Transportation control method and system for unmanned vehicle of surface mine

Abstract

The invention discloses a surface mine unmanned vehicle transportation control method and system. The method comprises the steps of obtaining a vehicle transportation network model pre-constructed based on a surface mine; the vehicle transportation network model is configured with an area correlation calculation area and an independent calculation area; when the unmanned vehicle is driven into the area correlation calculation area, the operation mode of the unmanned vehicle is switched, and the unmanned vehicle is controlled to execute a task; when the unmanned vehicle is driven into the independent calculation area, the optimal destination is re-evaluated for the unmanned vehicle according to the working state information and the traffic jam information, and the unmanned vehicle is controlled to be driven into the area-related calculation area corresponding to the optimal destination; according to the invention, the dynamic path planning and task scheduling capability improves the transportation efficiency, ensures the safety of the vehicle in a complex environment, and enhances the adaptability of the unmanned transportation system of the surface mine to the complex and changeable environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle transportation management, and in particular relates to a transportation control method and system for unmanned vehicles in open-pit mines. Background Art

[0002] With the rapid development of industrial automation and intelligence, the field of open-pit mine transportation is undergoing a technological revolution. The application of unmanned driving technology aims to improve the safety, efficiency and economy of mine operations. In this context, many unmanned driving technology companies have launched their own unmanned transportation solutions for open-pit mines, promoting the development and application of related technologies.

[0003] However, existing unmanned driving systems often use hard-coded methods to implement task scheduling logic, which makes it difficult for the system to adapt to changing production needs. When the production process needs to be adjusted, the system often needs to be reprogrammed on a large scale, which lacks flexibility and scalability.

[0004] At the same time, the environmental conditions in open-pit mines are complex. The existing systems are affected by terrain changes and weather, and often find it difficult to effectively deal with these complex and changeable environmental factors, which affects transportation efficiency and safety. Summary of the invention

[0005] The present invention provides a transportation control method and system for unmanned vehicles in open-pit mines, which realize the decoupling between business processing logic in different scenarios and the workflow of unmanned vehicles, and enhance the adaptability of unmanned transportation systems in open-pit mines to complex and changeable environments.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: A first aspect of the present invention provides a method for controlling transportation of an unmanned vehicle in an open-pit mine, comprising: A vehicle transportation network model pre-built based on an open-pit mine is obtained; the vehicle transportation network model includes an operation area and a traffic node; the entrance and exit of the operation area are configured with a regional related calculation area; the traffic node is configured with an independent calculation area; When the unmanned vehicle enters the regional related computing area, the operation mode of the unmanned vehicle is switched according to the task attributes of the operation area; the unmanned vehicle is configured with an operation process in each operation mode, and the unmanned vehicle is controlled according to the operation process to return to the regional related computing area after completing the task, and a new task instruction is generated and sent to the unmanned vehicle, and the unmanned vehicle is controlled to drive to the destination according to the new task instruction; When the unmanned vehicle enters the independent computing area, the working status information and traffic congestion information of the operating area are obtained, the optimal destination and driving route are re-evaluated for the unmanned vehicle based on the working status information and traffic congestion information, and the unmanned vehicle is controlled to enter the regional related computing area corresponding to the optimal destination according to the driving route.

[0007] Further, the process of constructing the vehicle transportation network model includes: obtaining geographic information of the working area of ​​the open-pit mine, and constructing the vehicle transportation network model on a map drawing platform based on the geographic information of the working area; The map drawing platform is equipped with a drawing component library; the drawing component library includes an operation area component, a region-related calculation area, an independent calculation area, a two-way road component and a one-way road component; The geographical information of the working area includes the location information of the loading area, the location information of the unloading area, the location information of the parking lot and the traffic network information; Retrieving the work area component from the drawing component library, and drawing the work area according to the loading area position information, the unloading area position information, and the parking lot position information; the work area includes the loading area, the unloading area, and the parking lot; configuring the area-related calculation area at the entrance and exit of the work area; A two-way road component and a one-way road component are retrieved from the drawing component library, and a traffic network is drawn between the operation areas according to the traffic network information. The intersections in the traffic network are set as traffic nodes, and independent calculation areas are configured at the traffic nodes. The vehicle transportation network model is obtained by constructing the operation areas and the traffic network.

[0008] Furthermore, the operating modes of the unmanned vehicle include a loading mode, an unloading mode and a parking mode.

[0009] Furthermore, in the loading mode, the unmanned vehicle is configured with a loading operation process, and the loading operation process includes: Obtaining the location information of the mineral material loading device in the loading area; controlling the unmanned vehicle to move to the discharge port of the mineral material loading device; In response to the ore loading device receiving the loading request information of the unmanned vehicle, when the ore loading device detects the unmanned vehicle at the discharge port, the ore loading device is controlled to load the ore on the unmanned vehicle; In response to the unmanned vehicle detecting that the loaded mineral material reaches a preset loading threshold, the unmanned vehicle is controlled to send a loading termination message to the mineral material loading device; the mineral material loading device is controlled to stop loading the mineral material to the unmanned vehicle; The unmanned vehicle returns to the area-related calculation area corresponding to the loading area.

[0010] Furthermore, in the unloading mode, the unmanned vehicle is configured with an unloading operation process, and the unloading operation process includes: Obtain the location information of the ore unloading point in the loading area; control the unmanned vehicle to move to the ore unloading point, and use the hydraulic cylinder of the unmanned vehicle to push the cargo box of the unmanned vehicle to tilt; In response to receiving the mineral material unloading completion information sent by the staff through the remote control, the unmanned vehicle returns to the area-related calculation area corresponding to the unloading area.

[0011] Furthermore, the unmanned vehicle is configured with a parking operation process in the parking mode, and the parking operation process includes: In response to receiving the operation suspension instruction, obtaining the location information of the empty parking space, controlling the unmanned vehicle to move to the empty parking space and perform parking, and the unmanned vehicle sends parking completion information to the upper computer; In response to the power level of the unmanned vehicle being lower than a minimum power level threshold, obtaining location information of an empty parking space, controlling the unmanned vehicle to move to the empty parking space and park, and the unmanned vehicle sending parking completion information or a charging request to an upper computer; The unmanned vehicle is controlled to send a vehicle maintenance request to the upper computer at each set period.

[0012] Furthermore, the optimal destination and driving route are re-evaluated for the driverless vehicle based on the working status information and traffic congestion information. The process includes: Obtain the location information of the current destination of the unmanned vehicle, generate a driving route of the unmanned vehicle to the destination, and predict the driving time of the unmanned vehicle to the destination based on the driving route and traffic congestion information, which is recorded as the driving time T; When the travel time T is less than n×T D , determine that the current destination of the unmanned vehicle is the optimal destination, and control the unmanned vehicle to drive to the optimal destination according to the driving route; where T D is the shortest driving time for the driverless vehicle to travel from the current position to the current destination at the set speed; n is a set constant; When the travel time T is greater than or equal to n×T D , obtain all the work areas with the same current destination task of the unmanned vehicle and filter out the adjacent work areas, generate the driving route of the unmanned vehicle to the adjacent work area, and predict the driving time of the unmanned vehicle to the adjacent work area based on the driving route and traffic congestion information, which is recorded as the driving time T * ; According to the working status information and driving time T * Re-evaluate optimal destinations for driverless vehicles; According to the driving route of the unmanned vehicle to the optimal destination, the unmanned vehicle is controlled to drive to the optimal destination.

[0013] A second aspect of the present invention provides a transportation control system for an unmanned vehicle in an open-pit mine, wherein the transportation control system is used to execute the transportation control method according to the first aspect, and comprises: An acquisition module is used to acquire a vehicle transportation network model pre-built based on an open-pit mine; the vehicle transportation network model includes an operation area and a traffic node; the entrance and exit of the operation area are configured with a regional related calculation area; and the traffic node is configured with an independent calculation area; Task execution model: when the unmanned vehicle enters the regional computing area, the operation mode of the unmanned vehicle is switched according to the task attributes of the operation area; the unmanned vehicle is configured with an operation process in each operation mode, and the unmanned vehicle is controlled according to the operation process to return to the regional computing area after completing the task, generate a new task instruction and send it to the unmanned vehicle, and control the unmanned vehicle to drive to the destination according to the new task instruction; The transportation scheduling module obtains the working status information and traffic congestion information of the operating area when the unmanned vehicle enters the independent computing area, re-evaluates the optimal destination and driving route for the unmanned vehicle based on the working status information and traffic congestion information, and controls the unmanned vehicle to enter the regional related computing area corresponding to the optimal destination according to the driving route.

[0014] Furthermore, a mapping platform is included, and the process of constructing a vehicle transportation network model on the mapping platform based on the geographic information of the work area includes: The map drawing platform is equipped with a drawing component library; the drawing component library includes an operation area component, a region-related calculation area, an independent calculation area, a two-way road component and a one-way road component; The geographical information of the working area includes the location information of the loading area, the location information of the unloading area, the location information of the parking lot and the traffic network information; The work area component in the drawing component library is used to draw the work area according to the loading area position information, the unloading area position information, and the parking lot position information; the work area includes the loading area, the unloading area, and the parking lot; and the area-related calculation area is configured at the entrance and exit of the work area; The two-way road component and the one-way road component in the drawing component library are used to draw a traffic network between work areas according to the traffic network information; the intersections in the traffic network are set as traffic nodes, and independent calculation areas are configured at the traffic nodes; and the vehicle transportation network model is obtained by constructing the work area and the traffic network.

[0015] Furthermore, the two-way road component and the one-way road component reflect the no-load state and the heavy-load state through color changes.

[0016] The third aspect of the present invention provides an electronic device, comprising a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the transportation control method for unmanned vehicles in open-pit mines described in the first aspect.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention obtains geographic information of the working area of ​​an open-pit mine, and constructs a vehicle transportation network model on a map drawing platform based on the geographic information of the working area; the vehicle transportation network model includes an operating area and a traffic node; the entrance and exit of the operating area are configured with an area-related calculation area; the traffic node is configured with an independent calculation area; a map can be quickly constructed, reducing the workload when drawing a map.

[0018] When an unmanned vehicle enters a regional related computing area, the present invention switches the operating mode of the unmanned vehicle according to the task attributes of the operating area; in each operating mode, the unmanned vehicle is configured with an operating process, and the unmanned vehicle is controlled according to the operating process to return to the regional related computing area after completing the task, a new task instruction is generated and sent to the unmanned vehicle, and the unmanned vehicle is controlled to drive to the destination according to the new task instruction; the decoupling between the business processing logic of different scenarios and the workflow of the unmanned vehicle is realized, and the template design of the processing logic improves the reusability of the code logic.

[0019] The present invention re-evaluates the optimal destination and driving route for the unmanned vehicle according to the working status information and traffic congestion information, and controls the unmanned vehicle to enter the regional related calculation area corresponding to the optimal destination according to the driving route. The dynamic path planning and task scheduling capabilities improve the transportation efficiency, while ensuring the safety of the vehicle in complex environments, and enhancing the adaptability of the unmanned transportation system of open-pit mines to cope with complex and changeable environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A flowchart of constructing a vehicle transportation network model provided in Example 1 of the present invention; Figure 2 A flow chart of a method for controlling transportation of an unmanned vehicle in an open-pit mine provided in Example 1 of the present invention; Figure 3 A structural diagram of a loading area and a regional related calculation area provided in Embodiment 1 and Embodiment 2 of the present invention; Figure 4 A structural diagram of an unloading area and a regional related calculation area provided in Embodiment 1 and Embodiment 2 of the present invention; Figure 5 Structural diagram of a double-row road assembly and a single-row road assembly provided in Embodiment 1 and Embodiment 2 of the present invention; Figure 6A structural diagram of a parking lot and a region-related calculation area provided in Embodiment 1 and Embodiment 2 of the present invention; Figure 7 A structural diagram of a vehicle transportation network model consisting of a single loading area and a single unloading area provided in Example 1 of the present invention; Figure 8 This is a structural diagram of a vehicle transportation network model consisting of a single loading area and multiple unloading areas provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0022] Example 1 This embodiment provides a transportation control method for an unmanned vehicle in an open-pit mine, comprising: like Figure 2 As shown in the figure, the geographic information of the working area of ​​the open-pit mine is obtained, and a vehicle transportation network model is constructed on the map drawing platform based on the geographic information of the working area. The process includes: The map drawing platform is equipped with a drawing component library; the drawing component library includes an operation area component, a region-related calculation area, an independent calculation area, a two-way road component and a one-way road component; The geographical information of the working area includes the location information of the loading area, the location information of the unloading area, the location information of the parking lot and the traffic network information; like Figure 3 , Figure 4 and Figure 6 As shown, the operating area component is retrieved from the drawing component library, and the operating area is drawn according to the loading area position information, the unloading area position information, and the parking lot position information; the operating area includes the loading area, the unloading area, and the parking lot; and the area-related calculation area is configured at the entrance and exit of the operating area; like Figure 5 As shown, a two-way road component and a one-way road component are retrieved from the drawing component library, and a traffic network is drawn between the operation areas according to the traffic network information. The intersections in the traffic network are set as traffic nodes, and independent calculation areas are configured at the traffic nodes; as shown in FIG. Figure 7 and Figure 8 As shown, the vehicle transportation network model is obtained by constructing the operation area and the traffic road network.

[0023] By using preset modular components, maps can be quickly constructed, reducing the workload when drawing maps. This method allows the entry and exit points of the area and the dispatch calculation area to be drawn on the map at the same time, greatly improving the speed and efficiency of map construction.

[0024] like Figure 1As shown, a vehicle transportation network model pre-built based on an open-pit mine is obtained. When an unmanned vehicle enters a regional related calculation area, the operating mode of the unmanned vehicle is switched according to the task attributes of the operating area; the operating mode of the unmanned vehicle described in this embodiment includes a loading mode, an unloading mode and a parking mode.

[0025] In the loading mode, the unmanned vehicle is configured with a loading operation process, which includes: Obtaining the location information of the mineral material loading device in the loading area; controlling the unmanned vehicle to move to the discharge port of the mineral material loading device; In response to the ore loading device receiving the loading request information of the unmanned vehicle, when the ore loading device detects the unmanned vehicle at the discharge port, the ore loading device is controlled to load the ore on the unmanned vehicle; In response to the unmanned vehicle detecting that the loaded mineral material reaches a preset loading threshold, the unmanned vehicle is controlled to send a loading termination message to the mineral material loading device; the mineral material loading device is controlled to stop loading the mineral material to the unmanned vehicle; The unmanned vehicle returns to the area-related calculation area corresponding to the loading area.

[0026] In the unloading mode, the unmanned vehicle is configured with an unloading operation process, which includes: Obtain the location information of the ore unloading point in the loading area; control the unmanned vehicle to move to the ore unloading point, and use the hydraulic cylinder of the unmanned vehicle to push the cargo box of the unmanned vehicle to tilt; In response to receiving the mineral material unloading completion information sent by the staff through the remote control, the unmanned vehicle returns to the area-related calculation area corresponding to the unloading area.

[0027] In the parking mode, the unmanned vehicle is configured with a parking operation process, which includes: In response to receiving the operation suspension instruction, obtaining the location information of the empty parking space, controlling the unmanned vehicle to move to the empty parking space and perform parking, and the unmanned vehicle sends parking completion information to the upper computer; In response to the power level of the unmanned vehicle being lower than a minimum power level threshold, obtaining location information of an empty parking space, controlling the unmanned vehicle to move to the empty parking space and park, and the unmanned vehicle sending parking completion information or a charging request to an upper computer; The unmanned vehicle is controlled to send a vehicle maintenance request to the upper computer at each set period.

[0028] The template design of the system processing logic improves the reusability of the code logic. The system can quickly change the task scheduling process logic, adapt to more scenarios, and cope with more complex processes. This flexibility allows the system to easily respond to changes in production needs, such as adjusting the production process or changing the unmanned production area.

[0029] In response to the unmanned vehicle returning to the regional related computing area after completing the task, a new task instruction is generated and sent to the unmanned vehicle, and the unmanned vehicle is controlled to drive to the destination according to the new task instruction; When the unmanned vehicle enters the independent computing area, the working status information and traffic congestion information of the working area are obtained, and the optimal destination and driving route are re-evaluated for the unmanned vehicle based on the working status information and traffic congestion information. The process includes: Obtain the location information of the current destination of the unmanned vehicle, generate a driving route of the unmanned vehicle to the destination, and predict the driving time of the unmanned vehicle to the destination based on the driving route and traffic congestion information, which is recorded as the driving time T; When the travel time T is less than n×T D , determine that the current destination of the unmanned vehicle is the optimal destination, and control the unmanned vehicle to drive to the optimal destination according to the driving route; where T D is the shortest driving time for the driverless vehicle to travel from the current position to the current destination at the set speed; n is a set constant; When the travel time T is greater than or equal to n×T D , obtain all the work areas with the same current destination task of the unmanned vehicle and filter out the adjacent work areas, generate the driving route of the unmanned vehicle to the adjacent work area, and predict the driving time of the unmanned vehicle to the adjacent work area based on the driving route and traffic congestion information, which is recorded as the driving time T * ; According to the working status information and driving time T * Re-evaluate optimal destinations for driverless vehicles; According to the driving route of the unmanned vehicle to the optimal destination, the unmanned vehicle is controlled to drive to the optimal destination.

[0030] This embodiment can improve transportation efficiency by dynamically planning paths and scheduling tasks, while ensuring the safety of vehicles in complex environments, and enhancing the adaptability of open-pit mine unmanned transportation systems to complex and changing environments.

[0031] Example 2 This embodiment provides a transportation control system for unmanned vehicles in an open-pit mine. The transportation control system is used to execute the transportation control method described in Embodiment 1, including: An acquisition module is used to acquire a vehicle transportation network model pre-built based on an open-pit mine; the vehicle transportation network model includes an operation area and a traffic node; the entrance and exit of the operation area are configured with a regional related calculation area; and the traffic node is configured with an independent calculation area; Task execution model: when the unmanned vehicle enters the regional computing area, the operation mode of the unmanned vehicle is switched according to the task attributes of the operation area; the unmanned vehicle is configured with an operation process in each operation mode, and the unmanned vehicle is controlled according to the operation process to return to the regional computing area after completing the task, generate a new task instruction and send it to the unmanned vehicle, and control the unmanned vehicle to drive to the destination according to the new task instruction; The transportation scheduling module obtains the working status information and traffic congestion information of the operating area when the unmanned vehicle enters the independent computing area, re-evaluates the optimal destination and driving route for the unmanned vehicle based on the working status information and traffic congestion information, and controls the unmanned vehicle to enter the regional related computing area corresponding to the optimal destination according to the driving route.

[0032] The transportation control system also includes a mapping platform. The process of constructing a vehicle transportation network model on the mapping platform based on the geographic information of the working area includes: The map drawing platform is equipped with a drawing component library; the drawing component library includes an operation area component, a region-related calculation area, an independent calculation area, a two-way road component and a one-way road component; The geographical information of the working area includes the location information of the loading area, the location information of the unloading area, the location information of the parking lot and the traffic network information; The work area component in the drawing component library is used to draw the work area according to the loading area position information, the unloading area position information, and the parking lot position information; the work area includes the loading area, the unloading area, and the parking lot; and the area-related calculation area is configured at the entrance and exit of the work area; The two-way road component and the one-way road component in the drawing component library are used to draw a traffic network between work areas according to the traffic network information; the intersections in the traffic network are set as traffic nodes, and independent calculation areas are configured at the traffic nodes; the vehicle transportation network model is obtained by constructing the work area and the traffic network; the two-way road component and the one-way road component reflect the empty state and the heavy load state through color changes.

[0033] This embodiment can clearly and intuitively understand the scenarios supported by the current system, because the system's operating constraints are built into the modular scenarios. This effectively avoids the problem of unreasonable map construction caused by users' lack of business proficiency, and reduces the difficulty of operation and error rate.

[0034] Example 3 This embodiment provides an electronic device, including a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the transportation control method of the open-pit mine unmanned vehicle described in Example 1.

[0035] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, etc.) containing computer-usable program code. M , optical storage, etc.).

[0036] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0037] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0038] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0039] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the transportation of unmanned vehicles in an open-pit mine, characterized in that: include: Acquire a vehicle transportation network model pre-built based on an open-pit mine; the vehicle transportation network model includes an operation area and a traffic node; The entrance and exit of the operation area are configured with a regional related calculation area; the traffic node is configured with an independent calculation area; When the unmanned vehicle enters the regional related computing area, the operation mode of the unmanned vehicle is switched according to the task attributes of the operation area; the unmanned vehicle is configured with an operation process in each operation mode, and the unmanned vehicle is controlled according to the operation process to return to the regional related computing area after completing the task, and a new task instruction is generated and sent to the unmanned vehicle, and the unmanned vehicle is controlled to drive to the destination according to the new task instruction; When the unmanned vehicle enters the independent computing area, the working status information and traffic congestion information of the operating area are obtained, the optimal destination and driving route are re-evaluated for the unmanned vehicle based on the working status information and traffic congestion information, and the unmanned vehicle is controlled to enter the regional related computing area corresponding to the optimal destination according to the driving route.

2. The transportation control method according to claim 1, characterized in that: The process of constructing the vehicle transportation network model includes: Obtain geographic information of the working area of ​​the open-pit mine, and build a vehicle transportation network model on the map drawing platform based on the geographic information of the working area; The map drawing platform is equipped with a drawing component library; the drawing component library includes an operation area component, a region-related calculation area, an independent calculation area, a two-way road component and a one-way road component; The geographical information of the working area includes the location information of the loading area, the location information of the unloading area, the location information of the parking lot and the traffic network information; Retrieving the work area component from the drawing component library, and drawing the work area according to the loading area position information, the unloading area position information, and the parking lot position information; the work area includes the loading area, the unloading area, and the parking lot; configuring the area-related calculation area at the entrance and exit of the work area; A two-way road component and a one-way road component are retrieved from the drawing component library, and a traffic network is drawn between the operation areas according to the traffic network information. The intersections in the traffic network are set as traffic nodes, and independent calculation areas are configured at the traffic nodes. The vehicle transportation network model is obtained by constructing the operation areas and the traffic network.

3. The transportation control method according to claim 1, characterized in that: The operation modes of the unmanned vehicle include a loading mode, an unloading mode and a parking mode.

4. The transportation control method according to claim 3, characterized in that: In the loading mode, the unmanned vehicle is configured with a loading operation process, which includes: Obtaining the location information of the mineral material loading device in the loading area; controlling the unmanned vehicle to move to the discharge port of the mineral material loading device; In response to the ore loading device receiving the loading request information of the unmanned vehicle, when the ore loading device detects the unmanned vehicle at the discharge port, the ore loading device is controlled to load the ore on the unmanned vehicle; In response to the unmanned vehicle detecting that the loaded mineral material reaches a preset loading threshold, the unmanned vehicle is controlled to send a loading termination message to the mineral material loading device; the mineral material loading device is controlled to stop loading the mineral material to the unmanned vehicle; The unmanned vehicle returns to the area-related calculation area corresponding to the loading area.

5. The transportation control method according to claim 3, characterized in that: In the unloading mode, the unmanned vehicle is configured with an unloading operation process, which includes: Obtain the location information of the ore unloading point in the loading area; control the unmanned vehicle to move to the ore unloading point, and use the hydraulic cylinder of the unmanned vehicle to push the cargo box of the unmanned vehicle to tilt; In response to receiving the mineral material unloading completion information sent by the staff through the remote control, the unmanned vehicle returns to the area-related calculation area corresponding to the unloading area.

6. The transportation control method according to claim 3, characterized in that: In the parking mode, the unmanned vehicle is configured with a parking operation process, which includes: In response to receiving the operation suspension instruction, obtaining the location information of the empty parking space, controlling the unmanned vehicle to move to the empty parking space and perform parking, and the unmanned vehicle sends parking completion information to the upper computer; In response to the power level of the unmanned vehicle being lower than a minimum power level threshold, obtaining location information of an empty parking space, controlling the unmanned vehicle to move to the empty parking space and park, and the unmanned vehicle sending parking completion information or a charging request to an upper computer; The unmanned vehicle is controlled to send a vehicle maintenance request to the upper computer at each set period.

7. The transportation control method according to claim 1, characterized in that: Re-evaluate the optimal destination and driving route for the driverless vehicle based on the working status information and traffic congestion information. The process includes: Obtain the location information of the current destination of the unmanned vehicle, generate a driving route of the unmanned vehicle to the destination, and predict the driving time of the unmanned vehicle to the destination based on the driving route and traffic congestion information, which is recorded as the driving time T; When the travel time T is less than n×T D , determine that the current destination of the unmanned vehicle is the optimal destination, and control the unmanned vehicle to drive to the optimal destination according to the driving route; where T D is the shortest driving time for the driverless vehicle to travel from the current position to the current destination at the set speed; n is a set constant; When the travel time T is greater than or equal to n×T D , obtain all the work areas with the same current destination task of the unmanned vehicle and filter out the adjacent work areas, generate the driving route of the unmanned vehicle to the adjacent work area, and predict the driving time of the unmanned vehicle to the adjacent work area based on the driving route and traffic congestion information, which is recorded as the driving time T * ; According to the working status information and driving time T * Re-evaluate optimal destinations for driverless vehicles; According to the driving route of the unmanned vehicle to the optimal destination, the unmanned vehicle is controlled to drive to the optimal destination.

8. A transportation control system for unmanned vehicles in open-pit mines, characterized in that: include: An acquisition module is used to acquire a vehicle transportation network model pre-built based on an open-pit mine; the vehicle transportation network model includes an operation area and a traffic node; the entrance and exit of the operation area are configured with a regional related calculation area; and the traffic node is configured with an independent calculation area; Task execution model: when the unmanned vehicle enters the regional computing area, the operation mode of the unmanned vehicle is switched according to the task attributes of the operation area; the unmanned vehicle is configured with an operation process in each operation mode, and the unmanned vehicle is controlled according to the operation process to return to the regional computing area after completing the task, generate a new task instruction and send it to the unmanned vehicle, and control the unmanned vehicle to drive to the destination according to the new task instruction; The transportation scheduling module obtains the working status information and traffic congestion information of the operating area when the unmanned vehicle enters the independent computing area, re-evaluates the optimal destination and driving route for the unmanned vehicle based on the working status information and traffic congestion information, and controls the unmanned vehicle to enter the regional related computing area corresponding to the optimal destination according to the driving route.

9. The transportation control system according to claim 8, characterized in that: It also includes a mapping platform. The process of building a vehicle transportation network model on the mapping platform based on the geographic information of the work area includes: The map drawing platform is equipped with a drawing component library; the drawing component library includes an operation area component, a region-related calculation area, an independent calculation area, a two-way road component and a one-way road component; The geographical information of the working area includes the location information of the loading area, the location information of the unloading area, the location information of the parking lot and the traffic network information; The work area component in the drawing component library is used to draw the work area according to the loading area position information, the unloading area position information, and the parking lot position information; the work area includes the loading area, the unloading area, and the parking lot; and the area-related calculation area is configured at the entrance and exit of the work area; The two-way road component and the one-way road component in the drawing component library are used to draw a traffic network between work areas according to the traffic network information; the intersections in the traffic network are set as traffic nodes, and independent calculation areas are configured at the traffic nodes; and the vehicle transportation network model is obtained by constructing the work area and the traffic network.

10. The transportation control system according to claim 9, characterized in that: The double-row road component and the single-row road component reflect the no-load state and the heavy-load state through color changes.

11. An electronic device comprising a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the transportation control method for an unmanned vehicle in an open-pit mine as claimed in any one of claims 1 to 7.

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