Cooperative scheduling control method and system for unmanned loader

Abstract

The invention discloses an unmanned loader collaborative scheduling control method and system, and the method comprises the steps: 101, obtaining the environment data of a loading site in real time, constructing a dynamic environment map of the loading site, and marking obstacles, the position of each unmanned loader, a material pile, and a dynamic target; step 102, disassembling the global task into sub-tasks, distributing the sub-tasks to each unmanned loader, and redistributing the sub-tasks when the unmanned loader breaks down or the sub-tasks are changed; step 103, generating a global path of each unmanned loader, and avoiding collision through a local re-planning mode when obstacles and / or dynamic targets are monitored; and step 104, a plurality of unmanned loaders are formed, a time synchronization error function, a path following error function and a direction coordination error function are set, and cooperative control is carried out among the unmanned loaders.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned loader cooperative scheduling, and more particularly, relates to an unmanned loader cooperative scheduling control method and system. BACKGROUND

[0002] Traditional loader operation relies on manual operation, and manual operation mode has significant limitations, specifically manifested as operation efficiency being limited by driver experience and physical load, high safety risk coefficient of manual operation, and continuous pressure of human cost expenditure. In existing unmanned loader technical solutions, the unmanned loader adopts a discrete independent operation mode, lacks cluster intelligent cooperative scheduling capability, and is difficult to cope with dynamic operation demand under complex working conditions. In a multi-machine cooperative operation scene, the existing system has three technical problems: first, uneven load of equipment caused by lack of global task allocation mechanism; second, path interference problem caused by frequent local motion planning conflicts; and third, waste of idle capacity caused by insufficient utilization of equipment resources. At the same time, the existing scheduling system generally has the technical shortcoming of lagging decision response when facing dynamic environmental disturbance factors.

[0003] Therefore, there is an urgent need for a technical solution to solve the above technical problems. SUMMARY

[0004] To solve the above technical problems, the present application provides an unmanned loader cooperative scheduling control method, comprising: Step 101, real-time acquisition of environment data of the loading site, construction of a dynamic environment map of the loading site, and labeling of obstacles, positions of each unmanned loader, material piles, and dynamic targets; Step 102, decomposition of the global task into subtasks, and allocation of the subtasks to each unmanned loader, re-allocation of the subtasks when the unmanned loader fails or the subtasks change; Step 103, generation of a global path for each unmanned loader, and collision avoidance through local re-planning when obstacles and / or dynamic targets are monitored; Step 104, formation of a platoon of multiple unmanned loaders, and setting of a time synchronization error function, a path following error function, and a direction coordination error function for cooperative control between the unmanned loaders.

[0005] Further, it further comprises setting a remote monitoring interface, obtaining an abnormal alarm of the unmanned loader by a user through the remote monitoring interface, and taking over the unmanned loader through a manual takeover entrance on the remote monitoring interface.

[0006] Furthermore, step 103 also includes: ensuring that the paths of the multiple unmanned loaders are free of conflict through a space-time corridor or distributed negotiation.

[0007] Furthermore, it also includes: real-time monitoring of the health status of each unmanned loader, wherein the health status includes: vibration, battery temperature and hydraulic pressure of the unmanned loader.

[0008] Furthermore, it also includes: adjusting the motor power of the unmanned loader according to the task intensity of the subtask; and planning the charging time of the unmanned loader in combination with the electricity price period and the task queue.

[0009] Furthermore, the time synchronization error function includes: , in, is the time synchronization error, is the number of unmanned loaders, For the The operation progress timestamp of each unmanned loader, For the The operation progress timestamp of each unmanned loader, is the first adjustment factor of the time synchronization error, is the second adjustment factor of the time synchronization error.

[0010] Furthermore, the path following error function includes: , in, is the path following error, For the The location of the unmanned loader, For the The location of the unmanned loader, is the first adjustment factor of the path following error, is the second adjustment factor for the path following error, is the third adjustment factor for the path following error.

[0011] Furthermore, the direction coordination error function includes: , in, is the direction coordination error, For the The direction angle of the unmanned loader, For the An unmanned loader. is the first adjustment factor of the direction coordination error, a second adjustment factor for the direction coordination error.

[0012] Further, set the target time by continuously adjusting the task execution order of each unmanned loader, minimize; by dynamically adjusting the path of each unmanned loader through the path planning algorithm, and minimize.

[0013] The present application also proposes an unmanned loader cooperative scheduling control system, comprising: An environment modeling module for real-time acquisition of environment data of the loading site, construction of a dynamic environment map of the loading site, and labeling of obstacles, the position of each unmanned loader, material piles, and dynamic targets. A task allocation module for decomposing global tasks into subtasks and allocating subtasks to each unmanned loader, and reallocating subtasks when the unmanned loader fails or the subtasks change. A path planning module for generating a global path for each unmanned loader, and avoiding collision through local re-planning when obstacles and / or dynamic targets are monitored. A cooperative module for forming a formation of multiple unmanned loaders, and setting a time synchronization error function, a path following error function, and a direction coordination error function for cooperative control between unmanned loaders.

[0014] Overall, compared with the prior art, the above technical solutions conceived by the present application have the following beneficial effects: The present application constructs a full-process closed-loop cooperative framework of "environment perception → task allocation → path planning → cooperative control → real-time communication → safety monitoring → energy management", breaks through the traditional independent operation mode, and improves the work efficiency of the unmanned loader. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a method flowchart of embodiment 1 of the present application; Figure 2 is a system structure diagram of embodiment 2 of the present application. DETAILED DESCRIPTION

[0016] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the drawings and specific embodiments.

[0017] The method provided by the application can be implemented in a terminal environment, which can include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the method described in the following embodiments.

[0018] The processor can include one or more processing cores. The processor connects various parts in the entire terminal through various interfaces and lines, executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0019] The storage medium can include random access memory (RAM) and read-only memory (ROM). The storage medium can be used to store instructions, programs, codes, code sets or instructions.

[0020] The display screen is used to display the user interface of each application.

[0021] In addition, those skilled in the art can understand that the structure of the terminal described above does not constitute a limitation on the terminal, and the terminal can include more or fewer components, or combine certain components, or different component arrangements. For example, the terminal also includes radio frequency circuitry, an input unit, a sensor, an audio circuit, a power supply, and other components, which are not described here.

[0022] Embodiment 1 As Figure 1 The embodiment provides a method for cooperative scheduling and control of unmanned loaders. The unmanned loader is an automatic driving mechanical device applied to automatic mines, construction sites, logistics warehouses and other places. It can complete loading, transportation and unloading tasks without human intervention by integrating sensors, artificial intelligence, control algorithms and other technologies, including: Step 101, real-time acquisition of environment data of the loading site, construction of a dynamic environment map of the loading site, and labeling of obstacles, positions of each unmanned loader, material piles and dynamic targets; Preferably, the environment data is acquired in real time by laser radar, camera, millimeter wave radar, IMU and other sensors, and a dynamic environment map of the loading site is constructed by using visual semantic segmentation and LiDAR point cloud. The data of multiple sensors are fused to improve the positioning accuracy and ensure the real-time and reliability of the dynamic environment map.

[0023] Preferably, a high-precision map is generated by using SLAM technology, and obstacles, loader positions, material piles and dynamic targets (such as other vehicles) are labeled.

[0024] Step 102, decompose the global task into subtasks and assign the subtasks to each unmanned loader, and when the unmanned loader fails or the subtask changes, reassign the subtasks; Preferably, the global task (such as "loading and transporting 100 tons of sandstone") is decomposed into subtasks (such as regional division and transportation frequency), and based on machine state (position, power, load capacity), task priority and environmental constraints, the task is dynamically assigned by algorithm.

[0025] Step 103, generate a global path for each unmanned loader, and when obstacles and / or dynamic targets are monitored, avoid collisions through local replanning; Preferably, an initial optimal path is planned for each unmanned loader, and obstacles are monitored in real time to avoid collisions through local replanning.

[0026] Specifically, step 103 further includes: ensuring that the paths of multiple unmanned loaders are conflict-free through a spatiotemporal corridor or distributed negotiation.

[0027] Step 104, form a formation of multiple unmanned loaders, and set time synchronization error function, path following error function and direction coordination error function, and cooperatively control the unmanned loaders.

[0028] After the cooperative control of multiple unmanned loaders in step 104, the efficiency of the unmanned loaders is greatly improved, as shown in the following table:

[0029] (Taking 3 unmanned loaders as an example) Preferably, the loading, steering and unloading actions are coordinated to ensure the continuity of the operation.

[0030] When multiple unmanned loaders operate in the same area, action sequence arrangement is used to avoid resource competition.

[0031] Specifically, it further includes: adjusting the motor power of the unmanned loader according to the task intensity of the subtask; and planning the charging time of the unmanned loader in combination with the electricity price period and the task queue.

[0032] Specifically, it further includes: monitoring the health status of each unmanned loader in real time, wherein the health status includes the vibration, battery temperature and hydraulic pressure of the unmanned loader.

[0033] Preferably, when the unmanned loader encounters an emergency situation, emergency braking, path clearing or switching to a backup control system is triggered.

[0034] Specifically, it also includes: setting up a remote monitoring interface, through which the user obtains abnormal alarms of the unmanned loader, and takes over the unmanned loader through a manual takeover entrance on the remote monitoring interface.

[0035] Specifically, the time synchronization error function includes: , in, is the time synchronization error, is the number of unmanned loaders, For the The operation progress timestamp of each unmanned loader, For the The operation progress timestamp of each unmanned loader, is the first adjustment factor of the time synchronization error, is the second adjustment factor of the time synchronization error.

[0036] Specifically, the path following error function includes: , in, is the path following error, For the The location of the unmanned loader, For the The location of the unmanned loader, is the first adjustment factor of the path following error, is the second adjustment factor for the path following error, is the third adjustment factor for the path following error.

[0037] Specifically, the direction coordination error function includes: , in, is the direction coordination error, For the The direction angle of the unmanned loader, For the An unmanned loader. is the first adjustment factor of the direction coordination error, It is the second adjustment factor of the direction coordination error.

[0038] Specifically, the target time is set and the execution order of each unmanned loader's tasks is adjusted continuously. minimize; Dynamically adjust the path of each unmanned loader through path planning algorithms (such as A*, DWA or RRT) to make and Minimize.

[0039] Preferably, a hybrid topology is adopted to realize low-delay information transmission between the remote (remote monitoring interface) and the unmanned loader by using a 5G / special wireless network. Standardized message format for transmitting key information such as position, state, and task progress. Ensure that the timestamps of multiple unmanned loaders are consistent through NTP or PTP protocols to avoid coordination errors.

[0040] Preferably, when multiple unmanned loaders work together, performance evaluation is performed: record task completion time, energy consumption, and conflict frequency, and optimize parameters through offline simulation (such as digital twin).

[0041] Preferably, based on historical data, iteratively improve the task allocation and path planning model (such as online machine learning).

[0042] Embodiment 2 As shown in Figure 2 The embodiment proposes an unmanned loader cooperative scheduling control system, which includes: An environment modeling module for real-time acquisition of environment data of the loading site, construction of a dynamic environment map of the loading site, and labeling of obstacles, positions of each unmanned loader, material piles, and dynamic targets. A task allocation module for decomposing global tasks into subtasks and allocating subtasks to each unmanned loader, and re-allocating subtasks when an unmanned loader fails or a subtask changes. A path planning module for generating a global path for each unmanned loader, and avoiding collisions through local re-planning when obstacles and / or dynamic targets are monitored. Specifically, the path planning module further includes: ensuring that the paths of multiple unmanned loaders are conflict-free through a time-space corridor or distributed negotiation.

[0043] A coordination module for forming a formation of multiple unmanned loaders and setting time synchronization error functions, path following error functions, and direction coordination error functions to cooperatively control the unmanned loaders.

[0044] Specifically, it also includes: adjusting the motor power of the unmanned loader according to the task intensity of the subtask; and planning the charging time of the unmanned loader in combination with the electricity price period and the task queue.

[0045] Specifically, it also includes: real-time monitoring of the health status of each unmanned loader, wherein the health status includes the vibration, battery temperature, and hydraulic pressure of the unmanned loader.

[0046] Specifically, the remote monitoring interface is configured to enable a user to obtain an abnormal alarm of the unmanned loader and to take over the unmanned loader through a manual takeover entry on the remote monitoring interface.

[0047] Specifically, the time synchronization error function comprises: , wherein, is a time synchronization error, is a number of unmanned loaders, is a work progress timestamp of an i-th unmanned loader, is a work progress timestamp of an i-th unmanned loader, is a first adjustment factor of the time synchronization error, is a second adjustment factor of the time synchronization error. Specifically, the path following error function comprises:

[0048] , , wherein, is a path following error, is a position of an i-th unmanned loader, is a position of an i-th unmanned loader, is a first adjustment factor of the path following error, is a second adjustment factor of the path following error, is a third adjustment factor of the path following error. Specifically, the direction coordination error function comprises:

[0049] , , wherein, is a direction coordination error, is a direction angle of an i-th unmanned loader, is a direction angle of an i-th unmanned loader, is a first adjustment factor of the direction coordination error, is a second adjustment factor of the direction coordination error. Specifically, a target time is set by continuously adjusting a task execution order of each unmanned loader to minimize

[0050] ​​​​​The path of each unmanned loader is dynamically adjusted by a path planning algorithm, so that and is minimized.

[0051] Embodiment 3 The embodiment of the present application also provides a storage medium storing a plurality of instructions for implementing the unmanned loader cooperative scheduling control method.

[0052] Optionally, in the embodiment, the storage medium can be located in any one of computer terminals in a computer terminal group in a computer network or in any one of mobile terminals in a mobile terminal group.

[0053] Optionally, in the embodiment, the storage medium is configured to store program codes for performing the following steps: step 101, acquiring environment data of a loading site in real time, constructing a dynamic environment map of the loading site, and marking obstacles, positions of each unmanned loader, material piles and dynamic targets; step 102, decomposing a global task into subtasks and assigning the subtasks to each unmanned loader, and reassigning the subtasks when the unmanned loader fails or the subtasks change; step 103, generating a global path of each unmanned loader, and avoiding collision by local re-planning when obstacles and / or dynamic targets are monitored; Specifically, the step 103 further includes: ensuring that the paths of the plurality of unmanned loaders are conflict-free by a time-space corridor or a distributed negotiation.

[0054] Step 104, forming a formation of the plurality of unmanned loaders, and setting a time synchronization error function, a path following error function and a direction coordination error function, and cooperatively controlling the unmanned loaders.

[0055] Specifically, it further includes: adjusting motor power of the unmanned loader according to task intensity of the subtask; and planning a charging time of the unmanned loader in combination with an electricity price period and a task queue.

[0056] Specifically, it further includes: monitoring a health state of each unmanned loader in real time, wherein the health state includes vibration, battery temperature and hydraulic pressure of the unmanned loader.

[0057] Specifically, it further includes: setting a remote monitoring interface, and obtaining an abnormal alarm of the unmanned loader by the remote monitoring interface and taking over the unmanned loader through a manual takeover entrance on the remote monitoring interface.

[0058] Specifically, the time synchronization error function includes: , in, is the time synchronization error, is the number of unmanned loaders, For the The operation progress timestamp of each unmanned loader, For the The operation progress timestamp of each unmanned loader, is the first adjustment factor of the time synchronization error, is the second adjustment factor of the time synchronization error.

[0059] Specifically, the path following error function includes: , in, is the path following error, For the The location of the unmanned loader, For the The location of the unmanned loader, is the first adjustment factor of the path following error, is the second adjustment factor for the path following error, is the third adjustment factor for the path following error.

[0060] Specifically, the direction coordination error function includes: , in, is the direction coordination error, For the The direction angle of the unmanned loader, For the An unmanned loader. is the first adjustment factor of the direction coordination error, It is the second adjustment factor of the direction coordination error.

[0061] Specifically, set a target time By continuously adjusting the task execution order of each unmanned loader, minimize; The path planning algorithm dynamically adjusts the path of each unmanned loader to make and minimize.

[0062] Example 4 The embodiment of the present application also provides an electronic device, which comprises a processor and a storage medium connected with the processor, and the storage medium stores a plurality of instructions which can be loaded and executed by the processor to enable the processor to perform the unmanned loader cooperative scheduling control method.

[0063] Specifically, the electronic device of the embodiment can be a computer terminal, which can comprise one or more processors and a storage medium.

[0064] The storage medium can be used to store software programs and modules, such as the unmanned loader cooperative scheduling control method of the embodiment of the present application and corresponding program instructions / modules. The processor performs various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, implements the unmanned loader cooperative scheduling control method. The storage medium can comprise a high-speed random storage medium and can also comprise a non-volatile storage medium, such as one or more magnetic storage systems, flash memories or other non-volatile solid-state storage media. In some examples, the storage medium can further comprise storage media remotely arranged relative to the processor, and the remote storage media can be connected to the terminal through a network. Examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0065] The processor can call information and application programs stored in the storage medium through a transmission system to perform the following steps: step 101, real-time acquisition of environment data of a loading site, construction of a dynamic environment map of the loading site, and labeling of obstacles, positions of each unmanned loader, material piles and dynamic targets; Step 102, decomposition of a global task into subtasks and allocation of the subtasks to each unmanned loader, re-allocation of the subtasks when the unmanned loader fails or the subtasks change; Step 103, generation of a global path of each unmanned loader, and collision avoidance through local re-planning when obstacles and / or dynamic targets are monitored; Specifically, step 103 further comprises: ensuring path conflict-free of multiple unmanned loaders through a time-space corridor or a distributed negotiation.

[0066] Step 104, formation of a platoon of multiple unmanned loaders, and setting of a time synchronization error function, a path following error function and a direction coordination error function for cooperative control between the unmanned loaders.

[0067] Specifically, it further comprises: adjustment of motor power of the unmanned loader according to task intensity of the subtask; and planning of charging time of the unmanned loader in combination with an electricity price period and a task queue.

[0068] Specifically, further comprising: monitoring the health status of each unmanned loader in real time, wherein the health status comprises: vibration, battery temperature and hydraulic pressure of the unmanned loader.

[0069] Specifically, further comprising: setting a remote monitoring interface, through which a user obtains an abnormal alarm of the unmanned loader, and through a manual takeover entrance on the remote monitoring interface, the unmanned loader is taken over.

[0070] Specifically, the time synchronization error function comprises: , Wherein, is the time synchronization error, is the number of unmanned loaders, is the operation progress timestamp of the th unmanned loader, is the operation progress timestamp of the th unmanned loader, is the first adjustment factor of the time synchronization error, is the second adjustment factor of the time synchronization error.

[0071] Specifically, the path following error function comprises: , Wherein, is the path following error, is the position of the th unmanned loader, is the position of the th unmanned loader, is the first adjustment factor of the path following error, is the second adjustment factor of the path following error, is the third adjustment factor of the path following error.

[0072] Specifically, the direction coordination error function comprises: , Wherein, is the direction coordination error, is the direction angle of the th unmanned loader, is the of the th unmanned loader, is the first adjustment factor of the direction coordination error,

[0073] Specifically, the target time is set , by constantly adjusting the task execution order of each unmanned loader, minimizing; by dynamically adjusting the path of each unmanned loader through the path planning algorithm, and minimizing.

[0074] The above-mentioned embodiment numbers of the present application are only for description, not representing the pros and cons of the embodiments.

[0075] In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0076] In the several embodiments provided by the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the embodiments described above are only schematic. For example, the division of units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between each entity can be indirect coupling or communication connection through some interface, and can be electrical or other forms.

[0077] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. According to actual needs, some or all of the units can be selected to achieve the purpose of the present embodiment.

[0078] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0079] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or all or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0080] Obviously, the above embodiments are only examples for clearly illustrating, but not limiting the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments do not need to be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A collaborative scheduling control method for unmanned loaders, characterized in that: include: Step 101: Acquire environmental data of the loading site in real time, construct a dynamic environmental map of the loading site, and mark obstacles, the location of each unmanned loader, material piles, and dynamic targets; Step 102: Decompose the global task into subtasks and assign the subtasks to each unmanned loader. When the unmanned loader fails or the subtask is changed, the subtask is reallocated. Step 103: Generate a global path for each unmanned loader, and avoid collisions by local replanning when obstacles and / or dynamic targets are detected; In step 104 , the multiple unmanned loaders are formed into a team, and a time synchronization error function, a path following error function, and a direction coordination error function are set to perform cooperative control between the unmanned loaders.

2. The method for coordinated dispatching and controlling an unmanned loader according to claim 1, wherein: Also includes: A remote monitoring interface is set up, through which the user obtains abnormal alarms of the unmanned loader and takes over the unmanned loader through the manual takeover entrance on the remote monitoring interface.

3. The method for coordinated dispatching and controlling an unmanned loader according to claim 1, wherein: Step 103 also includes: ensuring that the paths of the multiple unmanned loaders are free of conflict by means of a time-space corridor or distributed negotiation.

4. The method for coordinated dispatching and controlling an unmanned loader according to claim 1, wherein: Also includes: The health status of each unmanned loader is monitored in real time, wherein the health status includes vibration, battery temperature, and hydraulic pressure of the unmanned loader.

5. The method for coordinated dispatching and controlling an unmanned loader according to claim 1, wherein: Also includes: The motor power of the unmanned loader is adjusted according to the task intensity of the subtask; the charging timing of the unmanned loader is planned based on the electricity price period and task queue.

6. The method for coordinated dispatching and controlling an unmanned loader according to claim 1, wherein: The time synchronization error function includes: ， in, is the time synchronization error, is the number of unmanned loaders, For the The operation progress timestamp of each unmanned loader, For the The operation progress timestamp of each unmanned loader, is the first adjustment factor of the time synchronization error, is the second adjustment factor of the time synchronization error.

7. The method for coordinated dispatching and controlling an unmanned loader according to claim 6, wherein: The path following error function consists of: ， in, is the path following error, For the The location of the unmanned loader, For the The location of the unmanned loader, is the first adjustment factor of the path following error, is the second adjustment factor for the path following error, is the third adjustment factor for the path following error.

8. The method for coordinated dispatching and controlling an unmanned loader according to claim 7, wherein: The direction coordination error function includes: ， in, is the direction coordination error, For the The direction angle of the unmanned loader, For the An unmanned loader. is the first adjustment factor of the direction coordination error, It is the second adjustment factor of the direction coordination error.

9. The method for coordinated dispatching and controlling an unmanned loader according to claim 8, wherein: Set a target time By continuously adjusting the task execution order of each unmanned loader, minimize; The path planning algorithm dynamically adjusts the path of each unmanned loader to make and minimize.

10. A coordinated dispatching control system for an unmanned loader, characterized in that: include: The environmental modeling module is used to obtain environmental data of the loading site in real time, build a dynamic environmental map of the loading site, and mark obstacles, the location of each unmanned loader, material piles and dynamic targets; The task allocation module is used to decompose the global task into subtasks and assign the subtasks to each unmanned loader. When the unmanned loader fails or the subtask is changed, the subtask is reallocated; The path planning module is used to generate the global path of each unmanned loader and avoid collisions through local replanning when obstacles and / or dynamic targets are detected; The collaborative module is used to form a team of multiple unmanned loaders and set the time synchronization error function, path following error function and direction coordination error function to perform collaborative control between the unmanned loaders.

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