Loading method, device and equipment of unmanned mine car and medium
By selecting the appropriate loading point in the unmanned mining car and automatically sending the vehicle dispatch information, the problem of unstable loading tasks caused by staff's erroneous operations is solved, and more efficient loading task execution and production efficiency are achieved.
Patent Information
- Application Number
- CN202510780846.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-12
- Publication Date
- 2025-10-14
AI Technical Summary
The loading tasks of existing unmanned mining vehicles are easily affected by the staff's erroneous operation of vehicle dispatch instructions, resulting in unstable loading task execution and restricting the improvement of production efficiency.
When the unmanned mine car drives to the preset position, it selects a suitable loading point based on the loading point status and queue status in the loading area, and generates dispatch information that is automatically sent to the mine car to guide it to drive to the target loading point for loading.
It improves the execution efficiency of loading tasks, ensures the stability of unmanned mining vehicles, and improves production efficiency.
Smart Images
Figure CN120779931A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of metallurgical technology, and in particular to a loading method, device, equipment and medium for an unmanned mining vehicle. Background Art
[0002] With the increasing adoption of driverless technology, autonomous mining vehicles have become a crucial form of transportation equipment in metal mines. Large quantities of ore are transported using autonomous mining vehicles, which can reduce the number of workers in harsh environments and contribute to the development of a people-oriented mine.
[0003] In the prior art, after an unmanned mine car completes its unloading task, if it receives a vehicle dispatch instruction, it will automatically drive to the corresponding loading point to load the material, thereby realizing automatic loading of the unmanned mine car.
[0004] However, the dispatching instructions are triggered by staff and sent to unmanned mine cars. Staff are prone to operating errors, which may lead to the erroneous sending of dispatching instructions, affecting the execution of loading tasks, which is not conducive to the stable operation of unmanned mine cars and restricts the improvement of production efficiency. Summary of the Invention
[0005] In view of the above problems, the present application is proposed to provide a loading method, device, equipment and medium for unmanned mine cars that solve the above problems. The method can select a dispatch loading point that allows the unmanned mine car to load according to the loading status and queuing status of the loading point corresponding to the loading equipment that allows the dispatch status, and then automatically send the generated dispatch information carrying the dispatch loading point to the unmanned mine car, so that after receiving the dispatch information, the unmanned mine car can drive to the dispatch loading point for loading, thereby improving the execution efficiency of the loading task, making the operation of the unmanned mine car more stable, and improving production efficiency.
[0006] In a first aspect, the present application provides a method for loading an unmanned mining vehicle, which is applied to a mining system. The mining system includes at least one loading area, each loading area includes at least one loading point, and each loading point is provided with a loading device. The method includes:
[0007] When the unmanned mining vehicle reaches a preset target location, the target loading area is determined from all loading areas according to the preset decision conditions;
[0008] Obtaining a vehicle dispatching status of each loading device in the target loading area, wherein the vehicle dispatching status includes a vehicle dispatching permission status and a vehicle dispatching prohibition status;
[0009] Determine the loading point corresponding to the loading device whose vehicle dispatch status is the vehicle dispatching allowed state as the target loading point, and obtain the loading state and queue state of the target loading point, wherein the loading state includes a loaded state and an idle state, and the queue state includes a queue state with a vehicle and a queue state without a vehicle;
[0010] Determining a dispatch loading point from all target loading points according to the loading status and the queuing status;
[0011] Generate vehicle dispatch information carrying the vehicle dispatch loading point, and send the vehicle dispatch information to the unmanned mining vehicle, so that the unmanned mining vehicle drives to the vehicle dispatch loading point for loading after receiving the vehicle dispatch information.
[0012] Optionally, determining a dispatch loading point from all target loading points according to the loading status and the queuing status includes:
[0013] If the number of first candidate loading points is greater than or equal to 1, obtaining a first distance between the first candidate loading point and the unmanned mining vehicle, and determining the vehicle dispatch loading point from all first candidate loading points based on the first distance; the first candidate loading point is the target loading point whose loading state is the idle state and whose queuing state is the no-vehicle queuing state;
[0014] If the number of the first candidate loading points is less than 1 and the number of the second candidate loading points is greater than or equal to 1, then the second distance between the second candidate loading point and the unmanned mine car, the remaining loading time of the vehicle being loaded at the second candidate loading point, and the running speed of the unmanned mine car are obtained; and based on the second distance, the remaining loading time and the running speed, the vehicle dispatch loading point is determined from all the second candidate loading points; the second candidate loading point is the target loading point whose loading status is the loading status and the queuing status is the no-vehicle queuing status.
[0015] Optionally, determining the vehicle dispatch loading point from all first candidate loading points based on the first distance includes:
[0016] The first candidate loading point with the smallest first distance is determined as the vehicle dispatching loading point.
[0017] Optionally, determining the vehicle dispatch loading point from all second candidate loading points based on the second distance, the remaining loading time, and the running speed includes:
[0018] calculating a ratio of the second distance to the running speed;
[0019] calculating an absolute value of a difference between the ratio and the remaining loading time;
[0020] The second candidate loading point corresponding to the smallest absolute value is determined as the vehicle dispatching loading point.
[0021] Optionally, after sending the vehicle dispatch information to the unmanned mining vehicle, the method further includes:
[0022] Obtaining a third distance between the unmanned mining vehicle and the dispatched vehicle loading point;
[0023] determining a target size and a braking distance based on the third distance;
[0024] During the process of the unmanned mine car reversing toward the loading position of the dispatched loading point, if it is identified that the size of the obstacle is larger than the target size, a stop instruction is generated when the fourth distance between the unmanned mine car and the obstacle is reduced to the braking distance, and the stop instruction is sent to the unmanned mine car, so that the unmanned mine car stops after receiving the stop instruction.
[0025] Optionally, determining the target size and braking distance according to the third distance includes:
[0026] If the third distance is greater than a preset first distance threshold, determining that the target size is the preset first size and the braking distance is the preset first distance;
[0027] If the third distance is less than or equal to the first distance threshold and greater than a preset second distance threshold, determining that the target size is the preset second size and the braking distance is the first braking distance;
[0028] If the third distance is less than or equal to the second distance threshold, determining that the target size is the second size and the braking distance is the preset second braking distance;
[0029] The first size is smaller than the second size, and the first braking distance is greater than the second braking distance.
[0030] Optionally, after obtaining the loading status and queuing status of the target loading point, the method further includes:
[0031] If the queue status of all target loading points is the vehicle queue status, a waiting message is generated and sent to the unmanned mining car, so that the unmanned mining car drives to the waiting position to wait after receiving the waiting information; the waiting position is carried in the waiting information.
[0032] In a second aspect, the present application provides a loading device for an unmanned mining vehicle, which is applied to a mining system. The mining system includes at least one loading area, each loading area includes at least one loading point, and each loading point is provided with a corresponding loading device. The device includes:
[0033] The first determination module is configured to determine a target loading area from all loading areas according to a preset decision condition when the unmanned mining vehicle travels to a preset target location;
[0034] A first acquisition module is used to obtain the vehicle dispatching status of each loading device in the target loading area, wherein the vehicle dispatching status includes a vehicle dispatching permission status and a vehicle dispatching prohibition status;
[0035] The second determining module is configured to determine that the loading point corresponding to the loading device whose vehicle dispatching status is the vehicle dispatching allowed state is the target loading point, and obtain the loading status and queuing status of the target loading point, wherein the loading status includes a loaded state and an idle state, and the queuing status includes a vehicle queued state and a vehicle-free queued state;
[0036] A third determining module is configured to determine a dispatched loading point from all target loading points according to the loading status and the queuing status;
[0037] The sending module is used to generate the dispatching information carrying the dispatching loading point, and send the dispatching information to the unmanned mining vehicle, so that the unmanned mining vehicle drives to the dispatching loading point for loading after receiving the dispatching information.
[0038] In a third aspect, the present application provides an electronic device comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the method described in the first aspect by executing the computer instructions.
[0039] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method described in the first aspect.
[0040] The technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:
[0041] The embodiments of the present application provide a loading method, device, equipment and medium for an unmanned mine car. When the unmanned mine car travels to a preset target position, the target loading area is determined from all loading areas according to preset decision conditions, and a suitable loading area is selected for loading; the dispatching status of each loading device in the target loading area is obtained, and the dispatching status includes a state where dispatching is allowed and a state where dispatching is prohibited, so as to understand whether the loading device can load the material; the loading point corresponding to the loading device whose dispatching status is a state where dispatching is allowed is determined as the target loading point, and the loading status and queuing status of the target loading point are obtained to understand whether there is a vehicle loading or a vehicle waiting in line for loading at the loading point corresponding to the loading device that can load the material, and the loading status includes a loading state and an idle state, and the queuing state includes a state where there is a vehicle queuing and a state where there is no vehicle queuing; based on the loading status and the queuing state, a dispatching loading point is determined from all target loading points, and the unmanned mine car is dispatched to the most suitable target loading point; dispatching information carrying the dispatching loading point is generated, and the dispatching information is sent to the unmanned mine car, so that the unmanned mine car drives to the dispatching loading point for loading after receiving the dispatching information. This method improves the execution efficiency of loading tasks, makes the operation of unmanned mining vehicles more stable, and improves production efficiency.
[0042] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:
[0044] Figure 1 This is a flow chart of a method for loading an unmanned mining vehicle provided in an embodiment of the present application;
[0045] Figure 2 This is a schematic diagram of the layout of a loading point provided in an embodiment of the present application;
[0046] Figure 3 This is a structural block diagram of a loading device for an unmanned mining vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION
[0047] In order to make the purpose, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings. It should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.
[0048] An embodiment of the present application provides a method for loading an unmanned mine vehicle, which is applied to a mining system. The system includes at least one loading area, each of which includes at least one loading point. The unmanned mine vehicle is loaded at the loading point. Each loading point is equipped with a loading device for loading the ore into the unmanned mine vehicle. The loading areas can be divided according to the roads traveled by the unmanned mine vehicle. For example, loading points on the same branch road can be grouped into the same loading area, that is, each branch road corresponds to a loading area.
[0049] Figure 1 This is a flow chart of a method for loading an unmanned mine car provided by an embodiment of the present application. Figure 1 As shown, the method includes:
[0050] Step S110: When the unmanned mining vehicle reaches a preset target location, a target loading area is determined from all loading areas according to preset decision conditions.
[0051] Among them, the target location is a position between the unloading point and the loading point, which can be set on the main road leading to each loading point. The unloading point is the location where the unmanned mining car unloads.
[0052] In an embodiment of the present application, the decision condition may be to determine the target loading area from all loading areas based on at least one of the loading status and the queuing status of each loading point in each loading area. The loading status includes a loading state and an idle state. The loading state of a loading point where a vehicle is loading is set to the loading state, while the loading state of a loading point where no vehicle is loading is set to the idle state. The queuing state includes a vehicle-queuing state and a vehicle-free state. The queuing state of a loading point where a vehicle is queuing to load is set to the vehicle-queuing state, while the queuing state of a loading point where no vehicle is queuing to load is set to the vehicle-free state.
[0053] Specifically, according to at least one of a loading state and a queuing state of each loading point in each loading zone, a target loading zone is determined from all loading zones, including:
[0054] If the number of loading points with an idle loading status is greater than or equal to 1, then the fifth distance between all loading points with an idle loading status and the unmanned mine car is obtained, and the loading area where the loading point with an idle loading status with the smallest fifth distance is located is determined as the target loading area; if the number of loading points with an idle loading status is less than 1, and the number of loading points with a queueing status of no vehicle is greater than or equal to 1, then the sixth distance between all loading points with a queueing status of no vehicle and the unmanned mine car is obtained, and the loading area where the loading point with a queueing status of no vehicle with the smallest sixth distance is located is determined as the target loading area.
[0055] In the embodiment of the present application, the decision condition may also be to sequentially determine each loading area as the target loading area according to a preset arrangement order. This can be understood as follows: the unmanned mining vehicle currently traveling to the target location is dispatched to the Nth loading area in the arrangement order for loading, i.e., the Nth loading area is determined as the current target loading area; the next unmanned mining vehicle traveling to the target location is dispatched to the N+1th loading area in the arrangement order for loading, i.e., the N+1th loading area is determined as the next target loading area.
[0056] Step S120: Obtain the vehicle dispatch status of each loading device in the target loading area.
[0057] The vehicle dispatching status includes a vehicle dispatching allowed status and a vehicle dispatching prohibited status.
[0058] In an embodiment of the present application, when the loading equipment can perform mineral material loading operations, the vehicle dispatching status will be set to a vehicle dispatching allowed status; when the loading equipment cannot perform mineral material loading operations, the vehicle dispatching status will be set to a vehicle dispatching prohibited status.
[0059] Step S130: Determine the loading point corresponding to the loading equipment whose dispatching status is the dispatching permission status as the target loading point, and obtain the loading status and queuing status of the target loading point.
[0060] In an embodiment of the present application, the loading point corresponding to the loading equipment that can perform mineral loading operations is determined as the target loading point, that is, the loading equipment at the target loading point can load the unmanned mine car.
[0061] Step S140: Determine a dispatch loading point from all target loading points based on the loading status and the queuing status.
[0062] In an embodiment of the present application, the dispatch loading point can be determined based on whether there is a vehicle loading at the target loading point and whether there are vehicles queuing to load, so that the unmanned mining vehicle has a suitable loading point for loading.
[0063] Step S150: generating dispatch information including a dispatch loading point, and sending the dispatch information to the unmanned mining vehicle, so that the unmanned mining vehicle drives to the dispatch loading point for loading after receiving the dispatch information.
[0064] In this embodiment, after dispatch information with a designated loading point is sent to an unmanned mining vehicle, the unmanned mining vehicle receives the dispatch information, parses it, determines the loading point, and then automatically drives to the designated loading point to load the ore. This method can improve the efficiency of loading tasks, making the operation of the unmanned mining vehicle more stable and increasing production efficiency.
[0065] Optionally, after step S130, the method further includes:
[0066] If the queue status of all target loading points is a vehicle queue status, a waiting message is generated and sent to the unmanned mining car, so that the unmanned mining car drives to the waiting position to wait after receiving the waiting message.
[0067] The waiting information carries the waiting location.
[0068] In the embodiment of the present application, if the queue status of all target loading points is "vehicle queued", it means that all target loading points have vehicles waiting to load. In this case, it means that there is no suitable target loading point for loading, so a waiting message is generated and sent to the unmanned mining vehicle. After receiving the waiting message, the unmanned mining vehicle will drive to the waiting position and wait until a target loading point with a queue status of "no vehicle queued" appears, and then determine the loading point to be dispatched.
[0069] Optionally, step S140 includes:
[0070] Step S1401: If the number of first candidate loading points is greater than or equal to 1, obtain the first distance between the first candidate loading point and the unmanned mining vehicle, and determine the dispatch loading point from all first candidate loading points based on the first distance.
[0071] The first candidate loading point is a target loading point whose loading state is an idle state and whose queuing state is a no-vehicle queuing state.
[0072] In an embodiment of the present application, if there are multiple first candidate loading points, the first distance between each first candidate loading point and the unmanned mining vehicle is considered, and a more suitable first candidate loading point is selected as the dispatch loading point based on the first distance.
[0073] Optionally, step S1401 includes:
[0074] The first candidate loading point with the smallest first distance is determined as the loading point for dispatching the vehicle.
[0075] In an embodiment of the present application, the first candidate loading point corresponding to the smallest first distance among all the first distances can be directly determined as the dispatched vehicle loading point, so that the unmanned mining car can travel to the dispatched vehicle loading point as quickly as possible, thereby improving the execution efficiency of the loading task and saving the energy consumption of the unmanned mining car.
[0076] Step S1402: If the number of first candidate loading points is less than 1 and the number of second candidate loading points is greater than or equal to 1, obtain the second distance between the second candidate loading point and the unmanned mine car, the remaining loading time of the vehicle being loaded at the second candidate loading point, and the running speed of the unmanned mine car; and determine the dispatch loading point from all second candidate loading points based on the second distance, the remaining loading time and the running speed.
[0077] The second candidate loading point is a target loading point whose loading status is a loading status and whose queuing status is a no-vehicle queuing status.
[0078] In an embodiment of the present application, if the number of first candidate loading points is less than 1, it means that vehicles are loading minerals at all target loading points, and the number of second candidate loading points is greater than or equal to 1, which means that there are multiple target loading points without vehicles queuing to load minerals. In this case, the second distance between the second candidate loading point and the unmanned mine car, the remaining loading time of the vehicle being loaded at the second candidate loading point, and the running speed of the unmanned mine car should be considered to select a more suitable second candidate loading point as the dispatch loading point.
[0079] Optionally, step S1402 includes:
[0080] Calculate the ratio of the second distance to the running speed; calculate the absolute value of the difference between the ratio and the remaining loading time; and determine the second candidate loading point corresponding to the smallest absolute value as the vehicle dispatch loading point.
[0081] In an embodiment of the present application, the ratio of the second distance to the running speed can reflect the time required for the unmanned mine car to travel to the second candidate loading point, and then the difference between the ratio and the remaining loading time can reflect whether the vehicles normally loaded at the second candidate loading point have been loaded when the unmanned mine car travels to the second candidate loading point. If not, it is necessary to wait for a certain period of time before loading can be carried out; or, after the vehicles normally loaded at the second candidate loading point have been loaded, whether the unmanned mine car can travel to the dispatched vehicle loading point. If not, it means that it is necessary to wait for a period of time before loading can be carried out. Therefore, the second candidate loading point corresponding to the smallest absolute value can be used as the dispatched vehicle loading point, which can minimize the waiting time of the loading equipment or the unmanned mine car, and can be loaded as soon as possible, thereby improving the execution efficiency of the loading task.
[0082] For example, Figure 2 This is a schematic diagram of the layout of a loading point provided in an embodiment of the present application, such as Figure 2 As shown, loading points 1# and 2# are located in the first loading area, loading point 3# is located in the second loading area, and loading point 4# is located in the third loading area. When the unmanned mine car reaches the target position A, the target loading area is automatically determined from the first loading area, the second loading area, and the third loading area according to the decision conditions. That is, it is determined whether the unmanned mine car enters the first loading area where loading points 1# and 2# are located. If the first loading area is determined to be the target loading area, the unmanned mine car will enter the branch road where loading points 1# and 2# are located. When the unmanned mine car reaches the first position B, the dispatch loading point is determined from loading points 1# and 2#. If the loading area where loading point 3# or 4# is located is determined to be the target loading area, the unmanned mine car continues to travel along the main road to the second position C, and the dispatch loading point is determined from loading points 3# and 4#.
[0083] Optionally, after step S150, the method further includes:
[0084] The first step is to obtain the third distance between the unmanned mining vehicle and the dispatched vehicle loading point.
[0085] In the embodiment of the present application, when the unmanned mining car drives near the dispatched vehicle loading point, it will reverse into the loading position of the dispatched vehicle loading point for loading. The third distance between the unmanned mining car and the dispatched vehicle loading point can be detected in real time by the distance sensor during the reverse process.
[0086] Step 2: Determine the target size and braking distance based on the third distance.
[0087] In the embodiment of the present application, the third distance determines the reversing progress of the unmanned mining vehicle. According to the changes in the reversing progress, the target size and braking distance are continuously adjusted, making the entire reversing process more controllable.
[0088] Optionally, the second step includes:
[0089] If the third distance is greater than the preset first distance threshold, determining the target size to be the preset first size and the braking distance to be the preset first distance;
[0090] If the third distance is less than or equal to the first distance threshold and greater than a preset second distance threshold, determining that the target size is the preset second size and the braking distance is the first braking distance;
[0091] If the third distance is less than or equal to the second distance threshold, determining that the target size is the second size and the braking distance is the preset second braking distance;
[0092] The first size is smaller than the second size, and the first braking distance is greater than the second braking distance.
[0093] In this embodiment of the present application, the smaller the third distance, the larger the target size, and the shorter the braking distance. For example, if the first distance threshold is 13 meters, the second distance threshold is 5 meters, the first size is 0.3 meters, and the second size is 0.5 meters, the first braking distance is 3 meters, and the second braking distance is 0.5 meters.
[0094] Step 3: When the unmanned mine car is reversing toward the loading position of the dispatched loading point, if it is recognized that the size of the obstacle is larger than the target size, a stop command is generated when the fourth distance between the unmanned mine car and the obstacle is reduced to the braking distance, and the stop command is sent to the unmanned mine car, so that the unmanned mine car stops after receiving the stop command.
[0095] In the embodiment of the present application, since the environment near the loading position is complex and there may be large pieces of material, if the unmanned mine car detects an obstacle on the reversing path during the reversing process, the unmanned mine car must stop to prevent a collision. After stopping, manual handling of the obstacle is required to ensure that the unmanned mine car can continue to load safely.
[0096] In this embodiment of the present application, to prevent frequent stops for the unmanned mine vehicle, the size of the obstacle and braking distance required to stop the unmanned mine vehicle can be continuously adjusted based on the reversing progress. Specifically, as the third distance decreases, the vehicle will stop only when a larger obstacle is detected, and the braking distance is also shortened. This effectively prevents frequent stops, improves the smooth operation of the unmanned mine vehicle in the loading area, promotes the advancement of unmanned driving technology, and has significant application value among similar system applications.
[0097] For example, when the unmanned mine car is reversing, when the distance between the rear edge of the unmanned mine car and the rear edge of the loading position of the dispatched loading point is greater than 13 meters, and the height of the obstacle is detected to be greater than 300mm, the unmanned mine car stops when it is 3 meters away from the obstacle; when the distance is less than or equal to 13 meters and greater than 5 meters, when the height of the obstacle is detected to be greater than 500mm, the unmanned mine car stops when it is 3 meters away from the obstacle; when the distance is less than or equal to 5 meters, when the height of the obstacle is detected to be greater than 500mm, the unmanned mine car stops when it is 0.5 meters away from the obstacle.
[0098] Based on the same application concept, an embodiment of the present invention also provides a loading device for an unmanned mining vehicle. Figure 3 This is a structural block diagram of a loading device for an unmanned mining vehicle provided in an embodiment of the present application. Figure 3As shown, the apparatus 300 comprises a first determining module 301, an obtaining module 302, a second determining module 303, a third determining module 304, and a sending module 305.
[0099] The first determining module 301 is configured to determine a target loading area from all loading areas according to a preset decision condition when the unmanned mine truck travels to a preset target position.
[0100] The first obtaining module 302 is configured to obtain a dispatching state of each loading device in the target loading area, the dispatching state comprising an allowed dispatching state and a prohibited dispatching state.
[0101] The second determining module 303 is configured to determine a target loading point corresponding to the loading device with the allowed dispatching state as the target loading point, and obtain a loading state and a queuing state of the target loading point, the loading state comprising an in-loading state and an idle state, and the queuing state comprising a vehicle-queued state and a no-vehicle-queued state.
[0102] The third determining module 304 is configured to determine a dispatching loading point from all target loading points according to the loading state and the queuing state.
[0103] The sending module 305 is configured to generate dispatching information carrying the dispatching loading point, and send the dispatching information to the unmanned mine truck, so that the unmanned mine truck travels to the dispatching loading point for loading after receiving the dispatching information.
[0104] Optionally, the third determining module 304 comprises:
[0105] A first determining unit is configured to, if the number of the first candidate loading points is greater than or equal to 1, obtain a first distance between the first candidate loading point and the unmanned mine truck, and determine the dispatching loading point from all the first candidate loading points based on the first distance; the first candidate loading point is the target loading point with the loading state being the idle state and the queuing state being the no-vehicle-queued state.
[0106] A second determining unit is configured to, if the number of the first candidate loading points is less than 1 and the number of the second candidate loading points is greater than or equal to 1, obtain a second distance between the second candidate loading point and the unmanned mine truck, a remaining loading time of a vehicle being loaded on the second candidate loading point, and a running speed of the unmanned mine truck; and determine the dispatching loading point from all the second candidate loading points based on the second distance, the remaining loading time, and the running speed; the second candidate loading point is the target loading point with the loading state being the in-loading state and the queuing state being the no-vehicle-queued state.
[0107] Optionally, the first determining unit is further configured to:
[0108] determine the first candidate loading point with the smallest first distance as the dispatching loading point.
[0109] Optionally, the second determining unit is further configured to:
[0110] calculating a ratio of the second distance to the running speed;
[0111] Calculate the absolute value of the difference between the ratio and the remaining loading time;
[0112] The second candidate loading point corresponding to the smallest absolute value is determined as the vehicle dispatching loading point.
[0113] Optionally, the apparatus 300 further includes:
[0114] The second acquisition module is used to obtain a third distance between the unmanned mining vehicle and the dispatched vehicle loading point;
[0115] a fourth determining module, configured to determine a target size and a braking distance based on the third distance;
[0116] The generation module is used to generate a stop command when the fourth distance between the unmanned mine car and the obstacle is reduced to the braking distance if the size of the obstacle is identified to be larger than the target size during the process of the unmanned mine car reversing to the loading position of the dispatched loading point, and send the stop command to the unmanned mine car so that the unmanned mine car stops after receiving the stop command.
[0117] Optionally, the fourth determining module is further configured to:
[0118] If the third distance is greater than the preset first distance threshold, determining the target size to be the preset first size and the braking distance to be the preset first distance;
[0119] If the third distance is less than or equal to the first distance threshold and greater than a preset second distance threshold, determining that the target size is the preset second size and the braking distance is the first braking distance;
[0120] If the third distance is less than or equal to the second distance threshold, determining that the target size is the second size and the braking distance is the preset second braking distance;
[0121] The first size is smaller than the second size, and the first braking distance is greater than the second braking distance.
[0122] Optionally, the apparatus 300 further includes a waiting module, configured to:
[0123] If the queue status of all target loading points is a queue status with vehicles, a waiting message is generated and sent to the unmanned mining car, so that the unmanned mining car drives to the waiting position to wait after receiving the waiting message; the waiting position is carried in the waiting message.
[0124] It can be understood that the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.
[0125] An embodiment of the present invention further provides an electronic device, which may include a processor and a memory, wherein the processor and the memory may be communicatively connected to each other via a bus or other means.
[0126] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application, or may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above types of chips.
[0127] The memory may include a large capacity memory for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory may include removable or non-removable (or fixed) media. Where appropriate, the memory may be internal or external to the electronic device. In certain embodiments, the memory may be a non-volatile solid-state memory.
[0128] In one embodiment, the memory may be a read-only memory (ROM). In one embodiment, the ROM may be a mask-programmable ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.
[0129] The processor implements any one of the unmanned mining vehicle loading methods in the above embodiments by reading and executing computer program instructions stored in the memory.
[0130] In one example, the electronic device may further include a communication interface and a bus. The processor, memory, and communication interface are connected via the bus and communicate with each other. The communication interface is primarily used to enable communication between the various modules, devices, units, and / or devices in the embodiments of this application. Where appropriate, the bus may include one or more buses.
[0131] In addition, in conjunction with the unmanned mining vehicle loading method described in the above embodiments, embodiments of the present invention may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when executed by a processor, the computer program instructions implement any of the unmanned mining vehicle loading methods described in the above embodiments.
[0132] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD). The storage medium can also include a combination of the above-mentioned types of memory.
[0133] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:
[0134] The embodiments of the present application provide a loading method, device, equipment and medium for an unmanned mine car. When the unmanned mine car travels to a preset target position, the target loading area is determined from all loading areas according to preset decision conditions, and a suitable loading area is selected for loading; the dispatching status of each loading device in the target loading area is obtained, and the dispatching status includes a state where dispatching is allowed and a state where dispatching is prohibited, so as to understand whether the loading device can load the material; the loading point corresponding to the loading device whose dispatching status is a state where dispatching is allowed is determined as the target loading point, and the loading status and queuing status of the target loading point are obtained to understand whether there is a vehicle loading or a vehicle waiting in line for loading at the loading point corresponding to the loading device that can load the material, and the loading status includes a loading state and an idle state, and the queuing state includes a state where there is a vehicle queuing and a state where there is no vehicle queuing; based on the loading status and the queuing state, a dispatching loading point is determined from all target loading points, and the unmanned mine car is dispatched to the most suitable target loading point; dispatching information carrying the dispatching loading point is generated, and the dispatching information is sent to the unmanned mine car, so that the unmanned mine car drives to the dispatching loading point for loading after receiving the dispatching information. This method improves the execution efficiency of loading tasks, makes the operation of unmanned mining vehicles more stable, and improves production efficiency.
[0135] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.
[0136] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Accordingly, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the invention.
[0137] It should be noted that the above embodiments illustrate rather than limit the invention, and that a person skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.
Claims
1. A method for loading an unmanned mining vehicle, characterized in that: Applied to a mining system, the mining system includes at least one loading area, each loading area includes at least one loading point, and each loading point is provided with a corresponding loading device, the method includes: When the unmanned mining vehicle reaches a preset target location, the target loading area is determined from all loading areas according to the preset decision conditions; Obtaining a vehicle dispatching status of each loading device in the target loading area, wherein the vehicle dispatching status includes a vehicle dispatching permission status and a vehicle dispatching prohibition status; Determine the loading point corresponding to the loading device whose vehicle dispatch status is the vehicle dispatching allowed state as the target loading point, and obtain the loading state and queue state of the target loading point, wherein the loading state includes a loaded state and an idle state, and the queue state includes a queue state with a vehicle and a queue state without a vehicle; Determining a dispatch loading point from all target loading points according to the loading status and the queuing status; Generate vehicle dispatch information carrying the vehicle dispatch loading point, and send the vehicle dispatch information to the unmanned mining vehicle, so that the unmanned mining vehicle drives to the vehicle dispatch loading point for loading after receiving the vehicle dispatch information.
2. The method for loading an unmanned mining vehicle according to claim 1, wherein: The step of determining a dispatched loading point from all target loading points according to the loading status and the queuing status includes: If the number of first candidate loading points is greater than or equal to 1, obtaining a first distance between the first candidate loading point and the unmanned mining vehicle, and determining the vehicle dispatch loading point from all first candidate loading points based on the first distance; the first candidate loading point is the target loading point whose loading state is the idle state and whose queuing state is the no-vehicle queuing state; If the number of the first candidate loading points is less than 1 and the number of the second candidate loading points is greater than or equal to 1, then the second distance between the second candidate loading point and the unmanned mine car, the remaining loading time of the vehicle being loaded at the second candidate loading point, and the running speed of the unmanned mine car are obtained; and based on the second distance, the remaining loading time and the running speed, the vehicle dispatch loading point is determined from all the second candidate loading points; the second candidate loading point is the target loading point whose loading status is the loading status and the queuing status is the no-vehicle queuing status.
3. The method for loading an unmanned mining vehicle according to claim 2, wherein: The step of determining the vehicle dispatch loading point from all first candidate loading points based on the first distance includes: The first candidate loading point with the smallest first distance is determined as the vehicle dispatching loading point.
4. The method for loading an unmanned mining vehicle according to claim 2, wherein: The step of determining the vehicle dispatch loading point from all second candidate loading points based on the second distance, the remaining loading time, and the running speed includes: calculating a ratio of the second distance to the running speed; calculating an absolute value of a difference between the ratio and the remaining loading time; The second candidate loading point corresponding to the smallest absolute value is determined as the vehicle dispatching loading point.
5. The method for loading an unmanned mining vehicle according to claim 1, wherein: After sending the vehicle dispatch information to the unmanned mining vehicle, the method further includes: Obtaining a third distance between the unmanned mining vehicle and the dispatched vehicle loading point; determining a target size and a braking distance based on the third distance; During the process of the unmanned mine car reversing toward the loading position of the dispatched loading point, if it is identified that the size of the obstacle is larger than the target size, a stop instruction is generated when the fourth distance between the unmanned mine car and the obstacle is reduced to the braking distance, and the stop instruction is sent to the unmanned mine car, so that the unmanned mine car stops after receiving the stop instruction.
6. The method for loading an unmanned mining vehicle according to claim 5, wherein: Determining the target size and braking distance according to the third distance includes: If the third distance is greater than a preset first distance threshold, determining that the target size is the preset first size and the braking distance is the preset first distance; If the third distance is less than or equal to the first distance threshold and greater than a preset second distance threshold, determining that the target size is the preset second size and the braking distance is the first braking distance; If the third distance is less than or equal to the second distance threshold, determining that the target size is the second size and the braking distance is the preset second braking distance; The first size is smaller than the second size, and the first braking distance is greater than the second braking distance.
7. The method for loading an unmanned mining vehicle according to claim 1, wherein: After obtaining the loading status and queuing status of the target loading point, the method further includes: If the queue status of all target loading points is the vehicle queue status, a waiting message is generated and sent to the unmanned mining car, so that the unmanned mining car drives to the waiting position to wait after receiving the waiting information; the waiting position is carried in the waiting information.
8. A loading device for an unmanned mining vehicle, characterized in that: Applied to a mining system, the mining system includes at least one loading area, each loading area includes at least one loading point, and each loading point is provided with a corresponding loading device, the device includes: The first determination module is configured to determine a target loading area from all loading areas according to a preset decision condition when the unmanned mining vehicle travels to a preset target location; A first acquisition module is used to obtain the vehicle dispatching status of each loading device in the target loading area, wherein the vehicle dispatching status includes a vehicle dispatching permission status and a vehicle dispatching prohibition status; The second determining module is configured to determine that the loading point corresponding to the loading device whose vehicle dispatching status is the vehicle dispatching allowed state is the target loading point, and obtain the loading status and queuing status of the target loading point, wherein the loading status includes a loaded state and an idle state, and the queuing status includes a vehicle queued state and a vehicle-free queued state; A third determining module is configured to determine a dispatched loading point from all target loading points according to the loading status and the queuing status; The sending module is used to generate the dispatching information carrying the dispatching loading point, and send the dispatching information to the unmanned mining vehicle, so that the unmanned mining vehicle drives to the dispatching loading point for loading after receiving the dispatching information.
9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.
10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method according to any one of claims 1 to 7.