Material transportation method and device, storage medium and electronic equipment

Abstract

The invention discloses a material transportation method and device, a storage medium and electronic equipment, and relates to the technical field of mining, and the method comprises the steps that firstly, unmanned equipment is called to execute a target transportation task, and the target transportation task comprises target cooperation equipment and a target transportation place; then, positioning an operation range of the target collaborative equipment; the body position of the unmanned equipment in the operation range is adjusted, and materials in the target collaborative equipment are loaded to the unmanned equipment; and finally, the unmanned equipment is used for transporting the materials to the target transportation site. In this way, the unmanned device and the target cooperation device can be called to cooperatively complete the target transportation task, casualties caused by transportation accidents in the mining area can be reduced, the safety of workers in the mining area is guaranteed, the labor cost in the material transportation process can be effectively reduced, and the material transportation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of mining technology, and in particular to a material transportation method, device, storage medium and electronic equipment. Background Art

[0002] During operations in open-pit mines, the environment is harsh, the terrain is changeable, and the road conditions are very complex. Different methods of transporting materials can be used according to the transportation distance and material characteristics to ensure the smooth progress of production work.

[0003] At present, in the relevant technology, the material transportation work in mines mainly relies on manual transportation, but the working environment in mines is poor, accidents are prone to occur, affecting the safety of transportation personnel, and the cost of manual transportation is high. Summary of the invention

[0004] In view of this, the present application provides a material transportation method, device, storage medium and electronic device, the main purpose of which is to improve the technical problem that the material transportation work in mines in the related technology mainly relies on manual transportation, but the working environment in mines is poor, accidents are prone to occur, affecting the safety of transportation personnel, and the cost of manual transportation is high.

[0005] In a first aspect, the present application provides a material transportation method, comprising:

[0006] Invoking an unmanned driving device to perform a target transportation task, wherein the target transportation task includes a target coordinated device and a target transportation location;

[0007] Locating the operating range of the target collaborative device;

[0008] Adjusting the position of the unmanned driving device within the operating range, and loading the materials in the target collaborative device into the unmanned driving device;

[0009] The material is transported to the target transportation location using the unmanned driving equipment.

[0010] In a second aspect, the present application provides a material transport device, comprising:

[0011] A calling module is configured to call an unmanned driving device to perform a target transportation task, wherein the target transportation task includes a target cooperative device and a target transportation location;

[0012] A positioning module, configured to locate the operating range of the target collaborative device;

[0013] An adjustment module is configured to adjust the position of the unmanned driving device within the operating range and load the materials in the target collaborative device into the unmanned driving device;

[0014] The transport module is configured to transport the material to the target transport location using the unmanned driving equipment.

[0015] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the material transportation method described in the first aspect is implemented.

[0016] In a fourth aspect, the present application provides an electronic device, comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the material transportation method described in the first aspect when executing the computer program.

[0017] By means of the above technical scheme, the present application provides a material transportation method, device, storage medium and electronic device, firstly calling an unmanned driving device to perform a target transportation task, the target transportation task includes a target collaborative device and a target transportation location; then locating the operating range of the target collaborative device; then adjusting the position of the unmanned driving device within the operating range, loading the material in the target collaborative device into the unmanned driving device, and finally using the unmanned driving device to transport the material to the target transportation location. Compared with the current prior art, the present application can first call an unmanned driving device to perform a target transportation task, the target transportation task includes a target collaborative device and a target transportation location, then locating the operating range of the target collaborative device, then adjusting the position of the unmanned driving device within the operating range, loading the material in the target collaborative device into the unmanned driving device, and finally using the unmanned driving device to transport the material to the target transportation location. In this way, the unmanned driving device can be called to cooperate with the target collaborative device to complete the target transportation task, which helps to reduce casualties caused by transportation accidents in the mining area, ensure the safety of workers in the mining area, and effectively reduce the labor cost in the material transportation process and improve the material transportation efficiency.

[0018] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 A schematic diagram of a material transportation method provided in an embodiment of the present application is shown;

[0022] Figure 2 A schematic diagram of a material transportation method provided in an embodiment of the present application is shown;

[0023] Figure 3 A schematic diagram of an example process provided by an embodiment of the present application is shown;

[0024] Figure 4 A schematic diagram of an example process provided by an embodiment of the present application is shown;

[0025] Figure 5 A schematic diagram of an example process provided by an embodiment of the present application is shown;

[0026] Figure 6 A schematic diagram of an example process provided by an embodiment of the present application is shown;

[0027] Figure 7 A schematic diagram of an example process provided by an embodiment of the present application is shown;

[0028] Figure 8 A schematic diagram of an example process provided by an embodiment of the present application is shown;

[0029] Fig. 9 A structural schematic diagram of a material transport device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0030] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0031] In order to improve the technical problems that the material transportation work in the mine mainly relies on manual transportation in the related technology, but the working environment in the mine is poor, accidents are prone to occur, affecting the safety of the transportation personnel, and the manual transportation cost is high. This embodiment provides a material transportation method, such as Figure 1 As shown, the method includes:

[0032] Step 101: call the unmanned driving equipment to execute the target transportation task, which includes the target cooperative equipment and the target transportation location.

[0033] In some examples, the control system can assign the target transportation task to the unmanned equipment, which receives the target transportation task and confirms it, eliminating the need for manual transportation, improving transportation efficiency and reducing manual transportation costs. Among them, the control system can be used to manage and dispatch all equipment in the mining area.

[0034] Exemplarily, unmanned driving equipment may be equipped with sensors, such as laser radar (LiDAR), cameras, millimeter-wave radar, ultrasonic sensors, etc., for sensing the surrounding environment, positioning systems: global positioning system (GPS), inertial measurement unit (IMU), magnetometer, etc., for precise positioning, high-performance computing units for processing sensor data and running autonomous driving algorithms, and communication systems: 4G / 5G, Wi-Fi, satellite communications, etc., for communication and data transmission between devices.

[0035] Accordingly, the target transportation task may include but is not limited to information such as material type, quantity, target coordinated equipment, target transportation location, etc. The target transportation location may include the transportation starting point, transportation end point, etc.; the target coordinated equipment may be other equipment that needs to work together for loading and unloading materials, such as loaders, unloading equipment (such as conveyor belts, bucket elevators), and loading equipment (such as excavators, loaders).

[0036] Step 102: locate the operating range of the target collaborative device.

[0037] In some examples, the operating range may be the operating range in which the target cooperative device can cooperate with the unmanned driving device to perform the target transportation task. Exemplarily, the operating range may also include a material unloading area, a material loading area, etc. corresponding to the target transportation task.

[0038] In some examples, the operating range of the target collaborative device can be located through the positioning system, and then the optimal path from the unmanned driving device to the operating range of the target collaborative device can be planned, and coordination instructions can be issued to the target collaborative device, and a collaboration plan with the unmanned driving device can be formulated to ensure coordination and cooperation between the various devices, thereby cooperating with the unmanned driving equipment to complete the target transportation task and reduce manual transportation costs.

[0039] Step 103: adjust the position of the unmanned driving device within the operating range, and load the materials in the target collaborative device into the unmanned driving device.

[0040] In some examples, the sensors, cameras and other equipment carried on the unmanned driving device can be used to obtain the position of the unmanned driving device in real time, and adjust it according to information such as the distance from the target collaborative device. While ensuring the safety of each device and personnel, the position of the unmanned driving device can be adjusted to within the operating range of the target collaborative device, and then the materials in the target collaborative device can be loaded into the unmanned driving device.

[0041] Step 104: Use unmanned driving equipment to transport the materials to the target transportation location.

[0042] In some examples, after the unmanned equipment has completed loading, the navigation system can be used to transport the materials to the target transportation location, unload the materials within the operating range corresponding to the target transportation location, or load the materials into other equipment in the mining area to carry out production work.

[0043] Compared with the current existing technology, this embodiment can first call the unmanned driving equipment to perform the target transportation task, which includes the target cooperative equipment and the target transportation location, then locate the operating range of the target cooperative equipment, and then adjust the position of the unmanned driving equipment within the operating range, load the materials in the target cooperative equipment into the unmanned driving equipment, and finally use the unmanned driving equipment to transport the materials to the target transportation location. In this way, the unmanned driving equipment can be called to cooperate with the target cooperative equipment to complete the target transportation task, which helps to reduce casualties caused by transportation accidents in the mining area, ensure the safety of workers in the mining area, and effectively reduce the labor cost in the material transportation process and improve the efficiency of material transportation.

[0044] In order to further illustrate the specific implementation process of the method of this embodiment, this embodiment provides the following Figure 2 The specific method shown includes:

[0045] Step 201: Send a target transportation task to the unmanned driving device using a preset communication link.

[0046] Among them, the preset communication link includes at least two communication links. In some examples, a communication redundancy safety guarantee mechanism can be constructed to ensure the communication redundancy safety of open-pit mines in extremely cold climates. The unmanned driving system in the mining area can adopt the V2X communication architecture to achieve all-round network connection between vehicles (V2V), vehicles and roads (V2I), vehicles and people (V2P), and vehicles and service platforms / centers (V2N). Each device has at least two communication links with the outside world. Even if a communication link is interrupted, the overall communication can still be ensured to be safe and reliable, thereby improving the stability of information transmission, reducing accidents caused by communication failures, and improving safety.

[0047] Step 202: call the unmanned driving device to execute the target transportation task, where the target transportation task includes the target cooperative device and the target transportation location.

[0048] In some examples, the cloud-based intelligent scheduling and management system can receive status information of unmanned mining vehicles, electric shovels, bulldozers, manned vehicles and other equipment, monitor abnormal status and fault information of each equipment, determine the unmanned equipment that can perform the target transportation task, and then call the unmanned equipment to perform the target transportation task. Among them, the cloud-based intelligent scheduling and management system can be used for mine traffic management and intelligent equipment scheduling, avoid vehicle collisions, queues and traffic jams, reduce the incidence of traffic accidents, improve material transportation efficiency, realize intelligent scheduling, and ensure transportation safety.

[0049] Step 203: locate the operating range of the target collaborative device.

[0050] For example, a high-precision redundant combined positioning solution consisting of an inertial navigation system, a differential positioning system, a wheel speed meter, a lidar, and a high-precision map can be used to locate the operating range of the target collaborative equipment and improve the positioning accuracy of the operating range.

[0051] Step 204: Use the preset perception system to adjust the position of the unmanned driving device within the operating range.

[0052] In some examples, the preset perception system (such as the cloud-based intelligent dispatching and management system) can set up redundant safety mechanisms in perception, positioning, communication, power supply, control host, etc. to provide a variety of alternative transportation solutions to further ensure transportation safety. Exemplary, redundant safety mechanisms may include but are not limited to: perception redundant safety mechanisms, positioning redundant safety mechanisms, communication redundant safety mechanisms, main controller redundant safety mechanisms, power supply redundant safety mechanisms, etc. In the case of unmanned driving equipment transportation, using a preset perception system with multiple convenient redundant mechanisms to monitor the equipment status and other information in real time can ensure that when some functions or components in the system fail, the system can still operate normally, thereby improving the safety and reliability of unmanned driving.

[0053] For example, the perception redundancy safety assurance mechanism can realize a reliable redundant perception fusion solution through the sharing of lidar, millimeter wave radar, roadside perception unit, and V2X perception results, achieving beyond-line-of-sight perception capability. Even if a perception unit fails or is damaged during use, the unmanned mining vehicle can still accurately perceive obstacles and determine the drivable area, thereby ensuring the safety of the entire operation process of road driving, loading and unloading;

[0054] For example, the positioning redundant safety assurance mechanism can adopt a high-precision redundant combined positioning solution consisting of an inertial navigation system, a differential positioning system, a tachometer, a lidar, and a high-precision map to deal with situations where GPS responsiveness is low, signals are blocked, or even GPS signals are lost for a long time. This can ensure that positioning needs are met in most mining scenarios.

[0055] For example, for the redundancy protection mechanism of the main controller, the cloud-based intelligent scheduling and management system and the vehicle-side controller both use two sets of server configurations to back up each other and jointly perform services. When one server fails, the other server will take over the service task, thereby automatically ensuring that the system can continue to provide services without manual intervention.

[0056] For example, for the power supply redundancy guarantee mechanism, the equipment related to the mine unmanned driving system is equipped with two independent power supply systems. When one of the power supplies fails, it can be switched to the other power supply to ensure that there is no power outage in a short period of time, and necessary parking measures can be taken in time to ensure safety.

[0057] Step 205: Determine whether the body position meets the preset unloading requirements corresponding to the target collaborative device, and obtain the materials in the target collaborative device.

[0058] For example, in a scenario where the target transportation task is cement unloading, taking the target collaborative equipment as an excavator and the unmanned driving equipment as a mining truck, the preset unloading requirements corresponding to the excavator can be determined first, wherein the preset unloading requirements may include the operating range of the excavator, the preset distance between the rear wheels of the vehicle and the unloading plate, etc.

[0059] In some examples, the mining truck can first be accurately reversed into the warehouse at the discharge port. After the mining truck is stored, the distance between the rear wheel of the vehicle and the discharge plate meets the preset distance, and the position of the mining truck is adjusted to park the vehicle body within the operating range of the excavator. At the same time, the vehicle body cannot be tilted to prevent the excavator from being unable to operate. Specifically, through the coordination between the mining truck entering and leaving the factory and the excavator, as well as the cluster scheduling method mixed with manned vehicles, the choice of autonomous differential positioning and Qianxun positioning, uninterrupted operation guarantee of transportation tasks can be achieved, and 5G / V2X and unmanned driving are first applied in the cement mining industry, which can be applied to the entire business process of mining, transportation and drainage in cement mining areas.

[0060] Step 206: Use unmanned driving equipment to transport the materials to the target transportation location.

[0061] Optionally, step 206 may specifically include: using a preset perception system to collect mine road information and obstacle information corresponding to the unmanned driving equipment; determining the transportation route of the unmanned driving equipment based on the mine road information and obstacle information; and transporting materials to the target transportation location according to the transportation route.

[0062] In some examples, a preset perception system (such as a V2X vehicle-road cooperative perception system) can be built based on the V2X communication architecture to reduce transmission delay and network load, such as Figure 3As shown in the figure, the V2X vehicle-road cooperative perception system can realize the recognition and collection of changing mining roads, working areas, traffic flow, emergencies, intersection information, road foreign object intrusion, and slippery road conditions by designing a scientific and reasonable system layout and equipment setting plan, using 5G technology, optimized deep learning models, data synchronization and other effective technical means, so as to achieve early warning of dangerous road conditions, enable vehicles to have beyond-visual-range perception capabilities, and collect mining road information and obstacle information in real time during the driving of unmanned driving equipment. Then, based on the mining road information and obstacle information, determine the transportation route and specific driving area, and transport materials to the target transportation location according to the transportation route and driving area, thereby ensuring the driving safety of vehicles in complex traffic environments.

[0063] In some examples, MEC and C-V2X can be integrated into a network, and C-V2X services can be deployed on the MEC platform. With the help of Uu interface or PC5 interface support, "human-vehicle-road-cloud" collaborative interaction can be realized. The 5G network has multiple base station coverage and the choice of network soft and hard switching. It can realize the application of 5G / V2X and subsequent MEC in autonomous driving in mining areas, reduce end-to-end data transmission delay, alleviate the computing and storage pressure of terminals or roadside intelligent facilities, reduce the network load caused by massive data backhaul, and provide high-quality services with local characteristics.

[0064] Optionally, the method of this embodiment may further specifically include: monitoring device status information of the unmanned driving device; and generating device warning information corresponding to the unmanned driving device based on the device status information.

[0065] In some examples, multi-level fault monitoring and safety handling mechanisms can be used to monitor unmanned vehicles in real time, including:

[0066] Vehicle-side safety monitoring: The safety monitoring module is independent of the main function of unmanned driving. It periodically obtains the sensor hardware and software of the perception, positioning and other modules and the health status of the vehicle's information and communication, performs health status detection on the hardware and software of each functional module, and classifies safety incidents according to the degree of urgency to make safety decisions.

[0067] Vehicle-cloud safety monitoring module: The unmanned mining vehicle and the central dispatching system monitor the heartbeats of both parties in real time. When communication is interrupted, the vehicle cannot detect the heartbeat of the central end and will automatically stop immediately. If the central end cannot receive the heartbeat of the vehicle, in order to avoid safety accidents, the lost vehicle information will be broadcast to other vehicles as a warning until the fault is eliminated.

[0068] Emergency braking safety guarantee mechanism: The emergency stop command of the unmanned vehicle includes the physical emergency stop switch of the vehicle itself, the emergency stop signal issued by the cloud dispatch system, the emergency stop command issued by the remote driving system, the emergency stop signal issued by the inspection personnel holding the PAD, and the emergency stop signal issued by the excavator and loader system. After the unmanned vehicle receives the emergency stop signal from each system, the power system immediately executes the braking command until the vehicle stops completely.

[0069] In the event of a safety hazard, the system can send early warning information (warning messages) to relevant equipment and management personnel, and send instructions according to the rules to avoid safety accidents.

[0070] Optionally, based on the device status information, device warning information corresponding to the unmanned driving device is generated, which may specifically include: based on the device status information, judging whether there is an abnormality in the unmanned driving device; if there is an abnormality in the unmanned driving device, generating device warning information corresponding to the unmanned driving device, and the equipment warning information is graded according to the abnormal situation.

[0071] For example, the warning information may include: distance warning between devices, equipment overspeed warning, equipment and faulty object warning, equipment failure warning, etc.

[0072] In some examples, unmanned driving equipment can be modified by wire control to optimize the equipment and reduce abnormal conditions of the equipment. For example, abnormal conditions may include failure of the vehicle thermal management unit, overpressure alarm of the air conditioning compressor, slipping when parking on a slope, frequent jamming of the parking valve, intermittent parking delay, brake disc locking, steering centrifugal abnormality, hydraulic oil leakage, jump in the parking state quantity, different gears for heavy-load downhill and empty-load uphill, etc.

[0073] Optionally, the method of this embodiment may further specifically include: configuring driving control authority of the unmanned driving device; and determining a driving mode of the unmanned driving device based on the driving control authority.

[0074] For example, to ensure the absolute reliability of the unmanned driving system of the mine car, the driving modes that can be retained during the unmanned transformation of the mine car may include: unmanned driving, manned driving in the car, and remote emergency driving. The manual driving can be configured with the highest level of authority, and the driving control authority level is specifically configured as: manned driving in the car > remote emergency driving > unmanned driving.

[0075] For example, Figure 4 As shown, a remote takeover control system with dual control and dual driving is shown. Remote driving has the advantages of multi-vehicle supervision, ultra-low transmission delay, and ultra-long-distance remote control. It can be applied to complex operating scenarios with harsh operating environments, high risk factors, and remote supervision and takeover requirements to improve system operation efficiency. At the same time, the "dual control and dual driving" mode is deployed to ensure the safety of the overall system operation.

[0076] For example, Figure 5 As shown in the figure, by building an unmanned transportation simulation system, the construction of simulation systems such as virtual mine scene models, virtual mine car models, and virtual sensor models is realized, as well as the application of simulation technology in the testing and deployment of autonomous driving in mining areas. It can quickly realize the test and verification of various functions of unmanned driving of mine cars, shorten the on-site debugging time by 90%, greatly reduce the impact of on-site debugging on production tasks, improve the safety and reliability of unmanned mine cars during testing and system upgrades, and save personnel, equipment and other related costs.

[0077] At present, mine car drivers are matched with two drivers per car. In this embodiment, the unmanned transport of mine cars can greatly reduce the number of staff in the mine production area. Four mine cars can save about 960,000 yuan in labor costs each year, and only excavator staff and other auxiliary staff can be retained. The reduction in staff has greatly reduced casualties caused by staff errors and accidents, and effectively solved the safety problems of traditional mines with harsh environments, remote and closed locations, and frequent safety accidents, as well as the problems of single operation of mining machinery, difficulty in recruiting personnel, and high costs. In addition, the multiple guarantee mechanisms of smart mine automatic driving can also make the operation of equipment and the overall operation of the mine safer.

[0078] At present, the driving speed of the existing vehicles in the mine is 15KM / hour, the daily production time is about 16 hours, and the daily output is about 12,000 tons. In this embodiment, the unmanned vehicle is calculated based on the driving speed of 15KM / hour. Excluding the driver's rest and meal time, it can do 3 more hours of work per day and produce about 3,000 more tons per day. The daily production efficiency can be improved by about 25%, and the mine can generate good economic benefits in reducing labor and improving efficiency. Figure 6 As shown, combined with other costs incurred, it is estimated within the industry that during the 5-year life cycle of the mine car, the personnel cost of an unmanned mine will be reduced by 49% compared to a traditional manned mine. After switching to an electric car with unmanned driving, the fuel energy consumption cost will be reduced by 83%, the equipment procurement cost will increase by 31%, and the overall operating cost can be reduced by 38%.

[0079] In some examples, such as Figure 7 and Figure 8 As shown in the figure, this embodiment can transform the line control of 4 mining trucks and complete the full business process of mining truck collaboration, unmanned vehicle transportation, and automatic unloading. Based on multiple scenarios, the algorithm is continuously trained and optimized, and the parameters are adjusted to improve the recognition accuracy and success rate of each link in the transportation process.

[0080] In some examples, a comprehensive system security protection system can be built to ensure security from the aspects of system security, identity management security, communication security, data security, management and compliance in view of various potential risks in the unmanned driving system of open-pit mines. In terms of specific implementation, based on cryptographic technology and PKI system, a security protection system is built from three levels: "cloud", "transmission pipe" and "device end". Through security technologies / products / solutions at all levels and dimensions, a comprehensive and three-dimensional complete security protection system is formed to ensure that the identity of the equipment is credible, the data is safe and reliable, and the communication is stable and effective, so as to build an information security environment for autonomous driving in smart mines. 5G / V2X is used to achieve perception enhancement and complete remote driving emergency takeover. A number of key technologies are applied in the project and practiced in industry scenarios, which can realize digging and card coordination, vehicle automatic search for excavators and adjustment of body position technology, centralized dispatching management and connection and coordination with the card dispatching system, as well as automatic driving in open-pit mines, heavy-load downhill and no-load uphill applications.

[0081] In this way, this embodiment can ensure the safety of personnel and equipment in unmanned transportation in the mining area, and take measures through intelligent safety scheduling, full system redundancy, driving mode redundancy, multi-level and multi-level fault monitoring and safety handling mechanism, and all-round safety protection system to form an all-round three-dimensional safety protection system. Among them, the safety management system can be independent of the automatic driving software to ensure safe parking at any time, ensuring absolute safety and reliability. Thereby avoiding personnel safety accidents caused by the unmanned driving system, avoiding safety incidents such as vehicle rollover, scratching, loss of control, falling, and safety accidents caused by network intrusion.

[0082] Compared with the prior art, this embodiment can utilize a preset perception system to adjust the position of the unmanned driving equipment within the operating range of the target collaborative equipment, determine that the position meets the preset unloading requirements corresponding to the target collaborative equipment, and obtain the materials in the target collaborative equipment, thereby realizing unmanned limited collaborative operation and improving operating efficiency. It solves the problems of low automation and low efficiency in ore excavation, ore loading, transportation, and unloading, and solves the problems of huge size of mining vehicles, high fuel consumption and vehicle loss caused by manual driving, poor economy and environmental protection, as well as low automation and intelligence of the entire mine's operating process, and poor overall coordination and scheduling capabilities.

[0083] Further, as Figure 1 and Figure 2 The specific implementation of the method shown in the embodiment provides a material transport device, such as Fig. 9 As shown, the device includes: a calling module 31, a positioning module 32, an adjustment module 33, and a transportation module 34.

[0084] The calling module 31 is configured to call the unmanned driving device to perform a target transportation task, where the target transportation task includes a target cooperative device and a target transportation location;

[0085] A positioning module 32, configured to locate the operating range of the target collaborative device;

[0086] The adjustment module 33 is configured to adjust the position of the unmanned driving device within the operation range and load the materials in the target cooperative device into the unmanned driving device;

[0087] The transport module 34 is configured to transport the materials to the target transport location using unmanned equipment.

[0088] In some examples of this embodiment, the adjustment module 33 is specifically configured to use a preset perception system to adjust the position of the unmanned driving device within the operating range; determine whether the position meets the preset unloading requirements corresponding to the target collaborative device, and obtain the material in the target collaborative device.

[0089] In some examples of this embodiment, the transportation module 34 is specifically configured to use a preset perception system to collect mine road information and obstacle information corresponding to the unmanned driving equipment; determine the transportation route of the unmanned driving equipment based on the mine road information and obstacle information; and transport materials to the target transportation location according to the transportation route.

[0090] In some examples of this embodiment, the transportation module 34 is further configured to monitor the device status information of the unmanned driving device; and generate device warning information corresponding to the unmanned driving device based on the device status information.

[0091] In some examples of this embodiment, the transportation module 34 is specifically configured to determine whether there is an abnormality in the unmanned driving device based on the device status information; if there is an abnormality in the unmanned driving device, device warning information corresponding to the unmanned driving device is generated, and the device warning information is graded according to the abnormal situation.

[0092] In some examples of this embodiment, the calling module 31 is specifically configured to send a target transportation task to the unmanned driving device using a preset communication link, and the preset communication link includes at least two communication links.

[0093] In some examples of this embodiment, the calling module 31 is specifically configured to configure the driving control authority of the unmanned driving device; based on the driving control authority, determine the driving mode of the unmanned driving device.

[0094] It should be noted that for other corresponding descriptions of the functional units involved in the material transport device provided in this embodiment, reference can be made to Figure 1 and Figure 2 The corresponding description in will not be repeated here.

[0095] Based on the above Figure 1 and Figure 2 The method shown in the embodiment also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned Figure 1 and Figure 2 The method shown.

[0096] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the method of the implementation scenario of the present application.

[0097] Based on the above Figure 1 and Figure 2 The method shown, and Fig. 9 In order to achieve the above-mentioned purpose, the embodiment of the present application also provides an electronic device, such as a personal computer, a server, which includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to achieve the above-mentioned Figure 1 and Figure 2 The method shown.

[0098] Optionally, the above-mentioned physical device may also include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), etc.

[0099] Those skilled in the art will appreciate that the above-mentioned physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or a combination of certain components, or different arrangements of components.

[0100] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the above-mentioned physical device, and supports the operation of the information processing program and other software and / or programs. The network communication module is used to realize the communication between the components inside the storage medium, and the communication with other hardware and software in the information processing physical device.

[0101] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general hardware platforms, or by hardware. By applying the technical solution of this embodiment, this embodiment can use the preset perception system to adjust the position of the unmanned driving equipment within the operating range of the target collaborative equipment, determine that the position meets the preset unloading requirements corresponding to the target collaborative equipment, obtain the materials in the target collaborative equipment, realize unmanned limited collaborative operation, improve operation efficiency, solve the problems of low automation and low efficiency in ore mining, ore loading, transportation, and unloading, and solve the problems of huge size of mining vehicles, high fuel consumption and vehicle loss caused by manual driving, poor economy and environmental protection, as well as the low automation and intelligence of the operation process of the entire mine, and poor overall coordination and scheduling capabilities.

[0102] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" 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, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0103] The above is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features applied for herein.

Claims

1. A material transportation method, characterized in that: include: Invoking an unmanned driving device to perform a target transportation task, wherein the target transportation task includes a target coordinated device and a target transportation location; Locating the operating range of the target collaborative device; Adjusting the position of the unmanned driving device within the operating range, and loading the materials in the target collaborative device into the unmanned driving device; The material is transported to the target transportation location using the unmanned driving equipment.

2. The method according to claim 1, characterized in that The step of adjusting the position of the unmanned driving device within the operating range and loading the materials in the target collaborative device into the unmanned driving device includes: Using a preset sensing system, adjusting the position of the unmanned driving device within the operating range; Determine whether the body position meets the preset unloading requirements corresponding to the target collaborative device, and obtain the materials in the target collaborative device.

3. The method according to claim 2, characterized in that The method of transporting the material to the target transportation location by using the unmanned driving equipment includes: Using the preset sensing system, collecting the mine road information and obstacle information corresponding to the unmanned driving equipment; Determining a transportation route for the unmanned equipment according to the mine road information and obstacle information; The material is transported to the target transportation location according to the transportation route.

4. The method according to claim 1, characterized in that: The method further comprises: Monitoring device status information of the unmanned driving device; Based on the device status information, device warning information corresponding to the unmanned driving device is generated.

5. The method according to claim 4, characterized in that The generating, based on the device status information, device warning information corresponding to the unmanned driving device comprises: Based on the device status information, determining whether the unmanned driving device has an abnormality; If the unmanned driving device has an abnormality, device warning information corresponding to the unmanned driving device is generated, and the device warning information is graded according to the abnormal situation.

6. The method according to claim 1, characterized in that Before calling the unmanned driving equipment to perform the target transportation task, the method further includes: The target transportation task is sent to the unmanned driving device using a preset communication link, wherein the preset communication link includes at least two communication links.

7. The method according to claim 1, characterized in that The method further comprises: Configuring driving control authority of the unmanned driving device; Based on the driving control authority, a driving mode of the unmanned driving device is determined.

8. A material transport device, characterized in that: include: A calling module is configured to call an unmanned driving device to perform a target transportation task, wherein the target transportation task includes a target cooperative device and a target transportation location; A positioning module, configured to locate the operating range of the target collaborative device; An adjustment module is configured to adjust the position of the unmanned driving device within the operating range and load the materials in the target collaborative device into the unmanned driving device; The transport module is configured to transport the material to the target transport location using the unmanned driving equipment.

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 method according to any one of claims 1 to 7 is implemented.

10. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

Images