An open-pit mine transportation scheduling method based on road right control

Abstract

The present disclosure relates to a kind of open-pit mine transport scheduling method based on road right control, device, electronic equipment and storage medium. Among them, the method includes: based on the laser radar and positioning device pre-installed on the mining card, when the mining card traverses the road of the preset area of mining area, the original data of the road of the preset area is collected, and after the original data is edited, the mining area map containing road network attribute is generated;Based on the mining area map containing road network attribute, a preset array structure is established, based on the preset array structure, the real-time, dynamic record and tracking of the road in the mining area map and the vehicle driving on the road are realized, based on the road right request issued by the mining card, the data in the preset array structure is updated, and open-pit mine transport scheduling is realized.The present disclosure can allocate the instruction of passing or waiting for the related vehicle, not only improve the road passing efficiency, but also guarantee the driving safety of vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned driving control, and more specifically, to a method, apparatus, electronic device, and computer-readable storage medium for open-pit mine transportation scheduling based on right-of-way management. Background Technology

[0002] In open-pit mines, transportation safety at road intersections is a critical area of ​​production safety concern. Traditionally, with manned operation, safety is ensured through measures such as warning signs and speed limits. However, with the continued advancement of intelligent mining practices, unmanned driving technology in open-pit mines is gradually replacing traditional manned methods. Traditional right-of-way management methods are clearly insufficient for unmanned vehicles. Unmanned vehicles require more refined right-of-way management strategies to ensure autonomous decision-making and safe passage in complex and ever-changing road environments. Furthermore, the complex and varied road environment in open-pit mines, with numerous intersections, steep slopes, sharp bends, and other unique terrain features, coupled with the large size and heavy loads of ore transport vehicles, significantly increases road traffic risks. Therefore, effectively implementing right-of-way management to ensure the safe and efficient operation of unmanned vehicles in mining areas is crucial for the successful application of unmanned driving technology in open-pit mines and greatly promotes the intelligent construction of open-pit mines.

[0003] Among existing technologies for right-of-way management systems in open-pit mines:

[0004] A right-of-way management system for mixed operations of open-pit mine transport vehicles (application number: 202210452604.4). This patent discloses a method for determining traffic priority based on vehicle weight and regulating vehicle traffic rights with the help of a traffic light system. However, this method has two problems: (1) This method requires vehicles to have traffic light recognition function. Under extreme environmental conditions, such as high dust, strong winds and sandstorms, the stability and reliability of this function may be significantly affected, thereby affecting the accuracy and efficiency of the entire traffic management system; (2) This method is limited to traffic management in local areas such as intersections, but for the road network that is widely distributed in the mining area and involves continuous transportation operations, this patent does not provide a detailed management strategy or solution.

[0005] A method and system for detecting right-of-way conflicts for unmanned vehicles in open-pit mines (application number: 202310311637.1). This patent discloses a conflict detection mechanism for mining trucks before they enter the road. This mechanism can analyze and predict potential conflicts on the mining truck's path in real time and dynamically adjust the mining truck's access rights based on the detection results. However, while the system can indeed prevent mining trucks from entering the conflict zone after detecting a traffic conflict, it does not provide a clear rule or algorithm to determine which vehicle should be given priority and which should pass later when two or more vehicles are suspended due to a conflict. This deficiency may lead to situations where two vehicles wait continuously without effectively resolving the conflict, thus affecting road efficiency and overall traffic flow.

[0006] Therefore, one or more methods are needed to solve the above problems.

[0007] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0008] The purpose of this disclosure is to provide a method, apparatus, electronic device, and computer-readable storage medium for open-pit mine transportation scheduling based on right-of-way control, thereby overcoming, at least to some extent, one or more problems caused by the limitations and defects of related technologies.

[0009] According to one aspect of this disclosure, a method for scheduling open-pit mine transportation based on right-of-way control is provided, comprising:

[0010] The initial map production steps involve collecting raw road data of a predetermined area as the mining truck traverses the roads of the predetermined mining area using a pre-installed lidar and positioning device. After pre-editing the raw data, a mining area map containing road network attributes is generated.

[0011] The transportation right-of-way management steps involve establishing a preset array structure based on the mining area map containing road network attributes, and using this preset array structure to record and track the roads in the mining area map and the vehicles traveling on those roads in real time and dynamically. Based on the right-of-way requests issued by the mining trucks, the data in the preset array structure is updated to achieve open-pit mine transportation scheduling.

[0012] In one exemplary embodiment of this disclosure, the preliminary map creation step of the method further includes:

[0013] Based on the lidar and positioning device pre-installed on the mining truck, the raw data of the road in the pre-defined area is collected when the mining truck traverses the road in the pre-defined area of ​​the mining area.

[0014] The original data is edited using a preset road network creation tool to generate road network data containing attribute information;

[0015] The road network data containing attribute information is combined with a preset map base to generate a mining area map containing road network attributes.

[0016] In one exemplary embodiment of this disclosure, the method further includes:

[0017] The original data of the roads in the preset area includes point cloud data collected by lidar and GPS coordinates collected by positioning devices.

[0018] The original data is edited using a preset road network creation tool, including road boundary delineation and road attribute assignment, to generate road network data containing attribute information.

[0019] In one exemplary embodiment of this disclosure, the transport right-of-way control step of the method further includes:

[0020] Design a road rights storage data structure based on array structure;

[0021] Initialize the right-of-way storage array;

[0022] Based on the aforementioned right-of-way storage data structure, transportation right-of-way is managed according to a preset transportation right-of-way control strategy.

[0023] In one exemplary embodiment of this disclosure, the right-of-way storage data structure in the method further includes:

[0024] The first column, LaneID, is used to record the unique number of each road segment, so as to accurately identify and manage each road segment;

[0025] The second column, TruckID, is used to record the unique identifier ID of the mining truck operating on each road segment;

[0026] The third column, Valid, records the availability status of the corresponding road segment. Its value is TRUE or FALSE. When TRUE is true, the road is free and the road has passage permission. When FALSE is true, the road is occupied and the road does not have passage permission.

[0027] The fourth column (Bcomapt) indicates whether multiple vehicles are allowed to travel on the same road segment. The value is TRUE or FALSE. If it is set to allow, the road can be occupied by multiple mining trucks at the same time. If it is set to disallow, only one mining truck is allowed to enter the road segment at any time. When a mining truck is already occupying the road segment, subsequent mining trucks must stop at the beginning of the road segment and wait until the preceding vehicle has completely left the road segment before they can be granted entry permission.

[0028] In one exemplary embodiment of this disclosure, the method includes a preset transport right-of-way control strategy, comprising:

[0029] When car A is about to enter the intersection, car A sends a right-of-way request for Lane_1 to the cloud-controlled dispatch management system;

[0030] After receiving the request, the cloud-controlled dispatch management system determines the Bcompat value corresponding to the row where the road segment Lane_1 is located. If Bcompat is TRUE, the cloud-controlled dispatch management system directly sends a permission feedback to vehicle A.

[0031] If Bcompat is FALSE, the cloud control and dispatch management system will check the Valid column corresponding to Lane_1. If Valid is FALSE, the cloud control and dispatch management system will send a prohibition feedback to vehicle A. Vehicle A will receive the notification and stop at the beginning of Lane_1 to wait, and periodically send a right-of-way request for Lane_1 to the cloud control and dispatch management system.

[0032] If Valid is TRUE, the cloud-based dispatch management system sends permission feedback to vehicle A and updates the right-of-way storage array.

[0033] In one exemplary embodiment of this disclosure, the method further includes:

[0034] Based on the right-of-way request issued by the mining card, the real-time location of the mining card is collected, and based on the real-time location of the mining card, the data and value data of each column in the preset array structure are updated in real time.

[0035] In one aspect of this disclosure, an open-pit mine transportation scheduling device based on right-of-way control is provided, comprising:

[0036] The preliminary map creation module is used to collect the original road data of the preset area when the mining truck traverses the preset area of ​​the mining area based on the laser radar and positioning device pre-installed on the mining truck, and generate a mining area map containing road network attributes after pre-editing the original data.

[0037] The transportation right-of-way management module is used to establish a preset array structure based on the mining area map containing road network attributes. Based on the preset array structure, it realizes real-time and dynamic recording and tracking of roads in the mining area map and vehicles traveling on the roads. Based on the right-of-way requests issued by the mining truck, it updates the data in the preset array structure to realize open-pit mine transportation scheduling.

[0038] In one aspect of this disclosure, an electronic device is provided, comprising:

[0039] Processor; and

[0040] A memory storing computer-readable instructions that, when executed by the processor, implement the method according to any one of the preceding claims.

[0041] In one aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the method according to any one of the preceding claims.

[0042] An exemplary embodiment of this disclosure provides a method for open-pit mine transportation scheduling based on right-of-way control. The method includes: collecting raw road data of a predetermined area within the mining area using a laser radar and positioning device pre-installed on a mining truck; generating a mining area map containing road network attributes after pre-editing the raw data; establishing a pre-defined array structure based on the mining area map; recording and tracking the roads in the mining area map and vehicles traveling on those roads in real-time based on the pre-defined array structure; and updating the data in the pre-defined array structure based on right-of-way requests issued by the mining truck, thereby achieving open-pit mine transportation scheduling. This disclosure can assign passage or waiting instructions to relevant vehicles, improving road traffic efficiency and ensuring vehicle safety.

[0043] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0044] The above and other features and advantages of this disclosure will become more apparent from the detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0045] Figure 1 A flowchart of an open-pit mine transportation scheduling method based on right-of-way control according to an exemplary embodiment of the present disclosure is shown;

[0046] Figure 2 A flowchart illustrating the right-of-way control process of an open-pit mine transportation scheduling method based on an exemplary embodiment of the present disclosure is shown.

[0047] Figure 3 A schematic diagram illustrating an application scenario of an open-pit mine transportation scheduling method based on right-of-way control according to an exemplary embodiment of the present disclosure is shown.

[0048] Figure 4 A schematic block diagram of an open-pit mine transportation scheduling device based on right-of-way control according to an exemplary embodiment of the present disclosure is shown;

[0049] Figure 5 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is shown schematically;

[0050] Figure 6 The illustration shows a schematic diagram of a computer-readable storage medium according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0051] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0052] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details described, or other methods, components, materials, apparatuses, steps, etc., can be employed. In other instances, well-known structures, methods, apparatuses, implementations, materials, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0053] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, or in one or more software-hardened modules, or in different network and / or processor devices and / or microcontroller devices.

[0054] In this example embodiment, a method for scheduling open-pit mine transportation based on right-of-way control is first provided; refer to Figure 1 As shown, this open-pit mine transportation scheduling method based on right-of-way control may include the following steps:

[0055] The preliminary map production step S110 involves collecting raw data of the roads in a preset area of ​​the mining area by using a laser radar and positioning device pre-installed on the mining truck as the mining truck traverses the roads in the preset area of ​​the mining area. After pre-editing the raw data, a mining area map containing road network attributes is generated.

[0056] The transportation right-of-way management step S120 involves establishing a preset array structure based on the mining area map containing road network attributes, and using the preset array structure to record and track the roads in the mining area map and the vehicles traveling on those roads in real time and dynamically. Based on the right-of-way requests issued by the mining truck, the data in the preset array structure is updated to realize open-pit mine transportation scheduling.

[0057] An exemplary embodiment of this disclosure provides a method for open-pit mine transportation scheduling based on right-of-way control. The method includes: collecting raw road data of a predetermined area within the mining area using a laser radar and positioning device pre-installed on a mining truck; generating a mining area map containing road network attributes after pre-editing the raw data; establishing a pre-defined array structure based on the mining area map; recording and tracking the roads in the mining area map and vehicles traveling on those roads in real-time based on the pre-defined array structure; and updating the data in the pre-defined array structure based on right-of-way requests issued by the mining truck, thereby achieving open-pit mine transportation scheduling. This disclosure can assign passage or waiting instructions to relevant vehicles, improving road traffic efficiency and ensuring vehicle safety.

[0058] The following will further explain a method for open-pit mine transportation scheduling based on right-of-way control in this example embodiment.

[0059] Example 1:

[0060] In the preliminary map production step S110, the raw data of the roads in the preset area can be collected based on the laser radar and positioning device pre-installed on the mining truck when the mining truck traverses the roads in the preset area of ​​the mining area. After the raw data is pre-edited, a mining area map containing road network attributes is generated.

[0061] In this example embodiment, the preliminary map creation step of the method further includes:

[0062] Based on the lidar and positioning device pre-installed on the mining truck, the raw data of the road in the pre-defined area is collected when the mining truck traverses the road in the pre-defined area of ​​the mining area.

[0063] The original data is edited using a preset road network creation tool to generate road network data containing attribute information;

[0064] The road network data containing attribute information is combined with a preset map base to generate a mining area map containing road network attributes.

[0065] In this example embodiment, the method further includes:

[0066] The original data of the roads in the preset area includes point cloud data collected by lidar and GPS coordinates collected by positioning devices.

[0067] The original data is edited using a preset road network creation tool, including road boundary delineation and road attribute assignment, to generate road network data containing attribute information.

[0068] In the transportation right-of-way management step S120, a preset array structure can be established based on the mining area map containing road network attributes. Based on the preset array structure, the roads in the mining area map and the vehicles traveling on the roads can be recorded and tracked in real time and dynamically. Based on the right-of-way requests issued by the mining truck, the data in the preset array structure can be updated to realize open-pit mine transportation scheduling.

[0069] In this example embodiment, the transport right-of-way control step of the method further includes:

[0070] Design a road rights storage data structure based on array structure;

[0071] Initialize the right-of-way storage array;

[0072] Based on the aforementioned right-of-way storage data structure, transportation right-of-way is managed according to a preset transportation right-of-way control strategy.

[0073] In this example embodiment, the right-of-way storage data structure in the method further includes:

[0074] The first column, LaneID, is used to record the unique number of each road segment, so as to accurately identify and manage each road segment;

[0075] The second column, TruckID, is used to record the unique identifier ID of the mining truck operating on each road segment;

[0076] The third column, Valid, records the availability status of the corresponding road segment. Its value is TRUE or FALSE. When TRUE is true, the road is free and the road has passage permission. When FALSE is false, the road is occupied and the road does not have passage permission.

[0077] The fourth column (Bcomapt) indicates whether multiple vehicles are allowed to travel on the same road segment. The value is TRUE or FALSE. If it is set to allow, the road can be occupied by multiple mining trucks at the same time. If it is set to disallow, only one mining truck is allowed to enter the road segment at any time. When a mining truck is already occupying the road segment, subsequent mining trucks must stop at the beginning of the road segment and wait until the preceding vehicle has completely left the road segment before they can be granted entry permission.

[0078] In this example embodiment, the preset transport right-of-way control strategy in the method includes:

[0079] When car A is about to enter the intersection, car A sends a right-of-way request for Lane_1 to the cloud-controlled dispatch management system;

[0080] After receiving the request, the cloud-controlled dispatch management system determines the Bcompat value corresponding to the row where the road segment Lane_1 is located. If Bcompat is TRUE, the cloud-controlled dispatch management system directly sends a permission feedback to vehicle A.

[0081] If Bcompat is FALSE, the cloud control and dispatch management system will check the Valid column corresponding to Lane_1. If Valid is FALSE, the cloud control and dispatch management system will send a prohibition feedback to vehicle A. Vehicle A will receive the notification and stop at the beginning of the road segment Lane_1 to wait, and periodically send a right-of-way request for the road segment Lane_1 to the cloud control and dispatch management system.

[0082] If Valid is TRUE, the cloud-based dispatch management system sends permission feedback to vehicle A and updates the right-of-way storage array.

[0083] In this example embodiment, the method further includes:

[0084] Based on the right-of-way request issued by the mining card, the real-time location of the mining card is collected, and based on the real-time location of the mining card, the data and value data of each column in the preset array structure are updated in real time.

[0085] Example 2:

[0086] In this example embodiment, the present disclosure ensures the safe and stable operation of mining trucks under various road conditions by implementing a comprehensive right-of-way management strategy. This method needs to cover right-of-way management of all roads within the entire mine, including continuous transport roads and intersections, while also possessing the ability to predict and handle traffic conflicts. It should be able to assign passage or waiting instructions to relevant vehicles, thereby improving road traffic efficiency and ensuring vehicle safety.

[0087] In this example embodiment, the flowchart of the open-pit mine unmanned transportation scheduling method based on right-of-way control is shown in the figure below, which is mainly divided into two parts: preliminary map production and transportation right-of-way control. Among them, preliminary map production is mainly used to collect and edit the mine area road network information, while transportation right-of-way control refers to the process of vehicle-side and cloud-side right-of-way control during transportation operations.

[0088] In this example embodiment, the initial map creation includes:

[0089] First, unmanned vehicles are equipped with LiDAR and positioning devices to operate along accessible roads within the mining area. During this process, the LiDAR sensors precisely collect point cloud data of the roads and their surrounding environment. The positioning devices then transform this point cloud data from a local coordinate system relative to the vehicle to a global coordinate system. Simultaneously, unmanned aerial vehicles (UAVs) perform aerial photography, capturing a comprehensive view of the mining area from the air. This data is used to generate a map of the mining area, serving as the base map data for subsequent processing.

[0090] Then, the collected raw data is edited using professional road network creation tools. During this process, the point cloud data and image data must be carefully compared to delineate the boundaries of drivable roads, and corresponding attribute information must be assigned to the roads according to the actual situation, including but not limited to: road driving direction (one-way or two-way), speed limit, whether overtaking is allowed, and whether right-of-way management is implemented.

[0091] Finally, the road network data with attribute information is combined with the previously acquired base map to generate a mining area map with road network attributes, which is then imported into the cloud-based control and dispatch management system. This map not only reflects the network layout of the mining area's roads but also incorporates traffic control attributes, enabling smooth and safe traffic flow in the mining area through right-of-way management within the cloud-based control and dispatch management system.

[0092] In this example embodiment, transport right-of-way control includes:

[0093] The core mechanism of the right-of-way management function in the cloud-based dispatch and management system lies in using a specially designed array structure to record and track the availability status of each road and the information of vehicles currently traveling on it in real time and dynamically. Simultaneously, based on right-of-way requests issued by vehicles, the data in the array can be updated and maintained in real time, ensuring the timeliness and accuracy of right-of-way management. In this way, the system can comprehensively and accurately grasp the allocation of right-of-way, thereby achieving effective dispatch and management of road traffic flow and ensuring smooth and safe traffic operation. The specific process is described below:

[0094] (1) Design of right-of-way storage data structure

[0095] The cloud-based dispatch management system uses an array to store and manage right-of-way data. The array structure is shown in Table 1 below.

[0096] Table 1. Structure of the right-of-way storage array

[0097]

[0098]

[0099] The meanings of each column are as follows:

[0100] The first column (LaneID) is used to record the unique number of each road segment, so as to accurately identify and manage each road segment;

[0101] The second column (TruckID) is used to record the unique identifier (ID) of the mining trucks operating on each section;

[0102] The third column (Valid) records the availability status of the corresponding road segment. The value is TRUE or FALSE. When TRUE is true, it means that the road is free and has passage permission. When FALSE is true, it means that the road is occupied and has no passage permission.

[0103] The fourth column (Bcomapt) indicates whether multiple vehicles are allowed to travel on the same road segment. The value is TRUE or FALSE. If it is set to allow, it means that multiple mining trucks can occupy the road at the same time. If it is set to disallow, it means that only one mining truck is allowed to enter the road segment at any time. When a mining truck is already occupying the road segment, subsequent mining trucks must stop at the beginning of the road segment and wait until the preceding vehicle has completely left the road segment before they can be granted entry permission.

[0104] (2) Initialize the right-of-way storage array

[0105] When the cloud-based dispatch management system starts the right-of-way control function, it needs to initialize the right-of-way storage array. The process is as follows:

[0106] The first column (LaneID) is initialized with a unique identifier (ID) for all road segments based on the map data. For example, if the map contains 30 road segments, this column is initialized with 30 rows, and the first column of each row is the road ID;

[0107] The second column (TruckID) is initialized to empty;

[0108] The third column (Valid) is initialized to TRUE, meaning that all roads are open for travel;

[0109] The fourth column (Bcompat) can be set to TRUE or FALSE depending on the actual situation.

[0110] (3) Road right-of-way control process

[0111] The cloud-based dispatch management system, based on the right-of-way storage array and the received right-of-way requests from the vehicle, determines the data in each column of the array and returns a decision to the mining truck indicating whether entry is permitted or prohibited. The determination process is as follows: Figure 2 As shown.

[0112] For ease of expression, such as Figure 3 Taking the scenario as an example: Lane_1, Lane_2, Lane_3, and Lane_4 are four drivable roads, where Lane_1 and Lane_2 are intersections, and Lane_1, Lane_3, and Lane_4 are continuous roads; A and B are mining trucks traveling in opposite directions; all roads are in an idle state; multiple vehicles are allowed to enter Lane_3, while multiple vehicles are not allowed to enter the other roads.

[0113] Based on the scenario description, the right-of-way storage matrix is ​​initialized as follows.

[0114] Table 2 Initialization of the Road Weight Storage Matrix

[0115]

[0116] Right-of-way management process:

[0117] When car A is about to enter the intersection, car A sends a right-of-way request for Lane_1 to the cloud-controlled dispatch management system;

[0118] After receiving the request, the cloud-controlled dispatch management system determines the Bcompat value corresponding to the row where the road segment Lane_1 is located. If Bcompat is TRUE, the cloud-controlled dispatch management system directly sends a permission feedback to vehicle A. If Bcompat is FALSE, it jumps to c).

[0119] The cloud-based dispatch management system checks the Valid column corresponding to Lane_1. If Valid is FALSE, the cloud-based dispatch management system sends a prohibition feedback to vehicle A. Vehicle A receives this and stops at the beginning of Lane_1 to wait, and periodically sends a right-of-way request for Lane_1 to the cloud-based dispatch management system. If Valid is TRUE, then proceed to step d).

[0120] The cloud-based dispatch management system sends permission feedback to vehicle A and simultaneously updates the right-of-way storage array. The process is as follows:

[0121] Iterate through the TruckID column. If it already contains car A, clear the TruckID column of the row containing car A and update Valid to TRUE.

[0122] Assign the value A to the TruckID column corresponding to the requested Lane_1, and update the Valid column to FALSE.

[0123] The updated right-of-way storage array is shown below (the updated part is marked with double underscores).

[0124] Table 3: Update of the right-of-way storage array

[0125]

[0126] After vehicle A enters lane_1, vehicle B is about to reach the intersection. Vehicle B sends a right-of-way request for lane_1 to the cloud-controlled dispatch management system.

[0127] After receiving the request from vehicle B, the cloud-controlled dispatch management system determines that the Bcompat value corresponding to the road segment Lane_1 is FALSE. It then checks the Valid column and finds it to be FALSE, which means that the availability status of the road segment is occupied. Therefore, it directly sends a prohibition feedback to vehicle B. Vehicle B stops at the starting point of the road segment Lane_1 and continues to send right-of-way requests for the road segment Lane_1.

[0128] When vehicle A approaches the end of lane 1 and is about to enter lane 2, vehicle A sends a right-of-way request for lane 2 to the cloud-controlled dispatch management system.

[0129] After receiving the request, the cloud-based dispatch management system determines that the BCompat column corresponding to Lane_2 is FALSE, and then checks the Valid column to be TRUE. Therefore, the cloud-based dispatch management system sends a permission feedback to vehicle A. Simultaneously, it checks the TruckID column and finds vehicle A's identifier, meaning vehicle A is currently traveling on Lane_1. Therefore, it sets the TruckID corresponding to Lane_1 to null and Valid to TRUE, and assigns the value A to the TruckID column corresponding to Lane_2 and sets Valid to FALSE. The updated right-of-way storage matrix is ​​shown in the table below (updated parts are marked with double underlines).

[0130] Table 2: Update of the right-of-way storage array

[0131]

[0132] The cloud-based dispatch management system receives another right-of-way request from vehicle B for road segment Lane_1. It determines that the Bcompat column corresponding to road segment Lane_1 is FALSE and Valid is TRUE. The cloud-based dispatch management system then sends a permission feedback to vehicle B and updates the right-of-way storage array, as shown in the table below (the updated part is marked with double underscores).

[0133] Table 3: Update of the right-of-way storage array

[0134]

[0135] After receiving permission from the cloud-based dispatch management system, vehicle B entered lane_1.

[0136] When vehicle A approaches the end of lane 2 and is about to enter lane 3, vehicle A sends a right-of-way request for lane 3 to the cloud-controlled dispatch management system.

[0137] After receiving the request, the cloud-controlled dispatch management system determines that the BCompat column corresponding to the road segment Lane_3 is TRUE, which means that multiple vehicles can enter the road and are therefore not subject to right-of-way control. The cloud-controlled dispatch management system then sends a permission feedback to vehicle A.

[0138] When vehicle B passes Lane_3 and is about to enter the road segment Lane_3, vehicle B sends a right-of-way request for the road segment Lane_3 to the cloud-controlled dispatch management system.

[0139] After receiving the request, the cloud-controlled dispatch management system determines that the BCompat column corresponding to the road segment Lane_3 is TRUE, which means that multiple vehicles can enter the road. Even if vehicle A is still driving in the road segment Lane_3, it is not subject to right-of-way control. Therefore, the cloud-controlled dispatch management system sends a permission feedback to vehicle B.

[0140] The above process is used to cyclically determine and control the right-of-way of all roads in the mining area.

[0141] In this example embodiment, right-of-way control can bring beneficial effects to the open-pit mine transportation operation process, as follows:

[0142] (1) Improve safety. Right-of-way management allows for real-time monitoring of the location and accessibility of mining trucks, preventing collisions and accidents, thereby improving safety;

[0143] (2) Provide data support for improving transportation efficiency. Right-of-way management can statistically analyze road traffic conditions, providing congestion and waiting times for transportation route planning algorithm models, thus helping to improve transportation efficiency;

[0144] (3) Compared with the existing method of controlling road rights through maps, this method uses only an array to achieve the same function, which greatly reduces the difficulty of development and the storage space requirements.

[0145] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0146] Furthermore, in this example embodiment, an open-pit mine transportation scheduling device based on right-of-way control is also provided. (Refer to...) Figure 4 As shown, the open-pit mine transportation scheduling device 400 based on right-of-way control may include: a preliminary map production module 410 and a transportation right-of-way control module 420.

[0147] in:

[0148] The preliminary map production module 410 is used to collect the original data of the roads in the preset area when the mining truck traverses the preset area of ​​the mining area based on the laser radar and positioning device installed on the mining truck, and generate a mining area map containing road network attributes after the original data is preset edited.

[0149] The transportation right-of-way management module 420 is used to establish a preset array structure based on the mining area map containing road network attributes, and to realize real-time and dynamic recording and tracking of roads in the mining area map and vehicles traveling on the roads based on the preset array structure. Based on the right-of-way requests issued by the mining truck, the module updates the data in the preset array structure to realize open-pit mine transportation scheduling.

[0150] The specific details of each of the above-mentioned open-pit mine transportation scheduling device modules based on right-of-way control have been described in detail in the corresponding open-pit mine transportation scheduling method based on right-of-way control, so they will not be repeated here.

[0151] It should be noted that although several modules or units of an open-pit mine transportation scheduling device 400 based on right-of-way control have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0152] Furthermore, in an exemplary embodiment of this disclosure, an electronic device capable of implementing the above-described method is also provided.

[0153] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented as entirely hardware embodiments, entirely software embodiments (including firmware, microcode, etc.), or embodiments combining hardware and software aspects, collectively referred to herein as “circuit,” “module,” or “system.”

[0154] The following reference Figure 5To describe an electronic device 500 according to such an embodiment of the present invention. Figure 5 The electronic device 500 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0155] like Figure 5 As shown, the electronic device 500 is manifested in the form of a general-purpose computing device. The components of the electronic device 500 may include, but are not limited to: at least one processing unit 510, at least one storage unit 520, a bus 530 connecting different system components (including storage unit 520 and processing unit 510), and a display unit 540.

[0156] The storage unit stores program code that can be executed by the processing unit 510, causing the processing unit 510 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of the present invention. For example, the processing unit 510 can perform actions such as... Figure 1 Steps S110 to S120 are shown in the figure.

[0157] Storage unit 520 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 5201 and / or cache memory 5202, and may further include a read-only memory (ROM) 5203.

[0158] Storage unit 520 may also include a program / utility 5204 having a set (at least one) program module 5205, such program module 5205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0159] Bus 530 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0160] Electronic device 500 can also communicate with one or more external devices 570 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 500, and / or with any device that enables electronic device 500 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 550. Furthermore, electronic device 500 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 560. As shown, network adapter 560 communicates with other modules of electronic device 500 via bus 530. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0161] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0162] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the invention may also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the invention described in the "Exemplary Methods" section above.

[0163] refer to Figure 6 As shown, a program product 600 for implementing the above-described method according to an embodiment of the present invention is described. It may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0164] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0165] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0166] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0167] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0168] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0169] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0170] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for scheduling open-pit mine transportation based on right-of-way control, characterized in that, The method includes: The initial map production steps involve collecting raw road data of a predetermined area as the mining truck traverses the roads of the predetermined mining area using a pre-installed lidar and positioning device. After pre-editing the raw data, a mining area map containing road network attributes is generated. The transportation right-of-way management steps involve establishing a preset array structure based on the mining area map containing road network attributes, and using the preset array structure to record and track the roads in the mining area map and the vehicles traveling on those roads in real time and dynamically. Based on the right-of-way requests issued by the mining truck, the data in the preset array structure is updated to realize open-pit mine transportation scheduling. The transport right-of-way control steps of the method also include: Based on the array structure, a right-of-way storage array is established; Initialize the right-of-way storage array; Based on the right-of-way storage array, the right-of-way is managed according to a preset transportation right-of-way control strategy; The right-of-way storage array in the method also includes: The first column, LaneID, is used to record the unique number of each road segment, so as to accurately identify and manage each road segment; The second column, TruckID, is used to record the unique identifier ID of the mining truck operating on each road segment; The third column, Valid, records the availability status of the corresponding road segment. Its value is TRUE or FALSE. When TRUE is true, the road is free and the road has passage permission. When FALSE is false, the road is occupied and the road does not have passage permission. The fourth column, Bcomapt, indicates whether multiple vehicles are allowed to travel on the same road segment. The value is TRUE or FALSE. If it is set to allow, multiple mining trucks can occupy the road segment at the same time. If it is set to disallow, only one mining truck is allowed to enter the road segment at any given time. When a mining truck is already occupying the road segment, subsequent mining trucks must stop at the beginning of the road segment and wait until the preceding vehicle has completely left the road segment before they can be granted entry permission.

2. The method as described in claim 1, characterized in that, The preliminary map creation steps of the method also include: Based on the lidar and positioning device pre-installed on the mining truck, the raw data of the road in the pre-defined area is collected when the mining truck traverses the road in the pre-defined area of ​​the mining area. The original data is edited using a preset road network creation tool to generate road network data containing attribute information; The road network data containing attribute information is combined with a preset map base to generate a mining area map containing road network attributes.

3. The method as described in claim 2, characterized in that, The method further includes: The original data of the roads in the preset area includes point cloud data collected by lidar and GPS coordinates collected by positioning devices. The original data is edited using a preset road network creation tool, including road boundary delineation and road attribute assignment, to generate road network data containing attribute information.

4. The method as described in claim 1, characterized in that, The method includes preset transport right-of-way control strategies, including: When vehicle A is about to enter the intersection, vehicle A sends a right-of-way request for road segment Lane_1 to the cloud-controlled dispatch management system; After receiving the request, the cloud-controlled dispatch management system determines the Bcompat value corresponding to the row where the road segment Lane_1 is located. If Bcompat is TRUE, the cloud-controlled dispatch management system directly sends a permission feedback to vehicle A. If Bcompat is FALSE, the cloud control and dispatch management system will check the Valid column corresponding to Lane_1. If Valid is FALSE, the cloud control and dispatch management system will send a prohibition feedback to vehicle A. Vehicle A will receive the notification and stop at the beginning of the road segment Lane_1 to wait, and periodically send a right-of-way request for the road segment Lane_1 to the cloud control and dispatch management system. If Valid is TRUE, the cloud-based dispatch management system sends permission feedback to vehicle A and updates the right-of-way storage array.

5. The method as described in claim 4, characterized in that, The method further includes: Based on the right-of-way request issued by the mining card, the real-time location of the mining card is collected, and based on the real-time location of the mining card, the data and value data of each column in the preset array structure are updated in real time.

6. An open-pit mine transportation scheduling device based on right-of-way control, characterized in that, Performed using the method as described in any one of claims 1-5, the apparatus comprising: The preliminary map creation module is used to collect the original road data of the preset area when the mining truck traverses the preset area of ​​the mining area based on the laser radar and positioning device pre-installed on the mining truck, and generate a mining area map containing road network attributes after pre-editing the original data. The transportation right-of-way management module is used to establish a preset array structure based on the mining area map containing road network attributes. Based on the preset array structure, it realizes real-time and dynamic recording and tracking of roads in the mining area map and vehicles traveling on the roads. Based on the right-of-way requests issued by the mining truck, it updates the data in the preset array structure to realize open-pit mine transportation scheduling.

7. An electronic device, characterized in that, include Processor; and A memory storing computer-readable instructions that, when executed by the processor, implement the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 5.

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