A method and system for allocating unloading points in an open-pit mine unloading area

Abstract

The present invention belongs to the fields of engineering transportation technology, smart mining, and autonomous driving technology. The method of the present invention includes collecting map boundaries to generate unloading points, receiving an entry application from an unmanned mining truck; screening available unloading points based on the equipment information of the unmanned mining machine group dispatching system; based on the screened available unloading points, selecting a suitable unloading point according to the geometric shape of the unloading area and the occupancy of the unloading point. The present invention solves the problem of automatic allocation of unloading points that supports unloading of multiple vehicles in an unmanned mine unloading area, which is a subdivided task and ensures the efficiency and safety of the collaborative operation of unmanned mining trucks and manually driven bulldozers.

Description

Technical Field

[0001] The present invention belongs to the fields of engineering transportation technology, smart mining and autonomous driving technology, and specifically relates to a method for allocating unloading points during the unloading process of an unmanned mining truck. Background Art

[0002] In recent years, driverless technology has been widely used in mines and other application scenarios. Driverless mining trucks (referred to as driverless mining trucks) can reduce the labor demand in key production links in open-pit mines such as stripping, loading and unloading, and transportation, and achieve efficient coordination between production links. At the same time, it can solve the problem that mining truck drivers need to face noise, dust, vibration, etc. for a long time; on the other hand, it can reduce or even eliminate safety accidents caused by human factors in related links, reduce the cost of driver employment and vehicle maintenance, and improve the overall operating efficiency of mines.

[0003] In the scenario of the unloading process of unmanned mining trucks, the unloading points where unloading operations will be carried out need to be allocated in advance to provide the endpoints of the planned route to the unmanned driving path planning module. Specifically, the unmanned mining truck needs to obtain the posture of the unloading point before entering the unloading site (that is, the geographical location information of the unloading point and the posture that the vehicle should maintain when unloading at this point), and then obtain the driving route of the unloading area, including the vehicle's entry route and exit route. The unmanned mining truck will drive from the entrance of the unloading site along the entry route to the unloading point. After completing the unloading process of lifting the bucket-unloading-dropping the bucket, it will drive along the exit route to the exit of the unloading site to complete a complete unloading process.

[0004] There are many constraints that need to be considered when allocating unloading points: First, the number of available unloading points is limited. The unloading point is usually a position point on the boundary of the unloading area that is perpendicular to the boundary retaining wall. The mining truck needs to reverse to the retaining wall and unload the material to the outside of the retaining wall. After a certain number of unloading, a point is no longer unloadable and needs to be trimmed by a bulldozer. Secondly, when there is a bulldozer operating in the unloading area, the unloading point interfered by the bulldozer should not be assigned to the unmanned mining truck. In addition, when multiple unmanned mining trucks enter the unloading area at the same time for unloading operations, it is necessary to consider the coordination between multiple unmanned mining trucks to improve the unloading efficiency. Summary of the invention

[0005] In view of the above existing problems, the present invention is proposed. The present invention has an original unloading point selection algorithm, which is especially aimed at the unloading area of ​​unmanned mines. It can automatically complete the reasonable allocation of unloading points for unmanned mine trucks without human intervention; it takes into account the bulldozer operation process in the unloading area of ​​open-pit mines; and it takes into account the needs of multi-vehicle collaborative unloading.

[0006] Therefore, a method for allocating unloading points in an open pit mine unloading area is provided.

[0007] In order to solve the above technical problems, the present invention provides the following technical solution, a method for allocating unloading points in an open-pit mine unloading area, comprising:

[0008] Collect map boundaries to generate unloading points and receive entry applications from unmanned mining trucks; filter available unloading points based on equipment information from the unmanned mining fleet dispatching system; based on the filtered available unloading points, select appropriate unloading points according to the geometry of the unloading area and the occupancy of the unloading points.

[0009] As a preferred solution of the method for allocating unloading points in an open-pit mine unloading area of ​​the present invention, wherein: the generating of unloading points includes calculating the interval distance of the unloading points and the direction angle of the unloading points according to the collected data, and the specific steps are as follows:

[0010] A random unloading point is generated on the boundary of the unloading area as the initial unloading point. Starting from the initial unloading point, the position of the next unloading point is calculated along the direction of the unloading point interval. The direction angle of the next unloading point is obtained by rotating a certain angle along the direction perpendicular to the map boundary:

[0011] Calculate the angle between the starting point and the map border:

[0012] α=tan -1 (starting point ordinate / starting point abscissa)

[0013] Calculate the angle corresponding to the unloading point interval:

[0014] β=tan -1 (Unload point interval / map border length)

[0015] Calculate the orientation angle of the unloading point:

[0016] γ=α+β

[0017] The calculated unloading point coordinates are compared with the unloading area boundary. When the unloading point exceeds the boundary, the unloading point position is adjusted to be located on the unloading area boundary, and the direction angle is calculated repeatedly until a sufficient number of unloading points are generated.

[0018] As a preferred scheme of the method for allocating unloading points in the unloading area of ​​an open-pit mine described in the present invention, the available unloading points include unloading points with no available times, unloading points interfered by bulldozers, unloading points with collapsed retaining walls, and unloading points specified by open-pit mines.

[0019] The unloading point with no available times includes setting an upper limit on the number of unloading points. When the unmanned mining truck successfully completes unloading each time, the available times are reduced. When the available times are reduced to 0, the bulldozer enters the site for repair, and when screening the available unloading points, the unloading points with an available times of 0 are screened out.

[0020] As a preferred solution of the method for allocating unloading points in an open-pit mine unloading area of ​​the present invention, the bulldozer interference unloading point includes setting a first safety distance value S1 and a second safety distance value S2:

[0021] When Q post When ≤S1, the automatic unloading point is deleted.

[0022] When Q post >S1, but Q min When ≤S2, the unloading point is screened out.

[0023] When Q post >S1 and Q min >S2, the unloading point is retained and allocated to the unmanned mining truck for unloading.

[0024] Among them, Q post Q is the distance between the loading point and the bulldozer positioning, min It is the distance to the point closest to the bulldozer on the entry and exit route of the unloading area where the unloading point is located.

[0025] As a preferred solution of the method for allocating unloading points in the open-pit mine unloading area described in the present invention, the selection of suitable unloading points includes setting the unmanned mining trucks entering the site from front and rear to maintain a safety distance of 15 meters when allocating unloading points, and allocating unloading points according to the allocation method.

[0026] The geometric shape includes that when multiple vehicles are unloading, the unmanned mining truck travels in a circular route along the area boundary to reduce the conflict between the vehicles entering the site and the vehicles leaving the site, and the unloading point assigned to the unmanned mining truck that enters the site later is close to the entry point on the area boundary.

[0027] As a preferred solution of the method for allocating unloading points in an open-pit mine unloading area described in the present invention, the occupancy status of the unloading points includes identifying frequently used unloading points based on the collected data, using dynamic strategies to increase the number of mobile unloading points in the unloading area to divert vehicles, and in the process of implementing the dynamic strategies, real-time monitoring of the usage of the unloading points and the effects after adjustment.

[0028] As a preferred solution of the method for allocating unloading points in the unloading area of ​​an open-pit mine described in the present invention, the allocation method includes sorting the available unloading points according to the distance from the exit point of the unloading area along the boundary perspective, storing them in a list, maintaining the set S of all allocated unloading points and the last allocated unloading point p, and when the unmanned mining machine group receives a new entry request from the unmanned mining card, traverse from the last allocated unloading point p to the end of the list, and compare the Euclidean distance of each traversed point with the points in the set S of all allocated unloading points:

[0029] When the distance is less than the safety distance, continue to search backward, otherwise output the current unloading point. When the current unloading point is output, the unmanned mine fleet dispatcher sends the entry route and exit route corresponding to the current unloading point to the unmanned mine card applying for entry.

[0030] When the search reaches the end of the list, the search continues from the head. When no unloading point is output after traversing the list, a null value is output to indicate allocation failure. The unmanned mining truck stops and waits outside the unloading area and applies for an unloading point again after a specified period of time.

[0031] Another object of the present invention is to provide a system for allocating unloading points in an open-pit mine unloading area. The fleet scheduling module allocates unloading points according to the vehicle entry order and the unloading point candidate list to achieve high automation and improve unloading efficiency; the unloading point allocation module allocates different vehicles to different unloading points according to the screening results, thereby reducing conflicts between vehicles; it can be easily integrated with other related systems, such as vehicle scheduling systems and mine truck monitoring systems; the system can continuously optimize the unloading strategy and improve the unloading efficiency by collecting and analyzing relevant data on vehicles and unloading points, and can also dynamically adjust the unloading points according to actual operating conditions to cope with different scenarios and needs.

[0032] A system for allocating unloading points in an open-pit mine unloading area is characterized by comprising a map boundary acquisition module, a machine group scheduling module, an unloading point screening module and an unloading point allocation module.

[0033] The map boundary acquisition module completes the acquisition of map boundaries by a map acquisition device.

[0034] The fleet dispatching module creates and updates the map of the unloading area to generate unloading points and receives admission applications from unmanned mining trucks.

[0035] The unloading point screening module screens available unloading points according to the equipment information provided by the unmanned mine machine group scheduling system.

[0036] The unloading point allocation module selects a suitable unloading point from the available unloading points according to the actual situation.

[0037] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of a method for allocating unloading points in an open-pit mine unloading area are implemented.

[0038] A computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of a method for allocating unloading points in an open-pit mine unloading area are implemented.

[0039] The beneficial effects of the present invention are as follows: a method for allocating unloading points is proposed, including an original unloading point selection algorithm. This method is particularly aimed at the unloading area of ​​unmanned mines, and can automatically complete the reasonable allocation of unloading points for unmanned mining trucks without human intervention; the method takes into account the bulldozer operation process in the unloading area of ​​open-pit mines, ensuring the efficient and safe collaborative operation of unmanned mining trucks and manually driven bulldozers; the method takes into account the needs of multi-vehicle collaborative unloading, ensuring the efficient and safe simultaneous unloading of multiple unmanned mining trucks. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0041] Figure 1 A schematic flow chart of a method for allocating unloading points in an open-pit mine unloading area provided in one embodiment of the present invention.

[0042] Figure 2 A flow chart of a method for allocating unloading points in an open-pit mine unloading area provided by one embodiment of the present invention.

[0043] Figure 3 An unloading point allocation diagram of a method for allocating unloading points in an open-pit mine unloading area provided by an embodiment of the present invention.

[0044] Figure 4 A traversal diagram of an unloading point list of a method for allocating unloading points in an open-pit mine unloading area provided by an embodiment of the present invention.

[0045] Figure 5 A schematic diagram of the working process of a system for allocating unloading points in an open-pit mine unloading area provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0047] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0048] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is mutually exclusive with other embodiments, either individually or selectively.

[0049] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0050] At the same time, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] Example 1

[0053] Reference Figure 1 , which is the first embodiment of the present invention, provides a method for allocating unloading points in an open-pit mine unloading area, comprising:

[0054] S1: Collect map boundaries to generate unloading points and receive entry applications from unmanned mining trucks.

[0055] Furthermore, after the map collection equipment completes the collection of the map boundary, the unmanned mine fleet dispatching system will create or update the map of the unloading area, and then evenly generate unloading points at certain intervals (such as 10 meters) on the unloading boundary retaining wall. The geographical location of the generated unloading point is located on the boundary of the unloading area, and its posture (i.e., the direction corresponding to the mining truck when it drives to the unloading point) is expressed as a direction angle perpendicular to the map boundary.

[0056] It should be noted that when the unmanned mining truck drives to the road before entering the unloading area, an application to enter the unloading area will be submitted from the unmanned mining fleet dispatching system, and then the unloading point allocation method will try to allocate an unloading point for the unmanned mining truck.

[0057] It should also be noted that the specific steps for calculating the unloading point interval and direction angle based on the collected data are as follows:

[0058] A random unloading point is generated on the boundary of the unloading area as the initial unloading point. Starting from the initial unloading point, the position of the next unloading point is calculated along the direction of the unloading point interval. The direction angle of the next unloading point is obtained by rotating a certain angle along the direction perpendicular to the map boundary:

[0059] Calculate the angle between the starting point and the map border:

[0060] α=tan -1 (starting point ordinate / starting point abscissa)

[0061] Calculate the angle corresponding to the unloading point interval:

[0062] β=tan -1 (Unload point interval / map border length)

[0063] Calculate the orientation angle of the unloading point:

[0064] γ=α+β

[0065] The calculated unloading point coordinates are compared with the unloading area boundary. When the unloading point exceeds the boundary, the unloading point position is adjusted to be located on the unloading area boundary, and the direction angle is calculated repeatedly until a sufficient number of unloading points are generated.

[0066] S2: Filter available unloading points according to the equipment information of the unmanned mine fleet dispatching system.

[0067] Furthermore, in the unmanned mine fleet dispatching system, mine workers can set the upper limit of the unloading times at the unloading point. As each time the unmanned mine truck successfully completes unloading, the corresponding unloading times at the unloading point will be reduced accordingly. When the available times of the unloading point are reduced to 0, the unmanned mine fleet dispatching system will notify the bulldozer to enter the site for repairs, and the point needs to be screened out when screening available unloading points.

[0068] It should be noted that when a bulldozer is operating in the unloading area, the unloading points that are disturbed by the bulldozer will be screened out when screening the unloading points. Set the first safety distance value S1 and the second safety distance value S2: When Q post ≤S1, the unloading point is automatically deleted; when Q post >S1, but Q min ≤S2, the unloading point is screened out; when Q post >S1 and Q min >S2, the unloading point is reserved and assigned to the unmanned mining truck for unloading; among them, Q post Q is the distance between the loading point and the bulldozer positioning, min It is the distance to the point closest to the bulldozer on the entry and exit route of the unloading area where the unloading point is located.

[0069] It should also be noted that other situations reported by the unmanned mine fleet dispatching system will cause the unloading point to be screened out during screening, such as the mining truck laser radar detecting the collapse of the unloading point retaining wall. Based on the needs of the open-pit mine, the rules of this screening process can be flexibly formulated.

[0070] S3: Based on the screened available unloading points, select a suitable unloading point according to the geometry of the unloading area and the occupancy of the unloading point.

[0071] Furthermore, as long as the unloading point selected for the unmanned mining truck is an available unloading point, the unmanned mining truck can complete its unloading operation; therefore, in the step of selecting the unloading point, the focus is on the rationality of the unloading point selection and the comprehensive unloading operation efficiency; first, considering the available number of unloading points mentioned above, that is, the bulldozer needs to enter the unloading area to perform unloading operations after the unloading point is full. In order to reduce the number of bulldozer entry operations and make full use of each unloading point, one of the optimization goals of the unloading point allocation method described in the present invention is to use each unloading point evenly.

[0072] It should be noted that based on the collected data, frequently used unloading points are identified and dynamic strategies are used to increase the number of mobile unloading points in the unloading area to divert vehicles. In the process of implementing the dynamic strategy, the usage of the unloading points and the effects after adjustments are monitored in real time.

[0073] It should also be noted that, considering that the unloading area needs to realize the coordinated unloading of multiple vehicles, that is, there are more than one unmanned mining truck in the unloading area at the same time, the unloading point allocation method of the present invention also optimizes the efficiency of unloading of multiple vehicles. When allocating unloading points, the unmanned mining trucks entering the front and rear are set to maintain a safe distance of 15 meters, and the unloading points are allocated according to the allocation method.

[0074] When multiple vehicles are unloading, the unmanned mining trucks travel in a circular route along the boundary of the area. When multiple unmanned mining trucks are unloading at the same time, in order to avoid conflicts between them, they can be assigned to different unloading points. According to the order of entry, the unmanned mining trucks that enter the site first are assigned to the unloading points farther from the center of the unloading area, while the unmanned mining trucks that enter the site later are assigned to the unloading points closer to the center of the unloading area.

[0075] It should also be noted that the available unloading points are sorted according to the distance from the exit point of the unloading area along the boundary perspective, stored in a list, and the set S of all allocated unloading points and the last allocated unloading point p are maintained. When the unmanned mining machine group receives a new entry request from an unmanned mining truck, it traverses from the last allocated unloading point p to the end of the list, and compares the Euclidean distance of each traversed point with the points in the set S of all allocated unloading points:

[0076] When the distance is less than the safety distance, continue to search backward, otherwise output the current unloading point. When the current unloading point is output, the unmanned mine fleet dispatcher sends the entry route and exit route corresponding to the current unloading point to the unmanned mine truck applying for entry; when the search reaches the end of the list, continue to search from the head. When the unloading point is still not output after traversing the list, an empty value is output to indicate that the allocation failed. The unmanned mine truck stops and waits outside the unloading area and applies for the unloading point again after a specified time.

[0077] Example 2

[0078] Reference Figure 2-Figure 4 , which is an embodiment of the present invention, provides a method for allocating unloading points in an open-pit mine unloading area. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through experiments.

[0079] After the mapping equipment completes the collection of map boundaries, the unmanned mine fleet dispatching system will create a new map of the unloading area, and then evenly generate unloading points at intervals of 10 meters on the unloading boundary retaining wall; when the unmanned mining truck drives to the road before the entrance to the unloading area, an application to enter the unloading area will be submitted to the unmanned mining truck dispatching system, and the allocation method will try to allocate unloading points for the unmanned mining truck.

[0080] When the unloading point is less than the first safety distance of 25 meters from the bulldozer's positioning distance or the point closest to the bulldozer on the unloading area entry and exit route corresponding to a certain unloading point is less than the second safety distance of 10 meters, this unloading point will be screened out during screening.

[0081] like Figure 3 The safety distance shown is implemented as follows: after the current vehicle selects the unloading point p3, the subsequent vehicle should give priority to selecting p1 and p2, which are closer to the entry point pin along the boundary perspective, rather than p4.

[0082] like Figure 4 The allocation method shown is that unloading point 3 and unloading point 5 are occupied, and the last allocated point is unloading point 5; a new application arrives, traverses to unloading point 6, which is too close to unloading point 5, and the traversal continues; traverses to unloading point 1, meets the output condition, and allocates unloading point 1; a new application arrives, traverses the entire list and there is no unloading point that meets the output condition, returns to unloading point 1, and outputs a null value.

[0083] The specific implementation process is as follows:

[0084] Table 1

[0085] Unmanned mining truck Unloading point number Uninstalls Interference by bulldozers Admission route Exit route 1 P1 5 no Path A Path B 2 P3 3 no Path C Path D 3 P6 10 yes 4 P8 7 no Path E Path F 5 P10 6 no Path G Path H

[0086] Unmanned mining truck 1 submits an application to the unmanned mining machine group dispatching system to enter the unloading area; the currently available unloading points are screened out: P1, P2, P4, and P5.

[0087] The unloading point allocation method selects a suitable unloading point P1 for the unmanned mining truck 1 according to the geometric shape of the unloading area and the occupancy of other unloading points; the unmanned mining machine group scheduling module sends the entry route path A and the exit route path B corresponding to the unloading point P1 to the unmanned mining truck 1; the mining truck 1 drives to the unloading point P1 along the path A; the unmanned mining truck 1 performs the unloading operation at the unloading point P1, and the mining truck completes the unloading operation and leaves the unloading point P1 along the path B.

[0088] Unmanned mining truck 2 submits an application to the unmanned mining machine group dispatching system to enter the unloading area; the currently available unloading points are screened out: P2, P3, and P5.

[0089] The unloading point allocation method selects a suitable unloading point P3 for the unmanned mining truck 2 according to the geometric shape of the unloading area and the occupancy of other unloading points; the unmanned mining machine group scheduling module sends the entry route path C and the exit route path D corresponding to the unloading point P3 to the unmanned mining truck 2; the unmanned mining truck 2 drives to the unloading point P3 along the path C; the unmanned mining truck 2 performs unloading operations at the unloading point P3; the unmanned mining truck 2 completes the unloading operation and leaves the unloading point P3 along the path D.

[0090] Unmanned mining truck 3 selects unloading point 6 due to interference from the bulldozer. When all unloading points are occupied, the unmanned mining truck stops and waits after traversing, and continues to send entry applications after an interval of 1 minute. When the waiting time is too long and the unmanned mining truck does not receive an entry response, the unmanned mining machine group scheduling system increases the number of mobile unloading points in the unloading area to divert vehicles.

[0091] Table 2

[0092] Unloading point mining card control rate Unloading point allocation efficiency Security Traditional uninstallation method 67％ 75％ 74％ Uninstallation method of the present invention 89％ 95％ 93％

[0093] According to the experimental results, the unloading efficiency of unmanned mining trucks has been significantly improved. The usual conflicts between incoming and outgoing vehicles have been avoided. All unloading points are used evenly, effectively avoiding mine congestion caused by bulldozers and the number of available unloading points, long waiting times, and safety issues.

[0094] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

[0095] Example 3

[0096] The third embodiment of the present invention is different from the first two embodiments in that:

[0097] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0098] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0099] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0100] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0101] Example 4

[0102] Reference Figure 5 , which is the fourth embodiment of the present invention, provides an open-pit mine unloading area unloading point allocation system, including a map boundary acquisition module, a fleet scheduling module, an unloading point screening module and an unloading point allocation module.

[0103] The map boundary acquisition module completes the acquisition of map boundaries by the map acquisition equipment.

[0104] The fleet dispatching module creates and updates the map of the unloading area to generate unloading points and receives entry applications from unmanned mining trucks.

[0105] The unloading point screening module screens available unloading points according to the equipment information provided by the unmanned mine fleet scheduling system.

[0106] The unloading point allocation module selects a suitable unloading point from the available unloading points according to the actual situation.

[0107] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for allocating unloading points in an open-pit mine unloading area, characterized in that: include, Collect map boundaries to generate unloading points and receive entry applications from unmanned mining trucks; Screen available unloading points based on equipment information from the unmanned mine fleet dispatching system; Based on the screened available unloading points, select a suitable unloading point according to the geometry of the unloading area and the occupancy of the unloading point; Generating unloading points includes calculating the unloading point interval distance and the unloading point direction angle according to the collected data. The specific steps are as follows: A random unloading point is generated on the boundary of the unloading area as the initial unloading point. Starting from the initial unloading point, the position of the next unloading point is calculated along the direction of the unloading point interval. The direction angle of the next unloading point is obtained by rotating a certain angle along the direction perpendicular to the map boundary: Calculate the angle between the starting point and the map border: α=tan -1 (starting point ordinate / starting point abscissa) Calculate the angle corresponding to the unloading point interval: β=tan -1 (Unload point interval / map border length) Calculate the orientation angle of the unloading point: γ=α+β Compare the calculated unloading point coordinates with the unloading area boundary. If the unloading point exceeds the boundary, adjust the unloading point position so that it is located on the unloading area boundary, and repeatedly calculate the direction angle until a sufficient number of unloading points are generated. The available unloading points include screening out unloading points with no available times, screening out unloading points interfered by bulldozers, screening out unloading points with retaining wall collapse, and screening out specified unloading points in open-pit mines; The unloading point with no available times includes setting the upper limit of the number of unloading points. When the unmanned mining truck successfully completes unloading each time, the available times are reduced. When the available times are reduced to 0, the bulldozer enters the site for repair, and when screening available unloading points, the unloading points with the available times of 0 are screened out; The bulldozer interference unloading point includes setting a first safety distance value S1 and a second safety distance value S2: When Q post When ≤S1, the unloading point is automatically deleted; When Q post >S1, but Q min When ≤S2, the unloading point is screened out; When Q post >S1 and Q min > In S2, the unloading point is reserved and allocated to the unmanned mining truck for unloading; Among them, Q post Q is the distance between the unloading point and the bulldozer positioning, min It is the distance to the point closest to the bulldozer on the entry and exit route of the unloading area where the unloading point is located.

2. A method for allocating unloading points in an open-pit mine unloading area according to claim 1, characterized in that: The selecting of a suitable unloading point includes setting the unmanned mining trucks entering the site from the front and the back to maintain a safety distance of 15 meters when allocating the unloading point, and allocating the unloading point according to the allocation method; The geometric shape includes that when multiple vehicles are unloading, the unmanned mining truck travels in a circular route along the area boundary to reduce the conflict between vehicles entering and leaving the site. The unloading point assigned to the unmanned mining truck that enters the site later is assigned on the area boundary and is close to the entry point.

3. A method for allocating unloading points in an open-pit mine unloading area according to claim 2, characterized in that: The occupancy of the unloading points includes identifying frequently used unloading points based on the collected data, using dynamic strategies to increase the number of mobile unloading points in the unloading area, and diverting vehicles. In the process of implementing the dynamic strategy, the usage of the unloading points and the effects after adjustments are monitored in real time.

4. A method for allocating unloading points in an open-pit mine unloading area as claimed in claim 3, characterized in that: The allocation method includes sorting the available unloading points according to the distance from the exit point of the unloading area along the boundary perspective, storing them in a list, maintaining the set S of all allocated unloading points and the last allocated unloading point p, and when the unmanned mine fleet dispatching system receives a new entry request from an unmanned mine truck, traversing from the last allocated unloading point p to the end of the list, and comparing the Euclidean distance of each traversed point with the points in the set S of all allocated unloading points: When the distance is less than the safety distance of 15 meters, the search continues backwards, otherwise the current unloading point is output. When the current unloading point is output, the unmanned mine fleet dispatching system sends the entry route and exit route corresponding to the current unloading point to the unmanned mine truck in the application, and the unmanned mine truck enters according to the received route; When the search reaches the end of the list, the search continues from the head. When no unloading point is output after traversing the list, a null value is output to indicate allocation failure. The unmanned mining truck stops and waits outside the unloading area and applies for an unloading point again after a specified period of time.

5. A system using the method for allocating unloading points in an open-pit mine unloading area as claimed in any one of claims 1 to 4, characterized in that: It includes map boundary acquisition module, fleet scheduling module, unloading point screening module and unloading point allocation module; The map boundary acquisition module is used to acquire map boundaries through a map acquisition device; The fleet dispatching module creates and updates the map of the unloading area to generate unloading points and receives the admission application of the unmanned mining truck; The unloading point screening module screens available unloading points according to the equipment information provided by the unmanned mine machine group scheduling system; The unloading point allocation module selects a suitable unloading point from the available unloading points according to actual conditions.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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