Unmanned mine card battery replacement scheduling method, device and system, medium and program product

Abstract

The invention relates to an unmanned mine card battery replacement scheduling method, device and system, a medium and a program product. The unmanned mine card battery replacement scheduling method comprises the following steps: determining an alarm electric quantity threshold value of an unmanned mine card according to historical power consumption data and a current battery temperature of the unmanned mine card; acquiring the real-time electric quantity of the unmanned mine card; and under the condition that the real-time electric quantity is smaller than the alarm electric quantity threshold value, carrying out automatic battery replacement on the unmanned mine card. According to the invention, the alarm electric quantity threshold value can be estimated in real time according to the historical power consumption data and the current battery temperature of the unmanned mine card, the flexibility of battery replacement is improved, and electric quantity alarm can be accurately carried out, so that the unmanned mine card can be navigated to a nearby battery replacement station as soon as possible.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of intelligent control of unmanned mining equipment, and particularly relates to an unmanned mining truck battery replacement scheduling method, device and system, a medium and a program product. BACKGROUND

[0002] With the promotion of green and intelligent mine construction, pure electric unmanned mining trucks are accelerating popularization due to their environmental protection and automation advantages. The harsh working conditions of mining trucks, such as high energy consumption and all-weather operation, make the battery replacement mode a core solution to the range anxiety. Although the related technology of battery replacement stations for manned vehicles has initially taken shape, the supporting battery replacement stations for unmanned applications in closed scenes such as mining areas urgently need technical upgrading to support the "unmanned battery replacement" scene. SUMMARY

[0003] The inventors have found that the actual operation of the related technology of unmanned electric mining trucks still faces significant challenges: inefficient scheduling: the vehicle scheduling strategy is not good, and the battery replacement under a fixed threshold lacks flexibility.

[0004] In view of at least one of the above technical problems, the present disclosure provides an unmanned mining truck battery replacement scheduling method, device and system, medium and program product, which can real-time estimate an alarm power threshold according to historical power consumption data and a current battery temperature of the unmanned mining truck, improve the flexibility of battery replacement, accurately perform power alarm, and thus can navigate the unmanned mining truck to a nearby battery replacement station as soon as possible.

[0005] According to one aspect of the present disclosure, an unmanned mining truck battery replacement scheduling method is provided, comprising:

[0006] determining an alarm power threshold of the unmanned mining truck according to historical power consumption data and a current battery temperature of the unmanned mining truck;

[0007] obtaining real-time power of the unmanned mining truck;

[0008] in a case where the real-time power is less than the alarm power threshold, performing automatic battery replacement on the unmanned mining truck.

[0009] In some embodiments of the present disclosure, the unmanned mining truck battery replacement scheduling method further comprises:

[0010] determining a pre-warning power threshold of the unmanned mining truck according to the alarm power threshold, wherein the pre-warning power threshold is higher than the alarm power threshold;

[0011] in a case where the real-time power is less than the pre-warning power threshold, prompting a scheduling personnel whether to need battery replacement;

[0012] in a case where the scheduling personnel indicates that battery replacement is needed, performing automatic battery replacement on the unmanned mining truck.

[0013] In the case that the dispatcher indicates that battery replacement is not required, the unmanned mine truck is controlled to continue operation.

[0014] In some embodiments of the present disclosure, the determining the pre-warning power threshold of the unmanned mine truck according to the warning power threshold comprises:

[0015] The pre-warning power threshold of the unmanned mine truck is determined according to the warning power threshold and a predetermined floating ratio.

[0016] In some embodiments of the present disclosure, the battery replacement scheduling method for the unmanned mine truck further comprises:

[0017] The safety power threshold of the unmanned mine truck is determined according to the required power for the battery replacement stopover process of the unmanned mine truck, a battery damage protection threshold and a safety margin, wherein the safety power threshold is less than the warning power threshold.

[0018] In the case that the real-time power is less than the safety power threshold or a battery-related fault reported by the unmanned mine truck is received, the unmanned mine truck is controlled to stop and wait for manual takeover.

[0019] In some embodiments of the present disclosure, the determining the warning power threshold of the unmanned mine truck according to the historical power consumption data of the unmanned mine truck and the current battery temperature comprises:

[0020] The mileage power of the unmanned mine truck is determined according to the historical power consumption data of the unmanned mine truck and the mileage of one operation cycle.

[0021] The temperature compensation power of the unmanned mine truck is determined according to the current battery temperature of the unmanned mine truck.

[0022] The warning power threshold is determined according to the mileage power, the temperature compensation power, the safety power threshold of the unmanned mine truck and an environmental risk coefficient.

[0023] In some embodiments of the present disclosure, the determining the mileage power of the unmanned mine truck according to the historical power consumption data of the unmanned mine truck and the mileage of one operation cycle comprises:

[0024] The power consumption per kilometer when the unmanned mine truck is empty and the power consumption per kilometer when the unmanned mine truck is loaded are determined according to the historical power consumption data of the unmanned mine truck.

[0025] The empty mileage and the loaded mileage of the unmanned mine truck are extracted according to the mileage of one operation cycle.

[0026] The mileage power is determined according to the power consumption per kilometer when the unmanned mine truck is empty, the power consumption per kilometer when the unmanned mine truck is loaded, the empty mileage and the loaded mileage.

[0027] In some embodiments of the present disclosure, the determining the temperature compensation electric quantity of the unmanned mine truck according to the current battery temperature of the unmanned mine truck comprises:

[0028] setting a plurality of battery temperature intervals and a temperature threshold corresponding to each battery temperature interval;

[0029] taking the temperature threshold corresponding to the battery temperature interval in which the current battery temperature of the unmanned mine truck is located as the temperature compensation electric quantity according to the current battery temperature of the unmanned mine truck.

[0030] In some embodiments of the present disclosure, the setting a plurality of battery temperature intervals and a temperature threshold corresponding to each battery temperature interval comprises:

[0031] setting a first battery temperature interval and a second battery temperature interval, wherein the temperature of the first battery temperature interval is lower than the temperature of the second battery temperature interval;

[0032] setting a first temperature threshold corresponding to the first battery temperature interval;

[0033] setting a second temperature threshold corresponding to the second battery temperature interval, wherein the first temperature threshold is higher than the second temperature threshold.

[0034] In some embodiments of the present disclosure, the determining the alarm electric quantity threshold according to the mileage electric quantity, the temperature compensation electric quantity, the safety electric quantity threshold of the unmanned mine truck and the environmental risk coefficient comprises:

[0035] In the case of abnormal weather, the environmental risk coefficient is increased to increase the alarm electric quantity threshold, wherein the abnormal weather includes at least one of heavy rain and heavy fog.

[0036] In some embodiments of the present disclosure, the automatic battery replacement of the unmanned mine truck comprises:

[0037] planning a task navigation path from the current position of the unmanned mine truck to a battery replacement station;

[0038] navigating the unmanned mine truck to the battery replacement station according to the task navigation path to perform automatic battery replacement.

[0039] In some embodiments of the present disclosure, the navigating the unmanned mine truck to the battery replacement station according to the task navigation path comprises:

[0040] in the case that the unmanned mine truck is currently empty driving, navigating the unmanned mine truck to the battery replacement station;

[0041] In a case where the unmanned mining truck is currently in heavy load driving, the unmanned mining truck is first navigated to a discharge point to complete discharge, and then the unmanned mining truck is navigated to the battery swap station.

[0042] In some embodiments of the present disclosure, the navigation of the unmanned mining truck to the battery swap station for automatic battery swap includes:

[0043] navigating the unmanned mining truck to an entry point of the battery swap station;

[0044] determining whether a battery swap position of the battery swap station is idle;

[0045] in a case where the battery swap position is idle, navigating the unmanned mining truck to the battery swap position for automatic battery swap;

[0046] in a case where the battery swap position is not idle, controlling the unmanned mining truck to queue and wait.

[0047] In some embodiments of the present disclosure, the navigation of the unmanned mining truck to the battery swap position includes:

[0048] navigating the unmanned mining truck to the battery swap position;

[0049] in response to a case where the battery swap station control system detects that the unmanned mining truck parking deviation is greater than a tolerance threshold, navigating the unmanned mining truck to a retry area in the battery swap station to retry entering the battery swap position.

[0050] In some embodiments of the present disclosure, the control of the unmanned mining truck to queue and wait includes:

[0051] authorizing unmanned mining trucks to enter the battery swap position based on a first-in first-out principle, and dynamically updating a queue state;

[0052] a real-time battery swap position state;

[0053] in a case where the battery swap position is occupied, prohibiting other vehicles from entering;

[0054] in a case where the battery swap position is idle, sending an entry instruction to a first unmanned mining truck in the queue, and subsequent unmanned mining trucks waiting outside the battery swap position.

[0055] In some embodiments of the present disclosure, the unmanned mining truck battery swap scheduling method further includes:

[0056] obtaining battery swap station data and obstacle data around the battery swap station collected by the unmanned mining truck, wherein the battery swap station data includes battery swap station position information, and the battery swap station data is uploaded by the unmanned mining truck in a case where the unmanned mining truck drives into the battery swap station to complete a bucket lifting action, and a battery swap station control system verifies that the unmanned mining truck meets parking accuracy and attitude requirements;

[0057] The battery replacement station position information is displayed as a battery replacement position reference point, stored in a map database and displayed on a map.

[0058] According to another aspect of the present disclosure, an unmanned mine car battery replacement scheduling device is provided, comprising:

[0059] An electric quantity estimation module is configured to determine an alarm electric quantity threshold of the unmanned mine car according to historical electric consumption data and a current battery temperature of the unmanned mine car, and acquire real-time electric quantity of the unmanned mine car.

[0060] A decision module is configured to automatically replace the battery of the unmanned mine car if the real-time electric quantity is less than the alarm electric quantity threshold.

[0061] According to another aspect of the present disclosure, an unmanned mine car battery replacement scheduling device is provided, comprising:

[0062] A memory is configured to store instructions.

[0063] A processor is configured to execute the instructions, so that the unmanned mine car battery replacement scheduling device implements the unmanned mine car battery replacement scheduling method according to any one of the above embodiments.

[0064] According to another aspect of the present disclosure, an unmanned mine car battery replacement scheduling system is provided, comprising an unmanned mine car, a battery replacement station control system and the unmanned mine car battery replacement scheduling device according to any one of the above embodiments.

[0065] According to another aspect of the present disclosure, a computer readable storage medium is provided, wherein the computer readable storage medium stores computer instructions, and the instructions are executed by a processor to implement the unmanned mine car battery replacement scheduling method according to any one of the above embodiments.

[0066] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program is executed by a processor to implement the unmanned mine car battery replacement scheduling method according to any one of the above embodiments.

[0067] The present disclosure can estimate the alarm electric quantity threshold in real time according to historical electric consumption data and a current battery temperature of the unmanned mine car, improve the flexibility of battery replacement, accurately perform electric quantity alarm, and thus can navigate the unmanned mine car to a nearby battery replacement station as soon as possible. BRIEF DESCRIPTION OF DRAWINGS

[0068] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, brief descriptions will be given below to the drawings needed to be used in the embodiments or prior art descriptions. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without any creative effort.

[0069] Figure 1 Schematic diagram of some embodiments of the unmanned mine card battery replacement scheduling method of the present disclosure.

[0070] Figure 2 Schematic diagram of some other embodiments of the unmanned mine card battery replacement scheduling method of the present disclosure.

[0071] Figure 3 Schematic diagram of the battery replacement station in some embodiments of the present disclosure.

[0072] Figure 4 Schematic diagram of some other embodiments of the unmanned mine card battery replacement scheduling method of the present disclosure.

[0073] Figure 5 Schematic diagram of some embodiments of the unmanned mine card battery replacement scheduling device of the present disclosure.

[0074] Figure 6 Structural schematic diagram of some other embodiments of the unmanned mine card battery replacement scheduling device of the present disclosure.

[0075] Figure 7 Schematic diagram of some embodiments of the unmanned mine card battery replacement scheduling system of the present disclosure. DETAILED DESCRIPTION

[0076] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0077] Unless otherwise specifically stated, the relative arrangement of parts and steps, numerical expressions, and values set forth in the embodiments are not meant to limit the scope of the present disclosure.

[0078] At the same time, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the convenience of description.

[0079] The technology, methods and devices known to those skilled in the relevant art can not be discussed in detail, but should be considered as part of the authorized specification under appropriate circumstances.

[0080] In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, not as a limitation. Therefore, other examples of exemplary embodiments can have different values.

[0081] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0082] The inventors have found that the actual operation of the related art unmanned electric mine truck still faces significant challenges: endurance bottleneck: the single vehicle continuous operation time is limited, and frequent battery replacement is required; high failure rate of battery replacement: the mine truck needs to be accurately matched with the battery replacement arm of the battery replacement station, and manual intervention is required when the parking error is large.

[0083] A technical solution of the related art monitors the power information of all registered battery replacement vehicles in real time, queries the battery replacement station corresponding to the battery replacement vehicle when the power information is less than a threshold value, and controls the battery replacement vehicle to drive to the battery replacement station. When it is monitored that the battery replacement vehicle drives to the battery replacement station area, a takeover request is sent through the first communication link established with the battery replacement station. The battery replacement station establishes a second communication link with the battery replacement vehicle according to the takeover request, and controls the battery replacement vehicle to drive to the battery replacement area for battery replacement operation. This system focuses on analyzing the impact of communication on the battery replacement process, and can navigate the mine truck with power less than the threshold value to the designated battery replacement station. However, this related art lacks analysis of parking failure and multi-vehicle queuing control in the battery replacement process.

[0084] Another technical solution of the related art has a strategy that when the battery capacity ratio is less than 0.15, the original task cannot be completed, and the task vehicle is notified to go to the battery replacement station for battery replacement. When the battery capacity ratio is greater than or equal to 0.15, the working condition is met, and the original task is executed. This related art has a fixed vehicle scheduling strategy, and the battery replacement under the fixed threshold lacks flexibility.

[0085] Another technical solution of the related art obtains battery pack SOE and automatic driving system historical energy consumption data, estimates work energy consumption and energy consumption for returning to the battery replacement station, calculates the remaining work cycle number, updates the remaining work cycle number according to real-time SOE and energy consumption data during operation, and when the updated remaining work cycle number is less than 1 after completing unloading at the unloading point, the battery replacement condition is reached, and the mine truck goes to the battery replacement station for battery replacement. This related art considers the impact of driving distance and load on energy consumption, but lacks analysis of the impact of temperature and operating environment on energy consumption.

[0086] In view of at least one of the above technical problems, the present disclosure provides an unmanned mine truck battery replacement scheduling method, device and system, medium and program product, which will be described below through specific embodiments.

[0087] Figure 1These are schematic diagrams illustrating some embodiments of the unmanned mining truck battery swapping dispatching method disclosed herein. Preferably, this embodiment can be executed by the unmanned mining truck battery swapping dispatching device, the detection fire truck, or the unmanned mining truck battery swapping dispatching system disclosed herein. Figure 1 As shown, Figure 1 The method of the embodiment may include at least one of steps 1 to 3.

[0088] In step 1, the alarm power threshold of the unmanned mining truck is determined based on the historical power consumption data and the current battery temperature.

[0089] In some embodiments of this disclosure, the alarm power threshold ( The threshold for automatic battery swapping is insufficient to support another loading and unloading cycle.

[0090] In some embodiments of this disclosure, the alarm power threshold ( This mainly includes mileage power, temperature-compensated power, safe power threshold, and environmental risk coefficient.

[0091] In some embodiments of this disclosure, step 1 may include at least one of steps 11 to 13.

[0092] In step 11, the mileage power consumption of the unmanned mining truck is determined based on its historical power consumption data and the mileage of one work cycle.

[0093] In some embodiments of this disclosure, step 11 may include at least one of steps 111 to 113.

[0094] In step 111, the power consumption per kilometer of the unmanned mining truck when it is unloaded is determined based on the historical power consumption data of the unmanned mining truck. and the power consumption per kilometer of the unmanned mining truck under heavy load. .

[0095] In step 112, the unmanned mining truck's idle mileage is extracted based on the mileage of one work cycle. and heavy load mileage In this context, a single work cycle refers to the cycle in which an unmanned mining truck departs empty from the unloading point, arrives at the loading point, loads materials, and then returns to the unloading point to unload the materials.

[0096] In some embodiments of this disclosure, the empty mileage and heavy load mileage All are equal to the distance from the unloading point to the loading point.

[0097] In some embodiments of this disclosure, the empty mileage and heavy load mileage Each of the empty-load mileage and the heavy-load mileage is equal to half of the mileage of the one-time operation cycle.

[0098] In step 113, the range power is determined according to the empty-load power consumption per kilometer, the heavy-load power consumption per kilometer, the empty-load mileage and the heavy-load mileage.

[0099] In some embodiments of the present disclosure, step 113 can comprise determining the range power according to formula (1).

[0100] (1)

[0101] In step 12, the temperature compensation power of the unmanned mining vehicle is determined according to the current battery temperature of the unmanned mining vehicle.

[0102] In some embodiments of the present disclosure, step 12 can comprise at least one of steps 121 to 122.

[0103] In step 121, a plurality of battery temperature intervals and a temperature threshold corresponding to each battery temperature interval are set.

[0104] In some embodiments of the present disclosure, step 121 can comprise: setting a first battery temperature interval and a second battery temperature interval, wherein the temperature of the first battery temperature interval is lower than the temperature of the second battery temperature interval; setting a first temperature threshold corresponding to the first battery temperature interval; and setting a second temperature threshold corresponding to the second battery temperature interval, wherein the first temperature threshold is higher than the second temperature threshold.

[0105] In some embodiments of the present disclosure, if the temperature of the first battery temperature interval is lower than the temperature of the second battery temperature interval, the first temperature threshold is higher than the second temperature threshold.

[0106] In some embodiments of the present disclosure, step 121 can comprise setting five battery temperature intervals and a temperature threshold corresponding to each battery temperature interval.

[0107] In step 122, the temperature threshold corresponding to the battery temperature interval in which the current battery temperature of the unmanned mining vehicle is located is taken as the temperature compensation power according to the current battery temperature of the unmanned mining vehicle.

[0108] In some embodiments of the present disclosure, step 122 can comprise setting the battery temperature intervals and the temperature thresholds corresponding to each battery temperature interval as shown in Table 1 and formula (2) as a temperature compensation method.

[0109] Table 1

[0110] (2)

[0111] In step 13, the warning power threshold is determined according to the mileage power, the temperature compensation power, the safety power threshold of the unmanned mining truck, and the environmental risk coefficient . .

[0112] In some embodiments of the present disclosure, step 13 can include determining the warning power threshold according to formula (3) .

[0113] (3)

[0114] In formula (3), is the environmental risk coefficient, which moderately increases the warning power threshold when there is abnormal weather such as heavy rain or heavy fog.

[0115] In some embodiments of the present disclosure, step 13 can include increasing the environmental risk coefficient to increase the warning power threshold in the case of abnormal weather, wherein the abnormal weather includes at least one of heavy rain and heavy fog.

[0116] In step 2, the real-time power of the unmanned mining truck is obtained.

[0117] In step 3, the unmanned mining truck is automatically replaced in the case that the real-time power is less than the warning power threshold.

[0118] The present disclosure can estimate the warning power threshold in real time according to the historical power consumption data of the unmanned mining truck and the current battery temperature, improve the flexibility of power replacement, accurately perform power warning, and thus can navigate the unmanned mining truck to the nearby power replacement station as soon as possible.

[0119] Figure 2 FIG. 1 is a schematic diagram of another embodiment of the unmanned mining truck power replacement scheduling method of the present disclosure. Preferably, the present embodiment can be executed by the unmanned mining truck power replacement scheduling device of the present disclosure, the detection and fire fighting vehicle of the present disclosure, or the unmanned mining truck power replacement scheduling system of the present disclosure. As shown in Figure 2 , the method of the present embodiment can include at least one of steps 100 to 400. Figure 2

[0120] In step 100, data of the power replacement position and surrounding obstacles are obtained.

[0121] In some embodiments of the present disclosure, step 100 can include performing map collection on the power replacement station.

[0122] In some embodiments of the present disclosure, step 100 can be executed by the map collection module of the unmanned mining truck power replacement scheduling device.

[0123] ​In some embodiments of the present disclosure, step 100 can include accurately collecting data of the battery replacement position and surrounding obstacles.

[0124] In some embodiments of the present disclosure, step 100 can include at least one of steps 110 to 120.

[0125] In step 110, the data of the battery replacement station collected by the unmanned mining vehicle and the data of the obstacles surrounding the battery replacement station are obtained, wherein the data of the battery replacement station includes position information of the battery replacement station, and the data of the battery replacement station is uploaded by the unmanned mining vehicle when the unmanned mining vehicle drives into the battery replacement station to complete the bucket lifting action and the battery replacement station control system verifies that the unmanned mining vehicle meets the parking accuracy and attitude requirements.

[0126] In some embodiments of the present disclosure, the position information of the battery replacement station includes longitude, latitude and heading angle.

[0127] In some embodiments of the present disclosure, step 110 can include that a map collection module can accurately collect data of the battery replacement position and surrounding obstacles. First, a driver drives the mining vehicle to complete map collection of the battery replacement station and calibration of the battery replacement position. The driver drives the mining vehicle into a preset battery replacement area, completes the bucket lifting action, and the battery replacement station verifies whether the parking accuracy and attitude requirements are met. If the system detects that the battery replacement parking accuracy is met, the mining vehicle uploads the current position (longitude, latitude and heading angle).

[0128] In step 120, the position information of the battery replacement station is displayed as a reference point of the battery replacement position, stored in a map database and displayed on a map.

[0129] In some embodiments of the present disclosure, step 100 can include battery replacement position calibration, position collection and data storage.

[0130] In some embodiments of the present disclosure, the battery replacement position calibration can include that the driver drives the mining vehicle into a preset battery replacement area, completes the bucket lifting action, and the battery replacement station verifies whether the parking accuracy and attitude requirements are met.

[0131] In some embodiments of the present disclosure, the position collection can include that if the system detects that the battery replacement parking accuracy is met, the mining vehicle uploads the current position (longitude, latitude and heading angle).

[0132] In some embodiments of the present disclosure, the data storage can include that the current position (longitude, latitude and heading angle) is displayed as a reference point of the battery replacement position, stored in a map database and displayed on a map.

[0133] In step 200, according to historical data of each mining vehicle, and considering real-time power consumption under the influence of the load of the mining vehicle and the temperature of the battery, the safety power threshold, the warning power threshold and the early warning power threshold of the mining vehicle are estimated.

[0134] In some embodiments of the present disclosure, step 200 can be performed by an electric quantity estimation module of the unmanned mine card battery swap scheduling device.

[0135] In some embodiments of the present disclosure, step 200 can include at least one of steps 210 to 230.

[0136] In step 210, a safe electric quantity threshold of the unmanned mine card is determined according to the electric quantity required by the battery swap stopover process of the unmanned mine card, a battery damage protection threshold and a safety margin, wherein the safe electric quantity threshold is less than the warning electric quantity threshold.

[0137] In some embodiments of the present disclosure, the full electric quantity threshold (Q ) is an emergency bottom threshold, including but not limited to the electric quantity required by the battery swap stopover process, the battery damage protection threshold and a certain safety margin.

[0138] In step 220, a warning electric quantity threshold of the unmanned mine card is determined according to historical electric consumption data of the unmanned mine card and a current battery temperature.

[0139] In some embodiments of the present disclosure, step 200 can be implemented as Figure 1 Step 1 of the embodiments.

[0140] In step 230, a pre-warning electric quantity threshold of the unmanned mine card is determined according to the warning electric quantity threshold, wherein the pre-warning electric quantity threshold is higher than the warning electric quantity threshold.

[0141] In some embodiments of the present disclosure, step 230 can include determining the pre-warning electric quantity threshold of the unmanned mine card according to the warning electric quantity threshold and a predetermined floating ratio.

[0142] In some embodiments of the present disclosure, step 230 can include proportionally floating a certain value from the warning electric quantity threshold to obtain the pre-warning electric quantity threshold (Q ).

[0143] In some embodiments of the present disclosure, step 230 can include proportionally floating a certain value from the warning electric quantity threshold to obtain the pre-warning electric quantity threshold (Q ) according to formula (4).

[0144] (4)

[0145] In some embodiments of the present disclosure, the pre-warning electric quantity threshold (Q ) is used to prompt the dispatcher to interrupt the work process and prioritize battery swap.

[0146] ​​In some embodiments of the present disclosure, step 200 estimates three thresholds including a safety power threshold, an alarm power threshold, and a pre-warning power threshold.

[0147] In step 300, a decision is made to continue the task, replace the battery, or stop the vehicle according to the three thresholds (safety power threshold, alarm power threshold, and pre-warning power threshold) determined in step 200.

[0148] In some embodiments of the present disclosure, step 300 can be performed by a decision module of the unmanned mine truck battery replacement scheduling device.

[0149] In some embodiments of the present disclosure, step 300 can include at least one of steps 310 to 340.

[0150] In step 310, the real-time power of the unmanned mine truck is obtained.

[0151] In step 320, if the real-time power is less than the pre-warning power threshold , a pop-up window prompts the dispatcher whether to replace the battery, and the dispatcher can choose to continue the operation or replace the battery.

[0152] In some embodiments of the present disclosure, if the real-time power is less than the pre-warning threshold, the dispatcher can choose to replace the battery or continue the operation, thereby improving the user experience.

[0153] In step 330, if the real-time power is less than the alarm power threshold , the unmanned mine truck is automatically replaced.

[0154] In some embodiments of the present disclosure, step 330 can include: if the real-time power of the mine truck is lower than the alarm power threshold , an automatic battery replacement process is triggered, and the mine truck is guided to drive to the battery replacement station.

[0155] In step 340, if the real-time power is less than the safety power threshold or a battery-related fault reported by the unmanned mine truck is received, the unmanned mine truck is controlled to stop and wait for manual takeover.

[0156] In some embodiments of the present disclosure, step 340 can include: if the real-time power of the mine truck is lower than the threshold , or a battery-related fault reported by the mine truck is received, the mine truck is safely stopped and waits for manual takeover.

[0157] In some embodiments of the present disclosure, the above-mentioned embodiments further include an emergency bottom threshold. In the above-mentioned embodiments of the present disclosure, if the real-time power is less than the emergency bottom threshold, the unmanned mine truck is controlled to stop and wait for manual takeover, thereby ensuring that the power of the unmanned mine truck can reach the battery replacement station, improving the safety of the unmanned mine truck, and improving the user experience.

[0158] The above embodiments of the present disclosure provide multi-level battery replacement thresholds, sufficient, accurate and hierarchical early warning and alarm, and the mine truck can be guided to the nearby battery replacement station as soon as possible when the early warning or alarm occurs.

[0159] In step 400, the mine truck is guided to the battery replacement station when the unmanned mine truck needs to replace the battery.

[0160] In some embodiments of the present disclosure, step 400 can be performed by the task management module of the unmanned mine truck battery replacement scheduling device.

[0161] In some embodiments of the present disclosure, step 400 can include at least one of steps 410 to 420.

[0162] In step 410, a task navigation path from the current position of the unmanned mine truck to the battery replacement station is planned.

[0163] In some embodiments of the present disclosure, step 410 can include battery replacement task planning.

[0164] In some embodiments of the present disclosure, step 410 can include at least one of steps 411 to 412.

[0165] In step 411, in the case that the unmanned mine truck is currently empty driving, the path from the unmanned mine truck to the battery replacement station is taken as the task navigation path.

[0166] In step 412, in the case that the unmanned mine truck is currently heavy driving, the path from the unmanned mine truck to the unloading point and the path from the unloading point to the battery replacement station are taken as the task navigation path.

[0167] The navigation paths of the above embodiments of the present disclosure are different for empty and heavy driving.

[0168] In step 420, the unmanned mine truck is navigated to the battery replacement station according to the task navigation path, and automatic battery replacement is performed.

[0169] In some embodiments of the present disclosure, step 420 can include at least one of steps 421 to 424.

[0170] In step 421, in the case that the unmanned mine truck is currently empty driving, the unmanned mine truck is navigated to the battery replacement station.

[0171] In step 422, in the case that the unmanned mine truck is currently heavy driving, the unmanned mine truck is first navigated to the unloading point to complete unloading, and then the unmanned mine truck is navigated to the battery replacement station.

[0172] In step 423, queuing management is performed.

[0173] In some embodiments of the present disclosure, step 423 can comprise: navigating the unmanned mine card to the access point of the battery swap station, as shown in Figure 3 illustrated; determining whether the battery swap position of the battery swap station is idle; in the case that the battery swap position is idle, navigating the unmanned mine card to the battery swap position to perform automatic battery swap; in the case that the battery swap position is not idle, controlling the unmanned mine card to queue. Figure 3 A schematic diagram of the battery swap station in some embodiments of the present disclosure.

[0174] In some embodiments of the present disclosure, the step of controlling the unmanned mine card to queue can comprise: authorizing the unmanned mine card to enter the battery swap position based on the first-in-first-out principle, and dynamically updating the queue state; real-time battery swap position state; in the case that the battery swap position is occupied, prohibiting other vehicles from entering; in the case that the battery swap position is idle, sending an entry instruction to the first unmanned mine card in the queue, and the subsequent unmanned mine cards waiting outside the battery swap position.

[0175] In some embodiments of the present disclosure, the task management module adopts a region exclusive mechanism, authorizes vehicles to enter based on the first-in-first-out principle, and dynamically updates the queue state; only one mine card is allowed to perform battery swap operation in the battery swap region, and the system detects the region state in real time; when the battery swap region is occupied, other vehicles are prohibited from entering; when the battery swap station is idle, an access instruction is sent to the first vehicle in the queue, and the subsequent vehicles need to wait outside the battery swap region.

[0176] In step 424, battery swap retry is performed.

[0177] In some embodiments of the present disclosure, step 424 can comprise: performing battery swap position parking retry, i.e., retrying whether the battery swap position parking is in place.

[0178] In some embodiments of the present disclosure, step 424 can comprise: navigating the unmanned mine card to the battery swap position; in response to the case that the battery swap station control system detects that the unmanned mine card parking deviation is greater than the tolerance threshold, navigating the unmanned mine card to the retry area in the battery swap station to retry entering the battery swap position, as shown in Figure 3 .

[0179] In some embodiments of the present disclosure, step 424 can comprise: when the battery swap station control system detects that the mine card parking deviation exceeds the tolerance threshold, automatically triggering the retry process, i.e., navigating the mine card to the retry area in the battery swap station to retry entering the battery swap position. The method of the above embodiments of the present disclosure contains two strategies: the task management module of the unmanned mine card battery swap scheduling device plans the task path of the forward-adjustment-reverse mode for the unmanned mine card; or sends the retry battery swap information to the vehicle end, and the unmanned mine card autonomously retries to plan the path to enter the battery swap position.

[0180] Figure 4 FIG. 1 shows a schematic diagram of some embodiments of the present disclosure. Preferably, the embodiments can be executed by the unmanned mine truck battery replacement scheduling device, the unmanned mine truck battery replacement scheduling system, or the unmanned mine truck battery replacement scheduling method of the present disclosure. Figure 4 As shown in FIG. 1, Figure 4 The method of the embodiments can include at least one of steps 100 to 200, steps 301 to 307, and steps 401 to 407. Figure 4 Steps 100 and 200 of the embodiments are respectively the same or similar to Figure 2 Steps 100 and 200 of the embodiments are respectively the same or similar to

[0181] In step 100, map collection is performed.

[0182] In some embodiments of the present disclosure, step 100 can be executed by the map collection module of the unmanned mine truck battery replacement scheduling device.

[0183] In some embodiments of the present disclosure, step 100 can include obtaining data of the battery replacement potential and surrounding obstacles.

[0184] In some embodiments of the present disclosure, step 100 can include at least one of steps 110 to 120.

[0185] In step 200, power estimation is performed.

[0186] In some embodiments of the present disclosure, step 100 can include estimating the safe power threshold, the warning power threshold, and the early warning power threshold of each mine truck according to the historical data of the mine truck, and considering the real-time power consumption under the influence of the mine truck load and the battery temperature.

[0187] In some embodiments of the present disclosure, step 200 can be executed by the power estimation module of the unmanned mine truck battery replacement scheduling device.

[0188] In some embodiments of the present disclosure, step 200 can include at least one of steps 210 to 230.

[0189] In some embodiments of the present disclosure, Figure 2 Step 300 of the embodiments can include Figure 4 Steps 301 to 307 of the embodiments.

[0190] In step 301, the real-time power of the unmanned mine truck is obtained; and it is determined whether the real-time power of the unmanned mine truck is less than the safe power threshold. In the case where the real-time power of the unmanned mine truck is less than the safe power threshold, step 302 is executed; otherwise, in the case where the real-time power of the unmanned mine truck is not less than the safe power threshold, step 303 is executed.

[0191] In step 302, the unmanned mining truck is controlled to stop and wait for manual takeover.

[0192] In step 303, it is judged whether the real-time power of the unmanned mining truck is less than an alarm power threshold. The alarm power threshold is greater than the safety power threshold. In the case that the real-time power of the unmanned mining truck is less than the alarm power threshold, step 307 is executed; otherwise, in the case that the real-time power of the unmanned mining truck is not less than the alarm power threshold, step 304 is executed.

[0193] In step 304, it is judged whether the real-time power of the unmanned mining truck is less than a pre-warning power threshold. The pre-warning power threshold is greater than the alarm power threshold. In the case that the real-time power of the unmanned mining truck is less than the pre-warning power threshold, step 305 is executed; otherwise, in the case that the real-time power of the unmanned mining truck is not less than the pre-warning power threshold, step 306 is executed.

[0194] In step 305, in the case that the real-time power is less than the pre-warning power threshold, it is manually selected whether to go for power replacement, i.e., it is prompted whether the dispatch personnel need to replace power. In the case that it is manually selected whether to go for power replacement, i.e., the dispatch personnel indicate that power replacement is needed, step 307 is executed; in the case that the dispatch personnel indicate that power replacement is not needed, step 306 is executed.

[0195] In step 305, the unmanned mining truck is controlled to continue operation; and then step 200 is executed.

[0196] In step 307, a power replacement task is executed, i.e., the unmanned mining truck is automatically replaced with power; and then step 401 is executed.

[0197] In some embodiments of the present disclosure, Figure 2 The step 400 of the embodiment can include Figure 4 The steps 401 to 407 of the embodiment.

[0198] In step 401, the unmanned mining truck is navigated to an entry point of the power replacement station, as shown in Figure 3 .

[0199] In step 402, it is judged whether a power replacement position (power replacement area) of the power replacement station is idle. In the case that the power replacement position is idle, step 404 is executed; otherwise, in the case that the power replacement position is not idle, step 403 is executed.

[0200] In step 403, the unmanned mining truck is controlled to queue and wait. Then step 402 is executed.

[0201] In step 404, the unmanned mining truck is navigated to the power replacement position.

[0202] In step 405, whether the parking is in place is determined by the detection signal of the battery swap station control system. In the case of parking in place, step 407 is performed; otherwise, in the case of parking in place, step 406 is performed.

[0203] In step 406, parking retry is performed. Then step 405 is performed.

[0204] In step 407, automatic battery swapping is performed.

[0205] For the periodic charging problem of unmanned electric mine trucks, the above-mentioned embodiments of the present disclosure can provide sufficient, accurate and graded pre-warning and warning before the battery power is depleted. When pre-warning or warning occurs, the mine truck can be navigated to the nearby battery swap station as soon as possible, so as to ensure that the vehicle can safely, orderly and accurately reach the battery swap position, and avoid the decline in production efficiency caused by task interruption.

[0206] Figure 5 A schematic diagram of some embodiments of the unmanned mine truck battery swap scheduling device of the present disclosure. As shown in Figure 5 The unmanned mine truck battery swap scheduling device of the present disclosure can include a power estimation module 51 and a decision module 52.

[0207] The power estimation module 51 is configured to determine an alarm power threshold of the unmanned mine truck according to historical power consumption data and current battery temperature of the unmanned mine truck; and obtain real-time power of the unmanned mine truck.

[0208] In some embodiments of the present disclosure, in the case of determining the alarm power threshold of the unmanned mine truck according to historical power consumption data and current battery temperature of the unmanned mine truck, the power estimation module 51 can be configured to determine mileage power of the unmanned mine truck according to historical power consumption data of the unmanned mine truck and mileage of a one-time operation cycle; determine temperature compensation power of the unmanned mine truck according to current battery temperature of the unmanned mine truck; and determine the alarm power threshold according to the mileage power, the temperature compensation power, a safety power threshold of the unmanned mine truck and an environmental risk coefficient.

[0209] In some embodiments of the present disclosure, in the case of determining the mileage power of the unmanned mine truck according to historical power consumption data of the unmanned mine truck and mileage of a one-time operation cycle, the power estimation module 51 can be configured to determine power consumption per kilometer when the unmanned mine truck is empty and power consumption per kilometer when the unmanned mine truck is loaded according to historical power consumption data of the unmanned mine truck; extract empty mileage and loaded mileage of the unmanned mine truck according to the mileage of the one-time operation cycle; and determine the mileage power according to the power consumption per kilometer when the unmanned mine truck is empty, the power consumption per kilometer when the unmanned mine truck is loaded, the empty mileage and the loaded mileage.

[0210] In some embodiments of this disclosure, when the power estimation module 51 determines the temperature compensation power of the unmanned mining truck based on its current battery temperature, it can be configured to set multiple battery temperature ranges and a temperature threshold corresponding to each battery temperature range; and to use the temperature threshold corresponding to the current battery temperature range as the temperature compensation power based on the battery temperature range in which the unmanned mining truck's current battery temperature is located.

[0211] In some embodiments of this disclosure, the power estimation module 51, when setting multiple battery temperature ranges and temperature thresholds corresponding to each battery temperature range, can be configured to set a first battery temperature range and a second battery temperature range, wherein the temperature of the first battery temperature range is lower than the temperature of the second battery temperature range; set a first temperature threshold corresponding to the first battery temperature range; and set a second temperature threshold corresponding to the second battery temperature range, wherein the first temperature threshold is higher than the second temperature threshold.

[0212] In some embodiments of this disclosure, when the power estimation module 51 determines the alarm power threshold based on the mileage power, the temperature compensation power, the safe power threshold of the unmanned mining truck, and the environmental risk coefficient, it can be configured to increase the environmental risk coefficient in abnormal weather conditions to increase the alarm power threshold, wherein abnormal weather includes at least one of heavy rain and heavy fog.

[0213] In some embodiments of this disclosure, such as Figure 5 As shown, the power estimation module 51 can be configured to estimate the safe power threshold, alarm power threshold, and warning power threshold of each mining truck based on its historical data and considering the real-time power consumption under the influence of the truck's load and battery temperature.

[0214] In some embodiments of this disclosure, the power estimation module 51 may also be configured to determine the warning power threshold of the unmanned mining truck based on the alarm power threshold, wherein the warning power threshold is higher than the alarm power threshold.

[0215] In some embodiments of this disclosure, when the power estimation module 51 determines the warning power threshold of the unmanned mining truck based on the alarm power threshold, it can be configured to determine the warning power threshold of the unmanned mining truck based on the alarm power threshold and a predetermined upward ratio.

[0216] In some embodiments of this disclosure, the power estimation module 51 may also be configured to determine the safe power threshold of the unmanned mining truck based on the power required for the battery swapping and docking process, the battery damage protection threshold, and the safety margin, wherein the safe power threshold is less than the alarm power threshold.

[0217] In some embodiments of the present disclosure, the power estimation module 51 can be configured to consider the real-time power consumption under the influence of the load and the battery temperature.

[0218] The decision module 52 is configured to automatically replace the battery of the unmanned mine truck if the real-time power is less than the warning power threshold.

[0219] In some embodiments of the present disclosure, as shown in FIG. 2, the decision module 52 can be configured to design different control strategies for different levels of pre-warning. Figure 5

[0220] In some embodiments of the present disclosure, as shown in FIG. 3, the decision module 52 can be configured to make decisions on continuing the task, replacing the battery, or stopping the vehicle according to the three thresholds (the safe power threshold, the warning power threshold, and the pre-warning power threshold) output by the power estimation module 51. Figure 5

[0221] In some embodiments of the present disclosure, the decision module 52 can be further configured to prompt the dispatcher whether to replace the battery if the real-time power is less than the pre-warning power threshold, automatically replace the battery of the unmanned mine truck if the dispatcher indicates that the battery needs to be replaced, and control the unmanned mine truck to continue the operation if the dispatcher indicates that the battery does not need to be replaced.

[0222] In some embodiments of the present disclosure, the decision module 52 can be further configured to control the unmanned mine truck to stop and wait for manual takeover if the real-time power is less than the safe power threshold or if a battery-related fault is reported by the unmanned mine truck.

[0223] In some embodiments of the present disclosure, as shown in FIG. 1, the unmanned mine truck battery replacement scheduling device can include a map acquisition module 50. Figure 5

[0224] The map acquisition module 50 can be configured to perform at least one of the following: battery replacement potential calibration, position acquisition, and data storage.

[0225] In some embodiments of the present disclosure, the map acquisition module 50 can be configured to accurately acquire data of the battery replacement potential and the surrounding obstacles.

[0226] ​​​In some embodiments of the present disclosure, the map acquisition module 50 can be configured to acquire the battery swap station data and the obstacle data around the battery swap station collected by the unmanned mining vehicle, wherein the battery swap station data includes battery swap station position information, and the battery swap station data is uploaded by the unmanned mining vehicle when the unmanned mining vehicle drives into the battery swap station to complete the bucket lifting action and the battery swap station control system verifies that the unmanned mining vehicle meets the parking accuracy and attitude requirements; the battery swap position information is displayed as a battery swap reference point, stored in a map database, and displayed on a map.

[0227] In some embodiments of the present disclosure, as shown in FIG. 53, Figure 5 The battery swap scheduling device for the unmanned mining vehicle of the present disclosure can include a task management module 53.

[0228] The task management module 53 can be configured to at least one of path navigation, queue management, and battery swap retry for the unmanned mining vehicle.

[0229] In some embodiments of the present disclosure, the task management module 53 can be configured to guide the unmanned mining vehicle to the battery swap station when the unmanned mining vehicle needs to be swapped.

[0230] In some embodiments of the present disclosure, the task management module 53 can be configured to assign a task navigation path to the unmanned mining vehicle.

[0231] In some embodiments of the present disclosure, the task management module 53 can be configured to plan a task navigation path for the unmanned mining vehicle from a current position to a battery swap station; and navigate the unmanned mining vehicle to the battery swap station according to the task navigation path to perform automatic battery swap.

[0232] In some embodiments of the present disclosure, when the task management module 53 navigates the unmanned mining vehicle to the battery swap station according to the task navigation path, the task management module 53 can be configured to navigate the unmanned mining vehicle to the battery swap station when the unmanned mining vehicle is currently empty; and navigate the unmanned mining vehicle to the battery swap station after the unmanned mining vehicle is navigated to a unloading point to complete unloading when the unmanned mining vehicle is currently heavy.

[0233] In some embodiments of the present disclosure, when the task management module 53 navigates the unmanned mining vehicle to the battery swap station to perform automatic battery swap, the task management module 53 can be configured to navigate the unmanned mining vehicle to an entry point of the battery swap station; determine whether a battery swap position of the battery swap station is idle; navigate the unmanned mining vehicle to the battery swap position to perform automatic battery swap when the battery swap position is idle; and control the unmanned mining vehicle to queue when the battery swap position is not idle.

[0234] In some embodiments of this disclosure, the task management module 53 can be configured to navigate the unmanned mining truck to the swapping station when the unmanned mining truck is navigated to the swapping station; in response to the swapping station control system detecting that the unmanned mining truck's docking deviation is greater than the tolerance threshold, the unmanned mining truck is navigated to the retry area within the swapping station to retry entering the swapping station.

[0235] In some embodiments of this disclosure, when the task management module 53 controls the unmanned mining trucks to queue, it can be configured to authorize the unmanned mining trucks to enter the battery swapping area based on the FIFO (First-In-First-Out) principle and dynamically update the queue status. Specifically, only one mining truck is allowed to perform a battery swapping operation within the battery swapping area; the area status (battery swapping status) is monitored in real time; other vehicles are prohibited from entering when the battery swapping area is occupied; and when the battery swapping area is idle, an entry command is sent to the first unmanned mining truck in the queue, with subsequent unmanned mining trucks waiting outside the battery swapping area.

[0236] To address the issue of automatic battery swapping for unmanned electric mining trucks, the above-described embodiments of this disclosure provide a battery swapping scheduling device for unmanned mining trucks in open-pit mines. This device includes the following modules: a map acquisition module, a power estimation module, a decision-making module, and a task management module. The battery swapping map acquisition module accurately acquires maps of the swapping point and surrounding obstacles; the power estimation module considers real-time power consumption under the influence of load and battery temperature; the decision-making module designs multi-level early warning alarms and adopts different control strategies; and the task management module assigns task navigation paths to the unmanned mining trucks.

[0237] In some embodiments of this disclosure, the unmanned mining truck battery swapping scheduling device of this disclosure can be configured to perform the unmanned mining truck battery swapping scheduling method as described in any of the above embodiments.

[0238] Figure 6 These are schematic diagrams illustrating the structure of other embodiments of the unmanned mining truck battery swapping and dispatching device disclosed herein. For example... Figure 6 As shown, the unmanned mining truck power swapping scheduling device disclosed herein includes a memory 61 and a processor 62.

[0239] The memory 61 is used to store instructions, and the processor 62 is coupled to the memory 61. The processor 62 is configured to execute instructions stored in the memory to implement the unmanned mining truck power swapping scheduling method involved in the above embodiments.

[0240] like Figure 6 As shown, the unmanned mining truck battery swapping scheduling device also includes a communication interface 63 for information exchange with other devices. Simultaneously, the unmanned mining truck battery swapping scheduling device also includes a bus 64, through which the processor 62, communication interface 63, and memory 61 communicate with each other.

[0241] The memory 61 can include a high-speed RAM memory and can also include a non-volatile memory, such as at least one disk memory. The memory 61 can also be a memory array. The memory 61 can also be divided into blocks, and the blocks can be combined into a virtual volume according to certain rules.

[0242] In addition, the processor 62 can be a central processor CPU, or can be an application specific integrated circuit ASIC, or one or more integrated circuits configured to implement embodiments of the present disclosure.

[0243] Figure 7 A schematic diagram of some embodiments of the unmanned mine truck battery replacement scheduling system of the present disclosure is shown. As shown, the unmanned mine truck battery replacement scheduling system of the present disclosure can include an unmanned mine truck battery replacement scheduling device 71, an unmanned mine truck 72, and a battery replacement station control system 73. Figure 7

[0244] The unmanned mine truck battery replacement scheduling device 71 is configured to determine an alarm power threshold of the unmanned mine truck according to historical power consumption data of the unmanned mine truck and a current battery temperature, obtain real-time power of the unmanned mine truck, and perform automatic battery replacement on the unmanned mine truck if the real-time power is less than the alarm power threshold. The unmanned mine truck battery replacement scheduling device 71 can be the unmanned mine truck battery replacement scheduling device as described in any of the above embodiments.

[0245] In some embodiments of the present disclosure, the unmanned mine truck battery replacement scheduling device 71 can be disposed in the cloud.

[0246] In some embodiments of the present disclosure, the unmanned mine truck battery replacement scheduling device 71 can be implemented as a cloud platform.

[0247] The unmanned mine truck 72 is configured to complete map collection and calibration of battery replacement positions of the battery replacement station, drive the mine truck into a preset battery replacement area, and complete the bucket lifting action.

[0248] The battery replacement station control system 73 is configured to verify whether the parking accuracy and attitude requirements are met.

[0249] In some embodiments of the present disclosure, the unmanned mine truck 72 can also be configured to upload the current location (longitude, latitude, and heading angle) to the unmanned mine truck battery replacement scheduling device 71 if the battery replacement station control system 73 detects that the battery replacement parking accuracy is met.

[0250] In some embodiments of the present disclosure, the unmanned mine truck battery replacement scheduling device 71 can also be configured to display the current location (longitude, latitude, and heading angle) as a battery replacement position reference point, store it in a map database, and display it on a map.

[0251] ​In some embodiments of this disclosure, the battery swapping station control system 73 can also be configured to automatically trigger a retry process when the docking deviation of the mining truck exceeds the tolerance threshold. That is, the unmanned mining truck battery swapping scheduling device 71 can also be configured to navigate the unmanned mining truck 72 to the retry area within the battery swapping station and then retry entering the battery swapping phase.

[0252] The embodiments disclosed above provide a battery swapping dispatching system for unmanned mining trucks in open-pit mines that provides early warnings and can automatically execute battery swapping tasks. The embodiments of this disclosure aim to predict the electricity required for mining truck travel, provide early warnings, and automatically guide the trucks to battery swapping stations, thereby reducing manual intervention by dispatchers and mitigating production efficiency losses caused by task interruptions.

[0253] The present disclosure provides a method, apparatus, and system for intelligent scheduling of battery-swapping unmanned electric mining trucks in open-pit mines. Before the mining truck's battery runs out, the above embodiments of the present disclosure can provide sufficient, accurate, and tiered power warnings and alarms. Once a warning or alarm is triggered, the apparatus will efficiently guide the unmanned mining truck to the optimal battery swapping station, thereby ensuring that the unmanned mining truck arrives at the swapping station safely, orderly, and accurately, thus minimizing production efficiency losses due to task interruptions.

[0254] The above embodiments of this disclosure propose a method, device, and system for scheduling power swapping for unmanned mining trucks in open-pit mines. Power swapping has the following significant beneficial effects:

[0255] 1. In response to the issue of periodic charging faced by unmanned electric mining trucks, the above-mentioned embodiments of this disclosure take into account the influence of factors such as battery temperature and load, and can dynamically estimate the amount of electricity required to complete the operation. Before the battery is depleted, sufficient, accurate and graded early warnings and alarms are provided to ensure that the vehicle can stop or return to the charging point safely and orderly. This can reduce the probability of permanent damage caused by deep battery discharge, thereby reducing the additional costs and risks brought about by emergency rescue, and effectively avoiding the decline in production efficiency caused by task interruption.

[0256] 2. The above embodiments of this disclosure can accurately collect maps of battery swapping stations, thereby effectively increasing the success rate of docking between mining trucks and battery swapping arms at battery swapping stations.

[0257] 3. In the above embodiments of this disclosure, when the control system of the battery swapping station detects that the parking deviation of the mining truck exceeds the tolerance threshold, it can automatically trigger the retry process, thereby effectively reducing the probability of manual intervention due to parking errors.

[0258] According to another aspect of this disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, it implements the unmanned mining truck battery swapping scheduling method as described in any of the above embodiments.

[0259] According to another aspect of the present disclosure, a computer readable storage medium is provided, wherein the computer readable storage medium stores computer instructions, which, when executed by a processor, implement the unmanned mine battery replacement scheduling method according to any one of the above embodiments.

[0260] In some embodiments of the present disclosure, the computer readable storage medium can be a non-transitory computer readable storage medium.

[0261] Those skilled in the art will appreciate that embodiments of the present disclosure can be provided as methods, apparatuses, or computer program products. Therefore, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) having computer usable program code embodied therein.

[0262] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, apparatuses (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions, which are executed via the processor of the computer or other programmable data processing apparatus, generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The flow or multiple flows and / or blocks Figure 1 The apparatus that implements the functions specified in the flow or multiple flows and / or blocks.

[0263] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The flow or multiple flows and / or blocks Figure 1 The apparatus that implements the functions specified in the flow or multiple flows and / or blocks.

[0264] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The flow or multiple flows and / or blocks Figure 1 Figure 1 The apparatus that implements the functions specified in the flow or multiple flows and / or blocks.

[0265] The unmanned mine car battery replacement scheduling device, the electric quantity estimation module, the decision module, the map acquisition module and the task management module described above can be implemented as a general processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component or any appropriate combination thereof for executing the functions described in the present application.

[0266] So far, the present disclosure has been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0267] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by a program instructing related hardware to complete, and the program can be stored in a non-transitory computer readable storage medium, which can be a read-only memory, a magnetic disk or an optical disk, etc.

[0268] The description of the present disclosure is given for the purpose of example and description, and is not exhaustive or limiting to the present disclosure. Many modifications and variations are apparent to those skilled in the art. The embodiments are chosen and described in order to better illustrate the principles and practical application of the present disclosure, and to enable those skilled in the art to understand the present disclosure in order to design various embodiments with various modifications for specific purposes.

Claims

1. An unmanned mine truck battery replacement scheduling method, comprising: determining an alarm power threshold of the unmanned mine truck according to historical power consumption data and a current battery temperature of the unmanned mine truck; obtaining real-time power of the unmanned mine truck; in a case where the real-time power is less than the alarm power threshold, automatically replacing the battery of the unmanned mine truck.

2. The unmanned mine truck battery replacement scheduling method of claim 1, further comprising: determining a pre-warning power threshold of the unmanned mine truck according to the alarm power threshold, wherein the pre-warning power threshold is higher than the alarm power threshold; in a case where the real-time power is less than the pre-warning power threshold, prompting a dispatcher whether to replace the battery; in a case where the dispatcher indicates to replace the battery, automatically replacing the battery of the unmanned mine truck; in a case where the dispatcher indicates not to replace the battery, controlling the unmanned mine truck to continue working.

3. The unmanned mine cart battery changing scheduling method of claim 2, wherein, The determining of the pre-warning power threshold of the unmanned mine truck according to the alarm power threshold comprises: determining the pre-warning power threshold of the unmanned mine truck according to the alarm power threshold and a predetermined floating ratio.

4. The unmanned mine truck battery replacement scheduling method of any one of claims 1 to 3, further comprising: determining a safety power threshold of the unmanned mine truck according to a power required in a battery replacement stop process of the unmanned mine truck, a battery damage protection threshold and a safety margin, wherein the safety power threshold is less than the alarm power threshold; in a case where the real-time power is less than the safety power threshold or a battery related fault reported by the unmanned mine truck is received, controlling the unmanned mine truck to stop and wait for manual takeover.

5. The unmanned mine cart battery replacement scheduling method of any one of claims 1 to 3, wherein, The determining of the alarm power threshold of the unmanned mine truck according to historical power consumption data and a current battery temperature of the unmanned mine truck comprises: determining a mileage power of the unmanned mine truck according to the historical power consumption data and a mileage of a one-time work cycle of the unmanned mine truck; determining a temperature compensation power of the unmanned mine truck according to the current battery temperature of the unmanned mine truck; determining the alarm power threshold according to the mileage power, the temperature compensation power, a safety power threshold of the unmanned mine truck and an environmental risk coefficient.

6. The unmanned mine cart battery changing scheduling method of claim 5, wherein, The determining of the mileage power of the unmanned mine truck according to the historical power consumption data and the mileage of the one-time work cycle of the unmanned mine truck comprises: determining a power consumption per kilometer when the unmanned mine truck is empty and a power consumption per kilometer when the unmanned mine truck is loaded according to the historical power consumption data of the unmanned mine truck; extracting an empty mileage and a loaded mileage of the unmanned mine truck according to the mileage of the one-time work cycle; determining the mileage power according to the power consumption per kilometer when the unmanned mine truck is empty, the power consumption per kilometer when the unmanned mine truck is loaded, the empty mileage and the loaded mileage.

7. The unmanned mine cart battery changing scheduling method of claim 5, wherein, The determining of the temperature compensation power of the unmanned mine truck according to the current battery temperature of the unmanned mine truck comprises: setting a plurality of battery temperature intervals and a temperature threshold corresponding to each battery temperature interval; taking the temperature threshold corresponding to the battery temperature interval in which the current battery temperature of the unmanned mine truck is located as the temperature compensation power according to the battery temperature interval in which the current battery temperature of the unmanned mine truck is located.

8. The unmanned mine cart battery changing scheduling method of claim 7, wherein, The setting of the plurality of battery temperature intervals and the temperature threshold corresponding to each battery temperature interval comprises: set a first battery temperature interval and a second battery temperature interval, wherein the temperature of the first battery temperature interval is less than the temperature of the second battery temperature interval; set a first temperature threshold corresponding to the first battery temperature interval; set a second temperature threshold corresponding to the second battery temperature interval, wherein the first temperature threshold is higher than the second temperature threshold.

9. The unmanned mine cart battery changing scheduling method of claim 5, wherein, determining the alarm power threshold according to the mileage power, the temperature compensation power, the safety power threshold of the unmanned mining truck, and the environmental risk coefficient includes: In the case of abnormal weather, the environmental risk coefficient is increased to increase the alarm power threshold, wherein the abnormal weather includes at least one of heavy rain and heavy fog.

10. The unmanned mine cart battery changing scheduling method of any one of claims 1 to 3, wherein, The automatic power exchange of the unmanned mining truck includes: planning a task navigation path for the unmanned mining truck from the current location to the power exchange station; According to the task navigation path, the unmanned mining truck is navigated to the power exchange station for automatic power exchange.

11. The unmanned mine cart battery changing scheduling method of claim 10, wherein, According to the task navigation path, the unmanned mining truck is navigated to the power exchange station includes: In the case of the unmanned mining truck currently empty driving, the unmanned mining truck is navigated to the power exchange station; In the case of the unmanned mining truck currently heavy driving, the unmanned mining truck is first navigated to the unloading point to complete unloading, and then navigated to the power exchange station.

12. The unmanned mine cart battery changing scheduling method of claim 10, wherein, The navigation of the unmanned mining truck to the power exchange station for automatic power exchange includes: navigate the unmanned mining truck to the entrance point of the power exchange station; determine whether the power exchange position of the power exchange station is idle; In the case that the power exchange position is idle, the unmanned mining truck is navigated to the power exchange position for automatic power exchange; In the case that the power exchange position is not idle, control the unmanned mining truck to queue.

13. The unmanned mine cart battery changing scheduling method of claim 12, wherein, The navigation of the unmanned mining truck to the power exchange position includes: navigate the unmanned mining truck to the power exchange position; In response to the condition that the power exchange station control system detects that the unmanned mining truck parking deviation is greater than the tolerance threshold, the unmanned mining truck is navigated to the retry area in the power exchange station to retry entering the power exchange position.

14. The unmanned mine cart battery changing scheduling method of claim 12, wherein, The control of the unmanned mining truck to queue includes: based on the first-in first-out principle, authorize the unmanned mining truck to enter the power exchange position, and dynamically update the queue state; real-time power exchange position state; In the case of power exchange position occupation, other vehicles are prohibited from entering; In the case that the power exchange position is idle, send an entry instruction to the first unmanned mining truck in the queue, and the subsequent unmanned mining truck waits outside the power exchange position.

15. The unmanned mining truck power exchange scheduling method according to any one of claims 1 to 3, further comprising: obtain the power exchange station data and obstacle data around the power exchange station collected by the unmanned mining truck, wherein the power exchange station data includes power exchange station location information, and the power exchange station data is uploaded by the unmanned mining truck when driving into the power exchange station to complete the bucket lifting action, and the power exchange station control system verifies that the unmanned mining truck meets the parking accuracy and attitude requirements; display the power exchange station location information as a power exchange position reference point, store it in a map database and display it on a map.

16. An unmanned mining truck power exchange scheduling device, comprising: The power estimation module is configured to determine an alarm power threshold of the unmanned mining vehicle according to historical power consumption data and a current battery temperature of the unmanned mining vehicle, and obtain real-time power of the unmanned mining vehicle; The decision module is configured to automatically replace the battery of the unmanned mining vehicle when the real-time power is less than the alarm power threshold.

17. An unmanned mining vehicle battery replacement scheduling device, comprising: a memory for storing instructions; a processor for executing the instructions, so that the unmanned mining vehicle battery replacement scheduling device implements the unmanned mining vehicle battery replacement scheduling method according to any one of claims 1-15.

18. An unmanned mining vehicle battery replacement scheduling system, comprising an unmanned mining vehicle, a battery replacement station control system and the unmanned mining vehicle battery replacement scheduling device according to claim 16 or 17.

19. A computer readable storage medium, wherein, The computer readable storage medium stores computer instructions, and the instructions are executed by the processor to implement the unmanned mining vehicle battery replacement scheduling method according to any one of claims 1-15.

20. A computer program product comprising a computer program, wherein, The computer program is executed by the processor to implement the unmanned mining vehicle battery replacement scheduling method according to any one of claims 1-15. The computer program is executed by the processor to implement the unmanned mining vehicle battery replacement scheduling method according to any one of claims 1-15.

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