Collaborative loading device and system for unmanned mine vehicle

Abstract

The invention relates to the technical field of mine unmanned driving man-machine interaction, and particularly discloses a collaborative loading device and system for an unmanned mine vehicle, and the device comprises a loading point position adjustment module which is used for carrying out the initialization of a loading point position according to the loading data information of loading equipment, carrying out position and posture adjustment and intelligent maintenance of the loading point position; the mine vehicle scheduling module is used for carrying out queue planning of the unmanned mine vehicles and carrying out error detection and correction on loading points when the unmanned mine vehicles enter a loading area; and the mine vehicle abnormity processing module is used for monitoring the running state of the unmanned mine vehicle in real time and performing abnormity classification processing when the unmanned mine vehicle is determined to be abnormal according to the running state of the unmanned mine vehicle. According to the cooperative loading device for the unmanned mine vehicle, cooperative loading of the loading equipment and the unmanned mine vehicle is achieved through accurate positioning of the loading point position, intelligent matching of the loading strategy and safety linkage control.

Description

Technical Field

[0001] This invention relates to the field of human-machine interaction technology for unmanned mining vehicles, and in particular to a collaborative loading device and a collaborative loading system for unmanned mining vehicles. Background Technology

[0002] While unmanned driving technology for mining vehicles has achieved large-scale application, the development of unmanned collaborative loading technology lags significantly. Specifically, one approach is traditional mining, where the collaborative loading system of manually driven mining vehicles and manually operated loading equipment relies primarily on manual dispatching and radio communication. The mining vehicle driver proceeds to the loading area based on radio instructions from the dispatcher, adjusting the vehicle's position using rearview mirrors or reversing cameras to ensure it is parked within the optimal operating range of the loading equipment. The loading equipment operator controls the bucket's posture visually and through experience, completing loading in multiple stages, and maintains real-time communication with the driver via radio to avoid uneven loading or collisions. The dispatcher coordinates the entry and exit sequence of mining vehicles to ensure a smooth loading process. This traditional human-machine interaction method is highly dependent on the experience and coordination of personnel, resulting in low collaborative accuracy and susceptibility to human error. Its efficiency is low, easily affected by human factors, and safety depends on operator proficiency. Prolonged operation can lead to operator fatigue and misjudgment, posing significant safety hazards. Another approach is a semi-automated solution, which primarily relies on satellite positioning technology to achieve fixed-route transportation for mining vehicles while retaining manual loading control. The system first collects real-time location data of mining vehicles via satellite positioning modules and compares it with preset static transport routes to guide drivers along fixed routes to the loading area. When a mining vehicle approaches the loading point, the dispatch center sends a stop instruction via the vehicle terminal, and the driver reverses the vehicle to the designated loading position according to the prompt. The loading process is still manually operated. The loading equipment operator manually adjusts the bucket's working trajectory to complete the loading by observing the mining vehicle's positioning markers and the stopping deviation prompts on the vehicle's display screen. The system uses electronic fence technology to ensure that mining vehicles operate within a safe range, and the dispatch center can monitor the location status of multiple mining vehicles in real time to optimize vehicle queuing order. This semi-automated solution improves the standardization of transport routes while retaining the flexibility of manual loading, and is suitable for mining operation scenarios that have deployed basic positioning systems but have not yet achieved full automation. This semi-automated solution lacks flexibility in static route planning. When encountering emergencies such as road congestion, changes in equipment location, or temporary changes in the work situation, the system cannot autonomously adjust the transport route; in addition, the loading process still requires manual intervention, resulting in limited overall efficiency improvement and the risk of human error.

[0003] Therefore, in existing open-pit mining operations, the collaborative loading process between manned excavators and unmanned mining vehicles faces bottlenecks in human-machine interaction efficiency, which has become a key obstacle to the efficient operation of the entire unmanned transportation process.

[0004] In summary, how to construct an interactive mechanism that enables precise positioning, intelligent matching of loading strategies, and safe linkage control has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] This invention provides a collaborative loading device and a collaborative loading system for unmanned mining vehicles, solving the problems in related technologies that cannot achieve intelligent matching of loading strategies and safety linkage control.

[0006] As a first aspect of the present invention, a collaborative loading device for unmanned mining vehicles is provided, wherein a collaborative terminal is applied, the collaborative terminal is installed on and communicatively connected to the loading equipment, the collaborative terminal is communicatively connected to a dispatch center, and the dispatch center is communicatively connected to the unmanned mining vehicle. The collaborative loading device for unmanned mining vehicles includes:

[0007] The loading point adjustment module is used to initialize the loading point based on the loading data information of the loading equipment, and to adjust the loading point pose and perform intelligent maintenance of the loading point after the loading point initialization. The loading data information includes at least the current pose of the loading equipment, the operation mode, the parking position of the unmanned mining vehicle, and the evaluation set distance. The evaluation set distance is used to represent the distance between the current loading equipment and the loading position in the loading area.

[0008] The mining vehicle scheduling module is used to plan the queue of unmanned mining vehicles when they enter the loading area, and to detect and correct errors at loading points.

[0009] The mining vehicle anomaly handling module is used to monitor the operating status of unmanned mining vehicles in real time, and to classify and handle anomalies when anomalies are detected based on the operating status of the unmanned mining vehicles.

[0010] Furthermore, the loading point adjustment module includes: a loading point initialization unit, a loading point pose adjustment unit, and a loading point intelligent maintenance unit.

[0011] The loading point initialization unit is used to compare the loading data information of the loading equipment with the preset geometric rule information of the loading area to determine whether the current loading point conforms to the preset geometric rule information.

[0012] The loading point pose adjustment unit is used to adjust the pose of the initialized loading point so that the adjusted loading point meets the operational requirements.

[0013] The intelligent maintenance unit for loading points is used to perform intelligent maintenance of loading points based on real-time monitoring of the relative positional relationship between the loading equipment and the loading points.

[0014] Furthermore, the loading point initialization unit is used to compare the loading data information of the loading equipment with the preset geometric rule information of the loading area to determine whether the current loading point conforms to the preset geometric rule information, including:

[0015] The distance between the current loading point and the loading equipment is compared with the preset geometric rule information, wherein the preset geometric rule information includes a ring-shaped working area with an inner radius of r and an outer radius of R;

[0016] If the distance P between the current loading point and the loading equipment satisfies: Then it is determined that the current loading point conforms to the preset geometric rules information;

[0017] Otherwise, it is determined that the current loading point does not conform to the preset geometric rules.

[0018] Furthermore, when it is determined that the current loading point conforms to the preset geometric rule information, the loading point is generated according to the current working mode of the collaborative terminal, wherein the working mode of the collaborative terminal includes the parking transport equipment position locking mode and the loading equipment swing arm posture locking mode.

[0019] When it is determined that the current loading point does not conform to the preset geometric rules, a message is returned indicating that the request for the current loading point is rejected.

[0020] Furthermore, if the current operating mode of the collaborative terminal is the parking and transport equipment location locking mode, then the loading point is generated according to the current operating mode of the collaborative terminal, including:

[0021] Determine whether unmanned mining vehicles have entered the circular operation area;

[0022] If an unmanned mining vehicle enters the circular operation area, determine whether the unmanned mining vehicle has completed parking;

[0023] When it is determined that the unmanned mining vehicle has completed parking, the current position and heading angle of the unmanned mining vehicle are obtained according to the loading point locking command, and candidate loading points are generated based on the current position and heading angle of the unmanned mining vehicle.

[0024] Determine whether the candidate loading point is located within the circular work area;

[0025] If the candidate loading point is located in the circular operation area, then the candidate loading point will be designated as the official loading point; otherwise, an out-of-bounds warning message will be returned.

[0026] Furthermore, if the current operating mode of the collaborative terminal is the loading equipment swing arm position locking mode, then the loading point is generated according to the current operating mode of the collaborative terminal, including:

[0027] The system determines whether the swing arm of the loading device is locked to the target position based on the user's preset configuration parameters. The user's preset configuration parameters include at least the preset initial distance between the loading device and the loading point and the pre-selected loading operation mode.

[0028] Once it is determined that the swing arm of the loading equipment is locked to the target position, the current pose of the loading equipment is obtained;

[0029] The coordinates of the current loading point are calculated based on the current position of the loading equipment, the loading operation mode, and the user's preset configuration parameters.

[0030] Determine whether the coordinates of the current loading point are within the circular operation area;

[0031] If the coordinates of the current loading point are within the circular operation area, then the loading point will be generated or updated based on the current loading point.

[0032] Furthermore, the mining vehicle dispatching module includes:

[0033] The transportation equipment loading point initialization unit is used to acquire the position and orientation information of the unmanned mining vehicle in real time, determine the new loading point data based on the position and orientation information of the unmanned mining vehicle, and add the new loading point data to the transportation equipment queue.

[0034] The transportation equipment queue planning unit is used to automatically verify and optimize the queuing points of unmanned mining vehicles in the transportation equipment queue based on a preset planning knowledge base.

[0035] The loading point error detection unit is used to perform pre-verification detection according to the loading point save request instruction and to repair the configuration error detection results, wherein the configuration error detection results include unbound queuing points and unbound heavy-load transportation starting points.

[0036] Furthermore, the automated verification and optimization of queuing points for unmanned mining vehicles in the transportation equipment queue based on a preset planning knowledge base includes:

[0037] Obtain current environmental parameter information for unmanned mining vehicles entering the loading area;

[0038] Based on the standard path parameters in the pre-set planning knowledge base, the minimum turning radius, maximum slope threshold, and obstacle avoidance of the unmanned mining vehicle are planned.

[0039] Based on the slope safety distance standards in the pre-set planning knowledge base, the current loading point of the unmanned mining vehicle is verified to be close to the slope.

[0040] Based on the standard operating procedures in the pre-set planning knowledge base, the parameters of the unmanned mining vehicle's reversing trajectory and turning space are verified.

[0041] Furthermore, the mining vehicle anomaly handling module includes:

[0042] The anomaly detection unit is used to determine whether the unmanned mining vehicles are in an abnormal state based on the real-time status data of all unmanned mining vehicles participating in the operation.

[0043] The anomaly classification unit is used to classify the anomaly types of unmanned mining vehicles that are marked as abnormal. The anomaly types include safety anomalies, operational anomalies, and functional anomalies.

[0044] The anomaly handling unit is used to trigger the coordinated emergency braking function to force the unmanned mining vehicle with the safety anomaly to stop suddenly when the anomaly type is classified as a safety anomaly, to trigger the second docking function to complete the docking operation again when the anomaly type is classified as an operation action anomaly, and to trigger the remote takeover request function to send a remote takeover request command when the anomaly type is classified as a functional anomaly.

[0045] As another aspect of the present invention, a collaborative loading system for unmanned mining vehicles is provided, comprising: a loading device, a dispatch center and an unmanned mining vehicle, wherein a collaborative terminal is installed on the loading device, the collaborative terminal is communicatively connected to the dispatch center, the dispatch center is communicatively connected to the unmanned mining vehicle, and the collaborative terminal includes the collaborative loading device for unmanned mining vehicles described above.

[0046] The collaborative terminal is used to adjust loading points, schedule mining vehicles, and handle abnormalities of mining vehicles based on the loading data information of the loading equipment.

[0047] The dispatch center is used to display and send the loading point adjustment results, dispatch results, and anomaly handling results of the collaborative terminal to the corresponding unmanned mining vehicle.

[0048] The unmanned mining vehicles are used to transport goods according to instructions from the dispatch center and work in coordination with loading equipment.

[0049] This invention provides a collaborative loading device for unmanned mining vehicles. It initializes loading points through a loading point adjustment module, then adjusts the loading point's orientation and performs intelligent maintenance, thereby enabling the setting and management of loading points. A mining vehicle scheduling module performs queue planning and error detection and correction on the loading points of the unmanned mining vehicles after they arrive at the loading area, ensuring accurate loading. A mining vehicle anomaly handling module monitors the operating status of the unmanned mining vehicles in real time and classifies and handles anomalies. This collaborative loading device for unmanned mining vehicles achieves precise and intelligent generation of loading work points, significantly improving the accuracy of point setting and operational safety. Furthermore, it continuously optimizes planning standards by automatically comparing and verifying the current planned queue points. Finally, it can monitor the operating status of unmanned mining vehicles to ensure their safe operation. Therefore, the collaborative loading device for unmanned mining vehicles achieves collaborative loading between loading equipment and unmanned mining vehicles through precise positioning of loading points, intelligent matching of loading strategies, and safety linkage control. Attached Figure Description

[0050] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof.

[0051] Figure 1 This is a structural block diagram of the collaborative loading device for unmanned mining vehicles provided by the present invention.

[0052] Figure 2 This is a structural block diagram of the loading point adjustment module provided by the present invention.

[0053] Figure 3 This is a schematic diagram of the loading ring operation area provided by the present invention.

[0054] Figure 4 This invention provides a flowchart for generating loading points in the parking and transportation equipment location locking mode.

[0055] Figure 5 This is a flowchart illustrating the loading point generation process in the loading device swing arm position locking mode provided by the present invention.

[0056] Figure 6 This is a structural block diagram of the mining vehicle dispatching module provided by the present invention.

[0057] Figure 7 This is a structural block diagram of the mining vehicle anomaly handling module provided by the present invention.

[0058] Figure 8 A flowchart of emergency coordinated braking provided by the present invention.

[0059] Figure 9 This is a structural block diagram of the collaborative loading system for unmanned mining vehicles provided by the present invention. Detailed Implementation

[0060] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0061] 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. 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.

[0062] 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 for the embodiments of the invention 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.

[0063] This embodiment provides a collaborative loading device for unmanned mining vehicles, applied to a collaborative terminal. The collaborative terminal is installed on and communicatively connected to the loading equipment. The collaborative terminal is communicatively connected to a dispatch center, and the dispatch center is communicatively connected to the unmanned mining vehicle. Figure 1 This is a structural block diagram of a collaborative loading device 10 for unmanned mining vehicles according to an embodiment of the present invention, as shown below. Figure 1 As shown, the collaborative loading device for unmanned mining vehicles includes:

[0064] The loading point adjustment module 100 is used to initialize the loading point according to the loading data information of the loading equipment, and to adjust the loading point pose and perform intelligent maintenance of the loading point after the loading point initialization. The loading data information includes at least the current pose of the loading equipment, the operation mode, the parking position of the unmanned mining vehicle, and the evaluation setting distance. The evaluation setting distance is used to represent the distance between the current loading equipment and the loading position in the loading area.

[0065] In this embodiment of the invention, the loading point adjustment module 100 can initialize the loading point according to the loading data information of the loading equipment, and then perform loading point pose adjustment and intelligent maintenance of the loading point, thereby realizing the setting and management of the loading point of the loading equipment.

[0066] The mining vehicle scheduling module 200 is used to plan the queue of unmanned mining vehicles when they enter the loading area and to detect and correct errors at loading points.

[0067] In this embodiment of the invention, the mining vehicle scheduling module 200 can perform queue planning for unmanned mining vehicles and error detection and correction of loading points after the unmanned mining vehicles arrive at the loading area, thereby enabling the unmanned mining vehicles to load at accurate loading points.

[0068] The mining vehicle anomaly handling module 300 is used to monitor the operating status of unmanned mining vehicles in real time, and to classify and handle anomalies when anomalies are found in the unmanned mining vehicles based on their operating status.

[0069] In this embodiment of the invention, the mining vehicle anomaly handling module 300 can monitor the operating status of unmanned mining vehicles in real time, and classify and handle anomalies when there are anomalies in the unmanned mining vehicles.

[0070] This invention provides a collaborative loading device for unmanned mining vehicles. It initializes loading points through a loading point adjustment module, then adjusts the loading point's orientation and performs intelligent maintenance, thereby enabling the setting and management of loading points. A mining vehicle scheduling module performs queue planning and error detection and correction on the loading points of the unmanned mining vehicles after they arrive at the loading area, ensuring accurate loading. A mining vehicle anomaly handling module monitors the operating status of the unmanned mining vehicles in real time and classifies and handles anomalies. This collaborative loading device for unmanned mining vehicles achieves precise and intelligent generation of loading work points, significantly improving the accuracy of point setting and operational safety. Furthermore, it continuously optimizes planning standards by automatically comparing and verifying the current planned queue points. Finally, it can monitor the operating status of unmanned mining vehicles to ensure their safe operation. Therefore, the collaborative loading device for unmanned mining vehicles achieves collaborative loading between loading equipment and unmanned mining vehicles through precise positioning of loading points, intelligent matching of loading strategies, and safety linkage control.

[0071] In embodiments of the present invention, such as Figure 2 As shown, the loading point adjustment module 100 includes: a loading point initialization unit 110, a loading point pose adjustment unit 120, and a loading point intelligent maintenance unit 130.

[0072] The loading point initialization unit 110 is used to compare the loading data information of the loading equipment with the preset geometric rule information of the loading area to determine whether the current loading point conforms to the preset geometric rule information.

[0073] It should be understood that, firstly, input parameters such as the current position and orientation of the loading equipment, the operating mode, the evaluation set distance, and the location of the parked transport equipment are obtained, and the preset geometric rules of the loading area are loaded simultaneously, including: the inner radius of the circular operating area. and outer radius The currently selected loading point generation mode.

[0074] Specifically, the loading point initialization unit is used to compare the loading data information of the loading equipment with the preset geometric rule information of the loading area to determine whether the current loading point conforms to the preset geometric rule information, including:

[0075] (1) Compare the distance between the current loading point and the loading equipment with the preset geometric rule information, wherein the preset geometric rule information includes an annular working area with an inner radius of r and an outer radius of R;

[0076] (2) If the distance P between the current loading point and the loading equipment satisfies: Then it is determined that the current loading point conforms to the preset geometric rules information;

[0077] (3) Otherwise, determine that the current loading point does not conform to the preset geometric rules information.

[0078] It should be understood that the geometric coordinates of the candidate loading points are calculated based on the input parameters, and their validity is determined according to the following rules:

[0079] a) If the distance between the loading point and the loading equipment satisfy If so, the location is determined to conform to the preset area rules;

[0080] b) Otherwise, the location is determined to be inconsistent with the preset area rules. A schematic diagram of the specific circular work area is shown below. Figure 3 As shown.

[0081] In this embodiment of the invention, when it is determined that the current loading point conforms to the preset geometric rule information, the loading point is generated according to the current working mode of the collaborative terminal, wherein the working mode of the collaborative terminal includes the parking transport equipment position locking mode and the loading equipment swing arm posture locking mode.

[0082] When it is determined that the current loading point does not conform to the preset geometric rules, a message is returned indicating that the request for the current loading point is rejected.

[0083] Specifically, when the current loading point is determined to conform to preset geometric rules, different point generation logics are executed according to the current mode: parking transport equipment position locking mode and loading equipment swing arm position locking mode. After initializing the point, if no instruction to switch loading modes is received, the parking transport equipment position locking mode is used by default.

[0084] In this embodiment of the invention, if the current working mode of the collaborative terminal is the parking and transport equipment location locking mode, then generating the loading point according to the current working mode of the collaborative terminal includes:

[0085] 1) Determine whether unmanned mining vehicles have entered the circular operation area;

[0086] 2) If an unmanned mining vehicle enters the circular operation area, determine whether the unmanned mining vehicle has completed parking;

[0087] 3) When it is determined that the unmanned mining vehicle has completed parking, obtain the current position and heading angle of the unmanned mining vehicle according to the loading point locking command, and generate candidate loading points based on the current position and heading angle of the unmanned mining vehicle;

[0088] 4) Determine whether the candidate loading point is located within the circular work area;

[0089] 5) If the candidate loading point is located in the circular operation area, then the candidate loading point is determined as the official loading point; otherwise, an out-of-bounds warning message is returned.

[0090] Specifically, such as Figure 4 As shown, in the parking transport equipment position locking mode, the real-time positioning data of the transport equipment is used as the core input for loading points. Specifically, when the transport equipment enters the operating radius of the loading equipment, the system continuously monitors the vehicle's pose information from the positioning module and triggers point candidate generation when the transport equipment is detected to have completed parking. At this time, the loading equipment operator issues a "loading point lock" command through the terminal, which obtains the current parking position and heading angle of the transport equipment and generates candidate loading points based on this. Subsequently, the candidate points are validated according to the preset ring loading area rules: if the radius coordinates of the position fall within the allowed ring area, the point is written into the loading point data structure and set as the current official loading point; if the validation fails, the generation request is automatically rejected and an out-of-bounds warning is returned, without modifying the original data. In addition, a strict mode consistency mechanism is maintained: when a user switches from this mode to "arm position locking mode" with existing loading points, the previously generated loading points are automatically cleared to ensure that the subsequent point calculation process is not affected by old data.

[0091] In this embodiment of the invention, if the current working mode of the collaborative terminal is the loading equipment swing arm position locking mode, then generating the loading point according to the current working mode of the collaborative terminal includes:

[0092] 1) Determine whether the swing arm of the loading equipment is locked to the target position according to the user's preset configuration parameters. The user's preset configuration parameters include at least the preset initial distance between the loading equipment and the loading point and the pre-selected loading operation mode.

[0093] 2) Once it is determined that the swing arm of the loading equipment is locked to the target position, obtain the current pose of the loading equipment;

[0094] 3) Calculate the coordinates of the current loading point based on the current position of the loading equipment, the loading operation mode, and the user-preset configuration parameters;

[0095] 4) Determine whether the coordinates of the current loading point are within the circular operation area;

[0096] 5) If the coordinates of the current loading point are located within the circular operation area, then the loading point will be generated or updated based on the current loading point.

[0097] Specifically, such as Figure 5As shown, the user first sets the initial distance between the loading equipment and the loading position on the terminal based on the evaluation settings. After the loading equipment terminal is powered on, it can select from three loading operation modes: left-side loading mode, right-side loading mode, and rear-side loading mode. When setting the loading point, the loading equipment operator (specifically an excavator in this embodiment) can operate the boom to rotate it perpendicular to the feasible loading point (left / right-side loading mode) or parallel to it (rear-side loading mode), and then automatically generate the loading point by clicking the loading equipment boom position lock button. Specifically, the loading point is calculated as follows: based on the loading operation mode, the current positioning information of the loading equipment, and the pre-configured point calculation parameters, the coordinates of the loading point are calculated from geometric relationships. If a loading point has already been generated, the previously generated loading position is deleted when the excavator boom position lock mode is changed to the parking mining vehicle position lock mode. Taking the left-side loading mode as an example, the loading point coordinates are obtained by rotating the loading equipment 90 degrees clockwise and then translating it a set distance from its current position. If the point is not within the circular area, the setting will fail.

[0098] It should be understood that when the candidate point coordinates do not meet the loading area rules, the current loading point setting request will be rejected, and a visual or text prompt will be returned. No existing loading point data will be written or overwritten.

[0099] The loading point pose adjustment unit 120 is used to adjust the pose of the initialized loading point so that the adjusted loading point meets the operation requirements.

[0100] In this embodiment of the invention, the loading points generated by the above two methods may not be feasible, and the position of the loading equipment may be slightly adjusted during operation, and the configuration of the loading point may also change slightly. These factors may also make the original loading point infeasible. Therefore, it is necessary to adjust the pose of the existing loading points.

[0101] The loading point pose adjustment unit 120 in this embodiment of the invention provides an algorithm-driven pose fine-tuning capability for precise correction of the point position when the working environment changes or the loading equipment position shifts. The loading point pose adjustment unit 120 supports two types of operations: three-dimensional translation and single-axis rotation, both calculated around the loading point's own coordinate system. The three-dimensional translation function allows the system to shift the point position left / right, forward / backward, and up / down along the X / Y / Z coordinate axes, while the rotation function allows for heading angle adjustment around the vertical axis. The point adjustment process is driven by listening to user interaction commands triggered on the terminal interface (e.g., directional key clicks, long presses, etc.): when a directional key click is detected, the point position is discretely updated at a fixed refresh rate (10 Hz), with each update's translation step being a preset 20 cm; when the user uses the rotation control button, the heading angle adjustment logic is triggered, updating the point direction in real time according to fixed angle increments, enabling the loading point pose to be immediately displayed in conjunction with the visual interface. The above adjustment process is all completed in real time through coordinate transformation matrix calculations to ensure that translation and rotation movements are consistent in space and that the adjustment effect can accurately reflect the needs of the current working environment of the loading equipment.

[0102] The intelligent maintenance unit 130 for loading points is used to perform intelligent maintenance of loading points based on real-time monitoring of the relative positional relationship between the loading equipment and the loading points.

[0103] In this embodiment of the invention, intelligent maintenance of work points is achieved by real-time monitoring of the relative positional relationship between the loading equipment and the preset loading point. Specifically, the movement trajectory of the loading equipment is continuously monitored. When the straight-line distance between the current position of the loading equipment and the original loading point exceeds a dynamically calculated safety threshold, the deletion operation of the loading point will be automatically triggered, and a text prompt will be triggered: "The current position of the loading equipment is too far from the loading point; the loading point will be automatically cleared. Please reset the point." The safety threshold is calculated using the following formula:

[0104] ,

[0105] in, Indicates the safety threshold. This represents the outer radius of the current working annular area. This indicates preset fixed parameters (which can be configured within the range of 0.5 to 1.5 meters depending on the different loading equipment models). All automatic deletion operations will be recorded in the system log, including detailed information such as deletion time, location coordinates, and trigger reason, providing data support for subsequent operation analysis.

[0106] In embodiments of the present invention, such as Figure 6 As shown, the mining vehicle dispatching module 200 includes:

[0107] The transport equipment loading point initialization unit 210 is used to acquire the position and orientation information of the unmanned mining vehicle in real time, determine new loading point data based on the position and orientation information of the unmanned mining vehicle, and add the new loading point data to the transport equipment queue.

[0108] In this embodiment of the invention, when the transport equipment enters the pre-set annular loading area around the loading equipment via autonomous or manual driving, the loading point is initialized through the following process: First, the position and orientation information of the transport equipment is obtained in real time based on the positioning system; second, the current parking position coordinates, heading angle and other key parameters of the vehicle are automatically recorded and saved as new loading point data; finally, the loading point is automatically connected to the central queue planning system and awaits subsequent scheduling and allocation.

[0109] The transportation equipment queue planning unit 220 is used to automatically verify and optimize the queuing points of unmanned mining vehicles in the transportation equipment queue based on a preset planning knowledge base.

[0110] In this embodiment of the invention, the automated verification and optimization of queuing points for unmanned mining vehicles in the transportation equipment queue based on a preset planning knowledge base includes:

[0111] 1) Obtain the current environmental parameter information of the unmanned mining vehicles entering the loading area;

[0112] 2) Based on the standard path parameters in the preset planning knowledge base, perform path planning for the minimum turning radius, maximum slope threshold, and obstacle avoidance of unmanned mining vehicles;

[0113] 3) Verify the distance between the current loading point of the unmanned mining vehicle and the slope according to the slope safety distance standard in the preset planning knowledge base;

[0114] 4) Based on the standard operating procedures in the pre-set planning knowledge base, perform parameter verification on the reversing trajectory and turning space of the unmanned mining vehicle.

[0115] In this embodiment of the invention, the transportation equipment queue planning unit achieves automated verification and optimization of queuing points through a pre-established standardized planning knowledge base. When the transportation equipment enters the loading area, it first obtains the current environmental parameters, and then calls the multi-dimensional standards in the planning library for intelligent verification. For path planning, it refers to the standard path parameters stored in the planning library, including minimum turning radius limits, maximum slope thresholds, and typical obstacle avoidance schemes. For safety distance verification, it automatically compares with the preset slope safety distance standards in the planning library to ensure that the loading point is at least 5 meters away from the slope. In the operation process verification stage, it matches the standard operation process template in the planning library, focusing on checking key parameters such as the reversing trajectory and the turning space of the transportation equipment to ensure that the transportation equipment can reverse into the loading point in one go. The entire verification process uses a planning library-driven intelligent matching algorithm, which automatically recommends the optimal queuing point setting scheme from the knowledge base through similarity calculation. For queuing points that fail verification, prompts are given on both the terminal and the dispatch center. Correction suggestions are provided based on the case library in the planning library, and human expert intervention is supported.

[0116] The loading point error detection unit 230 is used to perform pre-verification detection according to the loading point save request instruction and to repair the configuration error detection results, wherein the configuration error detection results include unbound queuing points and unbound heavy-load transportation starting points.

[0117] Specifically, when an operator initiates a loading point saving request at the terminal, a pre-verification check is first performed. For two common configuration errors—unbound queuing points and unbound heavy-load transportation starting points—a dedicated repair mechanism is established. Since loading equipment operators typically lack advanced permissions in the scheduling system, this embodiment introduces an automatic binding algorithm: through spatial location analysis, it automatically searches for suitable queuing points within a 50-meter radius of the newly set loading point, using a nearest neighbor priority principle for intelligent matching; simultaneously, based on a transportation route planning knowledge base, it automatically associates the nearest heavy-load transportation starting point. The entire correction process is completed in real time without manual intervention, and the automatic binding result is clearly displayed on the operation interface for operator confirmation. For scenarios where automatic binding cannot be completed under special circumstances, a detailed error report is generated, and the dispatch center is notified for processing through a tiered alarm mechanism.

[0118] In embodiments of the present invention, such as Figure 7 As shown, the mining vehicle anomaly handling module 300 includes:

[0119] The anomaly detection unit 310 is used to determine whether the unmanned mining vehicle is in an abnormal state based on the real-time status data of all unmanned mining vehicles participating in the operation.

[0120] The anomaly classification unit 320 is used to classify the anomaly types of unmanned mining vehicles that are marked as abnormal, including safety anomalies, operational anomalies, and functional anomalies.

[0121] The anomaly handling unit 330 is used to trigger the coordinated emergency braking function to force the unmanned mining vehicle with the safety anomaly to stop suddenly when the anomaly type is classified as a safety anomaly, to trigger the docking failure secondary docking function to complete the docking operation again when the anomaly type is classified as an operation action anomaly, and to trigger the remote takeover request function to send a remote takeover request command when the anomaly type is classified as a functional anomaly.

[0122] In collaborative loading operations, unmanned mining vehicles need to maintain continuous real-time collaboration with loading equipment and the dispatch center. To ensure the safety and continuity of the operation, the system integrates vehicle positioning data, vehicle attitude, loading equipment operating status, operating environment parameters, and internal self-diagnostic information to achieve full lifecycle monitoring and automatic decision-making for abnormal events.

[0123] An anomaly detection logic runs continuously in the background, analyzing the status of all unmanned mining vehicles involved in the operation. The detection mechanism uses real-time data streams to determine whether the mining vehicles exhibit abnormal behavior, such as vehicle attitude deviation, inaccurate parking, failed actions, abnormal equipment feedback, and environmental risks. When the detection results exceed the set safety or functional thresholds, the vehicle is marked as "abnormal" and then enters the anomaly type classification process.

[0124] To facilitate the automatic selection of handling strategies, all abnormal situations are divided into three categories: the first category is safety-related abnormalities that may endanger the safety of personnel or equipment, such as personnel intrusion, slope slippage, or dangerous actions of loading equipment; the second category is operational abnormalities that affect the continuity of loading operations, including situations where the vehicle fails to accurately stop at the loading point or the loading posture deviates too much; the third category is system function abnormalities that prevent the vehicle from continuing to operate autonomously, such as the failure of key sensors, chassis control abnormalities, or steering function failures.

[0125] After the exception is classified, the corresponding processing flow will be automatically initiated based on the type:

[0126] 1) When a safety-related anomaly is detected, the coordinated emergency braking function is immediately triggered, forcing the relevant vehicles to stop abruptly through multi-terminal linkage;

[0127] 2) If the abnormality is due to a problem with the operation, the parking failure re-parking function will be activated, and the vehicle will be assisted to complete the parking operation again through the strategy of reversal and re-entry.

[0128] 3) When an unrecoverable functional failure is detected, the remote takeover request function is activated to transfer vehicle control to a human operator.

[0129] The entire anomaly detection and handling process is automatically recorded, including the anomaly trigger time, anomaly type, vehicle status parameters, handling procedure, and final recovery result. These records are not only used for post-event auditing but also provide crucial evidence for subsequent system optimization, strategy improvement, and security assessment.

[0130] In this embodiment of the invention, the emergency braking function specifically involves immediately executing a multi-level safety response upon triggering the emergency braking command: First, it automatically identifies all mining vehicles located within the loading area and within a set safety radius of the loading equipment, and issues an emergency braking command. These mining vehicles will immediately perform an emergency stop and automatically terminate their current transportation task. Simultaneously, a red warning window will pop up on the dispatch center monitoring interface to notify the dispatcher of the emergency situation in real time. Additionally, it automatically records information such as the affected mining vehicle's number, location, and task status, providing a basis for subsequent recovery operations.

[0131] The emergency braking status will remain locked until the danger has completely subsided. The release procedure is designed as follows: the driver of the loading equipment that initially triggered the braking manually clicks the release button, and after safety confirmation, sends a recovery command to the dispatch center. The dispatcher then reroutes and assigns tasks to each affected mining vehicle according to priority, ensuring the orderly resumption of operations. Figure 8 This is a flowchart for emergency coordinated braking.

[0132] In this embodiment of the invention, the secondary docking function for failed docking specifically uses data from the mining vehicle's own satellite positioning system, sensors, and other measuring devices to detect the deviation between the current position and the target docking point in real time. Simultaneously, it can also combine feedback from the operator and loading equipment (such as the bucket not contacting the truck bed or loading failure) to determine whether an initial docking failure has occurred. Once it is confirmed that the deviation exceeds the safe range (1-3m, adjusted according to actual conditions) or loading is unsuccessful, it can be identified as a docking anomaly, and the subsequent processing procedure can begin.

[0133] During the process, a safety confirmation mechanism must be implemented first. The mining vehicle should automatically pause its current operation and activate braking measures to prevent further deviation. At the same time, it should send a status notification to the loading equipment terminal via the vehicle communication system to avoid the risk of collision due to misoperation.

[0134] The secondary docking mechanism regenerates the relative position between the vehicle and the loading equipment based on real-time vehicle perception information. Subsequently, the mining vehicle executes the steps of "reversing - fine-tuning the steering - re-entering according to the loading point position," coordinating with a low-speed closed-loop control strategy to precisely approach and ensure docking accuracy.

[0135] If the vehicle fails to dock after three attempts, the relevant fault code will be recorded and immediately reported to the dispatch center. The system will then automatically switch to remote manual control mode, awaiting operator intervention. During this time, the vehicle will remain stationary and send a message to the dispatch center informing them that "Docking failed twice; manual intervention requested," thus preventing repeated attempts from causing potential safety risks.

[0136] Finally, after the docking task is completed or ultimately fails, the abnormal process will be recorded, including docking deviation, control execution log, environmental awareness data, etc., to provide a basis for subsequent fault analysis and docking strategy optimization.

[0137] In this embodiment of the invention, the remote takeover request function specifically triggers a remote takeover process immediately after the vehicle is determined to have experienced an unrecoverable anomaly, ensuring operational safety and preventing further risks caused by the vehicle continuing to operate in autonomous driving mode. Upon triggering, the vehicle-side control system first executes a safety freeze strategy: if the vehicle is in motion, an emergency braking command is immediately issued; if the vehicle is stationary, it maintains a waiting mode and closes the current automatic task execution thread, ensuring the vehicle remains safely stationary in a dynamic environment.

[0138] At the same time, the vehicle will automatically send a "remote takeover request" message packet to the dispatch center via the communication link. This message packet is uniformly generated and includes the vehicle's current abnormal diagnosis results, fault type classification, GPS location, attitude and speed information, key sensor status, environmental perception snapshot, and control command records from the most recent period, providing the dispatch center with the information foundation needed for rapid judgment and takeover.

[0139] Upon receiving a remote takeover request, the dispatch center automatically displays the corresponding vehicle's takeover interface, showing the vehicle's real-time status and any anomalies. It also loads available takeover options based on the anomaly type and fault level, supporting multiple takeover methods, including a user-friendly manual remote driving mode, a semi-automatic takeover mode that issues point-to-point navigation commands to the vehicle, and an auxiliary planning mode that corrects local paths or actions. Operators can select the appropriate takeover method based on the on-site conditions and risk level, and establish a real-time control link with the vehicle through the interface.

[0140] After the operator completes manual intervention and successfully restores the vehicle to a stable state where it can continue to perform tasks, the system automatically exits takeover mode and resumes dispatch logic. Simultaneously, the dispatch center records the complete lifecycle of the takeover event in the system log, including the takeover trigger time, takeover method, manual control actions, recovery actions, system restart status, and final state, providing a basis for subsequent data analysis and anomaly model optimization.

[0141] In summary, the collaborative loading device for unmanned mining vehicles provided by this invention achieves intelligent generation of loading operation points by combining the pose information of the loading equipment with the loading point generation algorithm, significantly improving the accuracy of point setting and operational safety. Adopting a modular design approach, it can adapt to various loading scenario requirements. This method effectively reduces the workload of operators and avoids human calculation errors; the automatic loading point deletion method fully considers the differences in the working range of equipment in actual operation scenarios, avoiding premature deletion of loading points that still have value while promptly clearing old points that have become ineffective due to large-scale equipment movement. This function effectively solves the problem of abandoned loading point accumulation in traditional systems, significantly improving the utilization efficiency of system resources; an intelligent queue planning mechanism is established, which continuously optimizes the planning standards by automatically comparing and verifying the current planned queue points. By transforming mature operational experience into standardized verification rules, efficient queue planning is achieved while ensuring safety.

[0142] As another embodiment of the present invention, a collaborative loading system 1 for unmanned mining vehicles is provided, wherein, as Figure 9 As shown, it includes: loading equipment 11, dispatch center 12 and unmanned mining vehicle 13. The loading equipment 11 is equipped with a collaborative terminal, which is communicatively connected to the dispatch center 12. The dispatch center 12 is communicatively connected to the unmanned mining vehicle 13. The collaborative terminal includes the collaborative loading device 10 for the unmanned mining vehicle described above.

[0143] The collaborative terminal is used to adjust loading points, schedule mining vehicles, and handle abnormalities of mining vehicles based on the loading data information of the loading equipment.

[0144] The dispatch center 12 is used to display and send the loading point adjustment results, dispatch results and anomaly handling results of the collaborative terminal to the corresponding unmanned mining vehicle.

[0145] The unmanned mining vehicle 13 is used to transport goods according to the instructions of the dispatch center and work in coordination with the loading equipment.

[0146] In summary, the collaborative loading system for unmanned mining vehicles provided by this invention utilizes the aforementioned collaborative loading device for unmanned mining vehicles at its collaborative terminal. The loading point adjustment module initializes the loading points, followed by position adjustment and intelligent maintenance, thereby enabling the setting and management of loading points. The mining vehicle scheduling module performs queue planning and error detection and correction of loading points after the unmanned mining vehicles arrive at the loading area, ensuring accurate loading. The mining vehicle anomaly handling module monitors the operational status of the unmanned mining vehicles in real time and classifies and handles anomalies. This collaborative loading device for unmanned mining vehicles achieves precise and intelligent generation of loading work points, significantly improving the accuracy of point setting and operational safety. Furthermore, it continuously optimizes planning standards by automatically comparing and verifying the current planned queue points. Finally, it monitors the operational status of unmanned mining vehicles to ensure their safe operation. Therefore, the collaborative loading system for unmanned mining vehicles achieves collaborative loading between loading equipment and unmanned mining vehicles through precise positioning of loading points, intelligent matching of loading strategies, and safety linkage control.

[0147] The specific working principle of the collaborative loading system for unmanned mining vehicles of the present invention can be referred to the description of the collaborative loading device for unmanned mining vehicles above, and will not be repeated here.

[0148] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A collaborative loading device for unmanned mining vehicles, characterized in that, The collaborative loading device for unmanned mining vehicles is applied to a collaborative terminal, which is installed on and communicatively connected to the loading equipment. The collaborative terminal is communicatively connected to a dispatch center, and the dispatch center is communicatively connected to the unmanned mining vehicle. The collaborative loading device includes: The loading point adjustment module is used to initialize the loading point based on the loading data information of the loading equipment, and to adjust the loading point pose and perform intelligent maintenance of the loading point after the loading point initialization. The loading data information includes at least the current pose of the loading equipment, the operation mode, the parking position of the unmanned mining vehicle, and the evaluation set distance. The evaluation set distance is used to represent the distance between the current loading equipment and the loading position in the loading area. The mining vehicle scheduling module is used to plan the queue of unmanned mining vehicles when they enter the loading area, and to detect and correct errors at loading points. The mining vehicle anomaly handling module is used to monitor the operating status of unmanned mining vehicles in real time, and to classify and handle anomalies when anomalies are detected based on the operating status of the unmanned mining vehicles.

2. The collaborative loading device for unmanned mining vehicles according to claim 1, characterized in that, The loading point adjustment module includes: a loading point initialization unit, a loading point pose adjustment unit, and a loading point intelligent maintenance unit. The loading point initialization unit is used to compare the loading data information of the loading equipment with the preset geometric rule information of the loading area to determine whether the current loading point conforms to the preset geometric rule information. The loading point pose adjustment unit is used to adjust the pose of the initialized loading point so that the adjusted loading point meets the operational requirements. The intelligent maintenance unit for loading points is used to perform intelligent maintenance of loading points based on real-time monitoring of the relative positional relationship between the loading equipment and the loading points.

3. The collaborative loading device for unmanned mining vehicles according to claim 2, characterized in that, The loading point initialization unit is used to compare the loading data information of the loading equipment with the preset geometric rule information of the loading area to determine whether the current loading point conforms to the preset geometric rule information, including: The distance between the current loading point and the loading equipment is compared with the preset geometric rule information, wherein the preset geometric rule information includes a ring-shaped working area with an inner radius of r and an outer radius of R; If the distance P between the current loading point and the loading equipment satisfies: Then it is determined that the current loading point conforms to the preset geometric rules information; Otherwise, it is determined that the current loading point does not conform to the preset geometric rules.

4. The collaborative loading device for unmanned mining vehicles according to claim 3, characterized in that, When it is determined that the current loading point conforms to the preset geometric rules, the loading point is generated according to the current working mode of the collaborative terminal. The working modes of the collaborative terminal include the parking transport equipment position locking mode and the loading equipment swing arm posture locking mode. When it is determined that the current loading point does not conform to the preset geometric rules, a message is returned indicating that the request for the current loading point is rejected.

5. The collaborative loading device for unmanned mining vehicles according to claim 4, characterized in that, If the current working mode of the collaborative terminal is the parking and transport equipment location locking mode, then the loading point is generated according to the current working mode of the collaborative terminal, including: Determine whether unmanned mining vehicles have entered the circular operation area; If an unmanned mining vehicle enters the circular operation area, determine whether the unmanned mining vehicle has completed parking; When it is determined that the unmanned mining vehicle has completed parking, the current position and heading angle of the unmanned mining vehicle are obtained according to the loading point locking command, and candidate loading points are generated based on the current position and heading angle of the unmanned mining vehicle. Determine whether the candidate loading point is located within the circular work area; If the candidate loading point is located in the circular operation area, then the candidate loading point will be designated as the official loading point; otherwise, an out-of-bounds warning message will be returned.

6. The collaborative loading device for unmanned mining vehicles according to claim 4, characterized in that, If the current working mode of the collaborative terminal is the loading equipment swing arm position locking mode, then the loading point is generated according to the current working mode of the collaborative terminal, including: The system determines whether the swing arm of the loading device is locked to the target position based on the user's preset configuration parameters. The user's preset configuration parameters include at least the preset initial distance between the loading device and the loading point and the pre-selected loading operation mode. Once it is determined that the swing arm of the loading equipment is locked to the target position, the current pose of the loading equipment is obtained; The coordinates of the current loading point are calculated based on the current position of the loading equipment, the loading operation mode, and the user's preset configuration parameters. Determine whether the coordinates of the current loading point are within the circular operation area; If the coordinates of the current loading point are within the circular operation area, then the loading point will be generated or updated based on the current loading point.

7. The collaborative loading device for unmanned mining vehicles according to claim 1, characterized in that, The mining vehicle dispatching module includes: The transportation equipment loading point initialization unit is used to acquire the position and orientation information of the unmanned mining vehicle in real time, determine the new loading point data based on the position and orientation information of the unmanned mining vehicle, and add the new loading point data to the transportation equipment queue. The transportation equipment queue planning unit is used to automatically verify and optimize the queuing points of unmanned mining vehicles in the transportation equipment queue based on a preset planning knowledge base. The loading point error detection unit is used to perform pre-verification detection according to the loading point save request instruction and to repair the configuration error detection results, wherein the configuration error detection results include unbound queuing points and unbound heavy-load transportation starting points.

8. The collaborative loading device for unmanned mining vehicles according to claim 7, characterized in that, The automated verification and optimization of queuing points for unmanned mining vehicles in the transportation equipment queue based on a preset planning knowledge base includes: Obtain current environmental parameter information for unmanned mining vehicles entering the loading area; Based on the standard path parameters in the pre-set planning knowledge base, the minimum turning radius, maximum slope threshold, and obstacle avoidance of the unmanned mining vehicle are planned. Based on the slope safety distance standards in the pre-set planning knowledge base, the current loading point of the unmanned mining vehicle is verified to be close to the slope. Based on the standard operating procedures in the pre-set planning knowledge base, the parameters of the unmanned mining vehicle's reversing trajectory and turning space are verified.

9. The collaborative loading device for unmanned mining vehicles according to claim 1, characterized in that, The mining vehicle anomaly handling module includes: The anomaly detection unit is used to determine whether the unmanned mining vehicles are in an abnormal state based on the real-time status data of all unmanned mining vehicles participating in the operation. The anomaly classification unit is used to classify the anomaly types of unmanned mining vehicles that are marked as abnormal. The anomaly types include safety anomalies, operational anomalies, and functional anomalies. The anomaly handling unit is used to trigger the coordinated emergency braking function to force the unmanned mining vehicle with the safety anomaly to stop suddenly when the anomaly type is classified as a safety anomaly, to trigger the second docking function to complete the docking operation again when the anomaly type is classified as an operation action anomaly, and to trigger the remote takeover request function to send a remote takeover request command when the anomaly type is classified as a functional anomaly.

10. A collaborative loading system for unmanned mining vehicles, characterized in that, include: The system includes a loading device, a dispatch center, and an unmanned mining vehicle. The loading device is equipped with a collaborative terminal, which is communicatively connected to the dispatch center. The dispatch center is communicatively connected to the unmanned mining vehicle. The collaborative terminal includes a collaborative loading device for unmanned mining vehicles as described in any one of claims 1 to 9. The collaborative terminal is used to adjust loading points, schedule mining vehicles, and handle abnormalities of mining vehicles based on the loading data information of the loading equipment. The dispatch center is used to display and send the loading point adjustment results, dispatch results, and anomaly handling results of the collaborative terminal to the corresponding unmanned mining vehicle. The unmanned mining vehicles are used to transport goods according to instructions from the dispatch center and work in coordination with loading equipment.

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