Carrying equipment scheduling method and device

Abstract

The invention discloses a carrying equipment scheduling method and device, and relates to the technical field of unmanned driving and smart mines, and the method comprises the steps: searching other loading equipment except first target loading equipment if the communication interruption of the first target loading equipment is monitored in the process of executing a preset carrying task by current carrying equipment; and taking the searched second target loading equipment as a new scheduling target for executing the loading task for the current carrying equipment, and executing scheduling on the current carrying equipment based on the new scheduling target. According to the method, loading equipment can be automatically exchanged, construction period delay is avoided, meanwhile, manual participation is reduced, and the dispatching efficiency of the carrying equipment in the mine field operation process is greatly improved.

Description

Technical Field

[0001] This application relates to the technical fields of driverless and intelligent mines, and particularly to a method and device for scheduling transport equipment. Background Art

[0002] Currently, due to reasons such as excavator failures in the mine loading area, the excavator cannot load within a certain period of time, affecting production efficiency.

[0003] In related technologies, to solve the above problems, it is usually through manual on-site scheduling according to the mine conditions. However, this method not only wastes human resources, is slow and often not reasonable enough, causing chaos in the scheduling of mine trucks in the mine and affecting the project progress. Summary of the Invention

[0004] To overcome the deficiencies of the prior art, this application provides a method and device for scheduling transport equipment.

[0005] The technical solutions adopted by this application to solve its technical problems are as follows:

[0006] In a first aspect, a method for scheduling transport equipment is provided. The method includes:

[0007] During the execution of a preset transport task by the current transport equipment, monitor the communication status between the current transport equipment and a first target loading equipment, where the first target loading equipment is the scheduling target specified in the preset transport task for performing a loading task for the current transport equipment;

[0008] If it is monitored that the communication between the current transport equipment and the first target loading equipment is interrupted, search for other loading equipment outside the first target loading equipment, where the search strategy is related to the shift scenario type, and the shift scenario type includes a scenario of replacing the shift loading equipment and a scenario of replacing the non-shift loading equipment;

[0009] Determine a second target loading equipment from the searched loading equipment, use the second target loading equipment as a new scheduling target for performing a loading task for the current transport equipment, and perform scheduling on the current transport equipment based on the new scheduling target.

[0010] Further, if it is monitored that the communication between the current transport equipment and the first target loading equipment is interrupted, searching for other loading equipment outside the first target loading equipment includes: determining whether the communication interruption time between the current transport equipment and the first target loading equipment exceeds a preset duration; if it exceeds the preset duration, search for other loading equipment outside the first target loading equipment.

[0011] Further, before searching for other loading devices other than the first target loading device, the method further includes: determining the loading device search priority order of the current transportation device; when reaching the loading device search priority order of the current transportation device, searching for other loading devices other than the first target loading device.

[0012] Further, the searching for other loading devices other than the first target loading device includes: searching for other loading devices other than the first target loading device within a target area, where the target area is an area centered on the first target loading device with a specified range.

[0013] Further, determining a second target loading device from the searched loading devices includes: if other loading devices other than the first target loading device are searched within the target area, then it is currently a scenario of replacing the shift loading device, and a first matching strategy is executed. The first matching strategy is to match a second target loading device from the searched loading devices according to the first priority of the first target loading device.

[0014] Further, determining a second target loading device from the searched loading devices further includes: if other loading devices other than the first target loading device are not searched within the target area, then it is currently a scenario of replacing a non-shift loading device, and a second matching strategy is executed. The second matching strategy is to search for the network signals of other loading devices outside the target area and match a second target loading device from the searched loading devices.

[0015] Further, determining the loading device search priority order of the current transportation device includes: determining the first priority of the first target loading device according to the downtime of the first target loading device, where the first priority is positively correlated with the downtime of the first target loading device; determining the second priority of the current transportation device in a first queue, where the first queue is the transportation device queue corresponding to the first target loading device, and the second priority is determined according to the position of the current transportation device; determining the loading device search priority order of the current transportation device according to the first priority and the second priority.

[0016] Further, among the transport devices in the first queue, the transport device closest to the first target loading device is the head of the queue, and the transport device farthest from the first target loading device is the tail of the queue. The second priority of the transport devices in the first queue increases sequentially from the head of the queue to the tail of the queue. Determining the search priority order of the loading device for the current transport device according to the first priority and the second priority includes: determining the replacement order of the loading devices in the first queue according to the first priority; the replacement order of the loading devices of the transport devices in the first queue is set from high to low according to the second priority.

[0017] Further, implementing the second matching strategy includes: determining the second target loading device as the loading device with the smallest relative distance among the searched loading devices, where the relative distance is the distance between the current transport device and the searched loading device.

[0018] Further, the method further includes: determining the order rule for the current transport device to enter the loading area according to the specified transport device information, where the specified transport device information includes at least one of the following: the second target loading device number, the time when the transport device enters the loading area, the atomic service state of the transport device, and the loading task execution position of the current transport device in the loading area; scheduling the current transport device to enter the loading position corresponding to the second target loading device according to the order rule.

[0019] Further, determining the second target loading device as the loading device with the smallest relative distance among the searched loading devices includes: determining whether the current second target loading device is occupied by a road vehicle; if it is occupied, re-determine a new second target loading device until the determined second target loading device is not occupied by a road vehicle.

[0020] Further, the method further includes: if the second target loading device does not exist, sending a takeover request to the cloud platform so that the cloud platform adapts a loading device for the current transport device.

[0021] In a second aspect, a transport device scheduling device is provided. The device is used to adapt a loading device for the current transport device during the execution of a preset transport task by the current transport device. The device includes:

[0022] A monitoring module, configured to monitor the communication state between the current transport device and the first target loading device during the execution of the preset transport task by the current transport device, where the first target loading device is the scheduling target specified in the preset transport task for performing the loading task for the current transport device;

[0023] A loading device search module, configured to search for other loading devices other than the first target loading device if a communication interruption is detected between the current transport device and the first target loading device, wherein the search strategy is related to the shift scenario type, and the shift scenario type includes a scenario of replacing a shift loading device and a scenario of replacing a non-shift loading device;

[0024] A target loading device determination module, configured to determine a second target loading device from the searched loading devices, use the second target loading device as a new scheduling target for performing a loading task for the current transport device, and perform scheduling on the current transport device based on the new scheduling target.

[0025] In a third aspect, a transport device controller is provided, including:

[0026] At least one processor and at least one memory.

[0027] The memory stores executable instructions of the processor.

[0028] The processor is configured to execute the above-mentioned transport device scheduling method.

[0029] The technical solution of the present application provides a transport device scheduling method. During the process of the current transport device performing a preset transport task, if a communication interruption is detected between the current transport device and the first target loading device, other loading devices other than the first target loading device are searched. The search strategy is related to the shift scenario type, and the shift scenario type includes a scenario of replacing a shift loading device and a scenario of replacing a non-shift loading device; a second target loading device is determined from the searched loading devices, the second target loading device is used as a new scheduling target for performing a loading task for the current transport device, and based on the new scheduling target, scheduling is performed on the current transport device. During the transport device scheduling process, when the loading device cannot continue to execute the original scheduling strategy due to a fault or a shift, the loading device is automatically replaced, avoiding project delays and reducing manual participation, greatly improving the efficiency of transport device scheduling during the operation of the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a flowchart of a transport device scheduling method provided by an embodiment of the present application;

[0032] Figure 2 It is a schematic flowchart of another vehicle transportation equipment scheduling method provided by an embodiment of the present application;

[0033] Figure 3 It is a schematic functional structure diagram of a vehicle transportation equipment scheduling device provided by an embodiment of the present application;

[0034] Figure 4 It is a schematic functional structure diagram of another vehicle transportation equipment scheduling device provided by an embodiment of the present application;

[0035] Figure 5 It is a schematic diagram of the process of replacing the shift-changing excavator and the non-shift-changing excavator in an embodiment of the present application;

[0036] Figure 6 It is a schematic diagram of the process of replacing the shift-changing excavator in an embodiment of the present application;

[0037] Figure 7 It is a schematic diagram of the process of replacing the non-shift-changing excavator provided by an embodiment of the present application;

[0038] Figure 8 It is an enlarged schematic diagram of the process of replacing the shift-changing excavator in an embodiment of the present application;

[0039] Figure 9 It is a schematic functional structure diagram of a vehicle transportation equipment controller provided by an embodiment of the present application. Detailed implementation manners

[0040] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other implementation manners obtained by those of ordinary skill in the art without creative efforts shall fall within the scope protected by the present application.

[0041] To solve the technical problems in the background art, referring to Figure 1 , an embodiment of the present application provides a vehicle transportation equipment scheduling method, which can be executed by a vehicle terminal, a cloud platform, or other third-party devices. The method includes:

[0042] 101. During the process of the current vehicle transportation equipment executing a preset transportation task, monitor the communication status between the current vehicle transportation equipment and a first target loading equipment. If it is detected that the communication between the current vehicle transportation equipment and the first target loading equipment is interrupted, then execute 102.

[0043] Among them, the first target loading equipment is the scheduling target specified in the preset transportation task for performing the loading task for the current vehicle transportation equipment.

[0044] 102. Search for other loading devices other than the first target loading device.

[0045] Among them, the search strategy is related to the shift scenario type, and the shift scenario type includes the scenario of replacing the shift loading device and the scenario of replacing the non-shift loading device.

[0046] In this embodiment, when it is detected that the communication between the current transport device and the first target loading device is interrupted, the shift scenario type can be first identified. According to the identified current shift scenario type that meets the conditions, the corresponding target search strategy is determined, and other loading devices other than the first target loading device are searched according to the target search strategy.

[0047] Optionally, the identification of the shift scenario type can be achieved through the following implementation methods:

[0048] Implementation method 1: Obtain the distribution map of the loading devices in the mining area. The positions and availabilities of each loading device are set in the distribution map. The shift scenario type corresponding to the current transport device is determined according to the positions and availabilities of each loading device. Among them, optionally, if there is a loading device with an availability display of available within a specified range area centered on the transport device (i.e., the current transport device, such as a mining truck), it is determined that the current shift scenario type is the scenario of replacing the shift loading device; if not, it is the scenario of replacing the non-shift loading device.

[0049] Implementation method 2: The current transport device (such as a mining truck) communicates with other transport devices that meet the specified distance condition (for example, meet the specified distance threshold, such as 100m) (for example, through V2V), and obtains the loading information of other mining trucks. The loading information includes the loading progress, the loading device matched for loading, the position of the mining truck, the mining truck number, etc. The current shift scenario type is determined according to the obtained loading information of other mining trucks. Among them, optionally, if the loading information shows that the corresponding other mining truck is loading through other loading devices (other than the first target loading device) or is queuing for loading at other loading devices (other than the first target loading device), it is determined that the current shift scenario type is the scenario of replacing the shift loading device; if the above situation is not met, it is the scenario of replacing the non-shift loading device.

[0050] Implementation method 3: Detect whether there is loading device recommendation information sent by other transport devices or loading devices. If the loading device recommendation information is received, it is determined that the current shift scenario type is the scenario of replacing the shift loading device; if not, it is determined to be the scenario of replacing the non-shift loading device. Optionally, the loading device recommendation information is obtained through V2V communication between different transport devices or different loading devices.

[0051] 103. Determine a second target loading device from the searched loading devices, use the second target loading device as a new scheduling target for the current transport device to perform the loading task, and perform scheduling on the current transport device based on the new scheduling target.

[0052] A transport device scheduling method provided in this embodiment. During the process of the current transport device performing a preset transport task, if it is monitored that the communication between the current transport device and the first target loading device is interrupted, other loading devices outside the first target loading device are searched. Among them, the search strategy is related to the shift scenario type, and the shift scenario type includes the scenario of replacing the shift loading device and the scenario of replacing the non-shift loading device; determine a second target loading device from the searched loading devices, use the second target loading device as a new scheduling target for the current transport device to perform the loading task, and perform scheduling on the current transport device based on the new scheduling target. During the scheduling process of the transport device, when the loading device cannot continue to execute the original scheduling strategy due to a fault or a shift, the loading device is automatically replaced, avoiding construction delays and reducing manual participation, which greatly improves the efficiency of the transport device scheduling during the operation of the mine.

[0053] As an improvement of the above embodiment, refer to Figure 2 , this application embodiment provides another transport device scheduling method, and the method includes:

[0054] 201. During the process of the current transport device performing a preset transport task, monitor the communication status between the current transport device and the first target loading device. If it is monitored that the communication between the current transport device and the first target loading device is interrupted, then execute 202.

[0055] Among them, the first target loading device is the scheduling target specified in the preset transport task for the current transport device to perform the loading task.

[0056] In the embodiments of the present invention, the transport device is a device of any type that realizes the transport function. For example, it can be a loading robot for a mining truck (referred to as a mining truck), etc. The loading device can be an excavator (excavator), a loader, etc. The following embodiments mainly take the transport device as a mining truck and the loading device as an excavator as an example for illustration.

[0057] The transport device scheduling method provided in the embodiments of the present invention can be used as a supplementary solution for mining truck scheduling. During the process of the current transport device performing a preset transport task, the communication status between the current transport device and the first target loading device is monitored in real time, so as to adjust the scheduling strategy in real time according to the stopped excavator.

[0058] 202. Determine the search priority order of the loading equipment for the current transport equipment. When the search priority order of the loading equipment for the current transport equipment is reached, execute 203. When the search priority order of the loading equipment for the current transport equipment is not reached, wait for the search instruction.

[0059] In some alternative embodiments, 202 may but is not limited to be implemented through the following process (not shown in the figure):

[0060] 2021. Determine the first priority of the first target loading equipment according to the downtime of the first target loading equipment. The first priority is positively correlated with the downtime of the first target loading equipment.

[0061] In this embodiment, the excavator with the longest downtime is set as the highest priority, and the priorities of the excavators are sorted according to the magnitude of the downtime. When the mining truck replaces the excavator, the excavator with a long downtime is preferentially selected.

[0062] 2022. Determine the second priority of the current transport equipment in the first queue. The first queue is the transport equipment queue corresponding to the first target loading equipment, and the second priority is determined according to the position of the current transport equipment.

[0063] Optionally, in the mining truck queue corresponding to the same excavator, the mining truck closest to the excavator is set as the highest priority, and the priorities of the mining trucks in this queue are sorted according to the distance from the excavator.

[0064] 2023. Determine the search priority order of the loading equipment for the current transport equipment according to the first priority and the second priority.

[0065] When setting the priority of the mining truck to search for the excavator, the embodiment of the present invention not only considers the priority of the downtime excavator, but also considers the priority of the mining truck itself. The setting of the dual priorities enables the current mining truck to select an excavator with better distance and time as the new loading equipment.

[0066] In some alternative embodiments, the transport equipment closest to the first target loading equipment in the first queue is the head of the queue, and the transport equipment farthest from the first target loading equipment is the tail of the queue. The second priority of the transport equipment in the first queue increases sequentially from the head of the queue to the tail of the queue. 2023 may include (not shown in the figure):

[0067] 2023-1: Determine the replacement order of the loading equipment for the first queue according to the first priority.

[0068] 2023-2: The replacement order of the loading equipment for the transport equipment in the first queue is set from high to low according to the second priority.

[0069] 203. Search for other loading devices other than the first target loading device.

[0070] Among them, the search strategy is related to the shift scenario type, and the shift scenario type includes the scenario of replacing the shift loading device and the scenario of replacing the non-shift loading device.

[0071] In some alternative embodiments, 203 may but is not limited to be implemented through the following process (not shown in the figure):

[0072] 2031. Determine whether the communication interruption time between the current transport device and the first target loading device exceeds a preset duration.

[0073] To avoid resource waste caused by misjudgment, in the embodiments of the present invention, when determining whether the excavator has stopped working, it is determined whether the excavator has stopped working according to the duration.

[0074] 2032. If it exceeds the preset duration, search for other loading devices other than the first target loading device.

[0075] In some alternative embodiments, search for other loading devices other than the first target loading device within the target area, and the target area is an area with the first target loading device as the center and a specified range.

[0076] 204. Determine the second target loading device from the searched loading devices. If there is a second target loading device, execute 205. If there is no second target loading device, execute 208.

[0077] In some alternative embodiments, 204 may but is not limited to include (not shown in the figure):

[0078] If other loading devices other than the first target loading device are searched within the target area, then the current is the scenario of replacing the shift loading device, and execute the first matching strategy. The first matching strategy is to match the second target loading device from the searched loading devices according to the first priority of the first target loading device.

[0079] In the case where there is an available excavator within the target area, in the embodiments of the present invention, an available excavator is preferentially selected from the target area for replacement, improving the efficiency of replacing the excavator of the mining truck.

[0080] If other loading devices other than the first target loading device are not searched within the target area, then the current is the scenario of replacing the non-shift loading device, and execute the second matching strategy. The second matching strategy is to search for the network signals of other loading devices outside the target area and match the second target loading device from the searched loading devices.

[0081] In the case where there is no available excavator in the target area, the embodiments of the present invention can expand the search range of the excavator, select an available excavator from outside the target area for replacement, so as to improve the success rate of the mining truck replacing the excavator.

[0082] In order to further improve the efficiency of the mining truck replacing the excavator, when selecting an excavator, the excavator with the shortest distance is preferably selected for replacement. In some alternative embodiments, the second matching strategy can be executed through the following process, which may include but is not limited to: determining the second target loading device as the loading device with the smallest relative distance among the searched loading devices, where the relative distance is the distance between the current transport device and the searched loading device.

[0083] In some alternative embodiments, the second target loading device can be determined as the loading device with the smallest relative distance among the searched loading devices through the following process, which may include but is not limited to:

[0084] Judge whether the current second target loading device is occupied by a road vehicle.

[0085] If it is occupied, a new second target loading device is re-determined until the determined second target loading device is not occupied by a road vehicle.

[0086] In order to further improve the efficiency of the mining truck replacing the excavator and the success rate of the mining truck replacing the excavator, when determining an available target excavator, the embodiments of the present invention judge whether the available target excavator is occupied. If it is occupied, the available target excavator is abandoned and a new replacement target is re-selected.

[0087] 205. Take the second target loading device as the new scheduling target for the current transport device to perform the loading task, and based on the new scheduling target, perform scheduling on the current transport device.

[0088] 206. Determine the order rule for the current transport device to enter the loading area according to the specified transport device information.

[0089] In order to enable the mining truck after replacing the excavator to enter the loading area smoothly and efficiently when executing the new scheduling strategy, the embodiments of the present invention set the order for the mining truck to enter the loading area.

[0090] The specified transport device information includes at least one of the following: the second target loading device number, the time for the transport device to enter the loading area, the atomic service state of the transport device, and the loading task execution position of the current transport device in the loading area.

[0091] 207. Schedule the current transport device to enter the loading position corresponding to the second target loading device according to the order rule.

[0092] 208. Send a takeover request to the cloud platform so that the cloud platform can adapt a loading device for the current transport device.

[0093] For some special cases, the mining truck cannot find an excavator that can be replaced. In order to adjust the mining truck scheduling as soon as possible, when the mining truck cannot find a suitable available replacement excavator through the foregoing process in an embodiment of the present invention, a takeover request will be sent to the cloud platform so that the management personnel can adjust the preset mining truck scheduling strategy through the cloud platform.

[0094] A transportation equipment scheduling method provided in this embodiment. During the process of the current transportation equipment executing a preset transportation task, if it is detected that the communication between the current transportation equipment and the first target loading equipment is interrupted, other loading equipment outside the first target loading equipment will be searched. The search strategy is related to the shift scenario type, and the shift scenario type includes a scenario of replacing the shift loading equipment and a scenario of replacing the non-shift loading equipment; a second target loading equipment is determined from the searched loading equipment, and the second target loading equipment is used as a new scheduling target for the current transportation equipment to execute the loading task. Based on the new scheduling target, the current transportation equipment is scheduled. When a replacement loading equipment cannot be found, it is reported to the cloud for processing. During the transportation equipment scheduling process, when the loading equipment cannot continue to execute the original scheduling strategy due to a fault or a shift, the loading equipment is automatically replaced, avoiding construction delays and reducing manual participation, greatly improving the efficiency of transportation equipment scheduling during the operation of the mine.

[0095] To cooperate with the implementation of the above transportation equipment scheduling method, an embodiment of the present invention provides a transportation equipment scheduling device. The device is used to adapt a loading equipment for the current transportation equipment during the process of the current transportation equipment executing a preset transportation task. See Figure 3 , and the device includes:

[0096] A monitoring module 31, configured to monitor the communication status between the current transportation equipment and the first target loading equipment during the process of the current transportation equipment executing a preset transportation task, where the first target loading equipment is the scheduling target specified in the preset transportation task for the current transportation equipment to execute the loading task.

[0097] A loading equipment search module 32, configured to search for other loading equipment outside the first target loading equipment if it is detected that the communication between the current transportation equipment and the first target loading equipment is interrupted, where the search strategy is related to the shift scenario type, and the shift scenario type includes a scenario of replacing the shift loading equipment and a scenario of replacing the non-shift loading equipment.

[0098] A target loading equipment determination module 33, configured to determine a second target loading equipment from the searched loading equipment, use the second target loading equipment as a new scheduling target for the current transportation equipment to execute the loading task, and schedule the current transportation equipment based on the new scheduling target.

[0099] A transportation equipment scheduling device provided in this embodiment. During the process of the current transportation equipment executing a preset transportation task, if a communication interruption is detected between the current transportation equipment and the first target loading equipment, other loading equipment other than the first target loading equipment is searched. The search strategy is related to the shift scenario type, and the shift scenario type includes the scenario of replacing the shift loading equipment and the scenario of replacing the non-shift loading equipment; a second target loading equipment is determined from the searched loading equipment, and the second target loading equipment is used as a new scheduling target for the current transportation equipment to execute the loading task. Based on the new scheduling target, the current transportation equipment is scheduled. During the transportation equipment scheduling process, when the loading equipment cannot continue to execute the original scheduling strategy due to a fault or a shift, the loading equipment is automatically replaced, avoiding construction delays and reducing manual participation, greatly improving the efficiency of transportation equipment scheduling during the operation of the mine site.

[0100] As an improvement of the above embodiment, an embodiment of the present invention provides another transportation equipment scheduling device. The device is used to adapt a loading equipment for the current transportation equipment during the process of the current transportation equipment executing a preset transportation task. Refer to Figure 4 , the device includes:

[0101] A monitoring module 41, configured to monitor the communication status between the current transportation equipment and the first target loading equipment during the process of the current transportation equipment executing a preset transportation task, where the first target loading equipment is a scheduling target specified in the preset transportation task for executing the loading task for the current transportation equipment.

[0102] An order determination module 42, configured to determine the search priority order of the loading equipment of the current transportation equipment. When the search priority order of the loading equipment of the current transportation equipment is reached, other loading equipment other than the first target loading equipment is searched.

[0103] In some alternative embodiments, the order determination module 42 searches for other loading equipment other than the first target loading equipment within a target area, and the target area is an area within a specified range centered on the first target loading equipment.

[0104] In some alternative embodiments, the order determination module 42 includes:

[0105] A first priority determination unit 421, configured to determine the first priority of the first target loading equipment according to the downtime of the first target loading equipment, and the first priority is positively correlated with the downtime of the first target loading equipment.

[0106] A second priority determination unit 422, configured to determine the second priority of the current transportation equipment in the first queue. The first queue is the transportation equipment queue corresponding to the first target loading equipment, and the second priority is determined according to the position of the current transportation equipment.

[0107] An order determination unit 423 is configured to determine the search priority order of the loading device of the current transport device according to the first priority and the second priority.

[0108] In some alternative embodiments, the transport device closest to the first target loading device in the first queue is the head of the queue, and the transport device farthest from the first target loading device is the tail of the queue. The second priority of the transport devices in the first queue increases sequentially from the head of the queue to the tail of the queue. The order determination unit 423 determines the replacement order of the loading devices in the first queue according to the first priority, and the replacement order of the loading devices of the transport devices in the first queue is set from high to low according to the second priority.

[0109] A loading device search module 43 is configured to search for other loading devices other than the first target loading device if it is detected that the communication between the current transport device and the first target loading device is interrupted, wherein the search strategy is related to the shift scenario type, and the shift scenario type includes a scenario of replacing the shift loading device and a scenario of replacing a non-shift loading device.

[0110] In some alternative embodiments, the loading device search module 43 determines whether the communication interruption time between the current transport device and the first target loading device exceeds a preset duration; if it exceeds the preset duration, it searches for other loading devices other than the first target loading device.

[0111] A target loading device determination module 44 is configured to determine a second target loading device from the searched loading devices, use the second target loading device as a new scheduling target for performing a loading task on the current transport device, and perform scheduling on the current transport device based on the new scheduling target.

[0112] In some alternative embodiments, the target loading device determination module 44 includes:

[0113] A shift loading device search unit 441 is configured to, if other loading devices other than the first target loading device are searched in the target area, then the current is a scenario of replacing the shift loading device, and perform a first matching strategy, where the first matching strategy is to match the second target loading device from the searched loading devices according to the first priority of the first target loading device.

[0114] A non-shift loading device search unit 442 is configured to, if no other loading devices other than the first target loading device are searched in the target area, then the current is a scenario of replacing a non-shift loading device, and perform a second matching strategy, where the second matching strategy is to search for the network signals of other loading devices outside the target area and match the second target loading device from the searched loading devices.

[0115] In some alternative embodiments, the non-shift-changing loading equipment search unit 442 determines the loading equipment with the minimum relative distance among the searched loading equipment as the second target loading equipment, where the relative distance is the distance between the current transport equipment and the searched loading equipment.

[0116] The loading area entry sequence determination module 45 is configured to determine the sequence rule for the current transport equipment to enter the loading area according to the specified transport equipment information, where the specified transport equipment information includes at least one of the following: the second target loading equipment number, the time when the transport equipment enters the loading area, the atomic service status of the transport equipment, and the loading task execution position of the current transport equipment in the loading area, and schedules the current transport equipment to enter the loading position corresponding to the second target loading equipment according to the sequence rule.

[0117] In some alternative embodiments, the non-shift-changing loading equipment search unit 442 determines whether the current second target loading equipment is occupied by a road vehicle; if it is occupied, a new second target loading equipment is re-determined until the determined second target loading equipment is not occupied by a road vehicle.

[0118] The remote reporting module 46 is configured to send a takeover request to the cloud platform if there is no second target loading equipment, so that the cloud platform adapts a loading equipment for the current transport equipment.

[0119] A transport equipment scheduling device provided in this embodiment, during the process of the current transport equipment executing a preset transport task, if a communication interruption is detected between the current transport equipment and the first target loading equipment, other loading equipment outside the first target loading equipment is searched, where the search strategy is related to the shift-changing scenario type, and the shift-changing scenario type includes a scenario of replacing a shift-changing loading equipment and a scenario of replacing a non-shift-changing loading equipment; a second target loading equipment is determined from the searched loading equipment, and the second target loading equipment is used as a new scheduling target for the current transport equipment to perform the loading task, and based on the new scheduling target, the current transport equipment is scheduled. When a replacement loading equipment cannot be found, it is reported to the cloud for processing. During the transport equipment scheduling process, when the loading equipment cannot continue to execute the original scheduling strategy due to a fault or shift change, the loading equipment is automatically replaced, avoiding construction delays and reducing manual participation, and greatly improving the efficiency of transport equipment scheduling in the mine operation process.

[0120] To more specifically illustrate the transport equipment scheduling method provided in the embodiments of the present invention, the present invention provides the following specific embodiments. In the loading area, a mining truck that cannot be normally automatically loaded can select and adapt to other working excavators in the loading area, improving the flexibility of the loading vehicle selection resources in the loading area and reducing remote takeover.

[0121] In this embodiment, there are mining trucks in the loading area that cannot be automatically loaded normally. Through V2X (Vehicle-to-Everything) and V2V systems, other working excavators in the loading area can be selected and adapted, improving the flexibility of resource selection for loading vehicles in the loading area and reducing remote takeover.

[0122] There will be multiple excavators in the same loading area, and each excavator will automatically configure a mining truck queue, and one queue can have multiple mining trucks.

[0123] 1. Conditions for judging excavator replacement.

[0124] The mining truck uses the detection of excavator ID packet loss and faults to judge the disconnection time T from itself 断 as the judgment condition.

[0125] When T 断 < N seconds, after the excavator resumes work, it continues to work, and during this period, the mining truck maintains its task status.

[0126] When T 断 ≥ N seconds, detect other excavator resources. When the disconnected excavator's status is restored, continue to maintain the existing task. When the excavator's status is still not disconnected, detect whether there are shift-changing excavators and other excavator resources.

[0127] 2. Automatic excavator replacement function at the vehicle end.

[0128] 2.1 Setting of disconnected excavator type.

[0129] When there are multiple stopped excavators in a loading area, set the disconnected excavator type to shift-changing excavators and non-shift-changing excavators.

[0130] When the disconnected excavator type is shift-changing, the mining trucks in the shift-changing excavator queue execute the shift-changing excavator logic.

[0131] When the disconnected excavator type is non-shift-changing, select the mining truck queue in the excavator with the longest downtime to execute the replacement function, that is, f(ID 断开挖机 ) = Max(T 断开挖机1 , T 断开挖机2 ,..., T 断开挖机N ). Select the excavator ID queue with the highest priority of other excavators according to the longest downtime of the excavator.

[0132] The execution of the shift-changing logic in the shift-changing and non-shift-changing queues does not conflict. See Figure 5 For the mining trucks in the same queue, the priority of replacing a shift-changing excavator is higher than that of replacing a non-shift-changing excavator.

[0133] 2.2 Introduction to queue replacement priority.

[0134] Based on the relevant information selected by V2X communication, such as the excavator number, the time when the mining truck enters the loading area, the atomic service status of the mining truck, the map anchor point information, etc., judge the order in which the mining trucks enter the loading area and the priority of changing the excavator.

[0135] The anchor point information is the task position of the mining truck in the loading area, such as the loading position, the position to be loaded, the reversing end point, and the reversing starting point.

[0136] The atomic service status can be set to states such as queuing in the loading area, entering the position to be loaded, waiting in the position to be loaded, entering the loading position, loading in the loading position, etc. After selecting the queue of idle excavators, the matching mining truck resources can be scanned and other excavator resources can be selected under the preconditions of changing the excavator.

[0137] For example, judging according to the status of occupying the anchor point, there are currently the reversing starting point, the reversing end point, the position to be loaded, and the loading position. To identify and set the priority Priority of the mining truck to change the excavator Truck :

[0138]

[0139]

[0140] When changing the shift excavator scenario, the scanning resource priority is in ascending order logic, that is, Priority4 > Priority3 > Priority2 > Priority1, and the execution priority of the excavator change function is in descending order logic, that is, Priority1 > Priority2 > Priority3 > Priority4. The shift excavator scenario is as Figure 6 、 Figure 8 shown.

[0141] When changing the non-shift excavator scenario, the scanning resource priority is in ascending order logic, that is, Priority4 > Priority3 > Priority2 > Priority1, and the execution priority of the excavator change function is also in ascending order logic, that is, Priority4 > Priority3 > Priority2 > Priority1. The non-shift excavator change scenario Figure 7 shown.

[0142] 2.3 Automatic identification - Function of changing the shift excavator.

[0143] Shift excavator: See Figure 6, when an excavator pauses work, taking the position of the paused excavator as the origin, the excavators working within a range of radius R can be listed as shift-changing excavators. The radius R can refer to mining area scene factors such as the arm length of the excavator and the positioning accuracy. Among the priorities of the ore trucks in the queue Priority (Priority1, Priority2, Priority3, Priority4), the excavators are identified and matched with the shift-changing excavators in ascending order, that is, Priority4 > Priority3 > Priority2 > Priority1. When excavator ④ identifies shift-changing excavator B, it maintains the original business status and does not perform any operations. After all ore trucks have identified and matched the shift-changing excavators, they perform tasks in descending order, that is, Priority1 > Priority2 > Priority3 > Priority4. It is necessary to ensure that the priority of vehicles at the entrance to select shift-changing excavators is the lowest, as Figure 6 shown.

[0144] 2.4 Automatic function of replacing "non-shift-changing excavators".

[0145] When the original excavator status is disconnected and no shift-changing excavator is detected, after selecting other excavators in the loading area, release the resources of the original excavator.

[0146] Source and continue to go to other excavator resource points. The priorities of the ore trucks are scanned one by one for all the resources Source that can be selected by the excavators DiggerID .

[0147] 1. Scan all available excavator resources Source that are working online DiggerID for locking and freezing resources, such as Source DiggerID (Source DiggerA , Source DiggerB , Source DiggerC ,..., Source DiggerN ).

[0148] 2. Re-check whether there are competing resources occupied by road vehicles (entrance to the loading area) among all the excavator resources within Source DiggerID . If there are competing resources, release the resources. The priority of road vehicles to select resources is higher than that of the ore trucks in the queue of the disconnected excavators in the loading area. The re-check time is N seconds.

[0149] 3. According to the positions of the ore truck and the excavator, judge the relative distance S between the ore truck and other excavators DiggerIDmin (S DiggerA , S DiggerB , S DiggerC ,..., S DiggerN ) with the smallest distance being the matched excavator and occupying the resources.

[0150] 4. If a certain excavator resource is selected for feedback service information but the occupation or execution fails, record the retry count N (when using the counting method N = N + 1). N is a configurable parameter. When N reaches a certain number of times, the mining truck freezes the excavator resource (it cannot be selected as an object thereafter). When all the excavator resources in the loading area are frozen, report to the cloud platform to request taking over the mining truck.

[0151] Based on the same inventive concept, as Figure 9 shown, the present application also provides a carrier equipment controller, including:

[0152] At least one processor 91 and at least one memory 92.

[0153] The memory stores executable instructions of the processor.

[0154] The processor is configured to execute the carrier equipment scheduling method provided in the above embodiments.

[0155] In the carrier equipment controller provided by the embodiments of the present application, by storing the executable instructions of the processor in the memory, when the executable instructions are executed, the processor can search for other loading devices other than the first target loading device if it monitors that the communication between the current carrier equipment and the first target loading device is interrupted during the process of the current carrier equipment executing the preset carrier task, where the search strategy is related to the shift scenario type, and the shift scenario type includes the scenario of replacing the shift loading device and the scenario of replacing the non-shift loading device; determine the second target loading device from the searched loading devices, use the second target loading device as the new scheduling target for the current carrier equipment to execute the loading task, and based on the new scheduling target, perform scheduling on the current carrier equipment. During the carrier equipment scheduling process, when the loading device cannot continue to execute the original scheduling strategy due to a fault or a shift, the loading device is automatically replaced, avoiding project delays and reducing manual participation, and greatly improving the efficiency of carrier equipment scheduling in the mining operation process.

[0156] It should be noted that in the description of the present application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality" refers to at least two.

[0157] It can be understood that the same or similar parts in the above embodiments can be referred to each other, and the content not detailed in some embodiments can be seen in the same or similar content in other embodiments.

Claims

1. A method for dispatching a transport device, characterized in that: The method comprises: During the process of the current transport equipment performing the preset transport task, monitoring the communication status between the current transport equipment and a first target loading equipment, wherein the first target loading equipment is a scheduling target specified in the preset transport task for performing the loading task for the current transport equipment; If it is monitored that the communication between the current carrier and the first target loading device is interrupted, searching for other loading devices other than the first target loading device, wherein the search strategy is related to the shift scene type, and the shift scene type includes a shift loading device replacement scene and a non-shift loading device replacement scene; A second target loading device is determined from the searched loading devices, the second target loading device is used as a new scheduling target for the current transport device to perform the loading task, and the current transport device is scheduled based on the new scheduling target.

2. The method according to claim 1, characterized in that: If it is detected that the communication between the current carrier and the first target loading device is interrupted, searching for other loading devices other than the first target loading device includes: Determine whether the communication interruption time between the current transport device and the first target loading device exceeds a preset time period; If the preset time period is exceeded, searching for other loading devices other than the first target loading device.

3. The method according to claim 2, characterized in that: Before searching for other loading devices other than the first target loading device, the method further includes: Determining a loading equipment search priority order for the current carrier; When the loading equipment search priority order of the current carrier is reached, other loading equipment other than the first target loading equipment is searched.

4. The method according to claim 1, characterized in that: The searching for other loading devices other than the first target loading device includes: Search for other loading devices other than the first target loading device in a target area, where the target area is an area with a specified range centered on the first target loading device.

5. The method according to claim 4, characterized in that: Determining the second target loading device from the searched loading devices includes: If other loading devices other than the first target loading device are searched in the target area, the current scenario is a shift loading device replacement scenario, and the first matching strategy is executed. The first matching strategy is to match the second target loading device from the searched loading devices according to the first priority of the first target loading device.

6. The method according to claim 4 or 5, characterized in that: Determining the second target loading device from the searched loading devices also includes: If no loading device other than the first target loading device is found within the target area, the second matching strategy is executed to change the non-shift loading device scenario. The second matching strategy is to search for network signals of other loading devices outside the target area and match the second target loading device from the searched loading devices.

7. The method according to claim 3, characterized in that: Determining the loading equipment search priority order of the current carrier includes: determining a first priority of the first target loading equipment according to the downtime duration of the first target loading equipment, wherein the first priority is positively correlated with the downtime duration of the first target loading equipment; Determine a second priority of the current carrier in a first queue, the first queue being a carrier queue corresponding to the first target loading device, the second priority being determined according to a position of the current carrier; A loading equipment search priority order of the current carrier equipment is determined according to the first priority and the second priority.

8. The method according to claim 7, characterized in that: The carrier closest to the first target loading device in the first queue is the head of the queue, and the carrier farthest from the first target loading device is the tail of the queue. The second priorities of the carriers in the first queue increase from the head of the queue to the tail of the queue. The order of searching the loading device for the current carrier according to the first priority and the second priority includes: determining a replacement order of loading devices of the first queue according to the first priority; The order of replacing the loading equipment of the carrier equipment in the first queue is set from high to low according to the second priority.

9. The method according to claim 7, characterized in that: Executing the second matching strategy includes: The loading device with the smallest relative distance among the searched loading devices is determined as the second target loading device, and the relative distance is the distance between the current carrying device and the searched loading device.

10. The method according to claim 1, characterized in that: The method further comprises: Determine the order rule for the current carrier to enter the loading area according to the designated carrier information, wherein the designated carrier information includes at least one of the following: the second target loading device number, the time when the carrier enters the loading area, the atomic service state of the carrier, and the loading task execution position of the current carrier in the loading area; The current transport equipment is dispatched to enter the loading position corresponding to the second target loading equipment according to the sequence rule.

11. The method according to claim 9, characterized in that: Determining the loading device with the smallest relative distance among the searched loading devices as the second target loading device comprises: Determining whether the second target loading device is currently occupied by a road-traveling vehicle; If it is occupied, a new second target loading equipment is re-determined until the determined second target loading equipment is not occupied by the road-traveling vehicle.

12. The method according to claim 1, characterized in that The method further comprises: If the second target loading device does not exist, a takeover request is sent to the cloud platform so that the cloud platform adapts the loading device to the current carrier.

13. A transport equipment dispatching device, characterized in that: The device is used to adapt a loading device to the current transport device during the process of the current transport device performing a preset transport task, and the device includes: A monitoring module, used for monitoring the communication status between the current carrier and a first target loading device during the process of the current carrier executing the preset carrier task, wherein the first target loading device is a scheduling target specified in the preset carrier task for executing the loading task for the current carrier; A loading device search module, configured to search for other loading devices other than the first target loading device if it is detected that the communication between the current carrier and the first target loading device is interrupted, wherein the search strategy is related to the shift scene type, and the shift scene type includes a shift loading device replacement scene and a non-shift loading device replacement scene; The target loading equipment determination module determines a second target loading equipment from the searched loading equipment, uses the second target loading equipment as a new scheduling target for the current transport equipment to perform the loading task, and schedules the current transport equipment based on the new scheduling target.

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