Loading and unloading fleet driving control method, device and equipment and medium

Abstract

The invention discloses a loading and unloading fleet driving control method, device and equipment and a medium. The method comprises the following steps: in response to a loading completion signal sent by a loading driver, driving from a loading area to an unloading point according to a preset head vehicle driving route, and triggering each vehicle in a loading and unloading fleet to broadcast the real-time position of the vehicle outwards; when it is detected that an arrival instruction is sent when the target slave vehicle arrives at the unloading waiting point, an autonomous following releasing instruction is sent to the target slave vehicle, and remote control connection is established; and at least one remote control instruction is sent to the target slave vehicle by operating and controlling at least one running control component of the head vehicle, so that the target slave vehicle is remotely controlled to run from the unloading waiting point to the unloading point. According to the embodiment of the invention, a step-by-step following loading and unloading fleet is constructed, so that disordered driving among the transport vehicles is avoided, the beneficial effect of indirectly controlling the slave vehicles by controlling the head vehicle is achieved, the dependence on manual control is reduced, and the automation level of loading and unloading operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a method, device, equipment and medium for controlling the travel of a loading and unloading fleet. Background Art

[0002] In the field of driving control of construction machinery transport vehicles, especially in industries such as mining transportation with harsh working environments and boring work, drivers of mining transport vehicles face problems such as harsh working environment and high work pressure, which makes it difficult for the industry to attract and retain talent. In response to this phenomenon, with the development of unmanned driving technology and intelligent technology, the industry has begun to explore unmanned driving solutions.

[0003] However, the current unmanned driving technology has not yet been maturely applied, and there are problems with the high cost and poor efficiency of unmanned driving vehicles. These problems limit the widespread application of unmanned driving technology in engineering machinery and transportation vehicles, and cannot effectively achieve the goal of reducing costs and increasing efficiency. Summary of the invention

[0004] Based on this, the present invention provides a method, device, equipment and medium for controlling the driving of a loading and unloading fleet to solve the problem of high cost and poor efficiency of unmanned vehicles in the field of driving control of engineering machinery transportation vehicles.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling the travel of a loading and unloading fleet, which is executed by a leading vehicle in the loading and unloading fleet. The method includes:

[0006] In response to the loading completion signal sent by the loader, the loader starts to drive from the loading area to the unloading point according to the preset lead vehicle driving route, and triggers each vehicle in the loading and unloading fleet to broadcast the real-time geographic location of the vehicle;

[0007] The real-time geographic location broadcast by each vehicle is used to control each follower vehicle in the loading and unloading fleet to follow the leading vehicle step by step along the preset follower vehicle driving route to the unloading point in accordance with the follower vehicle transportation sequence;

[0008] Whenever an arrival instruction is detected when a target slave vehicle arrives at a material unloading waiting point, an autonomous following release instruction is sent to the target slave vehicle, and a remote control connection is established with the target slave vehicle;

[0009] By operating and controlling at least one driving control component of the head vehicle, at least one remote control instruction is sent to the target slave vehicle, so as to remotely control the target slave vehicle to travel from the unloading waiting point to the unloading point.

[0010] In a second aspect, an embodiment of the present invention provides another method for controlling the travel of a loading and unloading fleet, which is executed by a slave vehicle in the loading and unloading fleet, and the method includes:

[0011] When a real-time geographic location broadcast instruction is detected from a loading and unloading team, the real-time geographic location of the vehicle is broadcast to other vehicles in the loading and unloading team, and the real-time geographic location of the preceding vehicle in the loading and unloading team is acquired in real time;

[0012] After determining that the preceding vehicle starts to move according to the preceding vehicle's real-time geographic location, calculating in real time the relative distance between the own vehicle and the preceding vehicle according to the preceding vehicle's real-time geographic location and the own vehicle's real-time geographic location;

[0013] When it is determined that the relative distance is greater than or equal to the safety distance threshold, the vehicle starts to travel along the preset vehicle driving route from the loading area to the unloading point.

[0014] In a third aspect, an embodiment of the present invention provides a driving control device for a loading and unloading fleet, which is arranged in a leading vehicle in the loading and unloading fleet, and the device includes:

[0015] The lead vehicle position broadcast module is used to respond to the loading completion signal sent by the loader operator, start driving from the loading area to the unloading point according to the preset lead vehicle driving route, and trigger each vehicle in the loading and unloading fleet to broadcast the real-time geographical location of the vehicle;

[0016] The real-time geographic location broadcast by each vehicle is used to control each follower vehicle in the loading and unloading fleet to follow the leading vehicle step by step along the preset follower vehicle driving route to the unloading point in accordance with the follower vehicle transportation sequence;

[0017] A slave vehicle following release module is used to send an autonomous following release instruction to the target slave vehicle whenever it detects an arrival instruction sent by a target slave vehicle arriving at a unloading waiting point, and establish a remote control connection with the target slave vehicle;

[0018] The slave vehicle remote control connection module is used to send at least one remote control instruction to the target slave vehicle by operating and controlling at least one driving control component of the lead vehicle, so as to remotely control the target slave vehicle to travel from the unloading waiting point to the unloading point.

[0019] In a fourth aspect, an embodiment of the present invention provides another driving control device for a loading and unloading fleet, which is arranged in a slave vehicle in the loading and unloading fleet, and the device includes:

[0020] The slave vehicle position broadcast module is used to start broadcasting the real-time geographic location of the vehicle to other vehicles in the loading and unloading fleet when detecting the real-time geographic location broadcast instruction sent by the loading and unloading fleet, and start to obtain the real-time geographic location of the preceding vehicle in the loading and unloading fleet in real time;

[0021] A safety distance calculation module, for calculating the relative distance between the vehicle and the preceding vehicle in real time according to the preceding vehicle's real-time geographical location and the vehicle's real-time geographical location after determining that the preceding vehicle starts to move according to the preceding vehicle's real-time geographical location;

[0022] The follower vehicle driving trigger module is used to start driving from the loading area to the unloading point along a preset follower vehicle driving route when it is determined that the relative distance is greater than or equal to a safety distance threshold.

[0023] In a fifth aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0024] at least one processor; and

[0025] a memory communicatively connected to the at least one processor; wherein,

[0026] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a loading and unloading fleet driving control method described in any embodiment of the present invention.

[0027] In a sixth aspect, a computer-readable storage medium is also provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a method for controlling the driving of a loading and unloading fleet as described in any embodiment of the present invention when executed.

[0028] The technical solution of the embodiment of the present invention avoids disorderly driving among transport vehicles by constructing a loading and unloading fleet that follows one level at a time. It improves the transportation efficiency and safety of the fleet through preset driving routes of the lead vehicle and the follower vehicles, as well as real-time geographic location broadcasting and relative distance calculation. At the same time, by constructing a waiting unloading point, the beneficial effect of indirectly controlling the follower vehicles by controlling the lead vehicle is achieved. There is no need for manual control and scheduling of each follower vehicle individually. Instead, the coordinated driving of the entire fleet is achieved through real-time information interaction and automatic following mechanisms. This reduces the reliance on manual control, improves the level of automation of loading and unloading operations, and achieves cost reduction and efficiency improvement.

[0029] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 is a flow chart of a method for controlling the movement of a loading and unloading fleet provided according to the first embodiment of the present invention;

[0032] Figure 2 is a flow chart of another method for controlling the travel of a loading and unloading fleet provided according to the second embodiment of the present invention;

[0033] Figure 3 It is a reference map of a driving route of a vehicle applicable to the embodiment of the present invention;

[0034] Figure 4 is a schematic structural diagram of a driving control device for a loading and unloading fleet provided according to a third embodiment of the present invention;

[0035] Figure 5 is a schematic structural diagram of another loading and unloading fleet travel control device provided according to a fourth embodiment of the present invention;

[0036] Figure 6 It is a structural schematic diagram of an electronic device of a loading and unloading fleet driving control method provided according to Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0038] 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.

[0039] Embodiment 1

[0040] Figure 1 This is a flow chart of a method for controlling the movement of a loading and unloading fleet provided in the first embodiment of the present invention. This embodiment can be applied to the situation of joint control of a fleet performing transportation operations in a mining area. The method can be executed by a device for controlling the movement of a loading and unloading fleet. The device can be implemented in the form of hardware and / or software. The device can be configured in the head vehicle of the loading and unloading fleet. Figure 1 As shown, the method includes:

[0041] S110, in response to the loading completion signal sent by the loader, start driving from the loading area to the unloading point according to the preset lead vehicle driving route, and trigger each vehicle in the loading and unloading fleet to broadcast the real-time geographic location of the vehicle.

[0042] The real-time geographic location broadcast by each vehicle is used to control each follower vehicle in the loading and unloading fleet to follow the leading vehicle step by step along the preset follower vehicle driving route to the unloading point in accordance with the follower vehicle transportation order.

[0043] The main responsibility of a machine operator is to operate mechanical equipment or automated tools to complete a series of work tasks. It is usually used in various manufacturing and construction industries. Specific responsibilities include starting and operating machinery and equipment, controlling mechanical operation, adjusting and maintaining mechanical equipment, etc. For different types of mechanical work scenarios and tasks, the responsibilities and work content of the machine operator may be different.

[0044] In an embodiment of the present invention, the loader operator responsible for loading the goods will send a loading completion signal to the main vehicle after confirming that the loading of the main vehicle is completed. After receiving the loading completion signal, the main vehicle will start from the loading area and drive to the unloading point. The unloading point is also the destination of a transportation task, and the preset driving route of the lead vehicle is a designated path planned in advance. Only when the driving route of the lead vehicle is determined can the following route of the follower vehicle be further determined.

[0045] Specifically, by broadcasting their respective real-time geographic locations, the current follower vehicle can follow the front vehicle step by step to the unloading point according to the location information of the lead vehicle and the front follower vehicle and the preset follower vehicle driving route and transportation sequence. This can ensure the orderly transportation and unloading of the entire fleet and avoid confusion.

[0046] Optionally, before responding to the loading completion signal sent by the loader and starting to drive to the unloading point according to the preset head vehicle driving route, the following may also be included:

[0047] Get the starting point coordinates of the lead vehicle in the loading area;

[0048] The shortest driving path of the lead vehicle is determined according to the position coordinates and the position coordinates of the unloading point, and the shortest driving path is determined as the driving route of the lead vehicle.

[0049] First, it is necessary to determine the exact starting position of the lead vehicle in the loading area, which can be obtained through a high-precision positioning device installed on the lead vehicle; secondly, when the starting point and the end point are determined, the shortest or optimal path for the lead vehicle can be planned, that is, the driving route of the lead vehicle is a straight line.

[0050] S120. Whenever an arrival instruction is detected when a target slave vehicle arrives at a material unloading waiting point, an autonomous following release instruction is sent to the target slave vehicle, and a remote control connection is established with the target slave vehicle.

[0051] The unloading waiting point is a preset position before the vehicle arrives at the unloading point. Its purpose is to send a follow-up release instruction to the follower vehicle that is about to unload. That is, when the target follower vehicle arrives at this point, it indicates that the target follower vehicle needs to switch from the transportation stage to the unloading stage. Since the target loading and unloading fleet is traveling in order, and the length of the driving route of each vehicle is different, the time to arrive at the unloading waiting point is also different. For each target follower vehicle that arrives at the unloading waiting point, it is necessary to send an arrival instruction to the lead vehicle, and brake when receiving the autonomous follow-up release instruction sent by the lead vehicle, waiting for the next remote control operation of the lead vehicle.

[0052] S130, by operating and controlling at least one driving control component of the lead vehicle, at least one remote control instruction is sent to the target follower vehicle, so as to remotely control the target follower vehicle to travel from the unloading waiting point to the unloading point.

[0053] After establishing the remote control connection between the lead vehicle and the target follower vehicle, the target follower vehicle can be remotely controlled by operating the driving control components of the lead vehicle (such as steering wheel, accelerator, brake, etc.) to complete the subsequent unloading work.

[0054] Furthermore, sending at least one remote control instruction to the target slave vehicle by operating and controlling at least one driving control component of the lead vehicle may include:

[0055] Establishing a remote control connection with the target slave vehicle and receiving driving environment video monitoring data sent by the target slave vehicle;

[0056] Performing an operation on at least one driving control component of the lead vehicle according to the monitoring data, and packaging the operation into a remote control command and sending it to the target follower vehicle;

[0057] The leading vehicle does not respond to the operation of the travel control components acting on the target following vehicle.

[0058] When the lead vehicle receives the arrival command from the target slave vehicle, it will establish a remote control connection with the target slave vehicle. This connection allows the lead vehicle to remotely control the driving of the target slave vehicle. Establishing a remote control connection is the basis of remote control, which ensures that the lead vehicle can transmit data and receive commands with the target slave vehicle. After the remote control connection is established, the target slave vehicle will send video surveillance data of its driving environment to the lead vehicle. This data may include images captured by the camera, sensor data, etc., providing real-time and accurate on-site information to help the lead vehicle understand the current driving environment of the target slave vehicle and help make correct remote control command decisions.

[0059] The driving control components (such as steering wheel, accelerator, brake, etc.) of the lead vehicle are operated to simulate the driving actions that the target slave vehicle may need to perform. It should be noted that the operation here is performed on the lead vehicle, but the purpose is to generate remote control instructions to indirectly control the driving of the target slave vehicle. The operation of the driving control components of the lead vehicle is converted into a remote control instruction, which contains the driving action information that the target slave vehicle needs to perform. The remote control instruction is then sent to the target slave vehicle. After receiving the instruction, the target slave vehicle will perform the corresponding driving action according to the instruction content. It should be noted that when the remote control connection is established, the lead vehicle does not respond to the operation of the driving control component.

[0060] The embodiment of the present invention avoids disorderly driving between transport vehicles by constructing a loading and unloading fleet that follows one level at a time. It improves the transportation efficiency and safety of the fleet through the preset driving routes of the lead vehicle and the follower vehicles, as well as the real-time geographic location broadcast and relative distance calculation. At the same time, by constructing a waiting unloading point, the beneficial effect of indirectly controlling the follower vehicles by controlling the lead vehicle is achieved. There is no need for manual control and scheduling of each follower vehicle individually, but through real-time information interaction and automatic following mechanisms, the coordinated driving of the entire fleet is achieved. This reduces the reliance on manual control, improves the automation level of loading and unloading operations, and achieves cost reduction and efficiency improvement.

[0061] Embodiment 2

[0062] Figure 2This is a flow chart of another method for controlling the movement of a loading and unloading fleet provided in the second embodiment of the present invention. This embodiment can be applied to the case of joint control of a fleet performing transportation operations in a mining area. This method can be performed by another device for controlling the movement of a loading and unloading fleet. The device can be implemented in the form of hardware and / or software and can be configured in a slave vehicle of the loading and unloading fleet. Figure 2 As shown, the method includes:

[0063] S210: When a real-time geographic location broadcast instruction is detected from a loading and unloading fleet, the real-time geographic location of the vehicle is broadcast to other vehicles in the loading and unloading fleet, and the real-time geographic location of the preceding vehicle in the loading and unloading fleet is acquired in real time.

[0064] By broadcasting the real-time position of the vehicle to each vehicle in the loading and unloading fleet, each vehicle in the fleet can obtain the driving status of the vehicle in front in real time, so as to set out in accordance with the agreed transportation sequence and provide a basis for subsequent follow-up driving. At the same time, by continuously obtaining the geographical location of the vehicle in front, the vehicle can update the relative position and distance between the vehicle in front in real time.

[0065] S220: After determining that the preceding vehicle starts to move according to the preceding vehicle's real-time geographic location, calculate in real time the relative distance between the present vehicle and the preceding vehicle according to the preceding vehicle's real-time geographic location and the present vehicle's real-time geographic location.

[0066] When the real-time geographic location of the front vehicle changes, it means that the front vehicle starts to move. At this time, the relative distance to the front vehicle is calculated to ensure that the two vehicles maintain a relatively safe driving distance. As the front vehicle's geographic location changes in real time, the relative distance to this vehicle also changes in real time. The relative distance is used as the trigger condition for this vehicle to move, ensuring the orderly following of vehicles between loading and unloading fleets.

[0067] S230: When it is determined that the relative distance is greater than or equal to the safety distance threshold, start driving along a preset vehicle driving route from the loading area to the unloading point.

[0068] A relative distance greater than the safety distance means that there is enough space between the following vehicle and the preceding vehicle to safely follow. Even if a route deviation occurs during driving, a sufficient distance can be maintained to avoid collision and other safety issues. This means that when the loading and unloading convoy starts, the minimum relative distance between each vehicle is the safety distance threshold, which not only intelligently determines when the target following vehicle starts to follow, but also ensures the reliability of the convoy's joint driving.

[0069] Optionally, before starting to drive along the preset driving route of the vehicle to the unloading point, the following steps may also be included:

[0070] Obtain the driving route of the lead vehicle, and determine the position coordinates of the unloading waiting point on the driving route of the lead vehicle according to the predefined loading and unloading waiting distance and the position coordinates of the unloading point;

[0071] The starting coordinates of the target vehicle in the loading area are obtained, and an arc is drawn according to the loading area position coordinates, the unloading waiting point position coordinates and the minimum turning radius of the target vehicle, and the arc is used as the driving route of the target vehicle.

[0072] Obtaining the driving route of the lead vehicle is a prerequisite for ensuring that the follower vehicle can accurately follow the lead vehicle. Since the driving route of the lead vehicle is usually determined based on the starting position of the loading area and the position coordinates of the unloading point, by reading the driving route information of the lead vehicle, a clear waiting position can be determined on the route, that is, the unloading waiting point, so that the follower vehicle can wait for unloading in an orderly manner before arriving at the unloading point.

[0073] Since the unloading waiting point is located on the driving route of the lead vehicle and is at a certain distance from the unloading point, the arc drawn according to the unloading waiting point has a starting point at the starting coordinates of the follower vehicle in the loading area and an end point at the coordinates of the unloading waiting point. This means that when the target follower vehicle travels along the above arc and reaches the unloading waiting point, the driving route of the target follower vehicle merges with the driving route of the lead vehicle. Therefore, using this point as the location for sending a signal to disengage from autonomous following can ensure that the target follower vehicle is accurately controlled by the lead vehicle in the future. In the process of drawing the driving route, the minimum turning radius of the follower vehicle also needs to be considered to ensure that the follower vehicle can smoothly perform turning operations during driving. For ease of understanding, Figure 3 A reference map for plotting a route traveled by a slave vehicle is shown.

[0074] Furthermore, in the process of starting to travel along the preset driving route of the vehicle toward the unloading point, the method may further include:

[0075] The vehicle receives the real-time geographic location information of other vehicles and performs real-time anti-collision detection;

[0076] When it is detected that the relative distance to any follower vehicle is less than the safety distance threshold, the transportation sequence corresponding to the vehicle and the target follower vehicle is obtained;

[0077] If the transport order of the host vehicle is earlier than that of the target vehicle, a braking command is sent to the target vehicle, and when the relative distance between the host vehicle and the target vehicle is greater than or equal to the safety distance threshold, a braking release command is sent to the target vehicle;

[0078] If the transport sequence of the vehicle is later than that of the target vehicle, the vehicle is braked, and when the relative distance between the target vehicle and the vehicle is greater than or equal to the safety distance threshold, the braking state of the vehicle is released.

[0079] The purpose of anti-collision detection is to prevent collisions between vehicles in the convoy during driving. By comparing the geographic location information of each vehicle in real time, the follower vehicle can calculate the distance between itself and other vehicles and determine whether there is a potential risk of collision. If the follower vehicle detects that the relative distance to any other follower vehicle in the convoy is less than the preset safety distance threshold, the follower vehicle will immediately obtain the transportation order corresponding to itself and the target follower vehicle (that is, the follower vehicle whose distance to the follower vehicle is less than the safety distance threshold). The transportation order is determined based on the loading completion status of each follower vehicle in the convoy and the preset driving plan, which determines the driving order and priority of each follower vehicle in the convoy. By obtaining the transportation order, the follower vehicle can determine the priority relationship between itself and the target follower vehicle, and thus decide what measures to take to avoid collisions.

[0080] If the transport order of the follower vehicle is earlier than that of the target follower vehicle, the follower vehicle will consider itself to have a higher priority. At this time, in order to avoid collision with the target follower vehicle, the follower vehicle will send a braking command to the target follower vehicle, requiring the target follower vehicle to slow down or stop. In this way, the target follower vehicle will adjust its driving speed and position according to the received braking command to avoid collision with the follower vehicle. When the follower vehicle detects that the relative distance with the target follower vehicle is greater than or equal to the safety distance threshold, it means that the distance between the two vehicles is safe enough. At this time, the follower vehicle will send a brake release command to the target follower vehicle, allowing the target follower vehicle to continue driving.

[0081] On the contrary, if the transport sequence of the follower vehicle is later than that of the target follower vehicle, the follower vehicle will consider itself to have a lower priority. At this time, in order to avoid collision with the target follower vehicle, the follower vehicle will actively perform braking operations, slow down or stop to wait for the target follower vehicle to pass. When the follower vehicle detects that the relative distance with the target follower vehicle is greater than or equal to the safety distance threshold, it means that the distance between the two vehicles is safe enough. At this time, the follower vehicle will release its braking state and continue to drive to the unloading point according to the preset follower vehicle driving route.

[0082] The embodiments of the present invention obtain the real-time geographic location of the leading vehicle in real time, so that the following vehicle can intelligently follow the leading vehicle without human intervention, thereby improving the automation level of the entire fleet; the automatic control capability of the fleet is further enhanced through dynamic calculation and automatic triggering mechanisms; real-time anti-collision detection will take corresponding braking measures according to the transportation sequence, thereby effectively avoiding the occurrence of collision accidents and improving the safety of the fleet; by setting a reasonable safety distance, it can be ensured that sufficient spacing is maintained between vehicles, even when the leading vehicle suddenly brakes or encounters other emergency situations, the following vehicle has enough time and space to react, avoiding accidents such as rear-end collisions.

[0083] Embodiment 3

[0084] Figure 4This is a schematic diagram of the structure of a loading and unloading fleet driving control device provided in the third embodiment of the present invention. Figure 4 As shown, the device comprises:

[0085] The lead vehicle position broadcasting module 410 is used to respond to the loading completion signal sent by the loader operator, start driving from the loading area to the unloading point according to the preset lead vehicle driving route, and trigger each vehicle in the loading and unloading fleet to broadcast the real-time geographical location of the vehicle;

[0086] The real-time geographic location broadcast by each vehicle is used to control each follower vehicle in the loading and unloading fleet to follow the leading vehicle step by step along the preset follower vehicle driving route to the unloading point in accordance with the follower vehicle transportation sequence;

[0087] A slave vehicle following release module 420 is used to send an autonomous following release instruction to the target slave vehicle and establish a remote control connection with the target slave vehicle whenever an arrival instruction is detected when the target slave vehicle arrives at the unloading waiting point;

[0088] The slave vehicle remote control connection module 430 is used to send at least one remote control instruction to the target slave vehicle by operating and controlling at least one driving control component of the lead vehicle, so as to remotely control the target slave vehicle to travel from the unloading waiting point to the unloading point.

[0089] The embodiment of the present invention avoids disorderly driving between transport vehicles by constructing a loading and unloading fleet that follows one level at a time. It improves the transportation efficiency and safety of the fleet through the preset driving routes of the lead vehicle and the follower vehicles, as well as the real-time geographic location broadcast and relative distance calculation. At the same time, by constructing a waiting unloading point, the beneficial effect of indirectly controlling the follower vehicles by controlling the lead vehicle is achieved. There is no need for manual control and scheduling of each follower vehicle individually, but through real-time information interaction and automatic following mechanisms, the coordinated driving of the entire fleet is achieved. This reduces the reliance on manual control, improves the automation level of loading and unloading operations, and achieves cost reduction and efficiency improvement.

[0090] Optionally, on the basis of the above embodiments, it further includes: a head vehicle driving route determination unit, which is used to obtain the driving starting point coordinates of the head vehicle in the loading area before starting to drive to the unloading point according to the preset head vehicle driving route in response to the loading completion signal sent by the loader;

[0091] The shortest driving path of the lead vehicle is determined according to the position coordinates and the position coordinates of the unloading point, and the shortest driving path is determined as the driving route of the lead vehicle.

[0092] Optionally, based on the above embodiments, the remote control connection module 430 may include:

[0093] A remote control connection establishing unit, used to establish a remote control connection with a target slave vehicle and receive driving environment video monitoring data sent by the target slave vehicle;

[0094] A remote control instruction sending unit, used to perform an operation on at least one driving control component of the lead vehicle according to the monitoring data, and to package the operation into a remote control instruction and send it to the target follower vehicle;

[0095] The leading vehicle does not respond to the operation of the travel control components acting on the target following vehicle.

[0096] A loading and unloading fleet driving device provided by an embodiment of the present invention can execute a loading and unloading fleet driving method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0097] Embodiment 4

[0098] Figure 5 This is a schematic diagram of the structure of another loading and unloading fleet driving control device provided in the fourth embodiment of the present invention. Figure 5 As shown, the device comprises:

[0099] The slave vehicle position broadcast module 510 is used to start broadcasting the real-time geographic location of the vehicle to other vehicles in the loading and unloading fleet when a real-time geographic location broadcast instruction is detected, and to start acquiring the real-time geographic location of the preceding vehicle in the loading and unloading fleet in real time;

[0100] The safety distance calculation module 520 is used to calculate the relative distance between the vehicle and the preceding vehicle in real time according to the preceding vehicle's real-time geographical location and the vehicle's real-time geographical location after determining that the preceding vehicle starts to move according to the preceding vehicle's real-time geographical location;

[0101] The slave vehicle driving trigger module 530 is used to start driving from the loading area to the unloading point along a preset slave vehicle driving route when it is determined that the relative distance is greater than or equal to a safety distance threshold.

[0102] The embodiments of the present invention obtain the real-time geographic location of the leading vehicle in real time, so that the following vehicle can intelligently follow the leading vehicle without human intervention, thereby improving the automation level of the entire fleet; the automatic control capability of the fleet is further enhanced through dynamic calculation and automatic triggering mechanisms; real-time anti-collision detection will take corresponding braking measures according to the transportation sequence, thereby effectively avoiding the occurrence of collision accidents and improving the safety of the fleet; by setting a reasonable safety distance, it can be ensured that sufficient spacing is maintained between vehicles, even when the leading vehicle suddenly brakes or encounters other emergency situations, the following vehicle has enough time and space to react, avoiding accidents such as rear-end collisions.

[0103] Optionally, on the basis of the above embodiments, it further includes: a following vehicle driving route determination unit, which is used to obtain the driving route of the leading vehicle before starting to drive along the preset following vehicle driving route to the unloading point, and determine the position coordinates of the unloading waiting point on the driving route of the leading vehicle according to the predefined loading and unloading waiting distance and the position coordinates of the unloading point;

[0104] The starting coordinates of the target vehicle in the loading area are obtained, and an arc is drawn according to the loading area position coordinates, the unloading waiting point position coordinates and the minimum turning radius of the target vehicle, and the arc is used as the driving route of the target vehicle.

[0105] Optionally, based on the above embodiments, it further includes: a braking control unit, which is used to receive the real-time geographic location information of other vehicles in real time and perform real-time anti-collision detection when the vehicle starts to travel along the preset driving route to the unloading point;

[0106] When it is detected that the relative distance to any follower vehicle is less than the safety distance threshold, the transportation sequence corresponding to the vehicle and the target follower vehicle is obtained;

[0107] If the transport order of the host vehicle is earlier than that of the target vehicle, a braking command is sent to the target vehicle, and when the relative distance between the host vehicle and the target vehicle is greater than or equal to the safety distance threshold, a brake release command is sent to the target vehicle;

[0108] If the transport sequence of the vehicle is later than that of the target vehicle, the vehicle is braked, and when the relative distance between the target vehicle and the vehicle is greater than or equal to the safety distance threshold, the braking state of the vehicle is released.

[0109] Another loading and unloading fleet driving device provided in an embodiment of the present invention can execute another loading and unloading fleet driving method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0110] Embodiment 5

[0111] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0112] like Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0113] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0114] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for controlling the travel of a loading and unloading fleet.

[0115] That is: in response to the loading completion signal sent by the loader, the loader starts to drive from the loading area to the unloading point according to the preset driving route of the lead vehicle, and triggers each vehicle in the loading and unloading fleet to broadcast the real-time geographical location of the vehicle;

[0116] The real-time geographic location broadcast by each vehicle is used to control each follower vehicle in the loading and unloading fleet to follow the leading vehicle step by step along the preset follower vehicle driving route to the unloading point in accordance with the follower vehicle transportation sequence;

[0117] Whenever an arrival instruction is detected when a target slave vehicle arrives at a material unloading waiting point, an autonomous following release instruction is sent to the target slave vehicle, and a remote control connection is established with the target slave vehicle;

[0118] By operating and controlling at least one driving control component of the head vehicle, at least one remote control instruction is sent to the target slave vehicle, so as to remotely control the target slave vehicle to travel from the unloading waiting point to the unloading point.

[0119] and, upon detecting a real-time geographic location broadcast instruction sent by the loading and unloading fleet, starting to broadcast the real-time geographic location of the vehicle to other vehicles in the loading and unloading fleet, and starting to obtain the real-time geographic location of the preceding vehicle in the loading and unloading fleet in real time;

[0120] After determining that the preceding vehicle starts to move according to the preceding vehicle's real-time geographic location, calculating in real time the relative distance between the own vehicle and the preceding vehicle according to the preceding vehicle's real-time geographic location and the own vehicle's real-time geographic location;

[0121] When it is determined that the relative distance is greater than or equal to the safety distance threshold, the vehicle starts to travel along the preset vehicle driving route from the loading area to the unloading point.

[0122] In some embodiments, a method for controlling the travel of a loading and unloading fleet may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for controlling the travel of a loading and unloading fleet described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute a method for controlling the travel of a loading and unloading fleet in any other appropriate manner (e.g., by means of firmware).

[0123] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0124] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0125] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0126] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0127] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0128] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0129] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0130] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the movement of a loading and unloading fleet, executed by a leading vehicle in the loading and unloading fleet, characterized in that: include: In response to the loading completion signal sent by the loader, the loader starts to drive from the loading area to the unloading point according to the preset lead vehicle driving route, and triggers each vehicle in the loading and unloading fleet to broadcast the real-time geographic location of the vehicle; The real-time geographic location broadcast by each vehicle is used to control each follower vehicle in the loading and unloading fleet to follow the leading vehicle step by step along the preset follower vehicle driving route to the unloading point in accordance with the follower vehicle transportation sequence; Whenever an arrival instruction is detected when a target slave vehicle arrives at a material unloading waiting point, an autonomous following release instruction is sent to the target slave vehicle, and a remote control connection is established with the target slave vehicle; By operating and controlling at least one driving control component of the head vehicle, at least one remote control instruction is sent to the target slave vehicle, so as to remotely control the target slave vehicle to travel from the unloading waiting point to the unloading point.

2. The method according to claim 1, characterized in that: In response to the loading completion signal sent by the loader, before starting to drive to the unloading point according to the preset head vehicle driving route, it also includes: Get the starting point coordinates of the lead vehicle in the loading area; The shortest driving path of the lead vehicle is determined according to the position coordinates and the position coordinates of the unloading point, and the shortest driving path is determined as the driving route of the lead vehicle.

3. The method according to claim 1 or 2, characterized in that: By operating and controlling at least one driving control component of the lead vehicle, at least one remote control instruction is sent to the target follower vehicle, including: Establishing a remote control connection with the target slave vehicle and receiving driving environment video monitoring data sent by the target slave vehicle; Performing an operation on at least one driving control component of the lead vehicle according to the monitoring data, and packaging the operation into a remote control command and sending it to the target follower vehicle; The leading vehicle does not respond to the operation of the travel control components acting on the target following vehicle.

4. A method for controlling the movement of a loading and unloading fleet, executed by a slave vehicle in the loading and unloading fleet, characterized in that: include: When a real-time geographic location broadcast instruction is detected from a loading and unloading team, the real-time geographic location of the vehicle is broadcast to other vehicles in the loading and unloading team, and the real-time geographic location of the preceding vehicle in the loading and unloading team is acquired in real time; After determining that the preceding vehicle starts to move according to the preceding vehicle's real-time geographic location, calculating in real time the relative distance between the own vehicle and the preceding vehicle according to the preceding vehicle's real-time geographic location and the own vehicle's real-time geographic location; When it is determined that the relative distance is greater than or equal to the safety distance threshold, the vehicle starts to travel along the preset vehicle travel route from the loading area to the unloading point.

5. The method according to claim 3, characterized in that: Before starting to drive along the preset driving route from the vehicle to the unloading point, it also includes: Obtain the driving route of the lead vehicle, and determine the position coordinates of the unloading waiting point on the driving route of the lead vehicle according to the predefined loading and unloading waiting distance and the position coordinates of the unloading point; The starting coordinates of the target vehicle in the loading area are obtained, and an arc is drawn according to the loading area position coordinates, the unloading waiting point position coordinates and the minimum turning radius of the target vehicle, and the arc is used as the driving route of the target vehicle.

6. The method according to claim 3 or 4, characterized in that: In the process of starting to travel along the preset driving route of the vehicle to the unloading point, the method further includes: The vehicle receives the real-time geographic location information of other vehicles and performs real-time anti-collision detection; When it is detected that the relative distance to any follower vehicle is less than the safety distance threshold, the transportation sequence corresponding to the vehicle and the target follower vehicle is obtained; If the transport order of the host vehicle is earlier than that of the target vehicle, a braking command is sent to the target vehicle, and when the relative distance between the host vehicle and the target vehicle is greater than or equal to the safety distance threshold, a brake release command is sent to the target vehicle; If the transport sequence of the vehicle is later than that of the target vehicle, the vehicle is braked, and when the relative distance between the target vehicle and the vehicle is greater than or equal to the safety distance threshold, the braking state of the vehicle is released.

7. A driving control device for a loading and unloading fleet, arranged in the leading vehicle of the loading and unloading fleet, characterized in that: include: The lead vehicle position broadcast module is used to respond to the loading completion signal sent by the loader operator, start driving from the loading area to the unloading point according to the preset lead vehicle driving route, and trigger each vehicle in the loading and unloading fleet to broadcast the real-time geographical location of the vehicle; The real-time geographic location broadcast by each vehicle is used to control each follower vehicle in the loading and unloading fleet to follow the leading vehicle step by step along the preset follower vehicle driving route to the unloading point in accordance with the follower vehicle transportation sequence; A slave vehicle following release module is used to send an autonomous following release instruction to the target slave vehicle whenever it detects an arrival instruction sent by a target slave vehicle arriving at a unloading waiting point, and establish a remote control connection with the target slave vehicle; The slave vehicle remote control connection module is used to send at least one remote control instruction to the target slave vehicle by operating and controlling at least one driving control component of the lead vehicle, so as to remotely control the target slave vehicle to travel from the unloading waiting point to the unloading point.

8. Another driving control device for a loading and unloading fleet, arranged in a slave vehicle in the loading and unloading fleet, characterized in that: include: The slave vehicle position broadcast module is used to start broadcasting the real-time geographic location of the vehicle to other vehicles in the loading and unloading fleet when detecting the real-time geographic location broadcast instruction sent by the loading and unloading fleet, and start to obtain the real-time geographic location of the preceding vehicle in the loading and unloading fleet in real time; A safety distance calculation module, for calculating the relative distance between the vehicle and the preceding vehicle in real time according to the preceding vehicle's real-time geographical location and the vehicle's real-time geographical location after determining that the preceding vehicle starts to move according to the preceding vehicle's real-time geographical location; The follower vehicle driving trigger module is used to start driving from the loading area to the unloading point along a preset follower vehicle driving route when it is determined that the relative distance is greater than or equal to a safety distance threshold.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a loading and unloading fleet driving control method according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a loading and unloading fleet driving control method according to any one of claims 1 to 6 when executed.

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