Method and system for monitoring material loading equipment

Abstract

The invention discloses a monitoring method and system for material loading equipment. The method comprises the following steps: acquiring first position information and course angle information of target material loading equipment, and second position information of at least one first material transport vehicle; based on the first position information, the second position information and the course angle information, matching the at least one first material transport vehicle with the target material loading equipment, and determining a matching success frequency corresponding to the target material loading equipment; and determining a monitoring result of the target material loading equipment based on the number of successful matching times. According to the invention, the technical problem of poor matching timeliness between the loading equipment and the transport vehicle in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the fields of mining engineering and intelligent scheduling, and more specifically, to a monitoring method and system for material loading equipment. Background Technology

[0002] In the process of automating and intelligentizing mining operations, precise matching between loading equipment and transport vehicles, as well as automated statistics on loading operations, have become crucial for improving mine production efficiency. Traditional matching methods rely primarily on manual recording, which needs to be done during work breaks or after operations are completed. This means there is a significant delay in data processing and feedback, and human error is easily introduced during data recording, resulting in poor real-time performance and accuracy of the data used in the matching process. Consequently, the matching timeliness between loading equipment and transport vehicles is poor, leading to slower vehicle scheduling decisions and impacting the execution of mining operations.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a monitoring method and system for material loading equipment, which at least solves the technical problem of poor timeliness in matching between loading equipment and transport vehicles in related technologies.

[0005] According to one aspect of the present invention, a monitoring method for a material loading device is provided, comprising: acquiring first location information and heading angle information of a target material loading device, and second location information of at least one first material transport vehicle, wherein the target material loading device is any material loading device within a working area, and at least one first material transport vehicle is located within the working area; matching at least one first material transport vehicle with the target material loading device based on the first location information, the second location information, and the heading angle information, and determining the number of successful matchings corresponding to the target material loading device; and determining the monitoring result of the target material loading device based on the number of successful matchings, wherein the monitoring result is used to characterize the loading progress of the target material loading device.

[0006] Further, based on the first location information, the second location information, and the heading angle information, at least one first material transport vehicle is matched with the target material loading equipment to determine the number of successful matches corresponding to the target material loading equipment. This includes: for any first material transport vehicle, determining the target distance between the target material loading equipment and the first material transport vehicle based on the first location information and the second location information of the first material transport vehicle; determining the heading angle change based on the heading angle information and at least one historical heading angle information; determining whether the first material transport vehicle and the target material loading equipment are successfully matched based on the target distance and the heading angle change; and updating the historical number of successful matches corresponding to the target material loading equipment in response to the successful match between the first material transport vehicle and the target material loading equipment to obtain the number of successful matches.

[0007] Further, based on the heading angle information and at least one historical heading angle information, the heading angle change is determined, including: constructing a heading angle information sequence based on at least one historical heading angle information and the heading angle information; determining the difference between two adjacent heading angle information in the heading angle information sequence to obtain at least one heading angle difference; and obtaining the sum of the absolute values ​​of at least one heading angle difference to obtain the heading angle change.

[0008] Furthermore, based on the target distance and the change in heading angle, it is determined whether the first material transport vehicle and the target material loading equipment are successfully matched, including: in response to the target distance being less than or equal to the preset loading radius, the duration being greater than or equal to the preset duration, and the change in heading angle being greater than the preset change, it is determined that the first material transport vehicle and the target material loading equipment are successfully matched; wherein, the duration is used to characterize the cumulative duration during which the target distance is continuously less than or equal to the preset loading radius.

[0009] Furthermore, the method also includes at least one of the following: determining a preset loading radius based on the type of the target material loading equipment; statistically analyzing the loading times of multiple historical material loading equipment to obtain a preset duration, wherein the types of the multiple historical material loading equipment are the same as the type of the target material loading equipment, and the loading time is the time for the corresponding historical material loading equipment to load materials; statistically analyzing the historical heading angle changes of multiple historical material loading equipment to obtain a preset change, wherein the historical heading angle change is the change in the heading angle of the historical material loading equipment during the loading process of the corresponding historical material loading equipment.

[0010] Furthermore, based on the number of successful matches, the monitoring results of the target material loading equipment are determined, including: obtaining the number of loadings corresponding to the target material loading equipment, wherein the number of loadings is used to characterize the number of times the material on the second material transport vehicle has been loaded by the target material loading equipment, and the second material transport vehicle is located within the operating area; updating the historical monitoring results of the target material loading equipment based on the number of successful matches and the number of loadings to obtain the monitoring results of the target material loading equipment; wherein the first material transport vehicle is in manual driving mode and the second material transport vehicle is in automatic driving mode.

[0011] Furthermore, the method also includes: identifying at least one material transport vehicle to be dispatched within the work area; dispatching at least one material transport vehicle to be dispatched within the work area based on the monitoring results of at least one material loading device within the work area; preferably, the monitoring results of at least one material loading device are displayed on the equipment management page.

[0012] Furthermore, the method also includes: acquiring first position information and heading angle information of multiple material loading devices, and second position information of multiple material transport vehicles; grouping the multiple material loading devices based on the work area identifiers corresponding to the multiple material loading devices to obtain at least one device set, wherein the material loading devices in the same device set are located in the same area; grouping the multiple material transport vehicles based on the work area identifiers corresponding to the multiple material transport vehicles to obtain at least one vehicle set, wherein the material transport vehicles in the same vehicle set are located in the same area; designating any one material loading device in any device set as a target material loading device; determining a target vehicle set from the at least one vehicle set that belongs to the same area as the target material loading device; and designating at least one material transport vehicle in the target vehicle set as at least one first material transport vehicle.

[0013] According to another aspect of the present invention, a monitoring device for a material loading device is also provided, comprising: a first acquisition module, configured to acquire first position information and heading angle information of a target material loading device, and second position information of at least one first material transport vehicle, wherein the target material loading device is any material loading device within a working area, and at least one first material transport vehicle is located within the working area; a first matching module, configured to match at least one first material transport vehicle with the target material loading device based on the first position information, the second position information, and the heading angle information, and determine the number of successful matches corresponding to the target material loading device; and a first determination module, configured to determine the monitoring result of the target material loading device based on the number of successful matches, wherein the monitoring result is used to characterize the loading progress of the target material loading device.

[0014] According to another aspect of the present invention, a monitoring system for a material loading device is also provided, comprising: a target material loading device located within a working area, used to collect first position information and heading angle information of the target material loading device; at least one first material transport vehicle located within the working area, used to collect second position information of the corresponding first material transport vehicle; and a monitoring platform communicatively connected to the target material loading device and the at least one first material transport vehicle, used to match the at least one first material transport vehicle with the target material loading device based on the first position information, the second position information, and the heading angle information, determine the number of successful matches of the target material loading device, and determine the monitoring result of the target material loading device based on the number of successful matches, wherein the monitoring result is used to characterize the loading progress of the target material loading device.

[0015] Furthermore, the monitoring platform includes: a data processing module, used to match at least one first material transport vehicle with the target material loading equipment based on first location information, second location information, and heading angle information, and to determine the number of successful matches; and a monitoring module, connected to the data processing module, used to determine the monitoring results based on the number of successful matches.

[0016] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0017] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0018] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0019] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0020] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0021] In this embodiment of the invention, the method involves acquiring the first position information and heading angle information of the target material loading equipment, and the second position information of at least one first material transport vehicle; based on the first position information, second position information, and heading angle information, matching at least one first material transport vehicle with the target material loading equipment to determine the number of successful matches for the target material loading equipment; and determining the monitoring result of the target material loading equipment based on the number of successful matches. By acquiring the aforementioned first position information, second position information, and heading angle information, the relative position between the target material loading equipment and the first material transport vehicle, as well as the working status of the target material loading equipment, can be monitored in real time, providing an accurate and real-time data foundation for the subsequent matching process. Based on the aforementioned first position information and second position information, the positional relationship between the target material loading equipment and the first material transport vehicle can be accurately determined. Based on the aforementioned heading angle information, it can be determined whether the target material loading equipment has performed an effective loading action. By comprehensively considering the aforementioned positional relationship and the execution status of the loading action when matching the first material transport vehicle with the target material loading equipment, it can be ensured that the matching result only includes the first material transport vehicle and the target material loading equipment that have actually completed the material loading process. This achieves more accurate matching based on multi-dimensional spatial information, and thus obtains a more accurate number of successful matches. Finally, the monitoring results are determined based on the number of successful matches. These results not only reflect the current operation of the target material loading equipment but also provide a basis for subsequent dynamic scheduling. This achieves the goal of improving the real-time performance of the data used in the matching process, thereby improving the technical effect of timely matching between excavators and loading vehicles. This solves the technical problem of poor timeliness in matching between loading equipment and transport vehicles in related technologies. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0023] Figure 1 This is a flowchart of a monitoring method for a material loading device according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of a monitoring device for a material loading equipment according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of a monitoring system for a material loading device according to an embodiment of the present invention;

[0026] Figure 4 This is a system architecture diagram of an optional monitoring system for a material loading device according to an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] According to an embodiment of the present invention, an embodiment of a monitoring method for a material loading device is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] Figure 1 This is a flowchart of a monitoring method for a material loading device according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0031] Step S102: Obtain the first position information and heading angle information of the target material loading equipment, and the second position information of at least one first material transport vehicle, wherein the target material loading equipment is any material loading equipment in the work area, and at least one first material transport vehicle is located in the work area.

[0032] The aforementioned target material loading equipment can be any equipment responsible for material loading operations within the work area. For example, the aforementioned target material loading equipment may include at least one or more of the following: excavators, loaders, etc., but is not limited to these. The aforementioned target material loading equipment is the core object identified and matched by the material loading equipment monitoring system (hereinafter referred to as the monitoring system). The monitoring system needs to monitor the operating status and loading activities of the aforementioned target material loading equipment.

[0033] The aforementioned first location information may refer to the real-time location data of the target material loading equipment. For example, the aforementioned first location information may be provided by a Global Navigation Satellite System (GNSS) or other positioning technologies. The aforementioned first location information may include longitude and latitude coordinates to determine the precise location of the loading equipment.

[0034] The aforementioned heading angle information can refer to the heading angle of the target material loading equipment, i.e., the direction or course of the target material loading equipment. For example, the aforementioned heading angle information could be the degree of the target material loading equipment relative to geographic north, but it is not limited to this. The aforementioned heading angle information can reflect the dynamic changes of the target material loading equipment, such as whether the target material loading equipment is performing a turning operation, and thus determine whether the target material loading equipment is carrying out loading operations.

[0035] The aforementioned first material transport vehicle can be a vehicle that works in conjunction with material loading equipment within the aforementioned work area, responsible for transporting loaded materials. The monitoring system can schedule the aforementioned first material transport vehicle to achieve efficient management and scheduling of the aforementioned first material transport vehicle.

[0036] The aforementioned second location information can refer to the real-time location data of the aforementioned first material transport vehicle. Similar to the aforementioned first location information, the aforementioned second location information can also be obtained through GNSS or other positioning technologies. The aforementioned second location information can be used to determine whether the aforementioned first material transport vehicle is close to the material loading equipment and the parking status of the first material transport vehicle.

[0037] The aforementioned work area can refer to the geographical area where material loading and transportation operations occur. For example, the work area may include at least one or more of the following: mines, construction sites, etc., but is not limited to these. The definition of the work area helps to delineate the effective work area and is the basis for the monitoring system to determine the matching relationship between loading equipment and transport vehicles.

[0038] In one optional embodiment, considering the latitude and longitude information acquired via high-precision GNSS, the positions of the target material loading equipment and the first material transport vehicle can be tracked in real time, which is particularly crucial for automated operating environments. Accurate location data is fundamental to determining whether the first material transport vehicle has entered the effective operating range of the target material loading equipment, and is also a prerequisite for subsequent data analysis and decision support. Therefore, the monitoring system can directly acquire the first location information of the target material loading equipment and the second location information of the first material transport vehicle via GNSS.

[0039] Furthermore, considering that the aforementioned heading angle information reflects the attitude changes of the target material loading equipment, especially during loading operations where the heading angle undergoes significant changes, the monitoring system can determine whether the target material loading equipment is performing loading actions by monitoring these changes, thus facilitating an accurate assessment of the loading operation's effectiveness. Therefore, the monitoring system can also collect the target material loading equipment's attitude data through attitude sensing devices pre-deployed on the equipment, and further analyze this attitude data to deduce the aforementioned heading angle information.

[0040] Since multiple material loading devices and material transport vehicles may exist at the work site, but not all of them are within the work area, simultaneously acquiring information on all of them (i.e., the first position information, heading angle information, and second position information) could result in an excessively large data volume, placing a significant computational burden on the monitoring system. Furthermore, a lack of logical relationships between this information could lead to errors in the monitoring system's decisions, consequently reducing operational efficiency. Therefore, the scope of information acquisition must be considered during the acquisition process. Based on this, the monitoring system can determine the target material loading devices and first material transport vehicles for information acquisition based on the work area, thereby improving the targeting of information acquisition and enhancing the accuracy of subsequent work matching by the monitoring system.

[0041] In another alternative embodiment, in addition to GNSS, the monitoring system can also combine an Inertial Navigation System (INS) with Visual Localization (VL) technology and wireless communication technologies (such as Wi-Fi or Bluetooth) to accurately acquire the aforementioned first location information, second location information, and heading angle information. Specifically, INS can calculate the position, direction, and speed of the target material loading equipment and the first material transport vehicle by measuring acceleration and angular velocity, thereby providing high-precision first and second location information over short distances and time periods. VL can determine the aforementioned first and second location information by analyzing images captured by cameras and identifying feature points or landmarks. The monitoring system can deploy multiple visual markers with known locations within the work area, capture these markers using visual sensors (such as cameras), and record the attitude changes of the target material loading equipment. Combined with computer vision algorithms, it can achieve precise positioning of the material loading equipment and the material transport vehicle, and identify the heading angle information based on the attitude changes. Furthermore, the monitoring system can also utilize wireless communication technology to monitor the relative distance and communication status between the material loading equipment and the material transport vehicle in real time to further assist in positioning and confirming the matching relationship. For example, the monitoring system can use Wi-Fi signal strength or Bluetooth distance measurement functions to determine whether the first material transport vehicle has entered the effective operating range of the target material loading equipment. Then, by combining the accurate data of INS and VL, it can confirm the matching relationship between the first material transport vehicle and the target material loading equipment and the loading operation status.

[0042] Step S104: Based on the first position information, the second position information, and the heading angle information, at least one first material transport vehicle is matched with the target material loading equipment to determine the number of successful matches corresponding to the target material loading equipment.

[0043] The number of successful matches mentioned above can be the number of times that the monitoring system successfully identifies and matches a material transport vehicle with a material loading device for effective operation based on the first location information, the second location information, and the heading angle information.

[0044] In an optional embodiment, considering that relying on manual recording of the matching relationship between material transport vehicles and material loading equipment is not only inefficient but also prone to inaccurate matching results due to human factors (such as negligence or error), thus reducing operational efficiency, automated identification can reduce human error and improve the real-time performance and accuracy of data. The key to achieving automated identification is determining whether the first material transport vehicle has entered the effective operating range of the target material loading equipment and confirming whether the target material loading equipment has performed effective loading, thereby more accurately identifying the loading relationship and avoiding misjudgments. Therefore, the monitoring system can calculate the latitude and longitude distance between the target material loading equipment and the first material transport vehicle based on the first and second location information, and thus determine whether the first material transport vehicle has entered the effective operating range of the target material loading equipment, that is, whether the first material transport vehicle and the target material loading equipment meet the position conditions. Subsequently, the monitoring system can further combine the heading angle information to calculate the change in heading angle of the target material loading equipment during the loading process, and determine whether the target material loading equipment has completed loading, that is, whether the target material loading equipment meets the heading angle conditions. For example, when the change in heading angle exceeds the preset target heading angle change required for the target material loading equipment to complete one loading operation, the monitoring system can determine that the target material loading equipment has completed the loading operation, meaning that the target material loading equipment meets the aforementioned heading angle condition. When both the first material transport vehicle and the target material loading equipment simultaneously meet the aforementioned position and heading angle conditions, the monitoring system can consider that a valid loading operation of the target material loading equipment on the first material transport vehicle has been completed, thereby establishing a matching relationship between the first material transport vehicle and the target material loading equipment. Finally, the monitoring system can accumulate and count each determined matching relationship to achieve real-time statistics on the number of loading operations.

[0045] In another optional embodiment, the monitoring system can further analyze the first and second location information acquired over a continuous period of time to obtain time-series data of the first material transport vehicle and the target material loading equipment. Subsequently, through time-series analysis and in conjunction with the heading angle information, the monitoring system can identify whether a valid loading action has been performed between the first material transport vehicle and the target material loading equipment, thereby determining whether a matching relationship exists between the first material transport vehicle and the target material loading equipment.

[0046] For example, if the time-series data shows that the position of the first material transport vehicle is within the operating area of ​​the target material loading equipment and remains unchanged for a considerable period, it indicates that the first material transport vehicle has been near the target material loading equipment for some time. In this case, the monitoring system can further analyze the heading angle information to determine whether the target material loading equipment has completed the loading operation. Specifically, a trigger, such as an infrared sensor or attitude sensor, can be pre-set on the target material loading equipment. When the target material loading equipment completes loading material onto the first material transport vehicle, the trigger will detect a change in the heading angle of the target material loading equipment, thereby triggering a loading completion event to indicate the completion of the loading operation. Combining the time-series data, the monitoring system can determine whether the first material transport vehicle has completed loading. If loading has been completed, the first material transport vehicle can be matched with the target material loading equipment, and the number of successful matches can be accumulated.

[0047] Step S106: Based on the number of successful matches, determine the monitoring results of the target material loading equipment, wherein the monitoring results are used to characterize the loading progress of the target material loading equipment.

[0048] The monitoring results mentioned above can be a quantitative assessment of the loading progress of the target material loading equipment. For example, the monitoring results can be expressed as loading efficiency, operation completion rate, or specific loading quantity, but are not limited to these.

[0049] In an optional embodiment, considering that the statistics of the above-mentioned successful matching counts are based on precise position and attitude information to determine the effective loading operations between the first material transport vehicle and the target material loading equipment, this method avoids errors and omissions in traditional manual recording and ensures high reliability of loading progress data. Therefore, the monitoring system updates the total number of successful loading operations of the target material loading equipment in real time through the above-mentioned successful matching counts. By comparing the above total number with the expected number of successful loading operations required to complete the entire operation, the loading progress of the target material loading equipment can be quantified, thereby constructing the above-mentioned monitoring results. This allows the monitoring system to understand the working status and loading efficiency of the target material loading equipment in a timely manner, so as to dynamically adjust the operation plan based on the above-mentioned monitoring results, thereby improving operation efficiency.

[0050] In this embodiment of the invention, the method involves acquiring the first position information and heading angle information of the target material loading equipment, and the second position information of at least one first material transport vehicle; based on the first position information, second position information, and heading angle information, matching at least one first material transport vehicle with the target material loading equipment to determine the number of successful matches for the target material loading equipment; and determining the monitoring result of the target material loading equipment based on the number of successful matches. By acquiring the aforementioned first position information, second position information, and heading angle information, the relative position between the target material loading equipment and the first material transport vehicle, as well as the working status of the target material loading equipment, can be monitored in real time, providing an accurate and real-time data foundation for the subsequent matching process. Based on the aforementioned first position information and second position information, the positional relationship between the target material loading equipment and the first material transport vehicle can be accurately determined. Based on the aforementioned heading angle information, it can be determined whether the target material loading equipment has performed an effective loading action. By comprehensively considering the aforementioned positional relationship and the execution status of the loading action when matching the first material transport vehicle with the target material loading equipment, it can be ensured that the matching result only includes the first material transport vehicle and the target material loading equipment that have actually completed the material loading process. This achieves more accurate matching based on multi-dimensional spatial information, and thus obtains a more accurate number of successful matches. Finally, the monitoring results are determined based on the number of successful matches. These results not only reflect the current operation of the target material loading equipment but also provide a basis for subsequent dynamic scheduling. This achieves the goal of improving the real-time performance of the data used in the matching process, thereby improving the technical effect of timely matching between excavators and loading vehicles. This solves the technical problem of poor timeliness in matching between loading equipment and transport vehicles in related technologies.

[0051] In the above embodiments of this application, based on first location information, second location information, and heading angle information, at least one first material transport vehicle is matched with a target material loading device to determine the number of successful matches corresponding to the target material loading device. This includes: for any first material transport vehicle, determining the target distance between the target material loading device and the first material transport vehicle based on the first location information and the second location information of the first material transport vehicle; determining the heading angle change based on the heading angle information and at least one historical heading angle information; determining whether the first material transport vehicle and the target material loading device are successfully matched based on the target distance and the heading angle change; and updating the historical number of successful matches corresponding to the target material loading device in response to the successful match between the first material transport vehicle and the target material loading device to obtain the number of successful matches.

[0052] The aforementioned target distance can be the geographic spatial distance between the target material loading equipment and the first material transport vehicle, and can be calculated from the first location information and the second location information. This target distance reflects the relative proximity between the target material loading equipment and the first material transport vehicle, and is the basis for determining whether the target material loading equipment and the first material transport vehicle can perform effective operations.

[0053] The aforementioned historical heading angle information can be the heading angle information of the target material loading equipment recorded during the monitoring process prior to the current moment. This historical heading angle information represents the direction and orientation of the target material loading equipment at different points in time. The collection and analysis of this historical heading angle information helps the monitoring system identify the operating patterns of the target material loading equipment, especially the turning characteristics before and after loading operations, providing a basis for judging the effectiveness of the loading operation.

[0054] The aforementioned change in heading angle refers to the magnitude of the change in heading angle compared to the historical heading angle information. For example, the change in heading angle can be obtained by summing the absolute values ​​of the differences between two consecutive frames of heading angle data. The aforementioned change in heading angle reflects the degree of directional change of the target material loading equipment during loading operations and is an important indicator for evaluating whether the loading operation has been completed.

[0055] In an optional embodiment, considering that loading operations are only possible when the first material transport vehicle is sufficiently close to the target material loading equipment, the monitoring system calculates the target distance between the target material loading equipment and the first material transport vehicle based on the first position information and the second position information of any one of the first material transport vehicles. Further considering that even if the target distance meets the matching requirements, it is insufficient to determine whether the target material loading equipment and the first material transport vehicle have completed the matching, and it is also necessary to determine whether the target material loading equipment has completed the loading action, the monitoring system can also calculate the difference between the current heading angle of the target material loading equipment and at least one historical heading angle to obtain the heading angle change, and determine whether the target material loading equipment has completed the loading action based on this heading angle change. After obtaining the target distance and the heading angle change, the monitoring system can comprehensively consider whether the target distance meets the distance condition for matching and whether the heading angle change meets the change condition required to complete the loading action to determine whether the first material transport vehicle and the target material loading equipment have successfully matched. Once a match is successful, the monitoring system can update the historical number of successful matches corresponding to the target material loading equipment, thereby obtaining the aforementioned number of successful matches.

[0056] For example, the monitoring system can directly compare the first and second location information to assess whether the first material transport vehicle is approaching the effective operating range of the target material loading equipment. After determining that the first material transport vehicle is within the effective operating range, the monitoring system can further calculate the precise distance between the first material transport vehicle and the target material loading equipment as the target distance, and use whether this target distance is less than a preset distance as a preliminary matching condition. Subsequently, the monitoring system can analyze the heading angle information of the target material loading equipment to obtain a heading angle sequence, and can obtain the heading angle change by calculating the sum of the absolute values ​​of the differences between two consecutive frames of heading angle data in the heading angle sequence. The heading angle change can reflect the attitude adjustment of the target material loading equipment during operation. If the heading angle change exceeds a preset change, it can be considered that the target material loading equipment has completed the material loading action. If the target distance is less than the preset distance, and the heading angle change exceeds the preset change, it means that the target material loading equipment has performed a loading operation on the first material transport vehicle. At this time, the monitoring system can determine that an effective matching relationship has been formed between the first material transport vehicle and the target material loading equipment. Once it is confirmed that the first material transport vehicle is successfully matched with the target material loading equipment, the monitoring system can increment the historical number of successful matches corresponding to the target material loading equipment to update the number of successful matches.

[0057] For example, due to the complex terrain of the work site, directly calculating the straight-line distance between the first and second location information may not accurately reflect the positional relationship between the first material transport vehicle and the target material loading equipment. Therefore, the monitoring system can also calculate the actual travel distance required for the first material transport vehicle to enter the working range of the target material loading equipment based on the first and second location information and the actual terrain conditions of the work site included in the map. This actual travel distance can be used as the target distance to accurately quantify the positional relationship between the first material transport vehicle and the target material loading equipment. Subsequently, to accurately determine whether the target material loading equipment has completed the loading action, the monitoring system can also calculate the change in heading angle based on the change information and at least one historical heading angle. If both the target distance and the change in heading angle meet the matching conditions, the monitoring system can determine that the first material transport vehicle and the target material loading equipment have been successfully matched, and increment the historical number of successful matches to update the number of successful matches.

[0058] In the above embodiments of this application, determining the change in heading angle based on heading angle information and at least one historical heading angle information includes: constructing a heading angle information sequence based on at least one historical heading angle information and heading angle information; determining the difference between two adjacent heading angle information in the heading angle information sequence to obtain at least one heading angle difference; and obtaining the sum of the absolute values ​​of at least one heading angle difference to obtain the change in heading angle.

[0059] The aforementioned heading angle information sequence can be a data sequence formed by arranging the heading angle information of the target material loading equipment in chronological order within the time range formed by the acquisition time of the aforementioned historical heading angle information and the acquisition time of the aforementioned heading angle information. The aforementioned heading angle information sequence can include the heading angle information of the target material loading equipment at different time points, and can reflect the change of the attitude of the target material loading equipment over time.

[0060] The aforementioned heading angle difference can be the difference between two adjacent heading angles in the heading angle information sequence, that is, the value obtained by subtracting the heading angle of the previous moment from the heading angle of the later moment. The aforementioned heading angle difference reflects the degree of change in the heading angle of the target material loading equipment between adjacent time points, and can be used to determine whether the target material loading equipment is carrying out loading operations.

[0061] In an optional embodiment, considering that the calculation of the heading angle change can effectively reflect the angle difference of the boom swing of the target material loading equipment during loading, it is a direct basis for determining whether a loading operation has occurred. In order to continuously and dynamically monitor the heading angle change of the target material loading equipment, the monitoring system can continuously record the heading angle information of the target material loading equipment, and form a time series based on at least one recorded historical heading angle information and the heading angle information, as the heading angle information sequence, to capture the heading angle fluctuation characteristics of the target material loading equipment during the loading operation. Since the swing of the boom of the target material loading equipment during the loading operation will cause the heading angle to exhibit a periodic large-range change, by calculating the difference between two adjacent heading angles in the above-mentioned heading angle information sequence, at least one heading angle difference can be obtained, so that the monitoring system can identify this periodic change characteristic. Furthermore, considering that the heading angle can change in either the positive or negative direction, when calculating the total change in heading angle, the monitoring system needs to add the absolute values ​​of at least one of the heading angle differences mentioned above. This operation can eliminate the influence of the direction of the angle change and focus only on the magnitude of the angle change, thereby accurately determining whether the target material loading equipment is carrying out loading operations.

[0062] For example, the monitoring system can continuously collect the heading angle information of the target material loading equipment at a frequency of n frames per second, and combine the current heading angle information with previously received historical heading angle information to construct a heading angle information sequence. This heading angle information sequence can contain records of the heading angle changes of the target material loading equipment within a continuous time interval, with each heading angle data representing the direction of the target material loading equipment at the corresponding moment. Subsequently, the monitoring system can process the constructed heading angle information sequence to determine the difference between two adjacent heading angle information in the sequence. The calculation of this difference needs to consider the special properties of heading angles, namely that 0 degrees and 360 degrees actually represent the same direction. Therefore, when calculating the difference, the monitoring system also needs to perform special processing for cases crossing 0 degrees or 360 degrees to ensure the accuracy of the calculation results. Finally, the monitoring system can calculate the absolute value of each difference in the above heading angle difference sequence and calculate the sum of these absolute values. The calculation of these absolute values ​​ensures that regardless of whether the loading direction of the target material loading equipment changes clockwise or counterclockwise, the change in heading angle can be accumulated in the positive direction. The monitoring system sums up all the absolute differences to obtain the total change in heading angle of the target material loading equipment within the aforementioned time interval. This change can be used to determine whether the target material loading equipment has completed the loading operation. Through the above process, the monitoring system can accurately determine the change in heading angle based on continuously collected heading angle information and at least one historical heading angle information, providing a crucial basis for judging the effectiveness of subsequent loading operations.

[0063] In the above embodiments of this application, determining whether the first material transport vehicle and the target material loading equipment are successfully matched based on the target distance and the change in heading angle includes: in response to the target distance being less than or equal to a preset loading radius, the duration being greater than or equal to a preset duration, and the change in heading angle being greater than a preset change, determining that the first material transport vehicle and the target material loading equipment are successfully matched; wherein, the duration is used to characterize the cumulative duration for which the target distance is continuously less than or equal to the preset loading radius.

[0064] The aforementioned preset loading radius can be the maximum effective operating range of the target material loading equipment, i.e., the range within which the target material loading equipment can effectively perform loading operations. The preset loading radius is set based on the operating capacity and safe operating distance of the target material loading equipment, ensuring that only the first material transport vehicle entering this range can be considered a potential loading target.

[0065] The aforementioned duration can be the continuous time during which the first material transport vehicle is located within the preset loading radius, used to confirm whether the first material transport vehicle is stably parked within the effective operating range of the target material loading equipment. Setting this duration is to avoid misjudging the matching relationship due to brief positioning deviations or momentary stops of the first material transport vehicle, ensuring that the mining truck truly stops near the excavator for loading operations.

[0066] In an optional embodiment, considering the target distance between the first material transport vehicle and the target material loading equipment, even if the loading distance requirement is met, it is insufficient to determine that the first material transport vehicle and the target material loading equipment have completed the material loading process. The first material transport vehicle may still temporarily approach the target material loading equipment for other reasons but has not actually entered the loading state. Therefore, the monitoring system also needs to comprehensively consider the dwell time of the first material transport vehicle in the work area and whether the target material loading equipment has completed material loading. Specifically, in order to define the effective working range of the first material transport vehicle and the target material loading equipment, the monitoring system can construct the aforementioned preset loading radius. The preset loading radius can be a value verified by engineering practice, representing the limit distance at which the target material loading equipment can effectively work. Beyond the aforementioned preset loading radius, the target material loading equipment will have difficulty loading materials. The monitoring system can continuously monitor the target distance between the first material transport vehicle and the target material loading equipment. If the target distance is less than or equal to the aforementioned preset loading radius, the monitoring system can preliminarily determine that the first material transport vehicle is undergoing loading operations.

[0067] To avoid the aforementioned misjudgments, the monitoring system can introduce the concept of duration. This requires the first material transport vehicle not only to meet distance restrictions but also to remain within the effective operating range for a sufficient amount of time. The selection of the preset duration can be based on the average loading time derived from historical operation data analysis. The cumulative duration during which the target distance remains less than or equal to the preset loading radius ensures that the interaction between the first material transport vehicle and the target material loading equipment is indeed related to the loading operation, rather than a random, brief approach. This eliminates the possibility of temporary interference or misjudgment, improving the monitoring accuracy of the system.

[0068] Furthermore, to confirm whether the target material loading equipment has actually performed a loading action, rather than merely remaining stationary or engaged in irrelevant operations, the monitoring system can also construct the aforementioned preset variation amount. This preset variation amount can be an empirical value, reflecting the angular change required for the target material loading equipment to perform effective loading. By monitoring changes in the heading angle, the monitoring system can confirm whether the target material loading equipment has actually performed a loading action, further ensuring the accuracy of the matching determination.

[0069] Based on a comprehensive consideration of distance, dwell time, and heading angle change factors, the monitoring system determines that the first material transport vehicle and the target material loading equipment have successfully matched only when the target distance is less than or equal to the preset loading radius, the duration is greater than or equal to the preset duration, and the heading angle change is greater than the preset change. Combining these three conditions effectively reduces false alarms and missed alarms, ensuring that the monitoring system only confirms a matching relationship between the first material transport vehicle and the target material loading equipment when all indicators show a genuine loading event has occurred.

[0070] In the above embodiments of this application, the method further includes at least one of the following: determining a preset loading radius based on the type of the target material loading equipment; statistically analyzing the loading times of multiple historical material loading equipment to obtain a preset duration, wherein the types of the multiple historical material loading equipment are the same as the type of the target material loading equipment, and the loading time is the time for the corresponding historical material loading equipment to load materials; statistically analyzing the historical heading angle changes of multiple historical material loading equipment to obtain a preset change amount, wherein the historical heading angle change amount is the change in the heading angle of the historical material loading equipment during the loading process of the corresponding historical material loading equipment.

[0071] The aforementioned historical material loading equipment can be those that have already completed loading tasks in past operation records. The operational data of these historical material loading equipment, including location, operation time, and attitude changes, can be collected and stored by the monitoring system as the basis for subsequent data analysis.

[0072] The aforementioned loading time can refer to the duration of the loading process of the historical material loading equipment, that is, the length of time from the start to the end of loading by the historical material loading equipment. By statistically analyzing the loading time of the historical material loading equipment, an average or typical value can be obtained as the aforementioned preset duration, which helps to predict and determine the effectiveness and progress of the current loading operation.

[0073] The aforementioned historical heading angle change refers to the cumulative change in the heading angle of the loading equipment during the loading process. The heading angle change reflects the directional adjustments and operational actions of the loading equipment during loading operations. Statistical analysis of these historical heading angle changes can help the monitoring system set a preset change threshold to identify whether a valid loading operation has occurred, as well as the extent and completeness of the loading operation.

[0074] In an optional embodiment, considering that different types of target material loading equipment may have different operating ranges or operating radii, the system ensures that the preset loading radius matches the actual operating capacity of the equipment, thereby avoiding misjudgments or omissions caused by improper setting of the preset loading radius. The monitoring system can set an operating radius that matches the type of the target material loading equipment to accurately determine whether the first material transport vehicle has entered the operating range of the target material loading equipment. This is crucial for automatically identifying the loading relationship between the first material transport vehicle and the target material loading equipment.

[0075] Furthermore, considering the use of historical data, a more scientific definition of the time threshold for the aforementioned first material transport vehicle to remain near the target material loading equipment can be established to distinguish between genuine loading operations and accidental passing by or waiting, thereby improving the accuracy of loading event detection. Therefore, the monitoring system can statistically analyze the loading time required for multiple historical material loading equipment of the same type as the target material loading equipment to derive a reasonable loading time threshold, i.e., the aforementioned preset duration, as one of the bases for determining valid loading operations.

[0076] Furthermore, it is considered that the target material loading equipment usually rotates its bucket or body during the loading process, which will cause changes in the heading angle of the target material loading equipment. By statistically analyzing the changes in the heading angle of the aforementioned material loading equipment during historical loading processes, the monitoring system can determine a reasonable threshold for the change, namely the aforementioned preset change amount, as the basis for judging whether the target material loading equipment has performed a loading action. This effectively identifies the loading behavior of the target material loading equipment and eliminates small heading angle fluctuations caused only by environmental factors without actual loading action, ensuring that only cases where loading operations have actually been carried out are identified and counted by the monitoring system.

[0077] For example, the type of target material loading equipment mentioned above could be an excavator. Depending on the type of target material loading equipment, the preset loading radius can be set based on the excavator's operating range and typical requirements of material loading operations. This preset loading radius reflects the maximum distance at which the first material transport vehicle can effectively stop and perform loading operations. The determination of the preset loading radius can be based on an in-depth analysis of the excavator's operating characteristics, including but not limited to the excavator's bucket capacity, the excavator's boom's range of motion, and considerations of the actual operating environment.

[0078] For example, by statistically analyzing the loading times of multiple historical material loading devices to obtain the aforementioned preset duration, this statistical analysis can be based on historical operating data of excavators of the same type, particularly focusing on the average time for the excavator and the first material transport vehicle to complete one effective loading operation. By analyzing historical data, the monitoring system can identify the typical duration for the excavator to complete the loading process, thereby setting a preset duration.

[0079] For example, statistical analysis of historical heading angle changes in material loading equipment can be used to determine preset change values, reflecting the excavator's directional adjustments during loading and used to determine whether the excavator has performed a substantial loading operation. Obtaining historical heading angle changes relies on historical data records of the excavator's attitude information, particularly heading angle changes during loading operations. This ensures that a loading operation is only considered complete when the excavator has made a substantial operational adjustment, thus improving the accuracy of the counting.

[0080] Furthermore, based on the number of successful matches, the monitoring results of the target material loading equipment are determined, including: obtaining the number of loadings corresponding to the target material loading equipment, wherein the number of loadings is used to characterize the number of times the material on the second material transport vehicle has been loaded by the target material loading equipment, and the second material transport vehicle is located within the operating area; updating the historical monitoring results of the target material loading equipment based on the number of successful matches and the number of loadings to obtain the monitoring results of the target material loading equipment; wherein the first material transport vehicle is in manual driving mode and the second material transport vehicle is in automatic driving mode.

[0081] The aforementioned loading count can be the number of times the material on the second material transport vehicle is loaded by the target material loading equipment within a specified time period.

[0082] The aforementioned historical monitoring results can be a summary of various monitoring data and analysis results of the target material loading equipment up to the current moment. These historical monitoring results provide a perspective on the long-term performance of the target material loading equipment, which can help the monitoring system identify potential problems with the equipment and adjust operation scheduling strategies.

[0083] In an optional embodiment, considering that manually driven material transport vehicles (i.e., the aforementioned first material transport vehicle) and autonomously driven material transport vehicles (i.e., the aforementioned second material transport vehicle) may coexist in the work area, the monitoring system can acquire the number of times the material on the second material transport vehicle is loaded by the target material loading equipment, i.e., the loading count, to measure the collaborative working efficiency of the target material loading equipment and the second material transport vehicle. Subsequently, by combining the matching count corresponding to the first material transport vehicle and the loading count corresponding to the second material transport vehicle, the monitoring system can comprehensively analyze the collaborative working efficiency of the target material loading equipment with the first and second material transport vehicles respectively, thereby updating the historical monitoring results of the target material loading equipment and obtaining the monitoring results of the target material loading equipment, providing a solid data foundation for subsequent adjustments to the work plan and equipment scheduling.

[0084] Furthermore, considering the mining environment, autonomous material transport vehicles (i.e., the aforementioned second material transport vehicles) can achieve precise task allocation and route planning through advanced scheduling strategies. This means that before operations begin, the driving route, operating time, and corresponding target material loading equipment for each second material transport vehicle are pre-set by the scheduling strategy, thereby ensuring an efficient transportation and loading process. Since the operating plan of the second material transport vehicle is known, it can directly drive to the location of the designated target material loading equipment without the need for real-time matching, thus avoiding unnecessary consumption of computational resources.

[0085] In contrast, manually driven material transport vehicles (i.e., the first material transport vehicle mentioned above) do not have pre-set operating routes or target excavators. Drivers may choose loading points based on site conditions or ad-hoc instructions. This uncertainty leads to multiple potential matching relationships between the first material transport vehicle and the target material loading equipment. A monitoring system is needed to monitor and analyze the positional relationship and operational status of these two vehicles in real time to determine the correct matching relationship and loading quantity. By adopting differentiated processing strategies for material transport vehicles with different driving modes, unnecessary data analysis processes can be reduced, saving the monitoring system's computational resources.

[0086] In the above embodiments of this application, the method further includes: determining at least one material transport vehicle to be dispatched within the work area; dispatching at least one material transport vehicle to be dispatched within the work area based on the monitoring results of at least one material loading device within the work area; preferably, the monitoring results of at least one material loading device are displayed on the equipment management page.

[0087] The aforementioned material transport vehicles awaiting dispatch can be those waiting to load materials within the work area or those that have completed loading and are preparing to leave the work area for their next destination.

[0088] The aforementioned equipment management page can be used to display the real-time status and operational data of all material loading equipment. Through this page, managers can intuitively understand the working efficiency and current operational status of each material loading device.

[0089] In one optional embodiment, considering that material transport vehicles are widely distributed and dynamically moving in large-scale work sites, without an efficient monitoring and identification mechanism, it is difficult to quickly locate idle or soon-to-be-completed material transport vehicles, leading to scheduling delays and impacting overall operational efficiency. By identifying the aforementioned material transport vehicles awaiting scheduling, the monitoring system can identify available, unassigned material transport vehicles in the current work area to quickly respond to new loading demands or operational changes, avoiding resource waste and waiting time, thus achieving greater rationality and efficiency. Therefore, the monitoring system can determine at least one material transport vehicle awaiting scheduling within the work area based on the aforementioned target distance, whether the material transport vehicle is stationary, and other conditions. Furthermore, considering that if the material loading equipment is ready to load but the material transport vehicle has not yet arrived, it will cause unnecessary waiting time and reduce operational efficiency. Therefore, after identifying the aforementioned material transport vehicles to be dispatched, in order to ensure that the dispatching of these vehicles can compensate for the current shortcomings in operational efficiency and achieve precise dispatching of the aforementioned material transport vehicles to be dispatched, the monitoring system can identify the material loading equipment with relatively low operational efficiency due to the shortage of material transport vehicles based on the monitoring results of at least one material loading equipment in the work area. In this way, the aforementioned material transport vehicles to be dispatched can be dispatched so that they can assist the material loading equipment with relatively low operational efficiency in loading operations, thereby improving the overall operational efficiency of material loading equipment in the work area.

[0090] Furthermore, displaying monitoring results directly on the equipment management page not only allows on-site staff to instantly grasp equipment status but also enables the remote dispatch center to monitor operational dynamics in real time. The instant information sharing enabled by the equipment management page reduces communication costs and improves management response speed. In addition, the visual data display format provided by the equipment management page is more intuitive and easier to understand than text reports, helping to reduce misinterpretations and decision-making errors. Therefore, the monitoring results of at least one of the aforementioned material loading devices can be displayed on the equipment management page. This visual display greatly improves the efficiency and accuracy of dispatching, ensuring smooth operation.

[0091] In the above embodiments of this application, the method further includes: acquiring first position information and heading angle information of multiple material loading devices, and second position information of multiple material transport vehicles; grouping the multiple material loading devices based on the work area identifiers corresponding to the multiple material loading devices to obtain at least one device set, wherein the material loading devices in the same device set are located in the same area; grouping the multiple material transport vehicles based on the work area identifiers corresponding to the multiple material transport vehicles to obtain at least one vehicle set, wherein the material transport vehicles in the same vehicle set are located in the same area; taking any one material loading device in any device set as a target material loading device; determining a target vehicle set belonging to the same area as the target material loading device from the at least one vehicle set; and taking at least one material transport vehicle in the target vehicle set as at least one first material transport vehicle.

[0092] The aforementioned work area identifier can refer to a unique code or label used to identify different work areas. This identifier helps the monitoring system identify and distinguish between different work areas. For example, the work area identifier may include at least one or more of the following information: location information, functional attributes, or other key identifying features of the work area, to ensure that the monitoring system can accurately manage and track work activities in each area.

[0093] The aforementioned equipment set can be a collection formed by grouping multiple material loading devices located within the same work area according to the aforementioned work area identifier. The construction of this equipment set helps the monitoring system efficiently manage all loading devices within the same area, achieving coordination and scheduling among the devices.

[0094] The aforementioned vehicle aggregation can be the result of classifying and combining multiple material transport vehicles located in the same area based on the work area identifier. By aggregating vehicles, the monitoring system can better monitor and schedule all transport vehicles in the same area, ensuring their efficient coordination with the corresponding material loading equipment, thereby improving the smoothness and efficiency of the entire operation chain.

[0095] The aforementioned target vehicle set can be selected by the monitoring system from vehicles belonging to the same work area as the target material loading equipment, and those vehicles that meet the loading conditions or are ready to perform loading operations. The construction of this target vehicle set demonstrates the monitoring system's dynamic matching and real-time scheduling capabilities, ensuring that the material loading equipment quickly establishes contact with qualified material transport vehicles, thereby efficiently completing the material loading task.

[0096] In one optional embodiment, considering the large area, the work site can be divided into multiple different work areas, each with different operational needs and environmental conditions, resulting in different work contents for multiple material loading devices and material transport vehicles at the work site. Grouping ensures that the monitoring system can perform more refined matching based on the specific areas where the material loading devices and material transport vehicles are located, limiting the matching of material loading devices and material transport vehicles to the same area. This not only improves matching efficiency but also ensures the rationality of the matching, avoiding long-distance ineffective movement. Therefore, the monitoring system can collect the first position information and heading angle information of all material loading devices participating in the operation, as well as the second position information of material transport vehicles, providing a data basis for subsequent grouping. Subsequently, the monitoring system can intelligently group the multiple material loading devices based on preset work area identifiers, such as geographical coordinate ranges or area codes. The grouping process can determine the work area to which each material loading device belongs based on its first position information, thereby forming at least one set of devices. Within each set, the material loading devices are located within the same work area, facilitating subsequent matching and counting operations. Similarly, the aforementioned multiple material transport vehicles can also determine their respective work areas based on the second location information, and be grouped according to the corresponding work area identifiers to generate at least one vehicle set. This ensures statistical accuracy and operational efficiency, avoiding data confusion between material transport vehicles in different areas and affecting the accuracy of matching judgments. Then, the monitoring system can select any material loading device within any equipment set as the target material loading device, and can filter out the vehicle set located in the same area as the target material loading device from the previously formed at least one vehicle set, as the target vehicle set. This ensures that the effective matching of material loading devices and material transport vehicles does not cross work area boundaries, avoiding erroneous matching. Finally, the monitoring system can identify at least one material transport vehicle in the target vehicle set—that is, at least one material transport vehicle located within the work area of ​​the target material loading device—as the at least one first material transport vehicle. These steps, through refined grouping processing and area matching logic, achieve accurate matching and loading counts of material loading devices and transport vehicles in different work areas, greatly improving operational efficiency and the level of intelligent equipment scheduling.

[0097] According to an embodiment of the present invention, a monitoring device for a material loading equipment is provided. It should be noted that this device can be used to execute the aforementioned monitoring method for the material loading equipment. The specific implementation and application scenarios are the same as in the above embodiment, and will not be repeated here. Figure 2 This is a schematic diagram of a monitoring device for a material loading equipment according to an embodiment of the present invention, such as... Figure 2 As shown, the device includes:

[0098] The first acquisition module 202 is used to acquire the first position information and heading angle information of the target material loading equipment, and the second position information of at least one first material transport vehicle, wherein the target material loading equipment is any material loading equipment within the working area, and at least one first material transport vehicle is located within the working area.

[0099] The first matching module 204 is used to match at least one first material transport vehicle with a target material loading device based on the first position information, the second position information, and the heading angle information, and to determine the number of successful matches corresponding to the target material loading device.

[0100] The first determining module 206 is used to determine the monitoring results of the target material loading equipment based on the number of successful matches, wherein the monitoring results are used to characterize the loading progress of the target material loading equipment.

[0101] In the above embodiments of this application, the first matching module is further configured to: for any first material transport vehicle, determine the target distance between the target material loading device and the first material transport vehicle based on the first location information and the second location information of the first material transport vehicle; determine the change in heading angle based on the heading angle information and at least one historical heading angle information; determine whether the first material transport vehicle and the target material loading device are successfully matched based on the target distance and the change in heading angle; and update the historical number of successful matches corresponding to the target material loading device in response to the successful match between the first material transport vehicle and the target material loading device to obtain the number of successful matches.

[0102] In the above embodiments of this application, the first matching module is further configured to: construct a heading angle information sequence based on at least one historical heading angle information and heading angle information; determine the difference between two adjacent heading angle information in the heading angle information sequence to obtain at least one heading angle difference; and obtain the sum of the absolute values ​​of at least one heading angle difference to obtain the heading angle change.

[0103] In the above embodiments of this application, the first matching module is further configured to: determine that the first material transport vehicle and the target material loading equipment are successfully matched in response to the target distance being less than or equal to the preset loading radius, the duration being greater than or equal to the preset duration, and the change in heading angle being greater than the preset change amount; wherein, the duration is used to characterize the cumulative duration for which the target distance is continuously less than or equal to the preset loading radius.

[0104] In the above embodiments of this application, the device further includes at least one of the following: a second determining module, configured to determine a preset loading radius based on the type of the target material loading equipment; a first statistics module, configured to statistically analyze the loading times of multiple historical material loading equipment to obtain a preset duration, wherein the types of the multiple historical material loading equipment are the same as the type of the target material loading equipment, and the loading time is the time for the corresponding historical material loading equipment to load materials; and a second statistics module, configured to statistically analyze the historical heading angle changes of multiple historical material loading equipment to obtain a preset change, wherein the historical heading angle change is the change in the heading angle of the historical material loading equipment during the loading process of the corresponding historical material loading equipment.

[0105] In the above embodiments of this application, the first determining module is further configured to: obtain the loading count corresponding to the target material loading equipment, wherein the loading count is used to characterize the number of times the material on the second material transport vehicle has been loaded by the target material loading equipment, and the second material transport vehicle is located within the operating area; update the historical monitoring results of the target material loading equipment based on the number of successful matches and the number of loading counts to obtain the monitoring results of the target material loading equipment; wherein the first material transport vehicle is in manual driving mode and the second material transport vehicle is in automatic driving mode.

[0106] In the above embodiments of this application, the device further includes: a third determining module, used to determine at least one material transport vehicle to be dispatched in the work area; a first dispatching module, used to dispatch at least one material transport vehicle to be dispatched in the work area based on the monitoring results of at least one material loading device in the work area; preferably, the monitoring results of at least one material loading device are displayed in the device management page.

[0107] In the above embodiments of this application, the device further includes: a second acquisition module, configured to acquire first position information and heading angle information of multiple material loading devices, and second position information of multiple material transport vehicles; an equipment grouping module, configured to group multiple material loading devices based on the work area identifiers corresponding to the multiple material loading devices to obtain at least one equipment set, wherein the material loading devices in the same equipment set are located in the same area; a vehicle grouping module, configured to group multiple material transport vehicles based on the work area identifiers corresponding to the multiple material transport vehicles to obtain at least one vehicle set, wherein the material transport vehicles in the same vehicle set are located in the same area; an equipment determination module, configured to select any one material loading device in any equipment set as a target material loading device; a set determination module, configured to determine a target vehicle set belonging to the same area as the target material loading device from at least one vehicle set; and a vehicle determination module, configured to select at least one material transport vehicle in the target vehicle set as at least one first material transport vehicle.

[0108] According to an embodiment of the present invention, a monitoring system for a material loading device is provided. The specific implementation method and application scenario are the same as those of the above embodiments, and will not be repeated here. Figure 3 This is a schematic diagram of a monitoring system for a material loading device according to an embodiment of the present invention, such as... Figure 3 As shown, the system includes:

[0109] The target material loading equipment 302 is located within the operating area and is used to collect the first position information and heading angle information of the target material loading equipment.

[0110] In an optional embodiment, the target material loading device 302 can be connected to the monitoring platform 306 to send the collected first position information and heading angle information to the monitoring platform 306.

[0111] At least one first material transport vehicle 304 (only one is shown in the figure) is located in the work area and is used to collect the second location information of the corresponding first material transport vehicle.

[0112] In an optional embodiment, at least one first material transport vehicle 304 may be connected to the monitoring platform 306 to send the collected second location information to the monitoring platform 306.

[0113] The monitoring platform 306 is communicatively connected to the target material loading equipment and at least one first material transport vehicle. It is used to match at least one first material transport vehicle with the target material loading equipment based on first location information, second location information, and heading angle information, determine the number of successful matches of the target material loading equipment, and determine the monitoring result of the target material loading equipment based on the number of successful matches. The monitoring result is used to characterize the loading progress of the target material loading equipment.

[0114] In the above embodiments of this application, the monitoring platform includes: a data processing module, used to match at least one first material transport vehicle with a target material loading device based on first location information, second location information and heading angle information, and determine the number of successful matches; and a monitoring module, connected to the data processing module, used to determine the monitoring result based on the number of successful matches.

[0115] For ease of understanding, Figure 4 This is a system architecture diagram of an optional monitoring system for a material loading device according to an embodiment of the present invention, such as... Figure 4As shown, the system consists of an excavator, a manually driven loading vehicle, a communication module, a data processing module, a matching and calculation module, and a mine management platform. The excavator may further include a positioning module and an attitude sensing module. The positioning module acquires the excavator's latitude and longitude, while the attitude sensing module acquires the excavator's heading angle information at a preset sampling frequency, providing a data foundation for subsequent matching with the manually driven loading vehicle. The manually driven loading vehicle may also include a positioning module to acquire its latitude and longitude for matching with the excavator. The communication module facilitates data interaction between the excavator, the manually driven loading vehicle, the data processing module, the matching and calculation module, and the mine management platform, ensuring real-time information transmission. The data processing module receives latitude, longitude, and heading angle data forwarded by the communication module from the excavator and the manually driven loading vehicle, and parses, stores, and analyzes this data to determine whether the excavator and the manually driven loading vehicle are close together and whether the excavator has completed loading operations. The data processing results can then be sent to the matching and calculation module. The matching and calculation module described above is used to count the number of excavators loaded onto trucks and can provide feedback to the communication module. The communication module can then send the received real-time synchronized data to the mine management platform to dynamically display the loading count to management personnel.

[0116] Embodiments of this application also provide an electronic device, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of the present invention during runtime.

[0117] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0118] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0119] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0120] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0121] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0122] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0123] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0124] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0125] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0126] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A monitoring method for material loading equipment, characterized in that, include: Acquire the first position information and heading angle information of the target material loading equipment, and the second position information of at least one first material transport vehicle, wherein the target material loading equipment is any material loading equipment within the operating area, and the at least one first material transport vehicle is located within the operating area; Based on the first location information, the second location information, and the heading angle information, the at least one first material transport vehicle is matched with the target material loading equipment, and the number of successful matches corresponding to the target material loading equipment is determined. Based on the number of successful matches, the monitoring results of the target material loading equipment are determined, wherein the monitoring results are used to characterize the loading progress of the target material loading equipment.

2. The method according to claim 1, characterized in that, The step of matching the at least one first material transport vehicle with the target material loading equipment based on the first location information, the second location information, and the heading angle information, and determining the number of successful matches corresponding to the target material loading equipment, includes: For any first material transport vehicle, the target distance between the target material loading device and the first material transport vehicle is determined based on the first location information and the second location information of the first material transport vehicle; Based on the heading angle information and at least one historical heading angle information, the heading angle change is determined; Based on the target distance and the change in heading angle, determine whether the first material transport vehicle and the target material loading equipment are successfully matched. In response to the successful matching of the first material transport vehicle with the target material loading equipment, the historical number of successful matchings corresponding to the target material loading equipment is updated to obtain the number of successful matchings.

3. The method according to claim 2, characterized in that, The step of determining the change in heading angle based on the heading angle information and at least one historical heading angle information includes: Based on the at least one historical heading angle information and the heading angle information, a heading angle information sequence is constructed; Determine the difference between two adjacent heading angle information in the heading angle information sequence to obtain at least one heading angle difference; The sum of the absolute values ​​of the at least one heading angle difference is obtained to obtain the heading angle change.

4. The method according to claim 2, characterized in that, The step of determining whether the first material transport vehicle and the target material loading equipment are successfully matched based on the target distance and the change in heading angle includes: In response to the target distance being less than or equal to a preset loading radius, the duration being greater than or equal to a preset duration, and the change in heading angle being greater than a preset change, it is determined that the first material transport vehicle and the target material loading equipment are successfully matched. The duration is used to characterize the cumulative duration during which the target distance remains less than or equal to the preset loading radius.

5. The method according to claim 4, characterized in that, The method further includes at least one of the following: The preset loading radius is determined based on the type of the target material loading equipment; The loading time of multiple historical material loading devices is statistically analyzed to obtain the preset duration, wherein the types of the multiple historical material loading devices are the same as the type of the target material loading device, and the loading time is the time for the corresponding historical material loading device to load materials; The historical heading angle changes of the multiple historical material loading devices are statistically analyzed to obtain the preset change amount, wherein the historical heading angle change amount is the change in the heading angle of the historical material loading device during the loading process of the corresponding historical material loading device.

6. The method according to any one of claims 1 to 5, characterized in that, The determination of the monitoring results of the target material loading equipment based on the number of successful matches includes: The loading count corresponding to the target material loading equipment is obtained, wherein the loading count is used to characterize the number of times the material on the second material transport vehicle is loaded by the target material loading equipment, and the second material transport vehicle is located in the work area; Based on the number of successful matches and the number of loadings, the historical monitoring results of the target material loading equipment are updated to obtain the monitoring results of the target material loading equipment; The first material transport vehicle is in manual driving mode, while the second material transport vehicle is in automatic driving mode.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Identify at least one material transport vehicle to be dispatched within the work area; Based on the monitoring results of at least one material loading device in the work area, at least one material transport vehicle to be dispatched in the work area is dispatched. Preferably, the monitoring results of the at least one material loading device are displayed on the device management page.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: Acquire the first position information and heading angle information of multiple material loading devices, as well as the second position information of multiple material transport vehicles; Based on the work area identifiers corresponding to the multiple material loading devices, the multiple material loading devices are grouped to obtain at least one device set, wherein the material loading devices in the same device set are located in the same area. Based on the work area identifiers corresponding to the multiple material transport vehicles, the multiple material transport vehicles are grouped to obtain at least one vehicle set, wherein the material transport vehicles in the same vehicle set are located in the same area. Take any material loading device within any set of devices as the target material loading device; From the at least one set of vehicles, determine the set of target vehicles that belong to the same area as the target material loading equipment; At least one material transport vehicle in the target vehicle set shall be designated as the at least one first material transport vehicle.

9. A monitoring system for a material loading device, characterized in that, include: The target material loading equipment is located within the operating area and is used to collect the first position information and heading angle information of the target material loading equipment; At least one first material transport vehicle is located within the work area, and is used to collect the second location information of the corresponding first material transport vehicle. A monitoring platform, communicatively connected to the target material loading equipment and the at least one first material transport vehicle, is used to match the at least one first material transport vehicle with the target material loading equipment based on the first location information, the second location information, and the heading angle information, determine the number of successful matches of the target material loading equipment, and determine the monitoring result of the target material loading equipment based on the number of successful matches, wherein the monitoring result is used to characterize the loading progress of the target material loading equipment.

10. The system according to claim 9, characterized in that, The monitoring platform includes: The data processing module is used to match the at least one first material transport vehicle with the target material loading equipment based on the first location information, the second location information and the heading angle information, and to determine the number of successful matches; A monitoring module, connected to the data processing module, is used to determine the monitoring result based on the number of successful matches.

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