Coal sample transfer method, device, equipment, medium and product

Abstract

The invention relates to the technical field of coal sample transfer, in particular to a coal sample transfer method, device and equipment, a medium and a product, and the method comprises the following steps: obtaining the quantity of goods to be transferred at a sampling point; when the number of the to-be-transferred goods reaches a preset threshold value, determining a target transfer trolley matched with the sampling point based on sampling point data and transfer trolley data; planning a target transfer path of the target transfer vehicle based on preset map data; scheduling a target transfer trolley to transfer the coal sample along the target transfer path; unmanned operation is achieved, manual intervention is greatly reduced, and the operation efficiency of the whole wharf is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal sample transportation, and in particular to a coal sample transportation method, device, equipment, medium and product. Background Art

[0002] Bulk cargo terminals are important hubs for cargo transportation, and their operational efficiency and safety are crucial to the smooth operation of the entire logistics chain. Traditional coal sample transportation methods mainly rely on manual operations, from sampling, packing, transportation to inspection, every link requires manual participation. There is a technical problem of low efficiency in coal sample transportation in this field. Summary of the invention

[0003] The invention provides a coal sample transport method, device, equipment, medium and product, which solve the technical problem of low coal sample transport efficiency.

[0004] In a first aspect, the present invention provides a coal sample transfer method, the method comprising: obtaining the number of goods to be transferred at a sampling point; when the number of goods to be transferred reaches a preset threshold, determining a target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data; planning a target transfer path for the target transfer vehicle based on preset map data; and dispatching the target transfer vehicle to transfer coal samples along the target transfer path.

[0005] In some embodiments, the preset threshold includes: obtaining the number of transfer vehicles in an idle state; when the number of transfer vehicles in an idle state is less than the idle threshold, setting the preset threshold to be greater than or equal to the maximum carrying number of the transfer vehicles; when the number of transfer vehicles in an idle state is greater than or equal to the idle threshold, setting the preset threshold to be less than the maximum carrying number of the transfer vehicles.

[0006] In some embodiments, after the step of determining a target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data when the number of goods to be transferred reaches a preset threshold, the method also includes: when the number of transfer vehicles in an idle state is greater than or equal to the idle threshold, determining a target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data at preset time intervals.

[0007] In some embodiments, the step of determining a target transfer vehicle that matches a sampling point based on sampling point data and transfer vehicle data includes: obtaining the distance between an idle transfer vehicle and the sampling point; selecting a transfer vehicle with the shortest distance as a candidate transfer vehicle; and determining the candidate transfer vehicle as a target transfer vehicle when the remaining power of the candidate transfer vehicle is greater than a preset power threshold.

[0008] In some embodiments, the step of planning a target transfer route for a target transfer vehicle based on preset map data includes: determining a triangular area including the position of the target transfer vehicle, the sampling point position, and the sample preparation point position based on the position of the target transfer vehicle, the sampling point position, and the sample preparation point position; obtaining the positions of all transfer vehicles within the triangular area; obtaining the candidate transfer routes between the target transfer vehicle, the sampling point, and the sample preparation point from the preset map; sorting the candidate transfer routes based on the positions of all transfer vehicles within the triangular area, determining the priority of each candidate transfer route, and selecting the candidate transfer route with the highest priority as the target transfer route.

[0009] In some embodiments, the step of dispatching a target transfer vehicle to transport coal samples along a target transfer path includes: dispatching the target transfer vehicle to a sampling point along the target transfer path for loading; and dispatching the target transfer vehicle to a sample preparation point along the target transfer path for unloading.

[0010] In the second aspect, the present invention provides a coal sample transfer device, which includes: a data acquisition module for acquiring the number of goods to be transferred at a sampling point; a vehicle determination module for determining a target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data when the number of goods to be transferred reaches a preset threshold; a path planning module for planning a target transfer path for the target transfer vehicle based on preset map data; and a scheduling module for scheduling the target transfer vehicle to transfer coal samples along the target transfer path.

[0011] In a third aspect, the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any one of the coal sample transport methods described above.

[0012] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the coal sample transport methods described above.

[0013] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any one of the coal sample transport methods in the above aspects.

[0014] The present invention provides a coal sample transfer method, device, equipment, medium and product, wherein the method comprises: obtaining the quantity of goods to be transferred at a sampling point; when the quantity of goods to be transferred reaches a preset threshold, determining a target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data; planning a target transfer path for the target transfer vehicle based on preset map data; dispatching the target transfer vehicle to transfer coal samples along the target transfer path; realizing unmanned operation, greatly reducing manual intervention, and improving the operating efficiency of the entire terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0016] Figure 1 It is a schematic diagram of a process of a coal sample transport method provided in an embodiment of the present application;

[0017] Figure 2 It is a structural schematic diagram of a coal sample transport device provided in an embodiment of the present application;

[0018] Figure 3 It is a schematic diagram of a process of a coal sample transport method provided in an embodiment of the present application;

[0019] Figure 4 It is a schematic diagram of a scheduling process of a coal sample transportation method provided in an embodiment of the present application;

[0020] Figure 5 It is a schematic diagram of a target vehicle judgment process provided in an embodiment of the present application.

[0021] In the drawings, the same reference numerals are used for the same components, and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, and to fully understand and implement how the present invention applies technical means to solve technical problems and achieve the corresponding technical effects, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all of the embodiments. The embodiments of the present invention and the various features in the embodiments can be combined with each other without conflict, and the technical schemes formed are all within the scope of protection of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0025] Bulk cargo terminals are important hubs for cargo transportation, and their operational efficiency and safety are crucial to the smooth operation of the entire logistics chain. Traditional coal sample transportation methods mainly rely on manual operations, from sampling, packing, transportation to inspection, every link requires manual participation. There is a technical problem of low efficiency in coal sample transportation in this field.

[0026] Hereinafter, the technical solution of the present application will be described in conjunction with specific embodiments.

[0027] Embodiment 1

[0028] Figure 1 is a schematic diagram of a coal sample transport method provided in an embodiment of the present application, such as Figure 1 As shown, in the technical solution of this embodiment, a coal sample transfer method is provided, the method including: obtaining the number of goods to be transferred at a sampling point; when the number of goods to be transferred reaches a preset threshold, determining a target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data; planning a target transfer path for the target transfer vehicle based on preset map data; and dispatching the target transfer vehicle to transfer coal samples along the target transfer path.

[0029] The technical problem to be solved in this embodiment is how to carry out unmanned coal sample transfer. The technical solution of this embodiment is to obtain the number of goods to be transferred at the sampling point. When the number reaches the preset threshold, the target transfer vehicle is determined by combining the sampling point data and the transfer vehicle data, and then the target transfer path of the target transfer vehicle is planned based on the preset map data. Finally, the target transfer vehicle is dispatched to transfer coal samples along the target transfer path. The cargo information collector counts the real-time number of goods to be transferred at the sampling point, and the logistics information management platform sends a dispatch request to the autonomous driving vehicle. After receiving the request, the autonomous driving management platform matches nearby idle vehicles to go to the sampling point for loading.

[0030] The technical solution of this embodiment brings significant technical effects. First, unmanned operation is realized, which greatly reduces manual intervention and reduces labor costs. In the transportation of coal samples at bulk cargo terminals, the traditional manual transportation method requires a lot of manpower input, which is not only inefficient but also prone to human errors. However, this embodiment can accurately obtain the number of goods to be transported at the sampling point through an automated method, and quickly start the transportation process when the preset threshold is reached. By combining the sampling point data with the transfer vehicle data to determine the target transfer vehicle, the reasonable allocation of vehicles is ensured and the transportation efficiency is improved. The target transfer route is planned based on the preset map data, so that the vehicle can avoid congested sections and choose the optimal route to the sampling point and sample preparation point, which greatly shortens the transportation time. For example, in a large bulk cargo terminal, a large number of coal samples need to be transported every day. In the traditional way, due to the limitations of manual operation, the transportation efficiency is low, and it may take several days to complete the transportation of all coal samples. After adopting the technical solution of this embodiment, through unmanned transportation, the task can be completed in a shorter time, which improves the operating efficiency of the entire terminal. At the same time, unmanned transportation also reduces the risk of human error and ensures the integrity and accuracy of coal samples. In the traditional manual transfer process, goods may be lost, damaged or mixed up, but this embodiment can effectively avoid these problems through precise planning and management. In addition, unmanned transfer also improves safety. The environment of bulk cargo terminals is complex, with a large amount of heavy equipment and cargo, and manual operation poses certain safety hazards. In this embodiment, the vehicle can perceive the surrounding environment in real time through advanced sensors and positioning systems to ensure driving safety. For example, when encountering emergencies, such as the sudden deceleration of the vehicle in front or pedestrians crossing the road, the vehicle can adjust its driving strategy in time to avoid accidents.

[0031] Embodiment 2

[0032] Based on the above embodiment, the preset threshold includes: obtaining the number of transfer vehicles in an idle state; when the number of transfer vehicles in an idle state is less than the idle threshold, setting the preset threshold to be greater than or equal to the maximum carrying number of the transfer vehicles; when the number of transfer vehicles in an idle state is greater than or equal to the idle threshold, setting the preset threshold to be less than the maximum carrying number of the transfer vehicles.

[0033] The technical problem to be solved by this embodiment is how to balance the transfer capacity and transfer efficiency according to the number of transfer vehicles in an idle state. The technical solution of this embodiment is to obtain the number of transfer vehicles in an idle state, and when the number is less than the idle threshold, set the preset threshold to be greater than or equal to the maximum carrying number of the transfer vehicle; when the number is greater than or equal to the idle threshold, set the preset threshold to be less than the maximum carrying number of the transfer vehicle.

[0034] The three indicators of the idle state of the autonomous driving vehicle, the remaining power of the vehicle, and the distance from the sampling point are used as the judgment conditions for the dispatch of the autonomous driving vehicle. The preset threshold is adjusted according to the number of idle transfer vehicles to balance the transfer capacity and transfer efficiency. When there are fewer idle vehicles, the preset threshold is increased to fully utilize the carrying capacity of each vehicle and avoid idle vehicles; when there are more idle vehicles, the preset threshold is lowered to transfer goods in time and improve transfer efficiency.

[0035] In the coal sample transfer at the bulk cargo terminal, the number of transfer vehicles and the transfer demand of goods need to be reasonably matched to achieve the best transfer effect. If the preset threshold is set unreasonably, it may cause vehicles to be idle or goods to be piled up. This embodiment effectively balances the transfer capacity and transfer efficiency by dynamically adjusting the preset threshold according to the number of transfer vehicles in the idle state. For example, when the cargo volume at the bulk cargo terminal is large and the number of idle transfer vehicles is small, the preset threshold is set to be greater than or equal to the maximum carrying capacity of the transfer vehicle, which can give full play to the carrying capacity of each vehicle and reduce the backlog of goods. In this way, it can ensure that as much cargo as possible is transferred when vehicle resources are limited, thereby improving the operational efficiency of the terminal. On the other hand, when the number of idle transfer vehicles is large, the preset threshold is lowered so that the goods can be transferred in time to avoid the accumulation of goods at the sampling point. In this way, the timeliness of transfer can be improved to meet production needs.

[0036] Embodiment 3

[0037] On the basis of the above embodiment, after the step of determining the target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data when the number of goods to be transferred reaches a preset threshold, the method also includes: when the number of transfer vehicles in an idle state is greater than or equal to the idle threshold, determining the target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data at preset time intervals.

[0038] The technical problem to be solved by this embodiment is how to efficiently transfer when the number of transfer vehicles in an idle state is greater than or equal to the idle threshold. The technical solution of this embodiment is to determine the target transfer vehicle that matches the sampling point based on the sampling point data and the transfer vehicle data at preset time intervals when the number of transfer vehicles in an idle state is greater than or equal to the idle threshold. In the case of a large number of idle vehicles, this embodiment determines the target transfer vehicle at preset time intervals to ensure that the goods can be transferred in time and improve the transfer efficiency.

[0039] In the actual operation of bulk cargo terminals, when there are a large number of idle transfer vehicles, if reasonable scheduling is not performed, the vehicles may be idle and resources may be wasted. However, this embodiment can respond to the cargo transfer needs of the sampling point in a timely manner by determining the target transfer vehicle at preset time intervals, ensuring that the cargo can be transported to the sample preparation point quickly and efficiently. For example, in a large bulk cargo terminal, when the number of idle transfer vehicles is greater than or equal to the idle threshold, if there is no effective scheduling mechanism, some vehicles may wait for tasks for a long time, while the cargo at the sampling point cannot be transferred in time. After adopting the technical solution of this embodiment, the sampling point data and transfer vehicle data will be analyzed at preset time intervals to determine the target transfer vehicle, so that the vehicle can be quickly put into the transfer task. This can greatly improve the utilization rate of the vehicle, reduce the residence time of the cargo at the sampling point, and improve the efficiency of the entire transfer system.

[0040] Embodiment 4

[0041] On the basis of the above embodiment, the step of determining the target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data includes: obtaining the distance between the transfer vehicle in an idle state and the sampling point; selecting the transfer vehicle with the shortest distance as the transfer vehicle to be selected; when the remaining power of the transfer vehicle to be selected is greater than a preset power threshold, determining the transfer vehicle to be selected as the target transfer vehicle.

[0042] The technical problem to be solved in this embodiment is how to determine the target transfer vehicle based on the distance between the transfer vehicle and the sampling point and the power of the transfer vehicle. The technical solution of this embodiment is to obtain the distance between the transfer vehicle in an idle state and the sampling point, select the transfer vehicle with the smallest distance as the transfer vehicle to be selected, and when the remaining power of the transfer vehicle to be selected is greater than the preset power threshold, determine the transfer vehicle to be selected as the target transfer vehicle. This embodiment specifically clarifies the method for determining the target transfer vehicle based on distance and power. First, select the vehicle closest to the sampling point as the transfer vehicle to be selected, which can reduce the distance and time of the vehicle's travel and improve the transfer efficiency. Then determine whether the remaining power of the transfer vehicle to be selected is greater than the preset power threshold to ensure that the vehicle has enough power to complete the task and return to the charging pile smoothly.

[0043] In the process of coal sample transfer at the bulk cargo terminal, it is very important to select a suitable transfer vehicle to improve the transfer efficiency and ensure the smooth completion of the task. This embodiment can determine the target transfer vehicle more scientifically by comprehensively considering the distance between the transfer vehicle and the sampling point and the power of the transfer vehicle. For example, in a large bulk cargo terminal, there are multiple sampling points and multiple transfer vehicles. When the goods at a certain sampling point need to be transferred, the technical solution of this embodiment can quickly find the transfer vehicle with the nearest distance and sufficient power. This can greatly shorten the time for the vehicle to reach the sampling point and improve the transfer efficiency. At the same time, ensuring that the vehicle has enough power to complete the task and return to the charging pile smoothly can avoid the situation where the vehicle fails or cannot return due to insufficient power during transportation. This not only improves the reliability of transfer, but also reduces the maintenance cost and time cost caused by vehicle failure. In addition, the technical solution of this embodiment can also be dynamically adjusted according to actual conditions. For example, when the demand for cargo transfer in a certain area is large, the preset power threshold can be appropriately adjusted to ensure that more vehicles can participate in the transfer task. At the same time, the distance information between the vehicle and the sampling point can be updated in real time according to factors such as the vehicle's driving speed and road conditions, so as to more accurately select the target transfer vehicle.

[0044] Embodiment 5

[0045] On the basis of the above embodiment, the step of planning the target transfer path of the target transfer vehicle based on the preset map data includes: determining the triangular area containing the position of the target transfer vehicle, the sampling point position, and the sample preparation point position based on the position of the target transfer vehicle, the sampling point position, and the sample preparation point position; obtaining the positions of all transfer vehicles within the triangular area; obtaining the candidate transfer paths between the target transfer vehicle, the sampling point, and the sample preparation point from the preset map; sorting the candidate transfer paths based on the positions of all transfer vehicles within the triangular area, determining the priority of each candidate transfer path, and taking the candidate transfer path with the highest priority as the target transfer path.

[0046] The technical problem to be solved in this embodiment is how to plan the target transfer path of the target transfer vehicle based on the position of the target transfer vehicle. The technical solution of this embodiment is to determine the triangular area containing the position of the target transfer vehicle, the sampling point position, and the sample preparation point position based on the position of the target transfer vehicle, the sampling point position, and the sample preparation point position; obtain the positions of all transfer vehicles in the triangular area; obtain the candidate transfer paths between the target transfer vehicle, the sampling point, and the sample preparation point from the preset map; sort the candidate transfer paths based on the positions of all transfer vehicles in the triangular area, determine the priority of each candidate transfer path, and take the candidate transfer path with the highest priority as the target transfer path. By determining the triangular area, considering the positions of other transfer vehicles in the area, sorting the candidate transfer paths, and determining the path with the highest priority as the target transfer path, more efficient path planning can be achieved.

[0047] Path planning is one of the key links to achieve efficient transfer. This embodiment determines the triangular area based on the position of the target transfer vehicle, the sampling point position and the sample preparation point position, and considers the position of other transfer vehicles in the area to plan the target transfer path, which can effectively improve the transfer efficiency and reduce the transportation cost. For example, in a large bulk cargo terminal, there are multiple sampling points and sample preparation points, and many transfer vehicles are running at the same time. Through the technical solution of this embodiment, a reasonable triangular area can be determined according to the position and task requirements of the target transfer vehicle. In this area, the location information of other transfer vehicles is obtained to help avoid congestion and conflict between vehicles. At the same time, the transfer path to be selected is obtained from the preset map, and the position of the transfer vehicle in the area is sorted to determine the path with the highest priority as the target transfer path. This ensures that the target transfer vehicle selects an optimal route, avoids congested sections, and increases the driving speed. In addition, reasonable path planning can also reduce the energy consumption of the vehicle. When selecting the target transfer path, considering the vehicle's driving distance, road conditions and other factors, a more energy-saving route can be selected to reduce operating costs. At the same time, efficient path planning can also improve the reliability and stability of the entire transfer system. By rationally allocating vehicles and planning routes, vehicle waiting time and congestion can be reduced, ensuring that coal samples can be transported to their destination in a timely and accurate manner.

[0048] Embodiment 6

[0049] Based on the above embodiment, the step of dispatching the target transfer vehicle to transport coal samples along the target transfer path includes: dispatching the target transfer vehicle to the sampling point along the target transfer path for loading; dispatching the target transfer vehicle to the sample preparation point along the target transfer path for unloading.

[0050] The technical problem to be solved by this embodiment is how to carry out the transfer. The technical solution of this embodiment is to dispatch the target transfer vehicle to the sampling point along the target transfer path for loading, and dispatch the target transfer vehicle to the sample preparation point along the target transfer path for unloading. This embodiment clarifies the specific process of transfer, that is, dispatching the target transfer vehicle to the sampling point for loading according to the planned target transfer path, and then to the sample preparation point for unloading.

[0051] The transfer process clearly defined in the technical solution of this embodiment ensures the orderly progress of the entire transfer process. Starting from the dispatch of the target transfer vehicle, the vehicle accurately arrives at the sampling point for loading according to the target transfer path. During the loading process, the automatic docking loading system, coal sample barrel identification and positioning, automatic loading and other technologies can efficiently and accurately complete the loading task. For example, the vehicle realizes automatic docking with the loading system through built-in sensors and mechanical arms to ensure seamless docking between the loading port and the loading platform; the coal sample barrel is identified and positioned through high-definition cameras and laser radars, and the coal sample barrel is accurately grasped and smoothly placed in the loading area inside the vehicle. After loading is completed, the vehicle goes to the sample preparation point for unloading according to the target transfer path. During the unloading process, path planning and navigation, environmental perception and obstacle avoidance, precise docking and docking, automatic unloading and other technologies are used to ensure the safety and accuracy of unloading. For example, the vehicle uses SLAM technology and visual recognition system to achieve precise docking, and the coal sample barrel is smoothly lifted and accurately placed at the designated position of the unloading platform through a mechanical arm or lifting device. The entire transfer process has achieved full-process unmanned operation, greatly improving the transfer efficiency and reducing labor costs. At the same time, a clear transfer process can also improve the reliability and stability of transfer. Through precise planning and control, vehicles can smoothly switch between different links, ensuring that coal samples can be delivered to the destination on time and accurately, providing strong support for the development of the coal industry.

[0052] Embodiment 7

[0053] Figure 2 is a schematic diagram of the structure of a coal sample transfer device provided in an embodiment of the present application, such as Figure 2 As shown, in the technical solution of this embodiment, a coal sample transfer device is provided, which includes: a data acquisition module, used to obtain the number of goods to be transferred at a sampling point; a vehicle determination module, used to determine a target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data when the number of goods to be transferred reaches a preset threshold; a path planning module, used to plan a target transfer path for the target transfer vehicle based on preset map data; and a scheduling module, used to schedule the target transfer vehicle to transfer coal samples along the target transfer path.

[0054] The technical problem to be solved in this embodiment is how to carry out unmanned coal sample transfer. The technical solution of this embodiment is to obtain the number of goods to be transferred at the sampling point. When the number reaches the preset threshold, the target transfer vehicle is determined by combining the sampling point data and the transfer vehicle data, and then the target transfer path of the target transfer vehicle is planned based on the preset map data. Finally, the target transfer vehicle is dispatched to transfer coal samples along the target transfer path. The cargo information collector counts the real-time number of goods to be transferred at the sampling point, and the logistics information management platform sends a dispatch request to the autonomous driving vehicle. After receiving the request, the autonomous driving management platform matches nearby idle vehicles to go to the sampling point for loading.

[0055] The technical solution of this embodiment brings significant technical effects. First, unmanned operation is realized, which greatly reduces manual intervention and reduces labor costs. In the transportation of coal samples at bulk cargo terminals, the traditional manual transportation method requires a lot of manpower input, which is not only inefficient but also prone to human errors. However, this embodiment can accurately obtain the number of goods to be transported at the sampling point through an automated method, and quickly start the transportation process when the preset threshold is reached. By combining the sampling point data with the transfer vehicle data to determine the target transfer vehicle, the reasonable allocation of vehicles is ensured and the transportation efficiency is improved. The target transfer route is planned based on the preset map data, so that the vehicle can avoid congested sections and choose the optimal route to the sampling point and sample preparation point, which greatly shortens the transportation time. For example, in a large bulk cargo terminal, a large number of coal samples need to be transported every day. In the traditional way, due to the limitations of manual operation, the transportation efficiency is low, and it may take several days to complete the transportation of all coal samples. After adopting the technical solution of this embodiment, through unmanned transportation, the task can be completed in a shorter time, which improves the operating efficiency of the entire terminal. At the same time, unmanned transportation also reduces the risk of human error and ensures the integrity and accuracy of coal samples. In the traditional manual transshipment process, goods may be lost, damaged or mixed up, but this embodiment can effectively avoid these problems through precise planning and management. In addition, unmanned transshipment also improves safety. The environment of bulk cargo terminals is complex, with a large amount of heavy equipment and cargo, and manual operation poses certain safety hazards. In this embodiment, the vehicle can perceive the surrounding environment in real time through advanced sensors and positioning systems to ensure driving safety. For example, when encountering emergencies, such as the sudden deceleration of the vehicle in front or pedestrians crossing the road, the vehicle can adjust its driving strategy in time to avoid accidents. The other technical features and beneficial effects of this embodiment correspond to the above-mentioned embodiments and will not be repeated here.

[0056] Embodiment 8

[0057] In the technical solution of this embodiment, a computer device is provided, including a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of any coal sample transport method of the above embodiments.

[0058] In the technical solution of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any coal sample transport method in the above-mentioned embodiments are implemented.

[0059] In the technical solution of this embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of any one of the coal sample transport methods of the above embodiments.

[0060] On the basis of the above embodiments, this embodiment provides a computer device, including a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the method described in the above embodiments. In some implementations of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and the steps of the method described in the above embodiments are implemented when the computer program is executed by the processor. In some implementations of this embodiment, a computer program product is provided, including a computer program / instruction, and the steps of the method described in the above embodiments are implemented when the computer program is executed by the processor. The processor may include, but is not limited to, for example, one or more processors or microprocessors. Each processor may be an application specific integrated circuit (Application Specific Integrated Circuit, referred to as ASIC), a digital signal processor (Digital Signal Processor, referred to as DSP), a digital signal processing device (Digital Signal Processing Device, referred to as DSPD), a programmable logic device (Programmable Logic Device, referred to as PLD), a field programmable gate array (Field Programmable Gate Array, referred to as FPGA), a controller, a microcontroller, a microprocessor or other electronic components to implement the method in the above embodiments.

[0061] The computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, and the computer-readable storage medium may include, but is not limited to, for example, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, register, computer storage medium (e.g., hard disk, floppy disk, solid state hard disk, removable disk, CDROM, DVDROM, Blu-ray disc, etc.). The computer-readable storage medium may also store at least one computer executable program / instruction, and the computer executable program / instruction is, for example, a computer-readable instruction. The computer-readable storage medium includes, but is not limited to, for example, volatile memory and / or non-volatile memory. Volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The computer-readable storage medium may, for example, include read-only memory (ROM), hard disk, flash memory, etc. For example, a non-temporary computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs the computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed. In addition, the computer device may also include (but not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (eg, keyboard, mouse, speaker, etc.), etc.

[0062] The processor can communicate with external devices via an I / O bus via a wired or wireless network. In one embodiment, the at least one computer executable instruction can also be compiled into or constitute a software product / computer program product, wherein one or more computer executable instructions are executed by the processor to perform the various functions and / or steps of the method in the embodiments described in the present technology.

[0063] Embodiment 9

[0064] Based on the above embodiments, this embodiment provides an application example.

[0065] The specific technical field to which the invention belongs is intelligent logistics and automated transportation technology, especially the automated and intelligent system for coal sample transportation. The invention directly involves key technologies such as automated loading and unloading, automatic driving, automatic charging, and intelligent scheduling in the process of coal sample transportation, aiming to solve technical problems such as much manual intervention, low transportation efficiency, and great management difficulty in the traditional coal sample transportation process.

[0066] In today's rapidly developing global economy, bulk cargo terminals are important hubs for cargo transportation, and their operational efficiency and safety are crucial to the smooth operation of the entire logistics chain. In the coal industry in particular, the role of bulk cargo terminals is even more important. However, for a long time, the coal sample transportation link at bulk cargo terminals has always been plagued by problems such as low efficiency and safety hazards.

[0067] The traditional way of transporting coal samples mainly relies on manual operation, from sampling, packing, transportation to inspection, every link requires manual participation. This not only makes the transportation inefficient, but also increases the risk of human error. At the same time, due to the complex environment of bulk cargo terminals, there are a lot of heavy equipment and cargo, and manual operation also has certain safety hazards, posing a threat to the life safety of workers.

[0068] In recent years, with the rapid development of science and technology, autonomous driving technology has gradually emerged and demonstrated its huge application potential in many fields. Autonomous driving technology realizes the autonomous driving of vehicles through the organic combination of key technologies such as high-precision maps, sensor fusion, path planning and decision-making algorithms. The emergence of this technology provides a new idea for solving the problem of coal sample transportation at bulk terminals. In terms of autonomous driving technology, with the continuous advancement of sensor technology, computer vision and deep learning, autonomous driving vehicles have been able to achieve accurate environmental perception, path planning and autonomous navigation. These technologies make it possible for the autonomous driving of coal sample transfer vehicles, which is expected to replace the traditional manual driving method and realize the automation of the transfer process.

[0069] In terms of network communication technology, with the popularization of technologies such as 5G and the Internet of Things, real-time communication between vehicles and between vehicles and control centers has become possible. These technologies provide data support for the intelligent management of the coal sample transportation system, enabling the control center to monitor vehicle status and dispatch vehicle tasks in real time, thereby achieving efficient management of the transportation process.

[0070] In terms of data processing technology, the introduction of technologies such as big data and cloud computing has provided the coal sample transfer system with powerful data processing capabilities. By collecting, analyzing and processing the data generated during the transfer process in real time, potential problems can be discovered in a timely manner, the transfer path can be optimized, and operational efficiency can be improved. At the same time, these data can also provide strong support for subsequent decision-making and promote the digital transformation of the coal industry.

[0071] However, although the development of these technologies has made it possible to automate and intelligentize coal sample transportation, there are still many challenges in practical applications. For example, how to ensure the safety, stability and reliability of autonomous driving vehicles; how to achieve efficient communication between vehicles and control centers; how to use data processing technology to optimize the transportation process; and how to meet the high requirements of equipment stability and durability in view of the particularity of the coal transportation environment. These issues require us to continuously explore and innovate in practical applications.

[0072] In summary, the automation and intelligent development of coal sample transportation technology has become an inevitable trend in the transformation and upgrading of the coal industry. This invention aims to promote the innovation and progress of coal sample transportation technology by introducing advanced automatic driving technology, network communication technology and data processing technology, and inject new vitality into the development of the coal industry.

[0073] After an in-depth analysis of the defects and shortcomings of existing coal sample transport technology, the present invention is committed to comprehensively innovating the traditional coal sample transport method, and through a series of innovative technical means, aims to solve a series of technical problems that have long plagued the coal industry. Specifically, the core purpose of the present invention is to:

[0074] ① Aiming at the technical problems of high reliance on manual operation and low efficiency in the traditional coal sample transportation process, the present invention introduces automatic driving technology, combines intelligent navigation system and machine vision recognition technology, and realizes the fully automated operation of coal sample transportation vehicles. It can greatly reduce manual intervention, save labor costs, significantly improve transportation efficiency, and ensure that coal samples arrive at the destination accurately in the shortest time.

[0075] ② Considering the safety and accuracy issues during the transportation of coal samples, due to the particularity of coal samples, it is also crucial that the autonomous driving vehicle also needs to have accurate loading and unloading capabilities. In order to ensure the integrity and accuracy of the coal samples, the vehicle needs to accurately control its movements during loading and unloading to avoid scattering, mixing or damage of the coal samples. Therefore, the present invention will not only be equipped with high-precision sensors to monitor various parameters during the transportation process in real time, but also through specific mechanical design and intelligent control algorithms to achieve precise loading and unloading operations, thereby minimizing the loss of coal samples during transportation and ensuring the original state and quality of the coal samples.

[0076] ③ In order to solve the problem of lack of intelligent management and scheduling in the existing coal sample transfer system, the present invention constructs an efficient network communication platform to realize real-time data interaction between the transfer vehicle and the control center. Through the intelligent scheduling algorithm, the control center can perform optimal path planning and task allocation for the transfer vehicle based on real-time road conditions, vehicle status, coal sample demand, loading and unloading conditions and other information, thereby improving the overall operational efficiency and response speed. Through the intelligent management system, managers can monitor the transportation process and the status of coal samples in real time to ensure the accuracy and safety of transportation.

[0077] ④ In view of the particularity of the coal transportation environment and the high requirements for equipment stability and durability, the present invention will also adopt high-performance materials and advanced manufacturing processes to ensure that the transportation equipment can operate stably for a long time under different working environments. At the same time, by introducing predictive maintenance technology, the equipment can be monitored in real time, fault diagnosis and preventive maintenance can be performed, potential problems can be discovered and handled in a timely manner, thereby extending the service life of the equipment and reducing maintenance costs.

[0078] In summary, the present invention aims to comprehensively solve many problems existing in existing coal sample transportation technology by comprehensively using technical means in multiple fields such as autonomous driving, sensor technology, network communication and high-performance materials. This will not only improve the transportation efficiency and safety of the coal industry and ensure the integrity and accuracy of coal samples, but will also promote the further improvement of the intelligence and automation level of bulk terminal operations, and inject new vitality into the sustainable development of the coal industry. The technological innovation and practical value brought about by the present invention are the important basis and core value of its patent application.

[0079] The present invention discloses an unmanned coal sample transportation method based on automatic driving. This method is one of the links in the automation of the entire process of coal sampling, transportation, sampling, sample preparation, testing and storage. To achieve unmanned intervention in the entire process of transportation. The basic idea of ​​the present invention is to use L4 level automatic driving vehicles in the transportation process, and the automatic scheduling of vehicles is realized by relying on the linkage of the automatic driving vehicle management platform and the logistics control platform. The automatic loading and unloading of goods is realized by relying on the conveyor belt of the sample preparation point and the high-precision positioning capability of the SLAM of the automatic driving vehicle. Thereby, the whole process from the dispatching of automatic driving vehicle scheduling tasks, automatic loading of goods, unmanned transportation of goods, automatic unloading of goods, automatic return of vehicles for charging, etc. is realized, which greatly improves the efficiency and safety of coal sample transportation in the park.

[0080] Figure 3 It is a schematic diagram of a process of a coal sample transport method provided in an embodiment of the present application; Figure 4 It is a schematic diagram of a scheduling process of a coal sample transportation method provided in an embodiment of the present application; Figure 5This is a schematic diagram of a target vehicle judgment process provided by an embodiment of the present application. There are several key issues in the transportation of goods. First, under what conditions is the dispatch command of the autonomous driving vehicle triggered. Secondly, when the autonomous driving vehicle arrives at the sampling point (loading point), how to automatically connect to the sampling point loading system to realize automatic loading of the coal bucket. And how to accurately identify the source of each coal bucket to avoid confusion during transportation. Finally, how to ensure that the entire process is cyclical and realize 24-hour uninterrupted operation of the vehicle. In response to the above key issues, the present invention includes the following steps:

[0081] C1: The autonomous driving vehicle dispatching task is automatically issued.

[0082] At each coal bucket sampling point, a cargo information collector is installed to count the real-time number of cargo to be transferred at the sampling point, and the cargo data at the sampling point is synchronized to the logistics information management platform. When the cargo information at the sampling point reaches the preset threshold, the logistics information management platform sends a dispatch request to the autonomous driving vehicle. After receiving the request, the autonomous driving management platform matches the nearby idle vehicles to go to the sampling point to load the cargo. The process is as follows: Figure 4 shown.

[0083] C11. Setting the trigger threshold conditions for scheduling tasks.

[0084] It is known that the maximum carrying capacity of the autonomous transport vehicle used is Q max , the production of goods at the sampling point is random, X i The real-time quantity of goods at the i-th sampling point. The vehicle dispatching task can be flexibly set according to production needs.

[0085] In order to maximize the use of the autonomous driving vehicle's carrying capacity, the vehicle trigger threshold condition K should meet the following conditions:

[0086] X i ≥K(K≥Q max )

[0087] If the cargo needs to be sent to the sample preparation point as soon as possible after sampling, the vehicle trigger threshold condition K should meet:

[0088] X i ≥K(K max )

[0089] At the same time, it is set that every time the preset time is met, the sample will be transported to the sample preparation point.

[0090] C12. Match idle vehicles.

[0091] The autonomous driving management platform calculates the planned mission mileage and uses three indicators, namely the idle state of the autonomous driving vehicle, the remaining battery power of the vehicle and the distance from the sampling point, as the judgment criteria for the scheduling of the autonomous driving vehicle. ​

[0092] Vehicle dispatching principle Figure 5 As shown. First, the autonomous driving management platform will search for idle vehicles in the system. If the vehicle is idle, the platform will calculate the remaining battery life of the vehicle. Assuming that the remaining vehicle life is b and the planned mission mileage is a, to ensure that the vehicle can return to the charging pile smoothly after completing the mission, assuming that the sampling point matches an idle vehicle, the mission is successfully issued.

[0093] C2: The autonomous vehicle goes to the loading point.

[0094] Global path planning: After receiving the dispatch task, the autonomous driving vehicle first obtains the current location information through the Beidou / GPS positioning system, and calls the high-precision map for global path planning. Considering the complex roads and heavy traffic in the port, the vehicle will avoid congested sections and choose the optimal path to the sampling point. The optimal path includes the path with the highest degree of repetition among multiple paths, which is convenient for local path adjustment when encountering congestion.

[0095] Real-time environmental perception: During driving, the vehicle perceives the surrounding environment in real time through multiple sensors such as LiDAR, HD cameras and millimeter-wave radar. LiDAR builds a 3D point cloud map of the surrounding environment, HD cameras capture information about road signs, pedestrians and other vehicles, and millimeter-wave radar provides speed and distance information of surrounding objects. After comprehensive processing of this information, the vehicle can judge the road conditions in real time and adjust the driving strategy.

[0096] Local path adjustment: When encountering unexpected situations, such as the sudden deceleration of the vehicle ahead or pedestrians crossing the road, the vehicle will make local path adjustments based on real-time perceived data. The decision-making algorithm quickly calculates the obstacle avoidance path and automatically adjusts the vehicle speed and steering wheel angle to ensure safe driving.

[0097] Precise docking: When approaching the sampling point, the vehicle can dock accurately through the simultaneous localization and mapping (SLAM) technology and the visual recognition system. SLAM technology builds a local map through point cloud data of continuous frames and combines Beidou / GPS data for precise positioning. The visual recognition system recognizes the signs or specific patterns of the sampling point and guides the vehicle to dock accurately in front of the loading platform.

[0098] C3: Autonomous vehicle automatic loading at sampling point.

[0099] Automatic docking loading system: When the vehicle stops in front of the loading platform, it can automatically dock with the loading system through built-in sensors and robotic arms. The sensors detect the position and height information of the loading platform, and the robotic arms adjust their posture according to this information to ensure seamless docking between the loading port and the loading platform.

[0100] Coal sample barrel identification and positioning: HD cameras capture images of coal sample barrels on the loading platform and use AI image recognition technology to identify the type, number and location of the coal sample barrels. LiDAR provides depth information of the coal sample barrels and builds a three-dimensional model to help vehicles grab the coal sample barrels more accurately.

[0101] Automatic loading: After confirming the position of the coal sample barrel, the vehicle controls the mechanical arm or lifting device to lift the coal sample barrel steadily and accurately place it in the loading area inside the vehicle. During the loading process, high-precision sensors monitor the loading status in real time to ensure that the coal sample barrel is placed firmly to avoid collision or slipping.

[0102] Loading completion confirmation: After loading is completed, the vehicle's built-in sensors and visual recognition system scan the loading area for confirmation. After confirmation, the vehicle sends a loading completion signal to the management platform and waits for the next instruction.

[0103] C4: Autonomous driving vehicles automatically unload goods at sampling points.

[0104] Path planning and navigation: After completing the coal sample transportation task, the autonomous driving vehicle navigates to the sample preparation site according to the pre-set or real-time planned path. The Beidou / GPS positioning system combined with high-precision maps ensures that the vehicle can reach the destination accurately.

[0105] Environmental perception and obstacle avoidance: When approaching the sample preparation point, the vehicle continues to perceive the surrounding environment in real time through sensors such as laser radar, high-definition camera and millimeter-wave radar. The laser radar constructs a 3D point cloud map around the sample preparation point, the high-definition camera captures the sample preparation point's logo, pedestrians and other possible obstacle information, and the millimeter-wave radar monitors the speed and distance of surrounding objects. By integrating this information, the vehicle can judge the road conditions in real time and autonomously avoid obstacles to ensure safe driving to the unloading area.

[0106] Precise docking and docking: After arriving at the sample preparation site, the vehicle uses SLAM technology and a visual recognition system to achieve precise docking. The visual recognition system identifies the unloading platform logo or specific pattern at the sample preparation site and guides the vehicle to dock accurately in front of the unloading platform. At the same time, the vehicle's built-in sensors detect the position and height information of the unloading platform to prepare for automatic docking.

[0107] Automatic unloading preparation: After docking, the control system inside the vehicle activates the unloading mechanism. According to the storage location and unloading requirements of the coal sample barrel, the control system adjusts the mechanical structure or lifting device inside the vehicle to the appropriate position and prepares for unloading operations.

[0108] Coal sample barrel identification and positioning: Before unloading, the high-definition camera captures the image of the unloading platform or the preset unloading area again, and confirms the unloading position of the coal sample barrel through AI image recognition technology. LiDAR provides depth information and builds a three-dimensional model of the coal sample barrel to ensure the accuracy of the unloading operation.

[0109] Automatic unloading: After confirming the unloading position, the vehicle controls the mechanical arm or lifting device to lift the coal sample barrel steadily and accurately place it at the designated position on the unloading platform. During the unloading process, high-precision sensors monitor the unloading status in real time to ensure that the coal sample barrel is safely placed to avoid collision or damage.

[0110] Unloading completion confirmation: After unloading is completed, the vehicle's built-in sensors and visual recognition system scan the unloading area for confirmation. After confirmation, the vehicle sends an unloading completion signal to the management platform and waits for the next instruction. If the task is completed, the vehicle will automatically plan a return route or go to the charging station for charging; if there are other unloading tasks, continue to perform subsequent operations.

[0111] C5: The vehicle returns to the field and automatically charges when the battery is low.

[0112] Power monitoring and charging request: During transportation, the vehicle continuously monitors the battery power status. When the power is lower than the preset threshold, the vehicle automatically sends a charging request to the autonomous driving management platform. The management platform plans the optimal return path based on the vehicle location and the distribution of charging piles.

[0113] Automatic navigation to the charging station: After receiving the charging route, the vehicle automatically plans the driving route and goes to the charging station. During the driving process, the vehicle still maintains real-time environmental perception and local path adjustment capabilities to ensure safe arrival at the charging station.

[0114] Precise docking and charging: After arriving at the charging station, the vehicle can dock accurately with the charging pile through high-precision positioning and visual recognition technology. The charging robot uses the visual module and the charging port spatial posture visual positioning algorithm to accurately control the robotic arm to insert the charging gun into the vehicle charging port. During the charging process, the robot monitors the charging status in real time to ensure the safety and reliability of the charging process.

[0115] Charging completion and subsequent tasks: After charging is completed, the charging robot pulls out the charging gun and sends a charging completion signal to the cloud platform. The cloud platform uses an intelligent scheduling algorithm to determine whether the vehicle needs a new task, and issues a scheduling instruction or returns the vehicle to standby status accordingly. If the vehicle needs to continue the task, it replans the route and goes to the next destination; if it does not need to perform the task, the vehicle stops in the designated area and waits for the next dispatch.

[0116] The present invention introduces a high-precision map as the core memory system in the autonomous driving coal sample transfer system, aiming to achieve more efficient and accurate positioning, environmental perception and path planning.

[0117] 1. Map matching

[0118] High-precision maps provide a wealth of information on road shape, slope, curvature, etc., and combined with efficient matching algorithms, can achieve higher-precision positioning and matching. This map matching method is more accurate and reliable than traditional Beidou / GPS positioning, especially in cases of weak signals or complex environments.

[0119] 2. Assisted environmental perception

[0120] High-precision maps enhance the vehicle's ability to identify the surrounding environment by extracting information about roads, traffic, infrastructure, etc. around the vehicle's location. Compared with hardware sensors, high-precision maps have significant advantages in detecting static and semi-static objects, such as all-round perception, no environmental interference, and saving processing power.

[0121] 3. Path Planning

[0122] High-precision maps support lane-level path planning, and can provide accurate point-to-point path planning for autonomous vehicles through abstract information such as road network information and road attributes. This planning method is more in line with the understanding and processing methods of machines, effectively improving the efficiency and accuracy of path planning.

[0123] 4. Map update and maintenance

[0124] The present invention uses the online update mechanism of the positioning and perception modules to maintain a high degree of continuous matching between the high-precision map and the actual scene. This ensures the real-time and effectiveness of the map information and provides a solid foundation for the stable operation of the autonomous driving system.

[0125] Compared with the problems existing in the background technology, the unique technical features created by the present invention show significant advantages and positive effects.

[0126] Improved transportation efficiency: By introducing automatic driving technology, the coal sample transportation vehicle of the present invention can achieve 24-hour uninterrupted operation without manual rest or shift changes, thereby greatly improving transportation efficiency.

[0127] Enhanced safety and accuracy: The present invention, through the combination of high-precision sensors and real-time monitoring systems, can promptly detect and address potential safety hazards during transportation, thereby ensuring the integrity and accuracy of coal samples.

[0128] Intelligent management and scheduling are realized: by constructing a network communication platform and an intelligent scheduling algorithm, the present invention can monitor vehicle status, road conditions and coal sample requirements in real time, and realize optimal path planning and task allocation.

[0129] Improved equipment stability and durability: The present invention adopts high-performance materials and advanced manufacturing processes to ensure that the equipment can operate stably for a long time even in harsh environments.

[0130] Precise loading and unloading capabilities: In view of the particularity of coal samples, the present invention achieves precise loading and unloading operations through specific mechanical design and intelligent control algorithms.

[0131] In summary, the present invention not only solves many problems in traditional coal sample transport technology by comprehensively applying multiple advanced technologies, but also brings significant advantages and positive effects. The formation of these advantages and effects is mainly due to the comprehensive consideration and careful design of the present invention in terms of technological innovation and application. The support of specific data also further proves the practical value and market potential of the present invention.

[0132] The present invention proposes an unmanned coal sample transportation method based on automatic driving. The present invention will be described in detail below in conjunction with specific embodiments and drawings.

[0133] In this embodiment, we used a Level 4 autonomous driving vehicle for coal sample transportation. The vehicle is equipped with advanced sensors and positioning systems, including lidar, high-definition cameras, ultrasonic sensors, and GPS and IMU positioning devices to achieve accurate environmental perception and positioning.

[0134] Vehicle dispatch: When the number of coal samples at a sampling point reaches a preset threshold, the logistics information management platform will automatically send a dispatch request to the autonomous driving management platform. The management platform will make the best match based on the vehicle's idle state, remaining power, and distance from the sampling point, and send the dispatch task to the selected autonomous driving vehicle.

[0135] Automatically go to the sampling point: After receiving the task, the autonomous driving vehicle will plan the optimal path and automatically go to the sampling point. During the driving process, the vehicle will perceive the surrounding environment in real time to ensure driving safety.

[0136] Automatic loading: After arriving at the sampling point, the vehicle will automatically dock with the loading system. Through SLAM high-precision positioning technology, the vehicle can accurately identify the location of the loading point and realize automatic loading of coal samples.

[0137] Unmanned transportation: After loading, the self-driving vehicle will transport the coal sample to the sample preparation point along the preset route. During the transportation process, the vehicle will perceive the surrounding environment in real time and adjust the driving speed and direction to ensure the safety and efficiency of transportation.

[0138] Automatic unloading: After arriving at the sample preparation point, the vehicle will automatically dock with the unloading system and realize the automatic unloading of coal samples. After unloading, the vehicle will automatically return to the sampling point or go to the charging station for charging.

[0139] Through the description of the above embodiments, it can be seen that the unmanned coal sample transportation method created by the present invention has high flexibility and scalability. In practical applications, customized optimization and adjustment can be performed according to specific transportation needs and scenarios. At the same time, the present invention also improves the efficiency and safety of coal sample transportation, reduces labor costs and transportation risks, and provides strong support for the intelligent and automated development of the coal industry.

[0140] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0141] It should be noted that, in the present invention, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element limited by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0142] Although the embodiments disclosed in the present invention are as above, the above contents are only embodiments adopted for facilitating the understanding of the present invention and are not intended to limit the present invention. Any technician in the technical field to which the present invention belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A method for transporting coal samples, characterized in that: The method comprises: Get the quantity of goods to be transferred at the sampling point; When the quantity of the goods to be transferred reaches a preset threshold, a target transfer vehicle matching the sampling point is determined based on the sampling point data and the transfer vehicle data; Plan the target transfer path of the target transfer vehicle based on preset map data; The target transfer vehicle is dispatched to transfer the coal samples along the target transfer route.

2. The coal sample transport method according to claim 1, characterized in that: The preset thresholds include: Get the number of transfer vehicles in idle state; When the number of transfer vehicles in an idle state is less than the idle threshold, the preset threshold is set to be greater than or equal to the maximum carrying quantity of the transfer vehicles; When the number of transfer vehicles in an idle state is greater than or equal to the idle threshold, the preset threshold is set to be less than the maximum carrying capacity of the transfer vehicles.

3. The coal sample transport method according to claim 2, characterized in that: After the step of determining a target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data when the quantity of the goods to be transferred reaches a preset threshold, the method further includes: When the number of transfer vehicles in an idle state is greater than or equal to an idle threshold, a target transfer vehicle matching the sampling point is determined based on the sampling point data and the transfer vehicle data at preset time intervals.

4. The coal sample transport method according to claim 1, characterized in that: The step of determining a target transfer vehicle matching the sampling point based on the sampling point data and the transfer vehicle data comprises: Obtain the distance between the idle transfer vehicle and the sampling point; Select the transfer vehicle with the shortest distance as the transfer vehicle to be selected; When the remaining power of the to-be-selected transfer vehicle is greater than a preset power threshold, the to-be-selected transfer vehicle is determined as the target transfer vehicle.

5. The coal sample transport method according to claim 1, characterized in that: The step of planning a target transfer path for a target transfer vehicle based on preset map data includes: Based on the position of the target transfer vehicle, the sampling point position, and the sample preparation point position, a triangular area including the position of the target transfer vehicle, the sampling point position, and the sample preparation point position is determined; Get the positions of all transfer vehicles in the triangular area; Obtaining a candidate transport path between the target transport vehicle, the sampling point, and the sample preparation point from the preset map; The candidate transfer paths are sorted based on the positions of all transfer vehicles in the triangular area, the priority of each candidate transfer path is determined, and the candidate transfer path with the highest priority is used as the target transfer path.

6. The coal sample transport method according to claim 1, characterized in that: The step of dispatching the target transfer vehicle to transfer the coal sample along the target transfer path includes: Dispatching a target transfer vehicle along the target transfer route to the sampling point for loading; The target transfer vehicle is dispatched to the sample preparation point along the target transfer route for unloading.

7. A coal sample transport device, characterized in that: The device comprises: A data acquisition module, used to obtain the quantity of goods to be transferred at the sampling point; A vehicle determination module, used to determine a target transfer vehicle matching a sampling point based on the sampling point data and the transfer vehicle data when the quantity of the goods to be transferred reaches a preset threshold; A path planning module, used to plan a target transfer path for a target transfer vehicle based on preset map data; The scheduling module is used to schedule the target transfer vehicle to transfer the coal samples along the target transfer route.

8. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the coal sample transport method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the coal sample transport method described in any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the coal sample transport method described in any one of claims 1 to 6 are implemented.

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