A loading area multi-vehicle multi-shovel cooperative loading scheduling and trajectory planning method and device

Abstract

The application discloses a kind of loading area multi-vehicle multi-shovel collaborative loading scheduling and trajectory planning method and device, and loading area multi-vehicle multi-shovel collaborative loading scheduling and trajectory planning method includes: step 1, according to the entry time of vehicle, exit time and empty / load condition, the priority order of vehicle is determined;Step 2, according to priority order, generate scheduling instructions, and plan the driving trajectory of each mine truck;Step 3, according to the driving trajectory of each mine truck planned, estimate the position of each mine truck at each time, carry out multi-vehicle dynamic conflict detection, and make the mine truck with low priority avoid the mine truck with high priority in real time according to priority order.The present application is used to solve the problem of collaborative loading of multiple excavators and multiple unmanned mine trucks in the loading operation area of open-pit mine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine automatic driving, in particular to a loading area multi-vehicle and multi-shovel cooperative loading scheduling and trajectory planning method and device. BACKGROUND

[0002] The mining process of an open-pit mine mainly includes perforating, blasting, mining and loading, transporting, and soil removal. Among them, the ore loading operation is one of the important links of mine production, which requires close coordination between vehicles and vehicles, and between vehicles and excavators. With the development of unmanned technology in open-pit mines, the ore loading operation is also slowly moving towards the unmanned road. For mines with a wide loading operation area, especially sand and gravel aggregate mines, there are usually multiple excavators simultaneously performing loading operations. Therefore, the cooperative loading scheduling and vehicle driving trajectory planning technology of multiple vehicles and multiple shovels in the loading area is one of the key technologies to realize a smart mine.

[0003] However, the current technology mostly only targets the operation scene of one loading operation area with only one excavator, focusing on the intelligent research of the cooperative loading operation process of single vehicle and single shovel (single excavator) in the loading area, and few studies on the cooperative loading scheduling and trajectory planning method of multiple vehicles and multiple shovels in the loading area.

[0004] For example, the prior art one proposes an interactive method for intelligent loop shovel of unmanned mine truck in the loading area, which installs cooperative equipment on the unmanned mine truck and the shovel truck respectively, determines the parking angle of the mine truck by the shovel truck driver according to his own habits, supervises the automatic operation process of the mine truck, and realizes the automatic cooperation of the mine truck with the shovel truck. However, this method only considers the cooperative loading operation of the unmanned mine truck and the single shovel truck, and does not consider the collision conflict problem of multiple unmanned vehicles in the loading area, nor does it consider the cooperative scheduling and trajectory planning scheme of the unmanned vehicles when multiple shovel trucks exist in the loading area.

[0005] For another example, the prior art two considers that there are two loading positions for one excavator, and updates the loading position data and loading position state in real time. When receiving the entry request of the unmanned mine truck, it allocates the idle loading position and the corresponding path and right to the corresponding vehicle, and the vehicle automatically drives to the specified loading position. Real-time judgment is made on whether the vehicle meets the exit condition, and after meeting the condition, the truck is controlled to drive out of the loading operation area according to the collision detection result, completing the loading cooperative operation scheduling and path planning and control. Compared with the prior art one, the prior art two further considers the problem of multi-loading position state allocation and loading path planning, but the two loading position states are controlled by one excavator, and the scene of multiple dispersed excavators simultaneously performing loading operations in the loading operation area is still not considered. Therefore, the cooperative scheduling and trajectory planning scheme of multiple vehicles and multiple shovels in the loading area is not considered. SUMMARY

[0006] The present application aims to provide a high-efficiency, safe and parking-waiting-avoiding loading area multi-vehicle and multi-shovel cooperative loading scheduling and trajectory planning method and device to solve the problem of cooperative loading of multiple excavators and multiple unmanned mining trucks in the loading operation area of an open-pit mine.

[0007] To achieve the above-mentioned purpose, the present application provides a loading area multi-vehicle and multi-shovel cooperative loading scheduling and trajectory planning method, which comprises the following steps:

[0008] Step 1: determining the priority order of vehicles according to the entry time, exit time and empty / full load condition of the vehicles;

[0009] Step 2: generating scheduling instructions and planning the driving trajectory of each mining truck according to the priority order;

[0010] Step 3: estimating the position of each mining truck at each time according to the planned driving trajectory of each mining truck, performing multi-vehicle dynamic conflict detection, and making the mining trucks with low priority avoid the mining trucks with high priority in real time.

[0011] Further, the determination method of the priority order of vehicles in Step 1 is as follows:

[0012] For the mining trucks entering the loading area: the vehicles with the distance along the trajectory from the loading entry point less than the set distance threshold are added to the priority queue, and the earlier the mining truck enters the loading area, the higher the priority of the mining truck;

[0013] For the mining trucks preparing to leave the loading area: the priority of the full load mining truck is higher than that of the empty load mining truck, and the earlier the mining truck starts to prepare to leave the loading area, the higher the priority of the mining truck;

[0014] For the mining trucks that have left the loading area: they are deleted from the priority queue.

[0015] Further, Step 2 specifically comprises the following steps:

[0016] After receiving the entry request sent by the vehicle about to arrive at the loading entry point, it is judged whether there is a loading waiting point in the non-occupied state; if so, the mining truck is scheduled to go to the specified loading waiting point for waiting, and the priority queue is updated in Step 1, and then the trajectory between the loading entry point and the specified loading waiting point of the mining truck is planned according to the updated priority order, and the specified loading waiting point is set to the occupied state;

[0017] In the process of the mining truck driving to the specified loading waiting point, it is monitored in real time whether the loading position is in the idle state; if so, the scheduling instruction of the mining truck driving to the specified loading position is generated, and the trajectory between the loading waiting point and the specified loading position of the mining truck is planned, and the loading waiting point driven away by the mining truck is set to the non-occupied state again;

[0018] When the mine card is in the loading state, it is judged in real time whether the loading completion instruction is received; if yes, the mine card is dispatched to drive out of the loading area, and the priority queue is updated in step 1, and then the trajectory of the vehicle from the loading position to the loading exit point is planned according to the updated priority order. When the mine card drives away from the loading exit point, the priority queue is updated in step 1.

[0019] Further, the planning method of the driving trajectory in step 2 specifically includes:

[0020] Path planning: when planning the path of the mine card driving into the loading area at the same loading excavator, the path profile of the mine card corresponding to the preparation of driving out of the loading area is regarded as an obstacle, and the obstacle configuration space C obs is described as follows:

[0021] C obs ={p i |i=1,2,…,N}∪{o j |j=1,2 ,…, M}∪{c k,m |k=1,2,…,Q,m=1,2,…,P}

[0022] In the formula, k is the path point index, Q is the total number of path points on the reverse path at the same loading excavator, m is the mine card envelope point index, P represents the total number of mine card envelope points, p i represents the coordinates of the ith boundary point in the loading area map, N is the total number of boundary points in the loading area map, o j is the coordinates of the jth static obstacle point in the loading area except the mine card, M is the total number of static obstacle points, and c k,m is the coordinates of the mth mine card envelope point at the kth path point position of the reverse path at the same loading excavator.

[0023] Further, step 3 specifically includes:

[0024] Step 31, the distance d between any two mine cards is calculated in real time, and then it is judged whether the distance is less than the set threshold D; if yes, step 32 is executed;

[0025] Step 32, it is judged whether the two mine cards have been processed for conflict; if yes, step 34 is jumped to, otherwise step 33 is executed.

[0026] Step 33, in the priority queue, the priority of the two mine cards is inquired, the mine card with high priority does not need to consider parking, and drives according to the original planned trajectory, and the mine card with low priority performs collision detection; the method of collision detection specifically includes:

[0027] Step 331, starting from the current position of the vehicle, traversing the local trajectory of the low-priority LHD to be driven, and sequentially estimating the position of the high-priority LHD at the corresponding time according to the time information of each trajectory point, and performing dynamic collision detection; wherein the length of the local trajectory of the low-priority LHD for collision detection is a set threshold D; if there is a collision risk between the local trajectory and the high-priority LHD, go to step 332, and the two LHDs normally drive according to the final driving trajectory, and the current collision detection is completed.

[0028] Step 332, calculating the avoidance parking point of the low-priority LHD; the calculation method of the avoidance parking point is: starting from the current position of the vehicle, without considering the time information, finding the first trajectory point on the final driving trajectory of the low-priority LHD that interferes with the final driving trajectory of the high-priority LHD; then, starting from the first interfering trajectory point, finding a corresponding trajectory point on the local trajectory of the low-priority vehicle that is spaced apart from the interfering trajectory point by a safe distance d safe , as a candidate parking point; then, calculating whether the position of the point and the corresponding distance along the trajectory of the current position of the low-priority LHD is not less than the safe parking distance of the vehicle, if yes, confirming the candidate parking point as the avoidance parking point of the vehicle, and jumping to step 35, otherwise executing step 34;

[0029] Step 34, parking the originally high-priority LHD to avoid the originally low-priority LHD, and jumping to step 35;

[0030] Step 35, scheduling the low-priority LHD to park before the avoidance parking point, and after the high-priority LHD passes, scheduling the low-priority LHD to drive again along the driving trajectory planned before parking.

[0031] Further, the determination method of the threshold D in step 31 is:

[0032]

[0033] wherein v1 and v2 are the current speeds of the two LHDs respectively; a1 and a2 are the comfortable deceleration of the two LHDs respectively; if the rear axle center is taken as the reference, d f1 and d f2 are the distances from the rear axle center to the front of the two LHDs respectively; if the vehicle set center is taken as the reference, d f1 and d f2 are the distances from the LHD set center to the front of the two LHDs respectively; d safe1 and d safe2 are the safe distances of the two vehicles considering the vehicle response delay and parking distance.

[0034] The application also provides a loading area multi-vehicle and multi-shovel cooperative loading scheduling and trajectory planning device, which comprises:

[0035] a task scheduling module, which determines the priority order of the vehicles according to the entry time, exit time and empty / full loading condition of the vehicles;

[0036] a trajectory planning module, which generates scheduling instructions and plans the driving trajectory of each mine truck according to the priority order;

[0037] a conflict detection module, which estimates the position of each mine truck at each time according to the planned driving trajectory of each mine truck, performs multi-vehicle dynamic conflict detection, and makes the mine truck with low priority avoid the mine truck with high priority in real time according to the priority order.

[0038] Further, the trajectory planning module specifically comprises:

[0039] a scheduling instruction generation unit, which is used for judging whether a loading waiting point is in a non-occupied state after receiving the entry request sent by the vehicle that is about to arrive at the loading entry point; if yes, the mine truck is scheduled to go to the specified loading waiting point for waiting, the priority queue is updated, then the trajectory of the mine truck between the loading entry point and the specified loading waiting point is planned according to the updated priority order, and the specified loading waiting point is set to the occupied state; in the process of the mine truck driving to the specified loading waiting point, it is monitored in real time whether the loading position is in the idle state; if yes, the scheduling instruction of the mine truck driving to the specified loading position is generated, the trajectory of the mine truck between the loading waiting point and the specified loading position is planned, and the loading waiting point where the mine truck drives away is set to the non-occupied state again; when the mine truck is in the loading state, it is judged in real time whether the loading completion instruction is received; if yes, the mine truck is scheduled to drive out of the loading area, the priority queue is updated, then the trajectory of the vehicle between the loading position and the loading exit point is planned according to the updated priority order, and the priority queue is updated when the mine truck drives away from the loading exit point.

[0040] Further, the trajectory planning module specifically comprises:

[0041] a driving trajectory planning unit, which is used for path planning: when planning the path of the mine truck driving into the loading area at the same loading shovel, the path profile of the mine truck corresponding to the loading shovel ready to drive out of the loading area is regarded as an obstacle, and the obstacle configuration space C obs is described as the following formula:

[0042] C obs ={p i |i=1,2,…,N}∪{o j |j=1,2,…,M}∪{c k,m |k=1,2,…,Q,m=1,2,…,P}

[0043] wherein k is the index of the path point, Q is the total number of path points on the reverse path at the same loading shovel, m is the index of the truck envelope point, P represents the total number of truck envelope points, p i represents the coordinates of the ith boundary point in the loading area map, N is the total number of boundary points in the loading area map, o j represents the coordinates of the jth static obstacle point other than the truck in the loading area, M is the total number of static obstacle points, c k,m represents the coordinates of the mth truck envelope point at the kth path point position of the reverse path at the same loading shovel.

[0044] Further, the conflict detection module specifically comprises:

[0045] a truck distance detection unit for calculating the distance d between any two trucks in real time, and then determining whether the distance is less than the set threshold D;

[0046] a conflict processing detection unit for determining whether the two trucks have been processed for conflict in the case that the distance d is less than the set threshold D, and if so, making the truck with the original high priority stop to avoid the truck with the original low priority;

[0047] a collision detection unit for querying the priorities of the two trucks in the priority queue in the case that the conflict processing detection unit determines that the two trucks have not been processed for conflict, and the truck with the high priority does not need to consider stopping and travels according to the original planned trajectory, and the truck with the low priority is subjected to collision detection; the method of collision detection specifically comprises:

[0048] step 331, starting from the current position of the vehicle, traversing a local trajectory to be traveled by the truck with the low priority, and then estimating the position of the truck with the high priority at the corresponding time according to the time information of each trajectory point for dynamic collision detection; wherein the length of the local trajectory of the truck with the low priority for collision detection is the set threshold D; if the local trajectory has a collision risk with the truck with the high priority, the method proceeds to step 332, and the two trucks travel according to the final traveling trajectories, and the current collision detection is completed;

[0049] step 332, calculating the avoidance stopping point of the truck with the low priority; the avoidance stopping point is calculated in the following manner: starting from the current position of the vehicle, without considering the time information, finding the first trajectory point on the final traveling trajectory of the truck with the low priority that interferes with the final traveling trajectory of the truck with the high priority; then, starting from the first interfering trajectory point, finding a safe distance d safecorresponding to the position of the vehicle, as an alternative parking point; then, it is calculated whether the distance along the track corresponding to the position of the vehicle and the current position of the low-priority mining truck is not less than the safe parking distance of the vehicle, if yes, the alternative parking point is confirmed as the avoidance parking point of the vehicle, and the low-priority mining truck is dispatched to stop before the avoidance parking point, and after the high-priority mining truck passes, the low-priority mining truck is dispatched to drive along the driving track planned before the avoidance parking, otherwise, the low-priority mining truck is parked to avoid the high-priority mining truck.

[0050] According to the application, firstly, the vehicle is determined to go to a suitable loading position according to the corresponding loading position state of multiple excavators; then, the driving priority of the vehicle is determined comprehensively according to the vehicle entry time, the vehicle exit time and the empty / full load state of the vehicle; then, the driving track of the mining truck going to the loading waiting point, going to the loading position or driving out of the loading area is planned based on the priority order; finally, dynamic conflict detection is performed in real time during the driving of the vehicle, and the driving track of the mining truck is adjusted according to the priority order.

[0051] The application considers the scene of collaborative loading operation of multiple excavators and multiple unmanned mining trucks in the loading area, and realizes collaborative loading scheduling and track planning of multiple vehicles and multiple shovels in the loading area through close cooperation of the mining truck, the excavator and the central control platform, thereby improving the loading operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 It is a framework diagram of the loading area multi-vehicle and multi-shovel scheduling and track planning system of the embodiment of the application.

[0053] Figure 2 It is a schematic diagram of the collaborative loading scheduling and track planning of the loading area multi-vehicle and multi-shovel of the embodiment of the application.

[0054] Figure 3 It is a vehicle entry collaborative scheduling flowchart under the loading area multi-vehicle and multi-shovel operation scene of the embodiment of the application.

[0055] Figure 4 It is a vehicle exit collaborative scheduling flowchart under the loading area multi-vehicle and multi-shovel operation scene of the embodiment of the application.

[0056] Figure 5 It is a vehicle entry track planning schematic diagram under the loading area multi-vehicle and multi-shovel operation scene of the embodiment of the application.

[0057] Figure 6 It is a vehicle exit track planning schematic diagram under the loading area multi-vehicle and multi-shovel operation scene of the embodiment of the application.

[0058] Figure 7 It is a dynamic conflict detection schematic diagram of the embodiment of the application.

[0059] Figure 8A schematic diagram of the judgment method for the mining truck passing through with high priority of the embodiment of the present application. DETAILED DESCRIPTION

[0060] In the drawings, the same or similar notations represent the same or similar elements or elements having the same or similar functions. The embodiments of the present application are described in detail below with reference to the drawings.

[0061] In the description of the present application, the terms "center", "longitudinal", "transverse", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0062] As Figure 1 shown, the loading area multi-vehicle multi-shovel collaborative loading scheduling and trajectory planning device provided by the embodiment of the present application is used to realize multi-vehicle multi-shovel collaborative loading operation, which comprises a central control platform, an unmanned mining truck and a excavator. The central control platform can read map coordinate information and static obstacle information, can obtain current task information, trajectory information and vehicle state information of all unmanned mining trucks in real time, and can obtain loading state information and loading position information of the excavator, so as to complete the multi-vehicle multi-shovel collaborative loading task scheduling and trajectory planning in the loading area.

[0063] Specifically, the central control platform comprises a task scheduling module, a trajectory planning module, a conflict detection module and a first communication module. The task scheduling module is used to arrange the priority order of the vehicles and generate corresponding scheduling instructions, and finally the scheduling instructions are issued to the unmanned mining trucks through the first communication module. The scheduling instructions include entry, loading and exit instructions. The trajectory planning module is used to plan the driving trajectory of each mining truck according to the priority order of the vehicles and the scheduling instructions, and the driving trajectory is issued to the corresponding mining truck through the first communication module. The conflict detection module is used to perform dynamic conflict detection in real time during the driving of the vehicles, and the detection results are converted into scheduling instructions and issued to the corresponding mining truck through the first communication module. The first communication module is used for real-time information interaction with the mining trucks and the excavator.

[0064] The mining truck comprises a second communication module and an unmanned system. The second communication module is used for real-time information interaction with the first communication module of the central control platform. The unmanned system is used to execute the scheduling instructions and driving trajectory issued by the central control platform, and reports the vehicle driving state and task execution state through the second communication module.

[0065] The excavator comprises a third communication module and a cooperative operation system.

[0066] The loading area of the open-pit mine refers to a specific area in the open-pit mine, which is used for loading and transporting the mined ore or other minerals. The loading area is usually equipped with special loading equipment such as loaders or excavators for loading the ore from the stockyard or the mining pit into the transport equipment. In order to speed up the material loading and transportation efficiency, usually multiple mine transport vehicles and multiple loaders or excavators are deployed in a loading area.

[0067] As shown in Figure 2 , the loading area has excavator 1, excavator 2 and excavator 3 for loading operation, and the vehicles appearing in the figure all refer to mine trucks, which are mine truck a about to enter the loading area, vehicle b, vehicle c and vehicle d waiting for loading to complete and then drive out of the loading area. The mine truck a needs to be dispatched to a suitable loading waiting point before entering the loading area, and the mine trucks b, c and d need to be dispatched to drive out of the loading area after the loading is completed. The four mine trucks all need to be planned for corresponding trajectories, and collision conflicts with other vehicles need to be considered when planning the trajectories. The planned trajectory information includes x and y values in the geodetic coordinate system, heading angle θ, curvature k, speed v, time t and distance s from the starting point.

[0068] The loading area multi-vehicle and multi-scoop cooperative loading scheduling and trajectory planning method of the embodiment of the present application comprises:

[0069] Step 1: Determine the priority order of the vehicles according to the entry time, exit time and empty / full load condition of the vehicles.

[0070] The priority of all mine trucks operating in the loading area needs to be determined. The priority determination rule is as follows:

[0071] For the mine truck entering the loading area: the vehicle with the distance along the trajectory from the loading entrance point less than the set distance threshold is added to the priority queue, and the earlier the mine truck enters the loading area, the higher the priority. The specific value of the set distance threshold ensures that the vehicle can stop smoothly at the loading entrance point. Figure 2

[0072] When the vehicle completes the loading preparation and drives out of the loading area, the priority of the vehicle is upgraded, that is, the priority of all full load mine trucks is higher than that of empty load mine trucks, and the earlier the vehicle starts to prepare the loading area, the higher the priority.

[0073] For the mine truck that has driven out of the loading area: it is deleted from the priority queue. ​

[0074] Based on the above priority determination rule, the priority queue of the vehicles in the loading area is updated in real time.

[0075] Step 2, generate scheduling instructions according to the priority order, and plan the driving trajectory of each truck.

[0076] The scheduling instructions are generated to schedule the single vehicle, specifically including: a. according to the loading waiting point occupation and loading position condition in the loading area, respectively schedule the truck to enter the loading point, drive into the loading position or wait at the loading entrance point; b. according to the vehicle loading completion condition, schedule the truck to drive out to the loading point.

[0077] In one embodiment, as shown in Figure 3 Step 2 specifically includes:

[0078] When the truck is about to arrive at the loading entrance point, send an entry request instruction to the central scheduling platform. After receiving the entry request sent by the vehicle about to arrive at the loading entrance point, the central scheduling platform judges whether there is a loading waiting point in the unoccupied state; if not, schedule the truck to wait at the loading entrance point until there is a loading waiting point in the unoccupied state; if so, schedule the truck to go to the specified loading waiting point for waiting, and return to step 1 to update the priority queue, and then plan the trajectory of the truck from the loading entrance point to the specified loading waiting point according to the updated priority order, and set the specified loading waiting point to the occupied state.

[0079] In the process of the truck driving to the specified loading waiting point, the central scheduling platform monitors the loading position in real time during the driving of the truck; if so, generate a scheduling instruction for the truck to go to the specified loading position, and plan the trajectory of the truck from the loading waiting point to the specified loading position, and set the loading waiting point where the truck drives away to the unoccupied state; if not, the truck waits at the loading waiting point until there is a loading position in the unoccupied state.

[0080] The position and state of the above loading position are determined by the excavator cooperative operation system, and are reported to the central scheduling platform in real time through the third communication module as shown in Figure 1

[0081] In one embodiment, the loading waiting point is uniquely bound to a single excavator, the excavator cooperates with the truck for loading, and the excavator is installed with a cooperative terminal for determining the loading position and issuing the loading driving-in and driving-out signals. When the excavator is in the unready state, the loading waiting point is in the default occupied state. The loading waiting point is manually determined by the central scheduling platform operator according to the loading operation area and the position of the excavator.

[0082] ​In one embodiment, in order to ensure that the vehicle has enough space to adjust the position of the truck during the process of driving into the loading position from the loading waiting point, the distance between the position of the loading waiting point and the position of the loading position should be greater than 2.5 times the minimum turning radius of the vehicle and less than 4 times the minimum turning radius of the vehicle.

[0083] In one embodiment, in combination with Figure 3 , step 2 specifically further comprises: when the truck is in a loading state, determining in real time whether a loading completion instruction is received. If not, continue to stop and wait for the loading to be completed; if yes, dispatch the truck to drive out of the loading area, at this time return to step 1 to update the priority queue, and then according to the updated priority order, the trajectory of the vehicle from the loading position to the loading exit point is planned. The loading completion instruction is reported by the excavator cooperative work system to the central dispatch platform through the third communication module, and then forwarded to the vehicle by the first communication module. The vehicle drives out of the loading area along the planned trajectory, and returns to step 1 to update the priority queue when the truck drives away from the loading exit point.

[0084] When the priority of the vehicle and the terminal state to be reached are determined, the driving trajectory of the truck from the specified starting point to the specified terminal point is planned. The starting point and the terminal point of the trajectory planning are different for different dispatch tasks. For the vehicle entry dispatch task, the planning starting point is the loading entrance point, and the planning terminal point is the loading waiting point; for the vehicle to the loading dispatch task, the planning starting point is the loading waiting point, and the planning terminal point is the loading point; for the vehicle exit dispatch task, the planning starting point is the loading point, and the planning terminal point is the loading point.

[0085] The "planning the driving trajectory of each truck" in step 2 adopts a path speed decoupling method, which is specifically as follows:

[0086] (I) For path planning: for the trucks at the same loading excavator that enter and prepare to drive out of the loading area, the planned trajectories may overlap in a large range in opposite directions, resulting in a "deadlock" phenomenon. In order to solve this problem, the vehicle passable area division method is proposed in the embodiment of the present application, which specifically comprises:

[0087] For path planning of the trucks entering the loading area at the same loading excavator, the path profile of the trucks preparing to drive out of the loading area is regarded as an obstacle, that is, the driving paths of the trucks entering and preparing to drive out of the loading area at the same excavator are ensured to be free of spatial interference. For example, Figure 5As shown in the working condition, the mining truck a entering the loading area will regard the driving trajectory profile of the mining truck d preparing to drive out of the loading area as an un-crossable area when planning the path to reach the loading waiting point 1, that is, the mining truck a will regard the driving trajectory profile of the mining truck d as an obstacle when performing path search. Similarly, for the path planning of the mining truck preparing to drive out of the loading area at the same loading shovel, the corresponding path profile of the mining truck entering the loading area is regarded as an obstacle. As shown in the figure, Figure 6 As shown in the figure, the mining truck c preparing to drive out of the loading area will regard the driving trajectory profile of the mining truck a entering the loading area as an un-crossable area when planning the path to reach the loading exit point, that is, the mining truck c will regard the driving trajectory profile of the mining truck a as an obstacle when performing path search. That is, for the path planning of the mining truck entering the loading area at the same loading shovel, the corresponding path profile of the mining truck preparing to drive out of the loading area is regarded as an obstacle, and the obstacle configuration space C obs is described as follows:

[0088] C obs = {p i | i = 1, 2, …, N}∪{o j | j = 1, 2, …, M}∪{c k,m | k = 1, 2, …, Q, m = 1, 2, …, P}

[0089] In the formula, k is the path point index, Q is the total number of path points on the reverse path at the same loading shovel, m is the mining truck envelope point index, P represents the total number of mining truck envelope points, p i represents the i-th boundary point coordinate in the loading area map, the loading area map can be collected by a handheld device or collected by a vehicle-mounted laser radar, N is the total number of boundary points in the loading area map, o j is the j-th static obstacle point coordinate in the loading area except the mining truck, the static obstacle refers to obstacles such as pits and stones, and does not include obstacles regarded as obstacles, M is the total number of static obstacle points, and c k,m is the m-th mining truck envelope point coordinate at the k-th path point position of the reverse path at the same loading shovel.

[0090] (2) Speed planning: after the vehicle driving path is planned, the ST graph of the vehicle is established according to the latest priority order, the mining truck with higher priority than the ego vehicle is regarded as an obstacle vehicle, the ST graph range occupied by the mining truck with higher priority is obtained through trajectory point collision detection, a rough speed curve is generated in the established ST graph by using a dynamic programming algorithm, and then a quadratic programming algorithm is used to smooth the speed curve, so as to perform global speed planning, obtain the final driving trajectory of the mining truck, and store it.

[0091] In one embodiment, the path searching method all adopts the traditional Hybrid A* algorithm. For the path planning of the entry and exit of the mine truck, the Hybrid A* algorithm only performs forward expansion because it does not involve the reverse driving of the vehicle; for the path planning of the driving of the mine truck into the loading position, the Hybrid A* algorithm needs to perform forward and backward expansion.

[0092] Step 3, when the mine truck in the loading area drives along the planned trajectory, although the mutual avoidance problem of the driving trajectories of multiple vehicles is preliminarily considered when the trajectory is planned, there may still be a time-space interference between the vehicles due to the error in the execution of the corresponding planned trajectory by the mine truck. In view of the potential vehicle conflict problem, according to the driving trajectory of each mine truck planned, the position of each mine truck at each time is estimated, the dynamic conflict of multiple vehicles is detected, and the mine truck with low priority is made to avoid the mine truck with high priority in real time, so as to ensure the vehicle transportation efficiency and driving safety.

[0093] In one embodiment, as shown in Figure 7 , step 3 specifically includes:

[0094] Step 31, the distance d between any two mine trucks is calculated in real time, and then it is judged whether the distance d is less than the set threshold D. If yes, step 32 is executed, otherwise it is considered that there is no collision risk between the two vehicles, and the two vehicles continue to drive along the trajectory normally. Wherein, the distance d can be understood as the Euclidean distance between the positions of the rear axles of the mine trucks.

[0095] In one embodiment, the determination method of the set threshold D is:

[0096]

[0097] In the formula, v1 and v2 are respectively the current speeds of the two mine trucks; a1 and a2 are respectively the comfortable deceleration of the two mine trucks; if the rear axle center is taken as the reference, d f1 and d f2 are respectively the distances from the rear axle centers of the two mine trucks to the front of the vehicle; if the center of the vehicle set is taken as the reference, d f1 and d f2 are respectively the distances from the center of the vehicle set to the front of the two mine trucks; d safe1 and d safe2 are respectively the safe distances of the two vehicles considering the response delay and the parking distance of the vehicle.

[0098] It should be noted that the significance of selecting the set threshold D is to at least ensure that at least one of the mine trucks can safely stop before the interference position of the two vehicles, which not only reduces the calculation amount of dynamic conflict detection, but also effectively ensures the driving safety of the vehicle. The setting of the threshold D can also be obtained by using the trapezoidal deceleration method or other methods more suitable for the deceleration characteristics of the vehicle.

[0099] Step 32: Determine whether the two mining trucks have already undergone conflict resolution, i.e., one truck is avoiding the other. If so, proceed to step 36; otherwise, proceed to step 33.

[0100] Step 33: In the priority queue, query the priorities of the two mining trucks. The mining truck with higher priority does not need to be stopped, while the mining truck with lower priority undergoes collision detection. For example... Figure 2 As shown, vehicle a has a higher priority than vehicle b, so vehicle a does not need to consider vehicle b, while vehicle b needs to perform collision detection against vehicle a. The specific methods for collision detection include:

[0101] Step 331: Starting from the vehicle's current position, traverse the local trajectory of the lower-priority mining truck that it is about to travel, and estimate the position of the higher-priority mining truck at the corresponding time based on the time information of each trajectory point, and perform dynamic collision detection. The length of the local trajectory for collision detection of the lower-priority mining truck is a set threshold D. If there is a collision risk between this local trajectory and the higher-priority mining truck, proceed to step 332; otherwise, the vehicle is considered to have passed the dynamic collision detection, and both mining trucks continue driving normally according to their final trajectories, completing the current collision detection. It is worth noting that to ensure the collision detection results are consistent with the actual driving results of the vehicles, sufficient safety distance should be considered for both vehicles during collision detection.

[0102] Step 332: Calculate the avoidance stopping point for the low-priority mining truck. The calculation method for the avoidance stopping point is as follows: Starting from the vehicle's current position, without considering time information, find the first trajectory point on the final travel trajectory of the low-priority mining truck that interferes with the final travel trajectory of the high-priority mining truck; then, starting from the first interfering trajectory point, find a safe distance d between the interference trajectory point and the calculated interference trajectory point on the local trajectory of the low-priority vehicle. safe The corresponding trajectory points are used as alternative parking spots. For example... Figure 7 As shown, the interference trajectory points on the driving trajectory of vehicle b are obtained through collision detection, and then the safety distance d is considered. safe In the event of a situation where a candidate parking point is found, the distance from the vehicle's current position to the candidate parking point is calculated to see if it is greater than the vehicle's safe parking distance. If so, this point is designated as the parking and yielding point for vehicle b. Next, the distance along the trajectory corresponding to the position of this point and the current position of the lower-priority mining truck is calculated to see if it is not less than the vehicle's safe parking distance. If so, the candidate parking point is confirmed as the vehicle's yielding parking point, and the process proceeds to step 35; otherwise, step 34 is executed. The vehicle's safe parking distance refers to the distance required for the vehicle to decelerate from its current speed to a complete stop at a comfortable deceleration.

[0103] Step 34, let the original high priority mine card stop to avoid the original low priority mine card, jump to step 35. Because the previously determined priority order cannot guarantee that the low priority mine card can safely stop to avoid the high priority mine card, at this time, the priority order of the two vehicles should be exchanged, that is, let the original high priority mine card stop to avoid the original low priority mine card. According to the above method, the priority order of the two vehicles is exchanged, and the low priority mine card is parked at the avoidance parking point. Figure 7 For example, at the beginning, the priority of vehicle a is higher than that of vehicle b. If it is found through step 332 that vehicle b cannot avoid vehicle a, at this time, vehicle a is allowed to avoid vehicle b.

[0104] Step 35, dispatch the low priority mine card to stop before the avoidance parking point, and then dispatch the low priority mine card to drive along the previously planned driving track after the high priority mine card passes.

[0105] The method for determining that the high priority mine card has passed is to perform collision detection on the local track of the low priority mine card in real time. If interference with the outline of the high priority mine card is detected and then disappears, it indicates that the high priority mine card has passed the interference point, at which time the vehicle starts to resume driving. As shown in the figure, when the low priority mine card b stops at the avoidance parking point, the high priority mine card a drives from the left side of the track of vehicle b to the right side. Vehicle a starts to interfere with the driving track of vehicle b from the left side, and then the interference exists all the time. When vehicle a drives to the right side of the track of vehicle b, the interference disappears, at which time vehicle b can resume driving. Figure 8

[0106] When a vehicle performs avoidance parking, it may increase the probability of avoidance of a vehicle that is already driving in the loading area and has a lower priority. However, it is worth noting that the loading area is usually large in area, and the vehicle collision avoidance is considered when performing global trajectory planning. Therefore, the probability of interference between the two vehicles is usually small. By judging in real time whether any two vehicles need to perform dynamic collision detection, the driving safety of the vehicles can be guaranteed. In the worst case, all the vehicles that are already driving in the loading area and have a lower priority need to stop to avoid.

[0107] Currently, there are few studies on vehicle loading scheduling and trajectory planning methods for the multi-vehicle and multi-scooper scene in the loading operation area of an open-pit mine. The present application designs a complete multi-vehicle and multi-scooper collaborative loading scheduling and trajectory planning method system in the loading area. The vehicle priority allocation principle proposed in the multi-vehicle and multi-scooper scene in the loading area can effectively guarantee the driving safety of the vehicles and save energy consumption. The vehicle passable area division method can effectively prevent the occurrence of "deadlock" phenomenon during trajectory planning. The dynamic collision detection and processing method can effectively avoid potential conflicts between multiple vehicles, guarantee the driving efficiency of the vehicles, and further guarantee the driving safety completeness of the vehicles.

[0108] ​The embodiment of the present application also provides a loading area multi-vehicle and multi-shovel cooperative loading scheduling and trajectory planning device, which comprises a task scheduling module, a trajectory planning module and a conflict detection module.

[0109] The task scheduling module is used for determining the priority order of the vehicles according to the entry time, exit time and empty / full loading condition of the vehicles.

[0110] The trajectory planning module is used for generating scheduling instructions and planning the driving trajectory of each mine truck according to the priority order.

[0111] The conflict detection module is used for estimating the position of each mine truck at each time according to the planned driving trajectory of each mine truck, performing multi-vehicle dynamic conflict detection, and making the mine truck with low priority avoid the mine truck with high priority in real time according to the priority order.

[0112] In one embodiment, the trajectory planning module specifically comprises a scheduling instruction generation unit, which is used for judging whether a loading waiting point is in a non-occupied state after receiving an entry request sent by a vehicle which is about to arrive at a loading entry point; if yes, the mine truck is scheduled to go to the specified loading waiting point to wait, the priority queue is updated, then the trajectory of the mine truck between the loading entry point and the specified loading waiting point is planned according to the updated priority order, and the specified loading waiting point is set to the occupied state; in the process of the mine truck driving to the specified loading waiting point, it is monitored in real time whether the loading position is in the idle state; if yes, the scheduling instruction of the mine truck driving to the specified loading position is generated, the trajectory of the mine truck between the loading waiting point and the specified loading position is planned, and the loading waiting point where the mine truck drives away is set to the non-occupied state again; when the mine truck is in the loading state, it is judged in real time whether a loading completion instruction is received; if yes, the mine truck is scheduled to drive out of the loading area, the priority queue is updated, then the trajectory of the vehicle between the loading position and the loading exit point is planned according to the updated priority order, and the priority queue is updated when the mine truck drives away from the loading exit point.

[0113] In one embodiment, the trajectory planning module specifically comprises a driving trajectory planning unit, which is used for path planning: when planning the path of the mine truck driving into the loading area at the same loading shovel, the path profile of the mine truck which is about to drive out of the loading area is regarded as an obstacle, and the obstacle configuration space C obs is described as the following formula:

[0114] C obs ={p i |i=1,2,…,N}∪{o j |j=1,2,…,M}∪{c k,m |k=1,2,…,Q,m=1,2,…,P}

[0115] wherein k is the index of the path point, Q is the total number of path points on the reverse path at the same loading shovel, m is the index of the mining truck envelope point, P represents the total number of mining truck envelope points, p i represents the coordinates of the ith boundary point in the loading area map, N is the total number of boundary points in the loading area map, o j represents the coordinates of the jth static obstacle point in the loading area other than the mining truck, M is the total number of static obstacle points, c k,m represents the coordinates of the mth mining truck envelope point at the kth path point position of the reverse path at the same loading shovel.

[0116] In one embodiment, the conflict detection module specifically includes a mining truck distance detection unit, a conflict processing detection unit and a collision detection unit. Wherein:

[0117] The mining truck distance detection unit is used to calculate the distance d between any two mining trucks in real time, and then determine whether the distance is less than the set threshold D.

[0118] The conflict processing detection unit is used to determine whether the two mining trucks have been processed for conflict in the case that the distance d is less than the set threshold D, and if so, the mining truck with the original high priority is parked to avoid the mining truck with the original low priority.

[0119] The collision detection unit is used to query the priority of the two mining trucks in the priority queue in the case that the conflict processing detection unit determines that the two mining trucks have not been processed for conflict, the mining truck with high priority does not need to consider parking and travels according to the original planned trajectory, and the mining truck with low priority performs collision detection; the method of collision detection specifically includes:

[0120] Step 331, starting from the current position of the vehicle, a segment of the local trajectory to be traveled by the mining truck with low priority is traversed, and the position of the mining truck with high priority at the corresponding time is estimated according to the time information of each trajectory point in turn to perform dynamic collision detection; wherein the length of the local trajectory of the mining truck with low priority for collision detection is the set threshold D; if there is a collision risk between the segment of the local trajectory and the mining truck with high priority, go to step 332, the two mining trucks travel according to the final travel trajectory normally, and the current collision detection is completed;

[0121] Step 332, the avoidance parking point of the mining truck with low priority is calculated; the calculation method of the avoidance parking point is: starting from the current position of the vehicle, without considering the time information, the first trajectory point on the final travel trajectory of the mining truck with low priority that interferes with the final travel trajectory of the mining truck with high priority is found; then, starting from the first interfering trajectory point, the avoidance parking point is found on the local trajectory of the mining truck with low priority before the interference trajectory point calculated on the local trajectory of the mining truck with low priority. safecorresponding to the position of the candidate parking point, and whether the distance along the track corresponding to the position of the candidate parking point and the current position of the low-priority LHD is not less than the safe parking distance of the vehicle. If yes, the candidate parking point is confirmed as the avoidance parking point of the vehicle, and the low-priority LHD is dispatched to stop before the avoidance parking point. After the high-priority LHD passes, the low-priority LHD is dispatched to drive along the driving track planned before the parking avoidance. If not, the high-priority LHD is dispatched to stop and avoid the low-priority LHD.

[0122] The present application can also be applied to unloading in principle, by changing the excavator element to a bulldozer, but some details are different.

[0123] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them. Those skilled in the art should understand that the technical solutions described in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for collaborative loading scheduling and trajectory planning of multiple vehicles and multiple shovels in a loading area, characterized in that, include: Step 1: Determine the priority order of vehicles based on their entry time, exit time, and whether they are empty or loaded. Step 2: Generate scheduling instructions according to priority order and plan the driving trajectory of each mining truck; Step 3: Based on the planned driving trajectory of each mining truck, estimate the position of each mining truck at each moment, perform multi-vehicle dynamic conflict detection, and make the mining trucks with lower priority avoid the mining trucks with higher priority in real time according to the priority order. The method for determining the "vehicle priority order" in step 1 is as follows: For mining trucks entering the loading area: vehicles whose distance from the loading entrance point along the track is less than a set distance threshold are added to the priority queue, and the earlier the mining truck enters the loading area, the higher its priority. For mining trucks preparing to leave the loading area: heavily loaded mining trucks have a higher priority than unloaded mining trucks, and the earlier a mining truck begins preparing to leave the loading area, the higher its priority. For mining trucks that have already left the loading area: remove them from the priority queue; The specific methods for planning the driving trajectory in step 2 include: Path planning: When planning the path for mining trucks entering the loading area from the same loader excavator, the path outline of the mining truck preparing to leave the loading area is considered as an obstacle, and the obstacle configuration space C obs Described as follows: C obs ={p i |i=1,2,…,N}∪{o j |j=1,2,…,M}∪{c k,m |k=1,2,…,Q,m=1,2,…,P In the formula, k is the path point index, Q is the total number of path points on the reverse path from the same loader excavator, m is the mining truck envelope point index, P represents the total number of mining truck envelope points, and p i This represents the coordinates of the i-th boundary point in the loading area map, where N is the total number of boundary points in the loading area map. j Let M be the coordinates of the j-th static obstacle point within the loading area, excluding the mining truck, and c be the coordinates of the other static obstacle points. k,m The coordinates of the m-th mine card envelope point at the k-th path point location on the reverse path of the same loader excavator.

2. The method for collaborative loading scheduling and trajectory planning of multiple vehicles and multiple shovels in the loading area as described in claim 1, characterized in that, Step 2 specifically includes: After receiving an entry request from a vehicle that is about to arrive at the loading entry point, it is determined whether there is a loading waiting point that is not occupied. If so, the mining truck is dispatched to the designated loading waiting point to wait, and the process returns to step 1 to update the priority queue. Then, according to the updated priority order, the trajectory of the mining truck from the loading entry point to the designated loading waiting point is planned, and the designated loading waiting point is set to occupied. During the process of the mining truck moving to the designated loading waiting point, the loading position is monitored in real time to see if it is idle. If so, a scheduling instruction for the mining truck to go to the designated loading position is generated, and the trajectory of the mining truck from the loading waiting point to the designated loading position is planned, and the loading waiting point that the mining truck leaves is reset to an unoccupied state. When the mining truck is in the loading state, it is determined in real time whether a loading completion instruction has been received; if so, the mining truck is dispatched to drive out of the loading area and returned to step 1 to update the priority queue. Then, according to the updated priority order, the trajectory of the vehicle from the loading position to the loading exit point is planned. When the mining truck leaves the loading exit point, it returns to step 1 to update the priority queue.

3. The method for collaborative loading scheduling and trajectory planning of multiple vehicles and multiple shovels in the loading area as described in claim 1, characterized in that, Step 3 specifically includes: Step 31: Calculate the distance d between any two mining trucks in real time, and then determine whether the distance is less than the set threshold D. If so, proceed to step 32. Step 32: Determine whether the two mining trucks have already undergone conflict resolution. If so, proceed to step 34; otherwise, execute step 33. Step 33: In the priority queue, query the priorities of the two mining trucks. The mining truck with higher priority does not need to consider stopping and continues to travel along the originally planned trajectory. The mining truck with lower priority undergoes collision detection. The collision detection method specifically includes: Step 331: Starting from the current position of the vehicle, traverse the local trajectory of the low-priority mining truck that is about to travel, and estimate the position of the high-priority mining truck at the corresponding time based on the time information of each trajectory point, and perform dynamic collision detection; wherein, the length of the local trajectory of the low-priority mining truck for collision detection is a set threshold D; if there is a risk of collision between the local trajectory and the high-priority mining truck, proceed to step 332, and the two mining trucks travel normally according to the final driving trajectory, and the current collision detection is completed; Step 332: Calculate the avoidance stopping point for the low-priority mining truck. The calculation method for the avoidance stopping point is as follows: Starting from the vehicle's current position, without considering time information, find the first trajectory point on the final travel trajectory of the low-priority mining truck that interferes with the final travel trajectory of the high-priority mining truck; then, starting from the first interfering trajectory point, find a safe distance d between the interference trajectory point and the calculated interference trajectory point on the local trajectory of the low-priority vehicle. safe The corresponding trajectory point is used as a candidate parking point; then, the distance along the trajectory corresponding to the position of the point and the current position of the mining truck with lower priority is calculated to see if it is not less than the safe parking distance of the vehicle. If so, the candidate parking point is confirmed as the vehicle's avoidance parking point, and the process jumps to step 35; otherwise, step 34 is executed. Step 34: Stop the mining truck with higher priority to give way to the mining truck with lower priority, and proceed to step 35; Step 35: Dispatch the mining trucks with lower priority to stop in front of the avoidance parking point. After the mining trucks with higher priority have passed, dispatch the mining trucks with lower priority to resume driving along the driving trajectory planned before stopping and avoiding the parking point.

4. The method for collaborative loading scheduling and trajectory planning of multiple vehicles and multiple shovels in the loading area as described in claim 3, characterized in that, The threshold D in step 31 is determined as follows: In the formula, v1 and v2 are the current speeds of the two mining trucks, respectively; a1 and a2 are the comfort decelerations of the two mining trucks, respectively; if the rear axle center is taken as the reference, d f1 d f2 These are the distances from the rear axle center to the front of the two mining trucks, respectively; if the vehicle assembly center is used as the reference, d f1 d f2 d represents the distance from the mining truck assembly center to the locomotives of the two mining trucks, respectively; safe1 d safe2 These are the safe distances between two vehicles, taking into account both vehicle response delay and parking distance.

5. A multi-vehicle, multi-shovel collaborative loading scheduling and trajectory planning device for a loading area, characterized in that, include: The task scheduling module determines the priority order of vehicles based on their entry time, exit time, and whether they are empty or loaded. The trajectory planning module generates scheduling instructions based on priority and plans the driving trajectory of each mining truck. The conflict detection module estimates the position of each mining truck at each moment based on the planned driving trajectory of each mining truck, performs multi-vehicle dynamic conflict detection, and makes the mining trucks with lower priority avoid the mining trucks with higher priority in real time according to the priority order. The method for determining the "priority order of vehicles" in the task scheduling module is as follows: For mining trucks entering the loading area: vehicles whose distance from the loading entrance point along the track is less than a set distance threshold are added to the priority queue, and the earlier the mining truck enters the loading area, the higher its priority. For mining trucks preparing to leave the loading area: heavily loaded mining trucks have a higher priority than unloaded mining trucks, and the earlier a mining truck begins preparing to leave the loading area, the higher its priority. For mining trucks that have already left the loading area: remove them from the priority queue; The trajectory planning module specifically includes: The driving trajectory planning unit is used for path planning: when planning the path of mining trucks entering the loading area from the same loader excavator, the path outline of the mining trucks preparing to leave the loading area is regarded as obstacles, and the obstacle configuration space C obs Described as follows: C obs ={p i |i=1,2,…,N]∪{o j |j=1,2,…,M}∪{c k,m |k=1,2,…,Q,m=1,2,…,P In the formula, k is the path point index, Q is the total number of path points on the reverse path from the same loader excavator, m is the mining truck envelope point index, P represents the total number of mining truck envelope points, and p i This represents the coordinates of the i-th boundary point in the loading area map, where N is the total number of boundary points in the loading area map. j Let M be the coordinates of the j-th static obstacle point within the loading area, excluding the mining truck, and c be the coordinates of the other static obstacle points. k,m The coordinates of the m-th mine card envelope point at the k-th path point location on the reverse path of the same loader excavator.

6. The multi-vehicle, multi-shovel collaborative loading scheduling and trajectory planning device for loading areas as described in claim 5, characterized in that, The trajectory planning module specifically includes: The dispatch instruction generation unit, upon receiving an entry request from a vehicle approaching the loading entrance point, determines whether any loading waiting points are unoccupied. If so, it dispatches the mining truck to the designated loading waiting point, updates the priority queue, and then plans the trajectory of the mining truck from the loading entrance point to the designated loading waiting point according to the updated priority order, while simultaneously setting the designated loading waiting point to an occupied state. During the mining truck's journey to the designated loading waiting point, it monitors in real-time whether the loading position is idle. If so, it generates a dispatch instruction for the mining truck to proceed to the designated loading position, plans the trajectory of the mining truck from the loading waiting point to the designated loading position, and sets the loading waiting point the mining truck leaves back to an unoccupied state. When the mining truck is in a loading state, it determines in real-time whether a loading completion instruction has been received. If so, it dispatches the mining truck out of the loading area, updates the priority queue, and then plans the trajectory of the vehicle from the loading position to the loading exit point according to the updated priority order. When the mining truck leaves the loading exit point, it updates the priority queue.

7. The multi-vehicle, multi-shovel collaborative loading scheduling and trajectory planning device for loading areas as described in claim 6, characterized in that, The collision detection module specifically includes: The mining truck distance detection unit is used to calculate the distance d between any two mining trucks in real time, and then determine whether the distance is less than a set threshold D. The conflict handling detection unit is used to determine whether two mining trucks have already undergone conflict handling when the distance d is less than a set threshold D. If so, the mining truck with the higher priority should stop and give way to the mining truck with the lower priority. The collision detection unit, when the collision handling detection unit determines that the two mining trucks have not undergone collision handling, queries the priority queue to determine the priorities of the two trucks. The truck with the higher priority does not need to stop and continues along its originally planned trajectory, while the truck with the lower priority undergoes collision detection. The collision detection method specifically includes: Step 331: Starting from the current position of the vehicle, traverse the local trajectory of the low-priority mining truck that is about to travel, and estimate the position of the high-priority mining truck at the corresponding time based on the time information of each trajectory point, and perform dynamic collision detection; wherein, the length of the local trajectory of the low-priority mining truck for collision detection is a set threshold D; if there is a risk of collision between the local trajectory and the high-priority mining truck, proceed to step 332, and the two mining trucks travel normally according to the final driving trajectory, and the current collision detection is completed; Step 332: Calculate the avoidance stopping point for the low-priority mining truck. The calculation method for the avoidance stopping point is as follows: Starting from the vehicle's current position, without considering time information, find the first trajectory point on the final travel trajectory of the low-priority mining truck that interferes with the final travel trajectory of the high-priority mining truck; then, starting from the first interfering trajectory point, find a safe distance d between the interference trajectory point and the calculated interference trajectory point on the local trajectory of the low-priority vehicle. safe The corresponding trajectory point is used as a candidate parking point. Then, it is calculated whether the distance along the trajectory corresponding to the position of the point and the current position of the low-priority mining truck is not less than the safe parking distance of the vehicle. If so, the candidate parking point is confirmed as the vehicle's avoidance parking point, and the low-priority mining truck is scheduled to stop in front of the avoidance parking point. After the high-priority mining truck passes, the low-priority mining truck is scheduled to resume driving along the driving trajectory planned before the parking avoidance. Otherwise, the high-priority mining truck is made to stop and avoid the low-priority mining truck.

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