform controls the incoming target transport equipment to stop; when the predicted collision risk is eliminated, an entry driving instruction is sent to the transport equipment platform again.

9. The open-pit mine loading collaborative operation method according to claim 8, characterized in that: Spatial collision prediction of the driving trajectory of incoming transport equipment and loading equipment, including: The real-time spatial position coordinates of the loading equipment and its bucket, the path point set of the target transport equipment entering the site, and the three-dimensional dimensions of the target transport equipment entering the site; Determine the set of travel path points for the target transport equipment entering the site within the operating radius of the loading equipment; Based on the spatial position coordinates of the loading equipment and its bucket, determine whether the loading equipment and its bucket are within the operating radius of the loading equipment and the three-dimensional space of the target transport equipment's driving path trajectory. If they are within the operating radius of the loading equipment, there is a risk of collision with the target transport equipment.

10. The open-pit mine loading collaborative operation method according to claim 1, characterized in that: Determining a corresponding set of waypoints for a target transport device that sends an entry request to a loading location assigned thereto, including: obtaining a set of waypoints within the loading area; Obtain the maximum operating radius of the loading equipment and the coordinates of the current rotation center position; Calculate the target transport equipment travel path point set within the safe operating radius of the loading equipment; According to the three-dimensional size, tracking error and safety factor of the transportation equipment, a spatial point set of the driving path is generated.

11. Open pit mine loading collaborative operation method, characterized in that: include: The method is applied to a transportation equipment platform, and the method comprises: Control the target transport equipment participating in the collaborative operation to enter the designated position in front of the loading area, send an entry request, enter the entry waiting state and join the entry waiting queue, so that the collaborative operation platform allocates an idle loading space to the target transport equipment that sent the entry request and updates the status of the allocated loading space to occupied state; Obtaining an entry instruction sent by the collaborative operation platform, wherein the entry instruction is generated by the collaborative operation platform based on the target transport equipment identifier sending the entry request, the entry instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way from the target transport equipment sending the entry request to the assigned loading position; Obtain the entry driving instruction sent by the collaborative operation platform, remove the entry target transport equipment from the entry waiting list, and change the state from the entry waiting state to the entry driving state; according to the entry driving instruction and the content of the entry instruction, control the entry target transport equipment to drive to the loading position, or drive to a temporary parking point and wait until the collision risk is eliminated, and then continue driving until it reaches the loading position and enters the loading state; the entry target transport equipment is the target transport equipment that enters the entry waiting list first; The target transport equipment in the loading state collects and transmits its own loading weight in real time during the loading operation, and sends it to the collaborative operation platform to determine whether the target transport equipment meets the exit requirements; Obtaining an exit instruction sent by the collaborative operation platform, wherein the exit instruction is generated by the collaborative operation platform based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and right of way for the exit target transport equipment to exit the loading area, and the exit target transport equipment is the target transport equipment that meets the exit requirements; Obtain the exit driving instruction sent by the collaborative operation platform, change the state of the exit target transport equipment from the loading state to the exit driving state, and control the exit target transport equipment to drive out of the loading area or drive to a temporary parking point and wait until the collision risk is eliminated before exiting the loading area according to the exit driving instruction and the exit instruction content, so that the collaborative operation platform updates the loading position allocated to the exit target transport equipment that has left the loading position to an idle state; The entry and exit driving instructions are both sent by the collaborative operation platform based on the collision prediction results of all transportation equipment participating in the collaborative operation according to the status of the transportation equipment. Allocate an available loading space to the target transport equipment that sends the entry request, including: Set up paired loading equipment for target transport equipment; Determine whether there is an empty loading position within the loading range of the paired loading device; If there is a free loading space and it is available, it is assigned to the target transport equipment; If it is determined that there is an idle loading position on each side of the loading equipment and both are available, the historical advancement trajectory of the loading equipment is obtained, the advancement direction of the loading equipment is calculated, and the set distance is extended along the advancement direction of the loading equipment. The starting point of the historical advancement trajectory of the loading equipment is connected with the point extended by the set distance, and it is determined whether the position coordinates of the bucket of the loading equipment fall on the left or right side of the connection line. If it falls on the left side, the idle loading position on the left is allocated; if it falls on the right side, the idle loading position on the right is allocated.

12. The open-pit mine loading collaborative operation method according to claim 11, characterized in that: The coordinates and heading information of the target transport equipment are collected and transmitted in real time, and are used by the collaborative operation platform to determine whether the loading position is an idle loading position based on the coordinates and headings of all the target transport equipment participating in the collaborative operation, as well as the coordinates and headings of the loading equipment and its bucket, or to determine the collision risk based on the coordinates and heading information of the target transport equipment.

13. A loading collaboration platform, characterized in that: It includes: a parameter configuration module, a first communication module, a guidance control module, a loading position management module and a position solution and collision prediction module; The parameter configuration module is used to initialize the loading position, obtain the loading position data and its path point set in the loading area, collect the coordinates and heading information of all transport equipment and loading equipment in the loading area, and update the loading position status according to the coordinates and heading information of all transport equipment and loading equipment; The first communication module is used to exchange information with the transportation equipment platform; The guidance control module is configured to receive, through the first communication module, an entry request sent by a target transport device participating in the collaborative operation, wherein the target transport device has entered a designated position in front of the loading area, is in an entry waiting state, and has joined an entry waiting queue; The loading space management module is used to allocate an idle loading space to the target transport equipment that sends the admission request, and update the allocated loading space to an occupied state; The guidance control module is further configured to generate an entry instruction based on the target transport equipment identifier that sends the entry request, the entry instruction identifier, the assigned loading position identifier, and the corresponding path point set and right of way from the target transport equipment that sends the entry request to the assigned loading position; and to send the entry instruction to the transport equipment platform via the first communication module; The guidance control module is further configured to send an entry driving instruction to the transport equipment platform via the first communication module, so that the transport equipment platform removes the target transport equipment from the entry waiting list and changes its state from the entry waiting state to the entry driving state. The transport equipment platform controls the target transport equipment to drive to the loading position, or to drive to a temporary parking point and wait until the collision risk is eliminated, and then continues to drive until it reaches the loading position and enters the loading state according to the entry driving instruction and the content of the entry instruction. The target transport equipment is the target transport equipment that enters the entry waiting list first. The guidance control module is further configured to receive, via the first communication module, the load weight of the target transport equipment in the loading state, which is collected and transmitted in real time during the loading operation, and determine whether the target transport equipment meets the exit requirements; if the target equipment is determined to meet the exit requirements, it is used as the exit target transport equipment, and an exit instruction is generated based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way for the exit target transport equipment to exit the loading area; and the exit instruction is sent to the transport equipment platform; Sending an exit travel instruction to the transport equipment platform so that the transport equipment platform changes the exit target transport equipment state from the loading state to the exit travel state; The transport equipment platform controls the target transport equipment to move out of the loading area, or to a temporary parking spot and wait until the collision risk is eliminated before leaving the loading area, based on the exit driving instruction and the exit instruction content; The loading position management module is used to update the loading position allocated to the exit target transport equipment to an idle state after the exit target transport equipment leaves the loading position; The position calculation and collision prediction module is used to predict collisions based on the status of all transport equipment involved in the collaborative operation; The guidance control module is configured to send an entry driving instruction or an exit driving instruction via the first communication module based on the collision prediction result; Allocate an available loading space to the target transport equipment that sends the entry request, including: Set up paired loading equipment for target transport equipment; Determine whether there is an empty loading position within the loading range of the paired loading device; If there is a free loading space and it is available, it is assigned to the target transport equipment; If it is determined that there is an idle loading position on each side of the loading equipment and both are available, the historical advancement trajectory of the loading equipment is obtained, the advancement direction of the loading equipment is calculated, and the set distance is extended along the advancement direction. The starting point of the historical advancement trajectory is connected with the point extended by the set distance, and it is determined whether the position coordinates of the bucket of the loading equipment fall on the left or right side of the connection line. If it falls on the left side, the idle loading position on the left is allocated. If it falls on the right side, the idle loading position on the right is allocated.

14. A transportation equipment platform, characterized in that: It includes a second communication module and an unmanned driving control system; the second communication module is used to exchange information with the loading collaboration platform; The unmanned driving control system is used to control the target transport equipment participating in the collaborative operation to enter a designated position in front of the loading area, enter an entry waiting state and join an entry waiting list, and send an entry request for the target transport equipment through the second communication module, so that the collaborative operation platform that has completed the initialization parameter configuration allocates an idle loading space to the target transport equipment that sent the entry request, and updates the allocated loading space to an occupied state. The collaborative operation platform completes the initialization parameter configuration, including: initializing the loading space, obtaining the loading space data and path point set in the loading area, collecting the coordinates and heading information of all transport equipment and loading equipment in the loading area, and updating the loading space status according to the coordinates and heading information of all transport equipment and loading equipment; Acquire, through the second communication module, an entry instruction sent by the collaborative operation platform, wherein the entry instruction is generated by the collaborative operation platform based on the target transport equipment identifier of the sending entry request, the entry instruction identifier, the assigned loading position identifier, the corresponding path point set from the target transport equipment to the assigned loading position, and the right of way; The unmanned driving control system is used to obtain the entry driving instruction sent by the collaborative operation platform through the second communication module, change the state of the entry target transport equipment from the entry waiting state to the entry driving state, and exit the entry waiting list; according to the entry driving instruction and the content of the entry instruction, control the entry target transport equipment to drive to the loading position or drive to a temporary parking point and wait until the collision risk is eliminated, then drive to the loading position and enter the loading state; the entry target transport equipment is the target transport equipment that enters the entry waiting list first; The target transport equipment in the loading state collects and transmits its own loading weight in real time during the loading operation, which is used by the collaborative operation platform to determine whether the exit requirements of the target transport equipment are met and whether to send an exit instruction; The exit instruction sent by the collaborative operation platform is obtained through the second communication module, and is generated based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way for the exit target transport equipment to exit the loading area; the exit target transport equipment is the target transport equipment that meets the exit requirements; The second communication module obtains the exit driving instruction sent by the collaborative operation platform, changes the state of the target transport equipment from the loading state to the exit driving state, and controls the target transport equipment to drive out of the loading area or to a temporary parking point to stop and wait until the collision risk is eliminated before exiting the loading area, so that the collaborative operation platform updates the loading position allocated to the exiting target transport equipment to an idle state; The entry and exit driving instructions are both sent by the collaborative operation platform based on the collision prediction results of all transportation equipment participating in the collaborative operation according to the status of the transportation equipment. Allocate an available loading space to the target transport equipment that sends the entry request, including: Set up paired loading equipment for target transport equipment; Determine whether there is an empty loading position within the loading range of the paired loading device; If there is a free loading space and it is available, it is assigned to the target transport equipment; If it is determined that there is an idle loading position on each side of the loading equipment and both are available, the historical advancement trajectory of the loading equipment is obtained, the advancement direction of the loading equipment is calculated, and the set distance is extended along the advancement direction of the loading equipment. The starting point of the historical advancement trajectory of the loading equipment is connected with the point extended by the set distance, and it is determined whether the position coordinates of the bucket of the loading equipment fall on the left or right side of the connection line. If it falls on the left side, the idle loading position on the left is allocated; if it falls on the right side, the idle loading position on the right is allocated.

15. Open pit mine loading collaborative operation system, characterized by: It includes a transport equipment platform and a loading coordination platform; The loading collaboration platform includes: a parameter configuration module, a first communication module, a guidance control module, a loading position management module, and a position calculation and collision prediction module; The parameter configuration module is used to initialize the loading position, obtain the loading position data and its path point set in the loading area, collect the coordinates and heading information of all transport equipment and loading equipment in the loading area, and update the loading position status according to the coordinates and heading information of all transport equipment and loading equipment; The first communication module is used to exchange information with the transportation equipment platform; The guidance control module is configured to receive, through the first communication module, an entry request sent by a target transport device participating in the collaborative operation, wherein the target transport device has entered a designated position in front of the loading area, is in an entry waiting state, and has joined an entry waiting queue; The loading space management module is used to allocate an idle loading space to the target transport equipment that sends the admission request, and update the allocated loading space to an occupied state; The guidance control module is further configured to generate an entry instruction based on the target transport equipment identifier that sends the entry request, the entry instruction identifier, the assigned loading position identifier, and the corresponding path point set and right of way from the target transport equipment that sends the entry request to the assigned loading position; and to send the entry instruction to the transport equipment platform via the first communication module; The guidance control module is further configured to send an entry driving instruction to the transport equipment platform via the first communication module, so that the transport equipment platform removes the target transport equipment from the entry waiting list and changes its state from the entry waiting state to the entry driving state. The transport equipment platform controls the target transport equipment to drive to the loading position, or to drive to a temporary parking point and wait until the collision risk is eliminated, and then continues to drive until it reaches the loading position and enters the loading state according to the entry driving instruction and the content of the entry instruction. The target transport equipment is the target transport equipment that enters the entry waiting list first. The guidance control module is further configured to receive, via the first communication module, the load weight of the target transport equipment in the loading state, which is collected and transmitted in real time during the loading operation, and determine whether the target transport equipment meets the exit requirements; if the target equipment is determined to meet the exit requirements, it is used as the exit target transport equipment, and an exit instruction is generated based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way for the exit target transport equipment to exit the loading area; and the exit instruction is sent to the transport equipment platform; Send an exit driving instruction to the transport equipment platform, so that the transport equipment platform changes the state of the exit target transport equipment from the loading state to the exit driving state; the transport equipment platform controls the exit target transport equipment to drive out of the loading area, or to drive to a temporary parking point and wait until the collision risk is eliminated before exiting the loading area according to the exit driving instruction and the exit instruction content; The loading position management module is used to update the loading position allocated to the exit target transport equipment to an idle state after the exit target transport equipment leaves the loading area; The position calculation and collision prediction module is used to predict collisions based on the status of all transport equipment involved in the collaborative operation; The guidance control module is configured to send an entry driving instruction or an exit driving instruction via the first communication module based on the collision prediction result; The transport equipment platform includes a second communication module and an unmanned driving control system; the second communication module is used to exchange information with the loading coordination platform; The unmanned driving control system is used to control the target transport equipment participating in the collaborative operation to enter a designated position in front of the loading area, enter an entry waiting state and join an entry waiting list, and send an entry request for the target transport equipment through the second communication module, so that the collaborative operation platform that has completed the initialization parameter configuration allocates an idle loading space to the target transport equipment that sent the entry request, and updates the allocated loading space to an occupied state. The collaborative operation platform completes the initialization parameter configuration, including: initializing the loading space, obtaining the loading space data and path point set in the loading area, collecting the coordinates and heading information of all transport equipment and loading equipment in the loading area, and updating the loading space status according to the coordinates and heading information of all transport equipment and loading equipment; Acquire, through the second communication module, an entry instruction sent by the collaborative operation platform, wherein the entry instruction is generated by the collaborative operation platform based on the target transport equipment identifier of the sending entry request, the entry instruction identifier, the assigned loading position identifier, the corresponding path point set from the target transport equipment to the assigned loading position, and the right of way; The unmanned driving control system is used to obtain the entry driving instruction sent by the collaborative operation platform through the second communication module, change the state of the entry target transport equipment from the entry waiting state to the entry driving state, and exit the entry waiting list; according to the entry driving instruction and the content of the entry instruction, control the entry target transport equipment to drive to the loading position or drive to a temporary parking point and wait until the collision risk is eliminated, then drive to the loading position and enter the loading state; the entry target transport equipment is the target transport equipment that enters the entry waiting list first; The target transport equipment in the loading state collects and transmits its own loading weight in real time during the loading operation, which is used by the collaborative operation platform to determine whether the exit requirements of the target transport equipment are met and whether to send an exit instruction; The exit instruction sent by the collaborative operation platform is obtained through the second communication module, and is generated based on the exit target transport equipment identifier, the exit instruction identifier, the assigned loading position identifier, the corresponding path point set and the right of way for the exit target transport equipment to exit the loading area; the exit target transport equipment is the target transport equipment that meets the exit requirements; The second communication module obtains the exit driving instruction sent by the collaborative operation platform, changes the state of the target transport equipment from the loading state to the exit driving state, and controls the target transport equipment to drive out of the loading area or to a temporary parking point to stop and wait until the collision risk is eliminated before exiting the loading area, so that the collaborative operation platform updates the loading position allocated to the exiting target transport equipment to an idle state; The entry and exit driving instructions are both sent by the collaborative operation platform based on the collision prediction results of all transportation equipment participating in the collaborative operation according to the status of the transportation equipment. Allocate an available loading space to the target transport equipment that sends the entry request, including: Set up paired loading equipment for target transport equipment; Determine whether there is an empty loading position within the loading range of the paired loading device; If there is a free loading space and it is available, it is assigned to the target transport equipment; If it is determined that there is an idle loading position on each side of the loading equipment and both are available, the historical advancement trajectory of the loading equipment is obtained, the advancement direction of the loading equipment is calculated, and the set distance is extended along the advancement direction. The starting point of the historical advancement trajectory is connected with the point extended by the set distance, and it is determined whether the position coordinates of the bucket of the loading equipment fall on the left or right side of the connection line. If it falls on the left side, the idle loading position on the left is allocated. If it falls on the right side, the idle loading position on the right is allocated.

16. A computer storage medium, characterized in that The computer storage medium stores a computer program, and the computer program is executed by a processor to implement the open-pit mine loading collaborative operation method according to any one of claims 1 to 12.

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