Self-adaptive unloading interaction method, device and system for unmanned mine truck

Abstract

The present application relates to the technical field of mine automatic driving, and specifically discloses an unmanned mine truck adaptive unloading interaction method, device and system, which comprises the following steps: obtaining first unloading station state monitoring information periodically reported by an unloading station; if the first unloading station state monitoring information indicates that the unloading port is not full and there is an idle unloading position, obtaining second unloading station state monitoring information periodically reported by the unloading station; if the second unloading station state monitoring information indicates that the idle unloading position is not abnormal, sending a first scheduling instruction to an unmanned mine truck; obtaining third unloading station state monitoring information periodically reported by the unloading station; generating an adaptive adjustment instruction according to the third unloading station state monitoring information; and generating a second scheduling instruction when receiving information about unloading completion sent by the unmanned mine truck. The unmanned mine truck adaptive unloading interaction method provided by the present application realizes adaptive allocation of the unmanned mine truck unloading through adaptive unloading interaction with the unmanned mine truck and the unloading station.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine automatic driving, in particular to an unmanned mine truck adaptive unloading interaction method, an unloading interaction control device, a discharge station state monitoring device and an unmanned mine truck adaptive unloading interaction system. BACKGROUND

[0002] The mining process of an open-pit mine mainly includes perforation, blasting, mining and loading, transportation, soil removal and unloading, and the unloading operation is one of the important links of mine production, which requires transport vehicles to dump all materials to the unloading port. With the development of unmanned technology in open-pit mines, the ore unloading operation is also gradually moving towards unmanned. However, due to the full unattended operation and the limited unloading speed of the unloading port, the existing unloading method often causes the unmanned mine truck to fail to complete the unloading process due to factors such as unloading port blockage, material overflow, unloading residue and the like, which seriously affects the unloading operation efficiency and vehicle safety.

[0003] There is a scheme in the prior art that uses computer vision to monitor the unloading port, but it does not consider monitoring the state around the unloading port, so it cannot realize adaptive allocation of vehicle parking unloading time and hopper lifting state. In addition, there is also a scheme in the prior art that uses different schemes to obtain the hopper state during unloading based on different unloading modes of the truck. This method only focuses on the vehicle lifting unloading operation process, and it is difficult to accurately obtain the hopper material residue state information, so it will cause misoperation of the vehicle and affect the unloading efficiency.

[0004] Therefore, how to realize adaptive allocation of transport vehicles through adaptive unloading interaction has become a technical problem to be solved by those skilled in the art. SUMMARY

[0005] The present application provides an unmanned mine truck adaptive unloading interaction method, an unloading interaction control device, a discharge station state monitoring device and an unmanned mine truck adaptive unloading interaction system, which solves the problem of unloading operation process in related art that cannot realize adaptive allocation of transport vehicles.

[0006] As a first aspect of the present application, an unmanned mine truck adaptive unloading interaction method is provided, which comprises:

[0007] When receiving the information of the unmanned mine truck arriving at the unloading waiting point, the first discharge station state monitoring information periodically reported by the discharge station is obtained, and the first discharge station state monitoring information at least includes unloading site idle state information and unloading port empty / full state information;

[0008] If the first unloading station state monitoring information is that the unloading port is not full and there is an idle unloading position, the second unloading station state monitoring information periodically reported by the unloading station is obtained, and the second unloading station state monitoring information at least includes unloading position abnormal state information;

[0009] If the second unloading station state monitoring information is that the idle unloading position is not abnormal, a first scheduling instruction is sent to the unmanned mining truck, and the first scheduling instruction includes a specified unloading entry track and a specified unloading position;

[0010] When receiving the information of arriving at the specified unloading position sent by the unmanned mining truck, the third unloading station state monitoring information periodically reported by the unloading station is obtained, and the third unloading station state monitoring information at least includes the residual state information of the hopper material and the empty / full state information of the unloading port;

[0011] According to the third unloading station state monitoring information, an adaptive adjustment instruction is generated, and the adaptive adjustment instruction is sent to the unmanned mining truck, and the adaptive adjustment instruction includes a hopper lifting speed adjustment instruction and a hopper landing time adjustment instruction, and the unmanned mining truck can control the hopper unloading according to the adaptive adjustment instruction;

[0012] When receiving the unloading completion information sent by the unmanned mining truck, a second scheduling instruction is generated, and the second scheduling instruction is sent to the unmanned mining truck, and the second scheduling instruction includes a specified unloading departure track.

[0013] Further, if the first unloading station state monitoring information is that the unloading port is full or there is no idle unloading position, or if the second unloading station state monitoring information is that the idle unloading position is abnormal, a waiting instruction is sent to the unmanned mining truck, so that the unmanned mining truck waits at the unloading waiting point according to the waiting instruction.

[0014] Further, the adaptive adjustment instruction is generated according to the third unloading station state monitoring information, including:

[0015] According to the empty / full state information of the unloading port, the hopper lifting time of the unmanned mining truck is determined, and a hopper lifting speed adjustment instruction is generated;

[0016] According to the residual state information of the hopper material, the hopper holding time of the unmanned mining truck and the hopper descending time of the unmanned mining truck are determined, and a hopper holding control instruction and a hopper descending control instruction are generated.

[0017] Further, according to the empty / full state information of the unloading port, the hopper lifting time of the unmanned mining truck is determined, and a hopper lifting speed adjustment instruction is generated, including:

[0018] When the empty-full state information of the discharge port is empty, a first hopper lifting control instruction is generated, and the unmanned cargo truck can lift the hopper to an upper position according to the first hopper lifting control instruction at a first lifting speed;

[0019] When the empty-full state information of the discharge port is half full, a second hopper lifting control instruction is generated, and the unmanned cargo truck can lift the hopper to an upper position according to the second hopper lifting control instruction at a second lifting speed;

[0020] When the empty-full state information of the discharge port is full, a no-lifting control instruction is generated, and the unmanned cargo truck can control the hopper not to lift according to the no-lifting control instruction;

[0021] Wherein, the first lifting speed is greater than the second lifting speed.

[0022] Further, according to the hopper material residual state information, the hopper holding time of the unmanned mining truck and the hopper lowering time of the unmanned mining truck are determined, and hopper holding control instructions and hopper lowering control instructions are generated, including:

[0023] When the hopper material residual state information is residual, a hopper holding control instruction is generated, and the unmanned mining truck can control the hopper to remain in an upper position according to the hopper holding control instruction;

[0024] When the hopper material residual state information is no residual, a hopper lowering control instruction is generated, and the unmanned mining truck can control the hopper to lower until it lands in a lower position according to the hopper lowering control instruction.

[0025] As another aspect of the present application, an adaptive unloading interaction method for an unmanned mining truck is provided, which includes:

[0026] Obtaining image monitoring information of the discharge station;

[0027] According to the image monitoring information, the occupancy state features of the unloading positions in the discharge station, the road surface abnormal features of the unloading positions in the discharge station, the hopper material residual state features of the unmanned cargo truck in the discharge station, and the empty-full state features of the discharge port are extracted;

[0028] According to the unloading position occupancy state features, unloading position idle state information is generated, according to the unloading position road surface abnormal features, unloading position abnormal state information is generated, according to the hopper material residual state features of the unmanned cargo truck in the discharge station, hopper material residual state information is generated, and according to the empty-full state features of the discharge port, empty-full state information of the discharge port is generated;

[0029] The idle state information of the unloading position and the empty / full state information of the discharge port are periodically sent to the central control platform as first discharge station state monitoring information, the abnormal state information of the unloading position is periodically sent to the central control platform as second discharge station state monitoring information, and the material residual state information of the hopper and the empty / full state information of the discharge port are periodically sent to the central control platform as third discharge station state monitoring information;

[0030] The central control platform can send a first scheduling instruction to the unmanned mine truck when the first discharge station state monitoring information is that the discharge port is not full and there is an idle unloading position, and the second discharge station state monitoring information is that the idle unloading position has no abnormality, the first scheduling instruction includes a specified unloading entry trajectory and a specified unloading position, generate an adaptive adjustment instruction according to the third discharge station state monitoring information when receiving information that the unmanned mine truck has arrived at the specified unloading position, and send the adaptive adjustment instruction to the unmanned mine truck, the adaptive adjustment instruction includes a hopper lifting speed adjustment instruction and a hopper landing timing adjustment instruction, the unmanned mine truck can control the hopper unloading according to the adaptive adjustment instruction, and when receiving information that the unmanned mine truck has completed unloading, generate a second scheduling instruction and send the second scheduling instruction to the unmanned mine truck, the second scheduling instruction includes a specified unloading exit trajectory.

[0031] As another aspect of the present application, an unloading interactive control device is provided for implementing the aforementioned adaptive unloading interactive method of the unmanned mine truck, which comprises:

[0032] The first acquisition module is configured to acquire first discharge station state monitoring information periodically reported by the discharge station when receiving information that the unmanned mine truck has arrived at an unloading waiting point, the first discharge station state monitoring information at least including idle state information of an unloading position and empty / full state information of a discharge port;

[0033] The second acquisition module is configured to acquire second discharge station state monitoring information periodically reported by the discharge station if the first discharge station state monitoring information is that the discharge port is not full and there is an idle unloading position, the second discharge station state monitoring information at least including abnormal state information of the unloading position;

[0034] The first sending module is configured to send a first scheduling instruction to the unmanned mine truck if the second discharge station state monitoring information is that the idle unloading position has no abnormality, the first scheduling instruction including a specified unloading entry trajectory and a specified unloading position;

[0035] The third acquisition module is configured to acquire third unloading station state monitoring information periodically reported by the unloading station when receiving information about arrival at the designated unloading position sent by the unmanned mining truck, and the third unloading station state monitoring information at least includes residual material state information of the hopper and empty / full state information of the unloading port;

[0036] The second sending module is configured to generate an adaptive adjustment instruction according to the third unloading station state monitoring information, and send the adaptive adjustment instruction to the unmanned mining truck, wherein the adaptive adjustment instruction includes a hopper lifting speed adjustment instruction and a hopper landing timing adjustment instruction, and the unmanned mining truck can control the hopper unloading according to the adaptive adjustment instruction.

[0037] The third sending module is configured to generate a second scheduling instruction when receiving information about unloading completion sent by the unmanned mining truck, and send the second scheduling instruction to the unmanned mining truck, wherein the second scheduling instruction includes a designated unloading departure track.

[0038] As another aspect of the present application, an unloading station state monitoring device is provided for implementing the foregoing unmanned mining truck adaptive unloading interaction method, wherein the device comprises:

[0039] The fourth acquisition module is configured to acquire image monitoring information of the unloading station.

[0040] The feature extraction module is configured to extract an unloading position occupancy state feature, a road surface abnormality feature of the unloading position in the unloading station, a residual material state feature of the hopper in the unmanned truck, and an empty / full state feature of the unloading port according to the image monitoring information.

[0041] The state monitoring module is configured to generate unloading position idle state information according to the unloading position occupancy state feature, generate unloading position abnormality state information according to the road surface abnormality feature of the unloading position in the unloading station, generate residual material state information of the hopper according to the residual material state feature of the hopper in the unmanned truck in the unloading station, and generate empty / full state information of the unloading port according to the empty / full state feature of the unloading port.

[0042] The fourth sending module is configured to periodically send the unloading position idle state information and the empty / full state information of the unloading port to the central control platform as first unloading station state monitoring information, periodically send the unloading position abnormality state information to the central control platform as second unloading station state monitoring information, and periodically send the residual material state information of the hopper and the empty / full state information of the unloading port to the central control platform as third unloading station state monitoring information.

[0043] The central control platform can send a first scheduling instruction to the unmanned mine truck when the first unloading station state monitoring information is that the unloading port is not full and there is an idle unloading position, and the second unloading station state monitoring information is that the idle unloading position is not abnormal, the first scheduling instruction includes a specified unloading entry track and a specified unloading position, generate an adaptive adjustment instruction according to the third unloading station state monitoring information when receiving information that the unmanned mine truck arrives at the specified unloading position, and send the adaptive adjustment instruction to the unmanned mine truck, the adaptive adjustment instruction includes a hopper lifting speed adjustment instruction and a hopper landing timing adjustment instruction, the unmanned mine truck can control the hopper unloading according to the adaptive adjustment instruction, and a second scheduling instruction can be generated and sent to the unmanned mine truck when receiving information that the unmanned mine truck completes unloading, the second scheduling instruction includes a specified unloading departure track.

[0044] As another aspect of the application, an unmanned mine truck adaptive unloading interaction system is provided, comprising: a central control platform, an unmanned mine truck and an unloading station, the unmanned mine truck and the unloading station are in communication connection with the central control platform, the central control platform includes the unloading interaction control device described above, the unloading station includes the unloading station state monitoring device described above,

[0045] The central control platform can generate a scheduling instruction and an adaptive adjustment instruction according to the unloading station state monitoring information reported by the unloading station and the operation state information reported by the unmanned mine truck;

[0046] The unmanned mine truck can enter or leave unloading according to the scheduling instruction, control the hopper unloading according to the adaptive adjustment instruction, and send operation state information to the central control platform;

[0047] The unloading station can monitor the state information of the unloading port and the unloading position, and send the unloading station state monitoring information to the central control platform.

[0048] Further, the central control platform further includes a first communication module, the unmanned mine truck includes an unmanned device and a second communication module, the unmanned device and the second communication module are in communication connection, the unloading station further includes a third communication module, the second communication module and the third communication module are in communication connection with the first communication module, the first communication module is in communication connection with the unloading interaction control device, and the third communication module is in communication connection with the unloading station state monitoring device.

[0049] The unmanned mine truck adaptive unloading interaction method provided by the application comprises the following steps: when receiving the information that the unmanned mine truck arrives at the unloading waiting point, acquiring the first unloading station state monitoring information periodically reported by the unloading station, and when the first unloading station state monitoring information is that the unloading port is not full and there is an idle unloading position, and the idle unloading position is not abnormal, sending a first scheduling instruction to the unmanned mine truck, so that the unmanned mine truck drives into the specified unloading position along the specified unloading driving-in track according to the first scheduling instruction, and when receiving the information that the unmanned mine truck arrives at the specified unloading position, generating an adaptive adjustment instruction according to the residual state information of the hopper and the empty-full state information of the unloading port, and sending the adaptive adjustment instruction to the unmanned mine truck, so that the unmanned mine truck controls the hopper unloading according to the adaptive adjustment instruction, and finally when receiving the information that the unmanned mine truck completes unloading, generating a second scheduling instruction, and sending the second scheduling instruction to the unmanned mine truck, so that the unmanned mine truck drives away from the unloading position along the specified unloading driving-off track according to the second scheduling instruction. The adaptive unloading interaction method of the unmanned mine truck can realize adaptive allocation of the unmanned mine truck unloading through adaptive unloading interaction with the unmanned mine truck and the unloading station, and does not affect the unloading efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0050] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. The drawings are provided solely for purposes of illustration and should not be considered a limitation of the application.

[0051] Figure 1 The structural block diagram of the adaptive unloading interaction system of the unmanned mine truck provided by the application.

[0052] Figure 2 The structural block diagram of the unloading interaction control device provided by the application.

[0053] Figure 3 The flowchart of one embodiment of the adaptive unloading interaction method of the unmanned mine truck provided by the application.

[0054] Figure 4 The flowchart of the specific embodiment of the adaptive unloading interaction method of the unmanned mine truck provided by the application.

[0055] Figure 5 The flowchart of the method for generating an adaptive adjustment instruction provided by the application.

[0056] Figure 6 The structural block diagram of the unloading station state monitoring device provided by the application.

[0057] Figure 7 The structural block diagram of the state monitoring module provided by the application.

[0058] Figure 8 Another embodiment flow chart of the self-adaptive unloading interaction method of the unmanned mine truck provided by the present application.

[0059] Figure 9 The schematic diagram of unloading of the unmanned mine truck provided by the present application in the unloading station.

[0060] Figure 10 The schematic diagram of unloading route scheduling of the unmanned mine truck provided by the present application in the unloading station. DETAILED DESCRIPTION

[0061] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0062] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0063] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0064] In the present embodiment, a self-adaptive unloading interaction system of an unmanned mine truck is provided, Figure 1 The structural block diagram of the self-adaptive unloading interaction system 10 of the unmanned mine truck provided by the present application is shown in Figure 1 As shown, it comprises:

[0065] A central control platform 100, an unmanned mine truck 200 and an unloading station 300, the unmanned mine truck 200 and the unloading station 300 are in communication connection with the central control platform 100, the central control platform 100 comprises an unloading interaction control device 110, the unloading station 300 comprises an unloading station state monitoring device 310,

[0066] The central control platform 100 can generate a scheduling instruction and an adaptive adjustment instruction according to the unloading station state monitoring information reported by the unloading station and the operation state information reported by the unmanned mine truck.

[0067] The unmanned mine truck 200 can unload and drive in or unload and drive away according to the scheduling instruction, control the hopper unloading according to the adaptive adjustment instruction, and send operation state information to the central control platform;

[0068] The unloading station 300 can monitor the state information of the unloading port and the unloading position, and send unloading station state monitoring information to the central control platform.

[0069] In the embodiment of the application, the central control platform 100 further comprises a first communication module 120, the unmanned mine truck 200 comprises an unmanned device 210 and a second communication module 220, the unmanned device 210 and the second communication module 220 are in communication connection, the unloading station 300 further comprises a third communication module 320, the second communication module 220 and the third communication module 320 are both in communication connection with the first communication module 120, the first communication module 120 is in communication connection with the unloading interaction control device 110, and the third communication module 320 is in communication connection with the unloading station state monitoring device 310.

[0070] As Figure 1 The structure block diagram of the adaptive unloading interaction system of the unmanned mine truck is shown in the figure, in order to realize the adaptive unloading operation of the vehicle at the unloading port, the central control platform 100, the unmanned mine truck 200 and the unloading station 300 need to be closely coordinated.

[0071] The central control platform 100 comprises an unloading interaction control device 110 and a first communication module 120, the unloading interaction control device 110 can generate a corresponding scheduling instruction according to the unloading port classification state information uploaded by the unloading station and the operation state information of the unmanned mine truck, and issue the scheduling instruction to the unmanned mine truck through the first communication module, and generate a corresponding unloading drive-in and drive-out track according to the mine truck scheduling task, and issue the track to the unmanned mine truck through the first communication module; the first communication module 120 is responsible for real-time information interaction with the unmanned mine truck 200 and the unloading station 300.

[0072] The unmanned mine truck 200 comprises a second communication module 220 and an unmanned device 210. The second communication module 220 can perform real-time information interaction with the central control platform 100; the unmanned device 210 can execute the task instruction and the corresponding track issued by the central control platform 100, and report the vehicle driving state and the task execution state to the central control platform 100 through the second communication module 220.

[0073] The unloading station 300 comprises a third communication module 320 and an unloading station state monitoring device 310. The third communication module 320 can realize real-time information interaction with the central control platform 100; the unloading station state monitoring device 310 can monitor the state of the road around the unloading port, the idle state of the unloading vehicle, the fullness state of the unloading port and the residual state of the material in the hopper, and report various states to the central control platform 100 through the third communication module 320.

[0074] In summary, the self-adaptive unloading interaction system of the unmanned mine truck provided by the present application can realize the adaptive deployment of the transport vehicle through adaptive unloading interaction, and does not affect the unloading efficiency.

[0075] As another embodiment of the present application, an unloading interaction control device 110 is provided, as shown in the figure, comprising: Figure 2

[0076] The first acquisition module 111 is configured to acquire the first unloading station state monitoring information periodically reported by the unloading station when receiving the information of the unmanned mine truck arriving at the unloading waiting point, and the first unloading station state monitoring information at least comprises the idle state information of the unloading position and the fullness state information of the unloading port;

[0077] The second acquisition module 112 is configured to acquire the second unloading station state monitoring information periodically reported by the unloading station if the first unloading station state monitoring information is that the unloading port is not full and there is an idle unloading position, and the second unloading station state monitoring information at least comprises the abnormal state information of the unloading position;

[0078] The first sending module 113 is configured to send the first scheduling instruction to the unmanned mine truck if the second unloading station state monitoring information is that the idle unloading position is not abnormal, and the first scheduling instruction comprises the specified unloading entry track and the specified unloading position;

[0079] The third acquisition module 114 is configured to acquire the third unloading station state monitoring information periodically reported by the unloading station when receiving the information of the unmanned mine truck arriving at the specified unloading position, and the third unloading station state monitoring information at least comprises the residual state information of the material in the hopper and the fullness state information of the unloading port;

[0080] ​The second sending module 115 is used for generating an adaptive adjustment instruction according to the third unloading station state monitoring information, and sending the adaptive adjustment instruction to the unmanned mine truck, wherein the adaptive adjustment instruction comprises a hopper lifting speed adjustment instruction and a hopper landing timing adjustment instruction, and the unmanned mine truck can control the hopper unloading according to the adaptive adjustment instruction.

[0081] The third sending module 116 is used for generating a second scheduling instruction when receiving the unloading completion information sent by the unmanned mine truck, and sending the second scheduling instruction to the unmanned mine truck, wherein the second scheduling instruction comprises a specified unloading departure track.

[0082] The unloading interactive control device provided by the application can realize adaptive unloading interaction of the transport vehicle, and does not affect the unloading efficiency.

[0083] As another embodiment of the application, an adaptive unloading interactive method of an unmanned mine truck is provided, which is applied to the unloading interactive control device as described above, and comprises the following steps as shown in the accompanying drawings: Figure 3

[0084] S110, when receiving the information of arriving at the unloading waiting point sent by the unmanned mine truck, the first unloading station state monitoring information periodically reported by the unloading station is acquired, and the first unloading station state monitoring information at least comprises unloading site idle state information and unloading port empty-full state information;

[0085] In the embodiment of the application, when the unmanned mine truck arrives at the unloading waiting point, the unloading station can periodically report the unloading station state monitoring information, so that whether the current unloading can be performed is determined according to the first unloading station state monitoring information periodically reported by the unloading station.

[0086] ​S120, if the first unloading station state monitoring information is that the unloading port is not full and there is an idle unloading position, obtaining second unloading station state monitoring information periodically reported by the unloading station, the second unloading station state monitoring information at least includes unloading position abnormal state information;

[0087] It should be understood that the condition for unloading needs to meet that the current unloading port is not full and there is an idle unloading position, so according to the first unloading station state monitoring information to judge whether it meets the condition, that is, according to the unloading position idle state information to judge whether there is an idle unloading position, and according to the unloading port empty-full state information to judge whether the unloading port is not full, when judging that the unloading port is not full and there is an idle unloading position, it is also necessary to judge whether unloading is allowed according to the second unloading station state monitoring information periodically reported by the unloading station.

[0088] S130, if the second unloading station state monitoring information is that the idle unloading position is not abnormal, a first scheduling instruction is sent to the unmanned mine truck, the first scheduling instruction includes a specified unloading entry track and a specified unloading position;

[0089] In the embodiment of the application, the second unloading station state monitoring information can be unloading position abnormal state information, that is, to judge whether the idle unloading position is abnormal, and the abnormality here can specifically include whether the unloading position is subject to rockfall, pedestrians or other working vehicles, etc. When it is judged that the current idle unloading position is not abnormal, the first scheduling instruction can be generated and sent to the unmanned mine truck, so that the unmanned mine truck enters the specified unloading position along the specified unloading entry track according to the first scheduling instruction.

[0090] It should be noted that the specified unloading position refers to the unloading position without abnormality, and if there are multiple unloading positions without abnormality, the unmanned mine truck is scheduled to go to any one of the unloading positions.

[0091] S140, when receiving the information of arriving at the specified unloading position sent by the unmanned mine truck, obtaining third unloading station state monitoring information periodically reported by the unloading station, the third unloading station state monitoring information at least includes cargo bucket material residual state information and unloading port empty-full state information;

[0092] When the unmanned mine truck enters the specified unloading position, it can send an unloading request to the central control platform. That is, when the unmanned mine truck arrives at the specified unloading position and completes the unloading port parking, it requests unloading to the central control platform. At this time, the central control platform can control the material unloading of the unmanned mine truck according to the third unloading station state monitoring information reported by the unloading station.

[0093] S150, generating an adaptive adjustment instruction according to the third unloading station state monitoring information, and sending the adaptive adjustment instruction to the unmanned mining truck, the adaptive adjustment instruction comprising a bucket lifting speed adjustment instruction and a bucket landing timing adjustment instruction, the unmanned mining truck being capable of controlling the bucket unloading according to the adaptive adjustment instruction;

[0094] In the embodiment of the application, the bucket lifting speed and the bucket landing timing of the unmanned mining truck can be specifically controlled according to the bucket material residual state information and the unloading port empty-full state information of the unmanned mining truck. Since the third unloading station state monitoring information is periodically reported by the unloading station, for example, once every 1 minute, the bucket lifting speed and the bucket landing timing of the unmanned mining truck can be adaptively adjusted according to the monitoring information, which has the advantages of high flexibility and high efficiency.

[0095] S160, when receiving the unloading completion information sent by the unmanned mining truck, generating a second scheduling instruction, and sending the second scheduling instruction to the unmanned mining truck, the second scheduling instruction comprising a specified unloading departure track.

[0096] When the unmanned mining truck completes the material unloading, the unloading completion information is sent to the central control platform, and the central control platform can generate a second scheduling instruction to make the unmanned mining truck depart from the unloading position along the specified unloading departure track according to the second scheduling instruction.

[0097] In summary, the adaptive unloading interaction method of the unmanned mining truck provided by the application comprises the following steps: when receiving the information of arriving at the unloading waiting point sent by the unmanned mining truck, obtaining the first unloading station state monitoring information periodically reported by the unloading station, and when the first unloading station state monitoring information is that the unloading port is not full and there is an idle unloading position, and the idle unloading position is not abnormal, sending a first scheduling instruction to the unmanned mining truck to make the unmanned mining truck enter the specified unloading position along the specified unloading entry track according to the first scheduling instruction, and when receiving the information of arriving at the specified unloading position sent by the unmanned mining truck, generating an adaptive adjustment instruction according to the bucket material residual state information and the unloading port empty-full state information, and sending the adaptive adjustment instruction to the unmanned mining truck to make the unmanned mining truck control the bucket unloading according to the adaptive adjustment instruction, and finally, when receiving the unloading completion information sent by the unmanned mining truck, generating a second scheduling instruction, and sending the second scheduling instruction to the unmanned mining truck to make the unmanned mining truck depart from the unloading position along the specified unloading departure track according to the second scheduling instruction. The adaptive unloading interaction method of the unmanned mining truck of the application realizes the adaptive allocation of the unmanned mining truck unloading through the adaptive unloading interaction with the unmanned mining truck and the unloading station, and does not affect the unloading efficiency.

[0098] In the embodiment of the present application, if the first unloading station state monitoring information is that the unloading port is full or there is no idle unloading position, or if the second unloading station state monitoring information is that the idle unloading position is abnormal, a waiting instruction is sent to the unmanned mine truck to make the unmanned mine truck wait at the unloading waiting point according to the waiting instruction.

[0099] It should be understood that when the unloading port is not full or there is no idle unloading position, unloading cannot be achieved, and therefore a waiting instruction needs to be sent to the unmanned mine truck. In addition, even if the unloading port is not full and there is an idle unloading position, if the idle unloading position is abnormal, material unloading cannot be achieved, and at this time a waiting instruction still needs to be sent to the unmanned mine truck to make the unmanned mine truck wait at the unloading waiting point according to the waiting instruction.

[0100] Therefore, for the scenario of simultaneous unloading of multiple unloading positions in the unloading port, through close interaction of the unmanned mine truck, the central control platform and the unloading station, efficient interactive operation of the whole process of self-adaptive unloading of the unmanned mine truck in the unloading port is achieved. Specifically, as shown in Figure 4 the self-adaptive unloading interaction of the unmanned mine truck in the unloading port can specifically include:

[0101] 1) The unmanned mine truck arrives at the unloading waiting point. If the unloading station state monitoring module detects that the unloading port is full or there is no idle unloading position, the truck waits at the unloading waiting point, otherwise it proceeds to the next step;

[0102] 2) The unloading station state monitoring module determines whether the corresponding unloading position is abnormal. If yes, the abnormal early warning state is reported to the central control platform, and the truck also waits at the unloading waiting point, otherwise it proceeds to the next step. The abnormality includes whether the unloading position is subject to rockfall, pedestrians or other working vehicles;

[0103] 3) The central control platform dispatches the unmanned mine truck to enter the designated unloading position along the designated unloading driving path for unloading. The designated unloading position refers to an unloading position without abnormality. If there are multiple unloading positions without abnormality, the unmanned mine truck is dispatched to any one of them;

[0104] 4) The central control platform adaptively adjusts the bucket lifting speed and landing timing according to the bucket material residual state information and the unloading port empty / full state information. The bucket material residual state and the unloading port empty / full state information are provided by the unloading port empty / full state monitoring sub-module and the bucket material residual state monitoring sub-module in the unloading station state monitoring module. The bucket material residual state information includes two states of residual and non-residual of the bucket material, and the unloading port empty / full state information includes three states of empty, half full and full.

[0105] In the embodiment of the present application, the adaptive adjustment instruction is generated according to the third discharge station state monitoring information, like Figure 5 as shown, comprising:

[0106] S151, determining the bucket lifting time of the unmanned mining truck according to the empty-full state information of the discharge port, and generating a bucket lifting speed adjustment instruction;

[0107] In the embodiment of the present application, the bucket lifting time of the unmanned mining truck is determined according to the empty-full state information of the discharge port, and a bucket lifting speed adjustment instruction is generated, comprising:

[0108] When the empty-full state information of the discharge port is empty, a first bucket lifting control instruction is generated, and the unmanned mining truck can lift the bucket to an upper position state at a first lifting speed according to the first bucket lifting control instruction;

[0109] When the empty-full state information of the discharge port is half full, a second bucket lifting control instruction is generated, and the unmanned mining truck can lift the bucket to an upper position state at a second lifting speed according to the second bucket lifting control instruction;

[0110] When the empty-full state information of the discharge port is full, a no lifting control instruction is generated, and the unmanned mining truck can control the bucket not to lift according to the no lifting control instruction;

[0111] Wherein, the first lifting speed is greater than the second lifting speed.

[0112] S152, determining the bucket holding time of the unmanned mining truck and the bucket lowering time of the unmanned mining truck according to the residual state information of the bucket material, and generating a bucket holding control instruction and a bucket lowering control instruction.

[0113] In the embodiment of the present application, the bucket holding time of the unmanned mining truck and the bucket lowering time of the unmanned mining truck are determined according to the residual state information of the bucket material, and a bucket holding control instruction and a bucket lowering control instruction are generated, comprising:

[0114] 1) When the residual state information of the bucket material is residual, a bucket holding control instruction is generated, and the unmanned mining truck can control the bucket to remain in an upper position state according to the bucket holding control instruction;

[0115] 2) When the residual state information of the bucket material is no residual, a bucket lowering control instruction is generated, and the unmanned mining truck can control the bucket to descend until it lands in a lower position state according to the bucket lowering control instruction.

[0116] In the embodiment of the present application, the state of the hopper and the timing of lowering are determined according to the residual material state information of the hopper, that is, when there is residual material in the hopper of the unmanned mining truck, the central control platform generates a hopper holding control instruction to enable the unmanned mining truck to control the hopper to remain in the upper position, and when there is no residual material in the hopper of the unmanned mining truck, a hopper lowering control instruction is generated to enable the unmanned mining truck to control the hopper to start lowering until the hopper is lowered to the lower position.

[0117] The specific process of the adaptive unloading interaction between the unmanned mining truck, the central control platform and the unloading station in the embodiment of the present application is described in detail below.

[0118] In the embodiment of the present application, the unmanned mining truck arrives at the unloading waiting point. If the unloading station state monitoring module detects that the empty-full degree of the unloading port is full or there is no idle unloading position, the truck waits at the unloading waiting point, otherwise, according to the unloading station state monitoring information, it is determined whether there is an abnormality in the corresponding unloading position. If yes, the abnormality warning state is reported to the central control platform, and at the same time, the unmanned mining truck also waits at the unloading waiting point, otherwise, it proceeds to the next step. The abnormality includes whether there is rockfall, pedestrian or other working vehicles in the unloading position;

[0119] When there is no abnormality in the idle unloading position, the central control platform dispatches the unmanned mining truck to enter the specified unloading position along the specified unloading path for unloading. The specified unloading position refers to the unloading position without abnormality. If there are multiple unloading positions without abnormality, the unmanned mining truck is dispatched to any one of the unloading positions;

[0120] The central control platform adaptively adjusts the lifting speed of the hopper and the lowering timing according to the residual material state information of the hopper and the empty-full state information of the unloading port. The residual material state information of the hopper and the empty-full state information of the unloading port are provided by the unloading port empty-full state monitoring submodule and the hopper residual material state monitoring submodule in the unloading station state monitoring module. The residual material state information of the hopper includes two states of residual material and no residual material, and the empty-full state information of the unloading port includes three states of empty, half full and full.

[0121] (1) The unmanned mining truck reports an unloading request to the central control platform. After the unmanned mining truck arrives at the specified unloading position and completes the unloading port parking, it requests unloading from the central control platform.

[0122] (2) The central control platform determines the lifting time of the unmanned mine truck according to the empty / full state information of the discharge port. When the empty / full state is empty, the central control platform sends a first hopper lifting instruction to the unmanned mine truck, and the unmanned mine truck lifts the hopper to the upper position at a first lifting speed; when the empty / full state is half full, the central control platform sends a second hopper lifting instruction to the unmanned mine truck, and the unmanned mine truck lifts the hopper to the upper position at a second lifting speed; when the empty / full state is full, the unmanned mine truck does not lift the hopper, wherein the first lifting speed is greater than the second lifting speed.

[0123] (3) The unmanned mine truck determines the holding time of the hopper according to the residual state information of the hopper material. After the hopper is in the upper position, when it is monitored that the hopper material has residual, the unmanned mine truck keeps the hopper in the upper position and waits for the material to be continuously unloaded to the discharge port.

[0124] (4) The unmanned mine truck determines the lowering time of the hopper according to the residual state information of the hopper material. When it is monitored that the hopper material has no residual, the central control platform sends a hopper lowering instruction to the unmanned mine truck.

[0125] (5) The unmanned mine truck lowers the hopper to the lower position and reports the unloading completion state to the central control platform after the hopper is in the lower position.

[0126] After receiving the information that the unmanned mine truck is lowered to the lower position, the central control platform dispatches the unmanned mine truck to drive out of the discharge station along the specified unloading track.

[0127] In summary, the unmanned mine truck adaptive unloading interaction method provided by the present application, when receiving the information of arriving at the unloading waiting point sent by the unmanned mine truck, acquires the first unloading station state monitoring information periodically reported by the unloading station, and when the first unloading station state monitoring information is that the unloading port is not full and there is an idle unloading position, and the idle unloading position does not have an abnormality, sends a first scheduling instruction to the unmanned mine truck, so that the unmanned mine truck drives into the specified unloading position along the specified unloading driving-in track according to the first scheduling instruction, and when receiving the information of arriving at the specified unloading position sent by the unmanned mine truck, generates an adaptive adjustment instruction according to the residual state information of the material in the hopper and the empty / full state information of the unloading port, and sends the adaptive adjustment instruction to the unmanned mine truck, so that the unmanned mine truck controls the unloading of the hopper according to the adaptive adjustment instruction, and finally when receiving the information of unloading completion sent by the unmanned mine truck, generates a second scheduling instruction, and sends the second scheduling instruction to the unmanned mine truck, so that the unmanned mine truck drives away from the unloading position along the specified unloading driving-off track according to the second scheduling instruction. The unmanned mine truck adaptive unloading interaction method of the present application, by installing a video monitoring device at the unloading station, real-time monitors and reports to the central control platform the surrounding road surface state of the unloading port, the idle state of the unloading position vehicle, the empty / full state of the unloading port, and the residual state of the material in the hopper during unloading of the vehicle, and the central control platform realizes adaptive allocation of the vehicle unloading position, the vehicle unloading parking timing, the hopper lifting state, and the vehicle leaving timing according to the classified state information and the operation state information of the unmanned mine truck, thereby realizing safe and efficient adaptive unloading interaction between the unmanned mine truck and the unloading port.

[0128] As another embodiment of the present application, an unloading station state monitoring device 310 is provided, as shown in Figure 6 , comprising:

[0129] A fourth acquisition module 311 is configured to acquire image monitoring information of the unloading station.

[0130] A feature extraction module 312 is configured to extract, according to the image monitoring information, an occupancy state feature of the unloading position in the unloading station, a road surface abnormality feature of the unloading position in the unloading station, a residual state feature of the material in the hopper of the unmanned mine truck in the unloading station, and an empty / full state feature of the unloading port.

[0131] A state monitoring module 313 is configured to generate unloading position idle state information according to the occupancy state feature of the unloading position, generate unloading position abnormal state information according to the road surface abnormality feature of the unloading position in the unloading station, generate residual state information of the material in the hopper according to the residual state feature of the material in the hopper of the unmanned mine truck in the unloading station, and generate empty / full state information of the unloading port according to the empty / full state feature of the unloading port.

[0132] The fourth sending module 314 is configured to periodically send the idle unloading position state information and the empty / full state information of the discharge port to the central control platform as first discharge station state monitoring information, periodically send the abnormal unloading position state information to the central control platform as second discharge station state monitoring information, and periodically send the material residue state information of the hopper and the empty / full state information of the discharge port to the central control platform as third discharge station state monitoring information.

[0133] The central control platform can send a first scheduling instruction to the unmanned mine truck when the first discharge station state monitoring information is that the discharge port is not full and there is an idle unloading position, and the second discharge station state monitoring information is that the idle unloading position is not abnormal, the first scheduling instruction includes a specified unloading entry track and a specified unloading position, generate an adaptive adjustment instruction according to the third discharge station state monitoring information when receiving information that the unmanned mine truck arrives at the specified unloading position, and send the adaptive adjustment instruction to the unmanned mine truck, the adaptive adjustment instruction includes a hopper lifting speed adjustment instruction and a hopper landing timing adjustment instruction, the unmanned mine truck can control the hopper to unload according to the adaptive adjustment instruction, and when receiving information that the unmanned mine truck completes unloading, generate a second scheduling instruction and send the second scheduling instruction to the unmanned mine truck, the second scheduling instruction includes a specified unloading departure track.

[0134] The discharge station state monitoring device provided by the application obtains image monitoring information of the discharge station, extracts the occupancy state feature of the unloading position in the discharge station, the road surface abnormality feature of the unloading position in the discharge station, the material residue state feature of the hopper of the unmanned mine truck in the discharge station, and the empty / full state feature of the discharge port according to the image monitoring information, obtains corresponding state monitoring information based on the extracted features, and sends the state monitoring information to the central control platform. The discharge station state monitoring device can obtain the state monitoring information of the discharge station by extracting features of the image monitoring information, and then the central control platform can control the unloading operation process of the unmanned mine truck according to the state monitoring information, realize adaptive allocation of the unloading of the unmanned mine truck, and does not affect the unloading efficiency.

[0135] In the embodiment of the application, as Figure 7As shown, the state monitoring module includes a discharge port peripheral road surface state monitoring submodule, an unloading position vehicle idle state monitoring submodule, a discharge port empty / full state monitoring submodule, and a bucket material residual state monitoring submodule. By segmenting the video image, the discharge station state monitoring module can simultaneously monitor various states of the discharge port and multiple unloading positions in the discharge station. The discharge port peripheral road surface state monitoring submodule is triggered to work only when there is no material transport vehicle at the corresponding unloading position. When working, it monitors in real time whether there is an abnormality at the corresponding unloading position of the discharge port, and the abnormality includes whether there is rockfall, pedestrians, or other working vehicles at the unloading position. The information about the abnormality is fed back to the central control platform at a fixed frequency. The unloading position vehicle idle state monitoring submodule monitors in real time whether a vehicle has entered or unloaded at the corresponding unloading position of the discharge port, and reports the information about whether there is a vehicle to the central control platform at a fixed frequency. The discharge port empty / full state monitoring submodule monitors in real time the empty / full degree of the discharge port, and reports the empty / full degree state of the discharge port to the central control platform at a fixed frequency. The empty / full degree includes three degrees of empty, half full, and full. If there is a vehicle unloading while the bucket is lifted, the empty / full degree of the discharge port cannot be confirmed due to dust, and the half full state is reported by default. The bucket material residual state monitoring submodule is triggered to work only when there is a vehicle unloading while the bucket is lifted. When working, it monitors in real time whether there is residual material in the truck bucket, and reports the information about whether there is residual material to the central control platform at a fixed frequency.

[0136] As another embodiment of the present application, an adaptive unloading interaction method for unmanned trucks is provided, as shown in Figure 8 As shown, the method comprises the following steps:

[0137] S210, acquiring image monitoring information of the discharge station;

[0138] S220, extracting, according to the image monitoring information, an occupied state feature of the unloading position in the discharge station, a road surface abnormality feature of the unloading position in the discharge station, a residual material state feature in the bucket of the unmanned truck in the discharge station, and an empty / full state feature of the discharge port;

[0139] S230, generating, according to the occupied state feature of the unloading position, unloading position idle state information, generating, according to the road surface abnormality feature of the unloading position in the discharge station, unloading position abnormality state information, generating, according to the residual material state feature in the bucket of the unmanned truck in the discharge station, bucket material residual state information, and generating, according to the empty / full state feature of the discharge port, discharge port empty / full state information;

[0140] S240, periodically send the unloading site idle state information and the unloading port empty-full state information as first unloading station state monitoring information to the central control platform, periodically send the unloading site abnormal state information as second unloading station state monitoring information to the central control platform, and periodically send the hopper material residual state information and the unloading port empty-full state information as third unloading station state monitoring information to the central control platform;

[0141] The central control platform can send a first scheduling instruction to the unmanned mine truck when the first unloading station state monitoring information is that the unloading port is not full and there is an idle unloading site, and the second unloading station state monitoring information is that the idle unloading site is not abnormal. The first scheduling instruction includes a specified unloading entry track and a specified unloading site. The central control platform can generate an adaptive adjustment instruction according to the third unloading station state monitoring information when receiving information that the unmanned mine truck has arrived at the specified unloading site, and send the adaptive adjustment instruction to the unmanned mine truck. The adaptive adjustment instruction includes a hopper lifting speed adjustment instruction and a hopper landing timing adjustment instruction. The unmanned mine truck can control the hopper unloading according to the adaptive adjustment instruction, and can generate a second scheduling instruction when receiving information that the unmanned mine truck has completed unloading, and send the second scheduling instruction to the unmanned mine truck. The second scheduling instruction includes a specified unloading exit track.

[0142] In the embodiment of the present application, as Figure 9 and Figure 10As shown, the unmanned mine truck 1 unloads at the discharge port 2, and the video monitoring device 3 is installed on the discharge station 4. The video monitoring device 3 monitors the vehicle occupation state of the first unloading position 9-1 and the second unloading position 9-2 in the discharge station 4, the road surface abnormal state of the two unloading positions in the discharge station 4, the material residual state in the hopper of the unmanned mine truck 1, and the empty / full state of the discharge port 2 through image segmentation. In the embodiment of the present application, the discharge port 2 includes two unloading positions 9-1 and 9-2, which correspond to two unloading entry paths 5-1 and 5-2 and two unloading output paths 6-1 and 6-2 respectively. The two unloading entry paths are connected to the unloading waiting point 7 and the two unloading positions 9-1 and 9-2 respectively. When the video monitoring device 3 detects that the fullness of the discharge port 2 is full, or when there is a vehicle in the unloading positions 9-1 and 9-2, or when there is an abnormality in the unloading positions 9-1 and 9-2, the unmanned mine truck 1 stops at the unloading waiting point 7; when the video monitoring device 3 detects that there is a rockfall 8 or an unmanned mine truck 1 in the unloading position 9-2, the unmanned mine truck enters the first unloading position 9-1 along the first unloading entry path 5-1, and then exits the discharge station 4 along the first unloading exit path 6-1 after unloading; conversely, when there is a rockfall 8 or an unmanned mine truck 1 in the first unloading position 9-1, the unmanned mine truck 1 enters the second unloading position 9-2 along the second unloading entry path 5-2, and then exits the discharge station 4 along the second unloading exit path 6-2 after unloading.

[0143] In summary, the self-adaptive unloading interaction method of the unmanned mine truck provided by the present application considers the scenario that multiple unmanned mine trucks simultaneously unload from different positions at the discharge port, uses image segmentation technology and image recognition technology to monitor the road surface state around the discharge port, the vehicle idle state of the unloading position, the empty / full state of the discharge port, and the hopper material residual state when the vehicle is unloading, and reports various state information to the central control platform. The central control platform adjusts the vehicle unloading position, the vehicle unloading parking time, the hopper lifting state, and the vehicle leaving time according to the classification state information of the discharge station and the operation state information of the unmanned mine truck. Through the close interaction of the unmanned mine truck, the central control platform, and the discharge station, the unmanned mine truck can efficiently and interactively operate in the whole process of unloading at the discharge port.

[0144] It can be understood that the above embodiments are only exemplary embodiments adopted to illustrate the principles of the present application, but the present application is not limited thereto. Various modifications and improvements can be made by those skilled in the art without departing from the spirit and essence of the present application, and these modifications and improvements are also considered within the protection scope of the present application.

Claims

1. An adaptive unloading interaction method for unmanned mining trucks, characterized in that, include: When the unmanned mining truck receives the information that it has arrived at the unloading waiting point, the first unloading station status monitoring information periodically reported by the unloading station is obtained. The first unloading station status monitoring information includes at least the unloading position idle status information and the unloading port empty / full status information. If the status monitoring information of the first unloading station indicates that the unloading port is not full and there is an idle unloading position, the status monitoring information of the second unloading station periodically reported by the unloading station is obtained. The status monitoring information of the second unloading station includes at least the abnormal status information of the unloading position. If the status monitoring information of the second unloading station indicates that there is no abnormality at the idle unloading position, a first scheduling instruction is sent to the unmanned mining truck. The first scheduling instruction includes specifying the unloading entry trajectory and specifying the unloading position. When the unmanned mining truck receives information that it has arrived at the designated unloading position, the status monitoring information of the third unloading station, which is periodically reported by the unloading station, is obtained. The status monitoring information of the third unloading station includes at least the material residue status information of the hopper and the empty / full status information of the unloading port. An adaptive adjustment command is generated based on the status monitoring information of the third unloading station, and the adaptive adjustment command is sent to the unmanned mining truck. The adaptive adjustment command includes a cargo bucket lifting speed adjustment command and a cargo bucket descent timing adjustment command. The unmanned mining truck can control the cargo bucket unloading according to the adaptive adjustment command. When the unloading completion information is received from the unmanned mining truck, a second scheduling instruction is generated and sent to the unmanned mining truck. The second scheduling instruction includes specifying the unloading and departure trajectory.

2. The adaptive unloading interaction method for unmanned mining trucks according to claim 1, characterized in that, If the status monitoring information of the first unloading station indicates that the unloading port is full or there is no available unloading position, or if the status monitoring information of the second unloading station indicates that there is an abnormality in the available unloading position, then a waiting instruction is sent to the unmanned mining truck so that the unmanned mining truck waits at the unloading waiting point according to the waiting instruction.

3. The adaptive unloading interaction method for unmanned mining trucks according to claim 1 or 2, characterized in that, An adaptive adjustment instruction is generated based on the status monitoring information of the third unloading station, including: The timing for lifting the bucket of the unmanned mining truck is determined based on the empty / full status information of the unloading port, and a bucket lifting speed adjustment command is generated. Based on the information on the residual state of the material in the hopper, the holding time of the unmanned mining truck's hopper and the timing of the descent of the hopper are determined, and hopper holding control commands and hopper descent control commands are generated.

4. The adaptive unloading interaction method for unmanned mining trucks according to claim 3, characterized in that, Based on the information regarding the empty / full status of the unmanned mining truck's bucket, the timing for lifting the bucket is determined, and a bucket lifting speed adjustment command is generated, including: When the unloading port is empty, a first cargo bucket lifting control command is generated. The unmanned truck can lift the cargo bucket to the upper position at a first lifting speed according to the first cargo bucket lifting control command. When the unloading port is half full, a second cargo bucket lifting control command is generated. The unmanned truck can lift the cargo bucket to the upper position at a second lifting speed according to the second cargo bucket lifting control command. When the unloading port is full, a non-lifting control command is generated, and the unmanned fire truck can control the hopper not to lift according to the non-lifting control command. The first lifting speed is greater than the second lifting speed.

5. The adaptive unloading interaction method for unmanned mining trucks according to claim 3, characterized in that, Based on the information regarding the residual material status in the hopper, the holding time and descent timing of the unmanned mining truck's hopper are determined, and hopper holding control commands and hopper descent control commands are generated, including: When the material residue status information of the hopper indicates that there is residue, a hopper holding control command is generated, and the unmanned mining truck can control the hopper to maintain its upper position state according to the hopper holding control command. When the material residue status information of the hopper is no residue, a hopper descent control command is generated. The unmanned mining truck can control the hopper to descend until it lands in the lower position according to the hopper descent control command.

6. An adaptive unloading interaction method for unmanned mining trucks, characterized in that, include: Obtain image monitoring information from the unloading station; Based on the image monitoring information, extract the occupancy status features of the unloading positions in the unloading station, the abnormal road surface features of the unloading positions in the unloading station, the material residue status features in the cargo hopper of the unmanned truck in the unloading station, and the empty / full status features of the unloading port. The unloading position is generated based on the occupancy status characteristics of the unloading position, the unloading position is generated based on the road surface abnormality characteristics of the unloading position in the unloading station, the unloading position is generated based on the material residue status characteristics of the unmanned truck in the unloading station, and the unloading port is generated based on the empty / full status characteristics of the unloading port. The unloading position idle status information and the unloading port empty / full status information are periodically sent to the central control platform as the first unloading station status monitoring information. The unloading position abnormal status information is periodically sent to the central control platform as the second unloading station status monitoring information. The cargo hopper material residue status information and the unloading port empty / full status information are periodically sent to the central control platform as the third unloading station status monitoring information. The central control platform can send a first scheduling instruction to the unmanned mining truck when the status monitoring information of the first unloading station indicates that the unloading port is not full and there is an empty unloading position, and the status monitoring information of the second unloading station indicates that there is no abnormality in the empty unloading position. The first scheduling instruction includes specifying the unloading entry trajectory and specifying the unloading position. When the platform receives the information from the unmanned mining truck that it has reached the specified unloading position, it can generate an adaptive adjustment instruction based on the status monitoring information of the third unloading station and send the adaptive adjustment instruction to the unmanned mining truck. The adaptive adjustment instruction includes an instruction to adjust the lifting speed of the cargo bucket and an instruction to adjust the timing of the cargo bucket descent. The unmanned mining truck can control the unloading of the cargo bucket according to the adaptive adjustment instruction. When the platform receives the information from the unmanned mining truck that the unloading is completed, it can generate a second scheduling instruction and send the second scheduling instruction to the unmanned mining truck. The second scheduling instruction includes specifying the unloading exit trajectory.

7. An unloading interaction control device for implementing the adaptive unloading interaction method for unmanned mining trucks as described in any one of claims 1 to 5, characterized in that, include: The first acquisition module is used to acquire the first unloading station status monitoring information periodically reported by the unloading station when it receives the information sent by the unmanned mining truck that it has arrived at the unloading waiting point. The first unloading station status monitoring information includes at least the unloading position idle status information and the unloading port empty / full status information. The second acquisition module is used to acquire the second unloading station status monitoring information periodically reported by the unloading station if the first unloading station status monitoring information is that the unloading port is not full and there is an idle unloading position. The second unloading station status monitoring information includes at least the abnormal status information of the unloading position. The first sending module is used to send a first scheduling instruction to the unmanned mining truck if the status monitoring information of the second unloading station indicates that there is no abnormality in the idle unloading position. The first scheduling instruction includes specifying the unloading entry trajectory and specifying the unloading position. The third acquisition module is used to acquire the status monitoring information of the third unloading station periodically reported by the unloading station when it receives the information sent by the unmanned mining truck that it has arrived at the designated unloading position. The status monitoring information of the third unloading station includes at least the material residue status information of the hopper and the empty / full status information of the unloading port. The second sending module is used to generate an adaptive adjustment command based on the status monitoring information of the third unloading station, and send the adaptive adjustment command to the unmanned mining truck. The adaptive adjustment command includes a cargo bucket lifting speed adjustment command and a cargo bucket descent timing adjustment command. The unmanned mining truck can control the cargo bucket unloading according to the adaptive adjustment command. The third sending module is used to generate a second scheduling instruction when it receives information from the unmanned mining truck that the unloading is complete, and to send the second scheduling instruction to the unmanned mining truck. The second scheduling instruction includes specifying the unloading and departure trajectory.

8. A status monitoring device for an unloading station, used to implement the adaptive unloading interaction method for unmanned mining trucks as described in claim 6, characterized in that, include: The fourth acquisition module is used to acquire image monitoring information of the unloading station; The feature extraction module is used to extract the occupancy status features of the unloading positions in the unloading station, the road surface anomaly features of the unloading positions in the unloading station, the material residue status features in the cargo hopper of the unmanned truck in the unloading station, and the empty / full status features of the unloading port based on the image monitoring information. The status monitoring module is used to generate unloading position vacancy status information based on the occupancy status characteristics of the unloading position, generate unloading position abnormal status information based on the road surface abnormality characteristics of the unloading position in the unloading station, generate cargo hopper material residue status information based on the material residue status characteristics of the cargo hopper of the unmanned truck in the unloading station, and generate unloading port empty / full status information based on the empty / full status characteristics of the unloading port. The fourth sending module is used to periodically send the unloading position idle status information and the unloading port empty / full status information as the first unloading station status monitoring information to the central control platform, to periodically send the unloading position abnormal status information as the second unloading station status monitoring information to the central control platform, and to periodically send the hopper material residual status information and the unloading port empty / full status information as the third unloading station status monitoring information to the central control platform. The central control platform can send a first scheduling instruction to the unmanned mining truck when the status monitoring information of the first unloading station indicates that the unloading port is not full and there is an empty unloading position, and the status monitoring information of the second unloading station indicates that there is no abnormality in the empty unloading position. The first scheduling instruction includes specifying the unloading entry trajectory and specifying the unloading position. When the platform receives the information from the unmanned mining truck that it has reached the specified unloading position, it can generate an adaptive adjustment instruction based on the status monitoring information of the third unloading station and send the adaptive adjustment instruction to the unmanned mining truck. The adaptive adjustment instruction includes an instruction to adjust the lifting speed of the cargo bucket and an instruction to adjust the timing of the cargo bucket descent. The unmanned mining truck can control the unloading of the cargo bucket according to the adaptive adjustment instruction. When the platform receives the information from the unmanned mining truck that the unloading is completed, it can generate a second scheduling instruction and send the second scheduling instruction to the unmanned mining truck. The second scheduling instruction includes specifying the unloading exit trajectory.

9. An adaptive unloading interactive system for unmanned mining trucks, characterized in that, include: The system comprises a central control platform, unmanned mining trucks, and an unloading station. Both the unmanned mining trucks and the unloading station are communicatively connected to the central control platform. The central control platform includes the unloading interactive control device as described in claim 7, and the unloading station includes the unloading station status monitoring device as described in claim 8. The central control platform can generate scheduling instructions and adaptive adjustment instructions based on the unloading station status monitoring information reported by the unloading station and the operation status information reported by the unmanned mining truck. The unmanned mining truck can unload and drive in or unload and drive out according to the scheduling instructions, and control the unloading of the hopper according to the adaptive adjustment instructions, and send operation status information to the central control platform. The unloading station can monitor the status information of the unloading port and unloading position, and send the unloading station status monitoring information to the central control platform.

10. The unmanned mining truck adaptive unloading interactive system according to claim 9, characterized in that, The central control platform also includes a first communication module. The unmanned mining truck includes an unmanned driving device and a second communication module. The unmanned driving device and the second communication module are communicatively connected. The unloading station also includes a third communication module. The second communication module and the third communication module are both communicatively connected to the first communication module. The first communication module is communicatively connected to the unloading interactive control device. The third communication module is communicatively connected to the unloading station status monitoring device.

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