Mining area vehicle scheduling method and device, electronic equipment and storage medium

Abstract

The invention provides a mining area vehicle scheduling method and device, electronic equipment and a storage medium, and relates to the technical field of vehicle scheduling, and the method comprises the steps: obtaining the target position information and target fault information of a fault vehicle; a multi-layer closed area is generated according to the target position information and the target fault information, the core forbidden area is used for representing an area where the transport vehicle is forbidden to enter, the dynamic buffer area is used for limiting the vehicle speed and providing early warning for avoiding the core forbidden area, and the guiding area is used for guiding related vehicles to plan paths in advance so as to avoid the core forbidden area and the dynamic buffer area; a first scheduling instruction is sent to the transport vehicles in the dynamic buffer area, a second scheduling instruction is sent to the transport vehicles in the guide area, and an advanced circulation avoidance instruction is sent to the vehicles outside the multi-layer closed area; and the multi-layer closed area is adjusted according to the processing progress of the fault vehicle until the multi-layer closed area is removed. By implementing the technical scheme provided by the invention, the dispatching efficiency of the vehicles in the mining area is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle scheduling, in particular to a mine area vehicle scheduling method and device, electronic equipment and storage medium. BACKGROUND

[0002] In the field of intelligent traffic management, especially in complex working conditions such as mine areas and the like, vehicle scheduling and traffic safety are crucial. In response to sudden conditions such as road repair, water pits, and faulty vehicles, the scheduling method in the related art relies on manual intervention or an automatic system based on fixed rules to handle vehicle traffic problems under special working conditions, which is likely to cause subsequent vehicles to be blocked in a row, and even secondary collisions. It can be seen that the scheduling method in the related art has the problems of slow reaction speed and insufficient flexibility, which is likely to cause traffic congestion and increase safety risks. SUMMARY

[0003] In order to solve the above technical problems, the present application provides a mine area vehicle scheduling method, device, electronic equipment and storage medium.

[0004] In a first aspect, the present application provides a mine area vehicle scheduling method, comprising: in a case where it is determined that a target mine area road has a faulty vehicle, acquiring target position information and target fault information of the faulty vehicle, wherein the target fault information comprises a target fault type, a target severity level and a target vehicle type; generating a multi-layer closed area according to the target position information and the target fault information, the multi-layer closed area being a core forbidden zone, a dynamic buffer zone and a guide zone which are sequentially expanded from the inside to the outside with the faulty vehicle as a reference point, wherein the core forbidden zone is used to represent a region where transport vehicles are prohibited from entering, the radius of the core forbidden zone is determined according to the target fault type and the target severity level, the dynamic buffer zone is arranged at the periphery of the core forbidden zone, the dynamic buffer zone is used to limit the speed of the vehicle and provide a warning to avoid the core forbidden zone, the guide zone is located at the periphery of the dynamic buffer zone, and the guide zone is used to guide the related vehicles to plan a path in advance to avoid the core forbidden zone and the dynamic buffer zone; sending a first scheduling instruction to the transport vehicles in the dynamic buffer zone, sending a second scheduling instruction to the transport vehicles in the guide zone, and sending an early flow avoidance instruction to the external vehicles outside the multi-layer closed area to indicate that the external vehicles avoid in an orderly manner, wherein the first scheduling instruction is used to guide the transport vehicles in the dynamic buffer zone to adjust the route and guide the first vehicles to limit the speed, and the second scheduling instruction is used to guide the transport vehicles in the guide zone to plan the path and guide the second vehicles to limit the speed; and adjusting the multi-layer closed area according to the processing progress of the faulty vehicle until the multi-layer closed area is released.

[0005] By adopting the technical solutions, the target position information and the target fault information of the fault vehicle are acquired, which helps to accurately grasp the fault condition; the multi-layer closed area is generated, the core forbidden area radius can be determined according to the target fault type and the target severity level, the dynamic buffer area limits the speed and gives a warning, the guide area plans the path in advance, which can effectively isolate the dangerous area and guide the vehicle to avoid; the corresponding scheduling instructions are sent to the vehicles in different areas and the avoidance instructions are sent to the external vehicles, which can make the vehicles pass in an orderly manner; the multi-layer closed area is adjusted according to the fault handling progress until it is released, which can flexibly adapt to the fault handling condition, thereby improving the reaction speed and flexibility of the mine vehicle scheduling, improving the scheduling efficiency of the mine vehicle, and reducing traffic congestion and safety risks.

[0006] Optionally, in a case where it is determined that the target mine road exists the fault vehicle, the target fault information of the fault vehicle is acquired, including: acquiring multi-source data, the multi-source data being used for monitoring the running state of the vehicle on the target mine road, the multi-source data including sensing data of a vehicle-mounted sensor, monitoring data of a roadside monitoring device, and inspection data of a drone; determining whether the fault vehicle exists on the target mine road according to the multi-source data; in a case where it is determined that the target mine road exists the fault vehicle, determining the target fault type, the target severity level, and the target vehicle type of the fault vehicle.

[0007] By adopting the technical solutions, the running state of the vehicle on the target mine road is monitored by using the multi-source data, whether the fault vehicle exists is determined in combination with the multi-source data, when it is determined that the fault vehicle exists, the target fault type, the target severity level, and the target vehicle type of the fault vehicle are determined at the same time, the target fault information of the fault vehicle can be accurately acquired, the limitations of manual intervention or a fixed rule-based automatic system are avoided, and the reaction speed and flexibility in response to the fault vehicle are improved; the multi-source data is cross-verified to reduce false positives and false negatives, not only the fault vehicle can be identified, but also the fault type and the severity can be determined, which provides a basis for radius setting and range division of the multi-layer closed area, ensures that the control measures match the actual situation of the fault, avoids the blindness of control, and makes the scheduling strategy more accurate.

[0008] Optionally, the method further comprises: determining the first vehicle as a fault vehicle when receiving a fault code reported by the first vehicle, wherein the first vehicle is any vehicle on the target mine road, and the multi-source data further comprises a fault code reported by the vehicle; comprehensively analyzing the first sensor data, the first monitoring data and the first inspection data to obtain an analysis result, wherein the first sensor data is used to represent data detected by a sensor of the first vehicle, the first monitoring data is used to represent data obtained by monitoring the first vehicle by using a roadside monitoring device, and the first inspection data is used to represent data obtained by inspecting the first vehicle by using a UAV; and determining the first vehicle as the fault vehicle when the analysis result contains a preset fault feature.

[0009] By using the above technical solution, the multi-source data is used to determine whether there is a fault vehicle on the target mine road, and the fault vehicle can be accurately determined. The fault vehicle can be quickly identified by the fault code reported by the vehicle, and the comprehensive analysis of the first sensor data, the first monitoring data and the first inspection data can improve the accuracy of fault determination, provide a reliable basis for subsequent generation of multi-layer closed areas and sending of dispatch instructions, effectively deal with the problem of fault vehicles on the mine road, and avoid traffic congestion and increase in safety risk.

[0010] Optionally, the method further comprises: extracting features from the first sensor data, the first monitoring data and the first inspection data to obtain a set of features, wherein the analysis result comprises the set of features; and determining the first vehicle as the fault vehicle when the analysis result contains a preset fault feature, which comprises: comparing the set of features with a preset fault library, and determining the first vehicle as the fault vehicle if the comparison is successful.

[0011] By using the above technical solution, the multi-source data can be comprehensively analyzed to accurately determine the fault vehicle on the target mine road. The features of the multi-source data are extracted and compared with the preset fault library, which improves the accuracy of fault vehicle determination, thereby providing accurate basis for subsequent generation of multi-layer closed areas, sending of dispatch instructions and adjustment of closed areas, and helping to improve the response speed and flexibility of mine vehicle dispatching, reduce traffic congestion and safety risk.

[0012] Optionally, the target fault type comprises engine stall and fire, the target severity level comprises a low-risk level, a medium-risk level and a high-risk level, and the target vehicle type comprises an empty vehicle, a full load ordinary vehicle and a dangerous goods transport vehicle.

[0013] By adopting the technical scheme, the classification manner of the fault vehicle is determined, specifically including a target fault type, a target severity level and a target vehicle type, the generated multi-layer closed area can be more in line with the actual situation, the pertinence and effectiveness of the scheduling instruction are improved, the mine road fault vehicle problem is more accurately dealt with, and traffic congestion and safety risks are reduced.

[0014] Optionally, the multi-layer closed area is generated according to the target position information and the target fault information, including: determining a target forbidden area radius value corresponding to the target fault information according to a preset forbidden area configuration table, wherein the preset forbidden area configuration table records forbidden area radius values corresponding to different fault information; taking a coordinate corresponding to the target position information as a center and the target forbidden area radius value as a radius to obtain a first circular area, and determining the first circular area as a core forbidden area; taking the coordinate corresponding to the target position information as the center and a first preset radius value as the radius to obtain a second circular area, and determining an area of the second circular area other than the first circular area as a dynamic buffer area, wherein the first preset radius value is greater than the target forbidden area radius value; extending the second circular area outward by a second preset radius value to obtain a third circular area, and determining an area of the third circular area other than the second circular area as a guide area, wherein the second preset radius value is greater than the first preset radius value.

[0015] By adopting the technical scheme, the core forbidden area radius can be determined according to the target fault information, the core forbidden area in which the transport vehicle is prohibited to enter is accurately delimited, the dynamic buffer area and the guide area are set with the target position as the center, the vehicle speed of the vehicles in different areas can be limited, prewarning and path guiding can be performed, which helps the related vehicles to plan the path in advance to avoid the dangerous area, and the effectiveness of the mine vehicle scheduling is improved.

[0016] Optionally, the first preset radius value is dynamically adjusted according to environmental data and traffic state data, wherein the environmental data includes on-site wind speed and surrounding pit distribution data of the fault vehicle, and the traffic state data includes vehicle flow density data and average speed data in the dynamic buffer area.

[0017] By adopting the technical scheme, when the dynamic buffer area is generated, the first preset radius value can be dynamically adjusted according to the environmental data and the traffic state data such as the on-site wind speed, the surrounding pit distribution data of the fault vehicle, the vehicle flow density data and the average speed data in the dynamic buffer area, the setting of the dynamic buffer area can be more in line with the actual situation, the setting of the multi-layer closed area is more reasonable, the scheduling of the transport vehicle is more flexible and accurate, the complex and changeable mine environment can be effectively dealt with, and traffic congestion and safety risks are reduced.

[0018] Optionally, the first scheduling instruction is sent to the transport vehicle in the dynamic buffer zone, and the first scheduling instruction is used to instruct the transport vehicle in the dynamic buffer zone to run at a speed lower than a first vehicle speed limit and a bypass route, and the bypass route is used to instruct a route bypassing the core forbidden area; and the second scheduling instruction is sent to the transport vehicle in the guide area, and the second scheduling instruction is used to instruct the transport vehicle in the guide area to run at a speed lower than a second vehicle speed limit and a newly planned path to avoid the dynamic buffer zone, wherein the first vehicle speed limit is less than the second vehicle speed limit.

[0019] By adopting the above technical solution, after determining that there is a fault vehicle on the target mine road, the target position information and the target fault information of the fault vehicle are obtained, and a multi-layer closed area is generated. On this basis, the first scheduling instruction is sent to the transport vehicle in the dynamic buffer zone, so that the transport vehicle runs at a speed lower than the first vehicle speed limit and a bypass route that avoids the core forbidden area, which can avoid the vehicle entering the dangerous core forbidden area and ensure the safety of vehicle traffic; the second scheduling instruction is sent to the transport vehicle in the guide area, so that the transport vehicle runs at a speed lower than the second vehicle speed limit and a newly planned path to avoid the dynamic buffer zone, which can guide the vehicle to plan the path in advance, reduce traffic congestion, and adjust the multi-layer closed area according to the processing progress of the fault vehicle until the multi-layer closed area is removed, so as to flexibly adapt to the state change of the fault vehicle and improve the response speed and flexibility of the mine vehicle scheduling.

[0020] Optionally, the bypass route is obtained by the scheduling system in the following manner: determining a current position and a destination position of a second vehicle, wherein the second vehicle is any vehicle in the dynamic buffer zone; and generating, for the second vehicle, a bypass route that avoids the core forbidden area according to the current position, the destination position, and a real-time digital twin map of the target mine.

[0021] By adopting the above technical solution, the bypass route that avoids the core forbidden area can be generated for the second vehicle according to the current position, the destination position, and the real-time digital twin map of the target mine, which can more accurately plan the route for the vehicle in the dynamic buffer zone, avoid the vehicle entering the core forbidden area, improve the flexibility and accuracy of vehicle scheduling, and reduce traffic congestion and safety risks.

[0022] Optionally, the multi-layer closed area is adjusted according to the processing progress of the fault vehicle until the multi-layer closed area is removed, including: continuously monitoring the latest state of the fault vehicle; when the latest state of the fault vehicle indicates that the severity level of the fault vehicle is reduced, the radius of the core forbidden area is reduced to one-third to two-thirds of the range, and the radius of the dynamic buffer zone is reduced synchronously; and when the latest state of the fault vehicle indicates that the fault of the fault vehicle has been eliminated, the multi-layer closed area is removed.

[0023] By adopting the technical scheme, the state of the fault vehicle can be grasped in real time, the range of the multi-layer closed area is reduced when the serious level of the fault vehicle is reduced, the influence on normal traffic is reduced, the multi-layer closed area is cancelled in time after the fault is eliminated, the normal traffic order is restored, the flexibility and efficiency of the mine vehicle scheduling are improved, and the traffic congestion and safety risk are reduced.

[0024] In a second aspect of the present application, a mine vehicle scheduling device is also provided, comprising: an acquisition module configured to acquire target position information and target fault information of a fault vehicle when it is determined that a target mine road has the fault vehicle, wherein the target fault information comprises a target fault type, a target serious level and a target vehicle type; a generation module configured to generate a multi-layer closed area according to the target position information and the target fault information, the multi-layer closed area being expanded from inside to outside with the fault vehicle as a reference point and sequentially comprising a core forbidden zone, a dynamic buffer zone and a guide zone, wherein the core forbidden zone is used to represent an area where a transport vehicle is prohibited from entering, the radius of the core forbidden zone is determined according to the target fault type and the target serious level, the dynamic buffer zone is arranged at the periphery of the core forbidden zone, the dynamic buffer zone is used to limit the speed of a vehicle and provide a warning for avoiding the core forbidden zone, the guide zone is located at the periphery of the dynamic buffer zone, and the guide zone is used to guide a related vehicle to plan a path in advance to avoid the core forbidden zone and the dynamic buffer zone; a sending module configured to send a first scheduling instruction to a transport vehicle in the dynamic buffer zone, send a second scheduling instruction to a transport vehicle in the guide zone, and send an early flow avoidance instruction to an external vehicle outside the multi-layer closed area, so as to instruct the external vehicle to avoid in an orderly manner, wherein the first scheduling instruction is used to guide the transport vehicle in the dynamic buffer zone to adjust a route and guide a first vehicle to limit a speed, and the second scheduling instruction is used to guide the transport vehicle in the guide zone to plan a path and guide a second vehicle to limit a speed; and a processing module configured to adjust the multi-layer closed area according to a processing progress of the fault vehicle until the multi-layer closed area is released.

[0025] In a third aspect of the present application, an electronic device is also provided, comprising a memory and a processor, the memory has a computer program stored thereon, and the processor implements the method steps of any one of the above aspects when executing the program.

[0026] In a fourth aspect of the present application, a computer readable storage medium is also provided, the computer readable storage medium has instructions stored thereon, and the instructions are executed to perform the method steps of any one of the above aspects.

[0027] To sum up, one or more technical solutions provided in the present application have at least the following technical effects or advantages: 1. Obtaining target position information and target fault information of the fault vehicle helps to accurately grasp the fault condition; generating a multi-layer closed area, which can determine the core forbidden zone radius according to the target fault type and target severity level, dynamically buffer zone speed limit and warning, guide zone early planning path, can effectively isolate the dangerous area and guide the vehicle to avoid; sending corresponding dispatching instructions to vehicles in different areas and sending avoidance instructions to external vehicles, which can make the vehicles pass in order; adjusting the multi-layer closed area according to the fault handling progress until it is released, which can flexibly adapt to the fault handling situation, thereby improving the response speed and flexibility of the mine vehicle scheduling, improving the scheduling efficiency of the mine vehicle, and reducing traffic congestion and safety risks; 2. By cross verification of multiple data sources, false positives and false negatives are reduced, not only can the fault vehicle be identified, but also the fault type and severity can be judged, which provides a basis for the radius setting and range division of the multi-layer closed area, ensures that the control measures match the actual situation of the fault, avoids the blindness of control, and makes the scheduling strategy more accurate; 3. The core forbidden zone radius can be determined according to the target fault information, and the core forbidden zone where the transport vehicle is prohibited to enter is accurately delimited, and the dynamic buffer zone and the guide zone are set with the target position as the center, which can limit the speed, give early warning and guide the path of vehicles in different areas, which helps related vehicles to plan the path in advance to avoid dangerous areas; 4. When generating the dynamic buffer zone, the first preset radius value can be dynamically adjusted according to environmental data and traffic state data such as on-site wind speed, fault vehicle surrounding pit distribution data, vehicle flow density data and average speed data in the dynamic buffer zone, which can make the setting of the dynamic buffer zone more in line with the actual situation, and then make the setting of the multi-layer closed area more reasonable, and the scheduling of the transport vehicle more flexible and accurate, which can effectively cope with the complex and changeable mine environment; 5. The state of the fault vehicle can be grasped in real time, the range of the multi-layer closed area can be reduced when the severity level of the fault vehicle decreases, the influence on normal traffic can be reduced, the multi-layer closed area can be cancelled in time after the fault is eliminated, and the normal traffic order can be restored, which improves the flexibility and efficiency of the mine vehicle scheduling, and reduces traffic congestion and safety risks. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a flowchart of a mine vehicle scheduling method provided by an embodiment of the present application; Figure 2 is an application scenario schematic diagram provided by an embodiment of the present application; Figure 3 is a structural block diagram of a mine vehicle scheduling device provided by an embodiment of the present application; Figure 4 is a structural schematic diagram of an electronic device disclosed by an embodiment of the present application.

[0029] Reference signs: 400-electronic device; 401-processor; 402-communication bus; 403-user interface; 404-network interface; 405-memory. DETAILED DESCRIPTION

[0030] In order for those skilled in the art to better understand the technical solutions in the specification, the technical solutions in the specification will be clearly and completely described below in combination with the drawings in the specification. Obviously, the described embodiments are only some of the embodiments of the present application, not all.

[0031] In the description of the embodiments of the present application, the words such as "for example" or "for instance" are used to represent an example, illustration or description. Any embodiment or design scheme described as "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "for example" or "for instance" are intended to present the relevant concept in a specific manner.

[0032] In the description of the embodiments of the present application, the term "a plurality of" means two or more. In addition, the terms "first", "second" are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. The terms "include", "contain", "have" and their variants mean "include but are not limited to", unless otherwise specifically emphasized.

[0033] The present application provides a mine vehicle scheduling method, referring to Figure 1 , Figure 1 is a flowchart of a mine vehicle scheduling method provided by the embodiments of the present application, and the method comprises: Step S101, in the case of determining that there is a fault vehicle on the target mine road, obtaining target position information and target fault information of the fault vehicle, wherein the target fault information comprises: target fault type, target severity level and target vehicle type; Step S102, generating a multi-layer closed area according to the target position information and the target fault information, the multi-layer closed area is expanded from inside to outside with the fault vehicle as a reference point and comprises a core forbidden area, a dynamic buffer area and a guide area in sequence, wherein the core forbidden area is used to represent an area where transport vehicles are prohibited to enter, the radius of the core forbidden area is determined according to the target fault type and the target severity level, the dynamic buffer area is arranged at the periphery of the core forbidden area, the dynamic buffer area is used to limit the speed of the vehicle and provide early warning for avoiding the core forbidden area, the guide area is located at the periphery of the dynamic buffer area, and the guide area is used to guide related vehicles to plan a path in advance to avoid the core forbidden area and the dynamic buffer area; In step S103, a first scheduling instruction is sent to the transport vehicle in the dynamic buffer area, a second scheduling instruction is sent to the transport vehicle in the guide area, and an early flow avoidance instruction is sent to the external vehicle outside the multi-layer closed area to indicate that the external vehicle orderly avoids, wherein the first scheduling instruction is used for route adjustment guidance and first vehicle speed limit guidance of the transport vehicle in the dynamic buffer area, and the second scheduling instruction is used for path planning and second vehicle speed limit guidance of the transport vehicle in the guide area. In step S104, the multi-layer closed area is adjusted according to the processing progress of the fault vehicle until the multi-layer closed area is released.

[0034] The execution subject of the above steps can be a scheduling system, a scheduling platform, a server, etc., but is not limited thereto.

[0035] Through the above steps, obtaining the target position information and the target fault information of the fault vehicle helps to accurately grasp the fault condition; generating the multi-layer closed area can determine the core forbidden area radius according to the target fault type and the target severity level, the dynamic buffer area limits the vehicle speed and gives early warning, the guide area plans the path in advance, which can effectively isolate the dangerous area and guide the vehicle to avoid; sending the corresponding scheduling instruction to the vehicle in different areas and sending the avoidance instruction to the external vehicle can make the vehicle orderly pass; adjusting the multi-layer closed area according to the fault processing progress until the multi-layer closed area is released can flexibly adapt to the fault processing condition, thereby improving the response speed and flexibility of the mine vehicle scheduling, improving the scheduling efficiency of the mine vehicle, and reducing the traffic congestion and safety risk.

[0036] The vehicle scheduling method provided by the embodiment is based on the specific information of the fault vehicle to dynamically divide a multi-layer closed area, and different scheduling is implemented for vehicles in different areas, and the range of the area is dynamically adjusted according to the fault handling progress. Specifically, when a fault vehicle appears on a mine road, first, the position information (target position) and detailed fault information (including fault type, severity level, and vehicle type) of the fault vehicle are obtained to provide a data basis for subsequent management and control; a multi-layer closed area of "core forbidden zone-dynamic buffer zone-guide zone" is generated from the inside out with the fault vehicle as the reference point: the core forbidden zone: the transportation vehicle is prohibited from entering, and the radius is determined according to the fault type and severity level (such as a larger radius for a serious fault); the dynamic buffer zone: located at the periphery of the core forbidden zone, used to limit the speed of the vehicle (vehicle in the dynamic buffer zone) and provide avoidance warning; the guide zone: located at the periphery of the dynamic buffer zone, used to guide the relevant vehicles (vehicles in the guide zone) to plan the path in advance to avoid the core forbidden zone and the dynamic buffer zone; different instructions are sent to vehicles in different areas: route adjustment and speed limit guidance are performed on vehicles in the dynamic buffer zone, path planning and speed limit guidance are performed on vehicles in the guide zone, and early avoidance instructions are sent to vehicles outside the area; the range of the multi-layer area is adjusted in real time according to the fault handling progress (such as fault elimination and rescue progress) until the management and control are completely removed. In related technologies, mine vehicle scheduling relies on manual intervention or fixed rule automatic systems, which has the problems of slow response speed and insufficient flexibility, specifically: when a sudden fault (such as a fault vehicle) occurs, it is difficult to respond quickly and accurately control the relevant area, leading to congestion of subsequent vehicles and even secondary collisions; there is a lack of dynamic control strategy for different fault levels and different positions, and fixed rules are difficult to adapt to complex working conditions; through the embodiment, the fault information is automatically collected and a multi-layer control area is quickly generated to replace manual intervention, greatly shortening the response time, solving the problem of "slow response speed", the radius of the core forbidden zone is dynamically determined according to the fault type and severity level, the multi-layer area can be adjusted with the fault handling progress, and different complex working conditions are adapted to solve the problem of "insufficient flexibility", the core forbidden zone directly prohibits vehicles from entering to avoid collisions with the fault vehicle, the speed limit and warning of the dynamic buffer zone, and the early path planning of the guide zone reduce vehicle aggregation and disordered avoidance, and reduce the risk of secondary collisions; through hierarchical guidance (early path planning in the guide zone and orderly avoidance of external vehicles) and dynamic adjustment of the area, the vehicles are prevented from "blocking in a row", and the traffic efficiency is improved. Optionally, in actual application, for vehicles that have reached the core forbidden zone, corresponding scheduling instructions can be sent to make them stop, or for vehicles that are close to the fault vehicle (such as within a preset distance of 20m), the vehicles can be made to drive away from the fault vehicle as soon as possible.This embodiment dynamically adjusts the radius of the core restricted area based on the type and severity of the vehicle's malfunction, while gradually relaxing restrictions in the outer buffer zone and guidance zone to form a gradient control system. It sends speed limit, route adjustment, or advance avoidance instructions to vehicles outside the core restricted area in a tiered manner to avoid a "one-size-fits-all" blockade. The closed area is reduced or lifted in real time as the malfunction is resolved, restoring traffic efficiency. This effectively improves the efficiency of vehicle dispatching in the mining area.

[0037] In an optional embodiment, when it is determined that there is a malfunctioning vehicle on the target mining area road, the target malfunction information of the malfunctioning vehicle is obtained, including: obtaining multi-source data, which is used to monitor the operating status of vehicles on the target mining area road, and the multi-source data includes sensing data from vehicle-mounted sensors, monitoring data from roadside monitoring equipment, and inspection data from drones; determining whether there is a malfunctioning vehicle on the target mining area road based on the multi-source data; and, if it is determined that there is a malfunctioning vehicle on the target mining area road, determining the target malfunction type, target severity level, and target vehicle type of the malfunctioning vehicle.

[0038] In the above embodiments, multi-source data is used to monitor the operating status of vehicles on the roads in the target mining area. The presence of faulty vehicles is determined by combining multi-source data. When a faulty vehicle is identified, the target fault type, target severity level, and target vehicle type are determined simultaneously. This allows for accurate acquisition of the target fault information of the faulty vehicle, avoiding the limitations of manual intervention or automated systems based on fixed rules, and improving the response speed and flexibility to faulty vehicles. Cross-validation of multi-source data reduces false alarms and missed alarms. It can not only identify faulty vehicles but also determine the fault type and severity, providing a basis for setting the radius and dividing the scope of multi-layered closed areas. This ensures that control measures match the actual fault situation, avoids blind control, and makes the scheduling strategy more accurate.

[0039] In a case where it is determined that there is a fault vehicle on the target mine area road, the system acquires multi-source data, including: sensing data of a vehicle-mounted sensor, such as a fault alarm signal of the vehicle itself, speed sensor data, vehicle state data, and the like; monitoring data of a roadside monitoring device, such as vehicle operation state data collected by devices such as a camera, a radar, and a geomagnetic induction; and inspection data of a UAV, which is obtained by inspecting the mine area road by using the UAV to obtain high-definition images, thermal images, or other related data of the vehicle, such as road and vehicle state data from an aerial perspective. The system determines, according to the multi-source data, whether there is a fault vehicle on the target mine area road, and further determines a target fault type of the fault vehicle in a case where it is confirmed that there is a fault vehicle, for example, the target fault type can include engine stall, fire, smoke, tire burst, rollover, or other faults, a target severity level (such as a low-risk, medium-risk, or high-risk level), and a target vehicle type (such as an empty vehicle, a fully loaded ordinary vehicle, and a hazardous chemical transport vehicle). Related technologies can only rely on a single data source, which is prone to missed detection or misjudgment (such as a camera being affected by the weather or a sensor being faulty), and the present embodiment can improve the detection reliability and accuracy through multi-source data fusion. In addition, the method in related technologies only relies on pre-set fixed rules for scheduling, but cannot determine the specific fault type or severity, resulting in a single scheduling strategy. The present embodiment fuses the vehicle-mounted sensor, roadside monitoring device, and UAV inspection data, and the system can obtain the running state information of the vehicle from multiple perspectives, thereby more accurately determining the existence of the fault vehicle and reducing the possibility of misjudgment and missed detection, especially in a complex mine area environment. Accurate fault information can help the scheduling system to more accurately divide multiple closed areas (such as a core prohibited area, a dynamic buffer area, and a guide area) and send targeted scheduling instructions, thereby more effectively guiding the vehicle to avoid the fault area and reducing traffic congestion and accident risks.

[0040] In an optional embodiment, determining, according to the multi-source data, whether there is a fault vehicle on the target mine area road includes at least one of the following: determining that a first vehicle is a fault vehicle when a fault code reported by the first vehicle is received, wherein the first vehicle is any vehicle on the target mine area road, and the multi-source data further includes the fault code reported by the vehicle; and comprehensively analyzing first sensor data, first monitoring data, and first inspection data to obtain an analysis result, wherein the first sensor data is used to represent data detected by a sensor of the first vehicle, the first monitoring data is data obtained by monitoring the first vehicle by using a roadside monitoring device, and the first inspection data is data obtained by inspecting the first vehicle by using a UAV, the sensing data of the vehicle-mounted sensor includes the first sensor data, the monitoring data of the roadside monitoring device includes the first monitoring data, and the inspection data of the UAV includes the first inspection data; and determining that the first vehicle is a fault vehicle in a case where the analysis result contains a preset fault feature.

[0041] In the above embodiment, the presence of a fault vehicle on the target mining area road is determined by using multi-source data, which can accurately determine the fault vehicle. The fault code reported by the vehicle can quickly identify the fault vehicle. Comprehensive analysis of the first sensor data, the first monitoring data and the first inspection data can improve the accuracy of fault judgment, provide a reliable basis for subsequent generation of multi-layer closed area and sending scheduling instructions, effectively deal with the problem of fault vehicle on the mining area road, and avoid traffic congestion and increase of safety risk.

[0042] In the above embodiment, the presence of a fault vehicle on the target mining area road is determined by using multi-source data, which can accurately determine the fault vehicle. The fault code reported by the vehicle can quickly identify the fault vehicle. Comprehensive analysis of the first sensor data, the first monitoring data and the first inspection data can improve the accuracy of fault judgment, provide a reliable basis for subsequent generation of multi-layer closed area and sending scheduling instructions, effectively deal with the problem of fault vehicle on the mining area road, and avoid traffic congestion and increase of safety risk.

[0043] In an optional embodiment, the first sensor data, the first monitoring data and the first inspection data are comprehensively analyzed to obtain an analysis result, including: performing feature extraction on the first sensor data, the first monitoring data and the first inspection data to obtain a set of features, wherein the analysis result includes the set of features; and when the analysis result contains a preset fault feature, determining that the first vehicle is a fault vehicle, including: comparing the set of features with a preset fault library, and if a match is successful, determining that the first vehicle is a fault vehicle.

[0044] In the above embodiment, the fault vehicle on the road in the target mining area can be accurately determined by comprehensively analyzing the multi-source data, the accuracy of determining the fault vehicle is improved by performing feature extraction on the multi-source data and comparing with the preset fault library, thereby providing an accurate basis for subsequent generation of multi-layer closed areas, sending scheduling instructions and adjusting the closed areas, which helps to improve the response speed and flexibility of the vehicle scheduling in the mining area, and reduces traffic congestion and safety risks.

[0045] The raw data from the vehicle-mounted sensor (first sensor data), roadside monitoring device (first monitoring data) and unmanned aerial vehicle (first inspection data) is processed to extract representative feature parameters. For example, the vehicle-mounted sensor data includes extracting vehicle speed, engine state, fault code, etc.; the roadside monitoring data includes extracting vehicle stationary duration, position anomaly, surrounding traffic flow change, etc.; the unmanned aerial vehicle inspection data includes extracting vehicle attitude (such as inclination angle), road occupation situation, whether there is a collision trace, etc.; the extracted feature parameters are compared with the feature templates in the preset fault library. The preset fault library stores feature patterns corresponding to different types of faults (such as mechanical faults, traffic accidents, tire damage, etc.). If the extracted features match a certain fault template, it is determined that the vehicle has a fault. For example, if "vehicle long stationary" (roadside monitoring data), "engine abnormal vibration" (vehicle-mounted sensor data) and "vehicle tilt" (unmanned aerial vehicle data) are detected at the same time, the preset feature of "rollover accident" can be matched. This embodiment converts the raw data into a standardized feature vector through feature extraction and compares it with the preset fault library, avoiding the subjectivity of manual experience, making the fault determination more objective and quantitative. For example, combining multi-dimensional features can distinguish between "normal parking" and "fault parking", reducing false positives; the preset fault library can cover various fault types and feature combinations commonly seen in mining areas, and through pattern matching technology, it can adapt to different fault scenarios (such as hidden mechanical faults, minor collisions), solving the problem that a single rule cannot cover complex working conditions. For example, when the temperature in the vehicle-mounted sensor data exceeds a first threshold, the smoke pixel ratio in the roadside monitoring video exceeds a second threshold, and the high-temperature area in the unmanned aerial vehicle inspection infrared thermal imaging exceeds a third threshold, it is determined to be a smoking fault, or whether it is a fire based on the flame pixel ratio in the video frame image; when the vehicle-mounted sensor speed drops to 0 for 10 seconds, the video vehicle is stationary for 30 seconds, and the unmanned aerial vehicle has no tail gas emission, it is determined to be a stall fault. Through feature extraction and comparison with the preset fault library, the system can accurately identify fault vehicles and their fault types based on known fault feature patterns, reducing the likelihood of false positives and false negatives.

[0046] As an optional implementation, feature extraction is performed on the first sensor data, the first monitoring data and the first inspection data, the extracted features are input into a preset fault diagnosis model, and a fault judgment result is output, wherein the preset fault diagnosis model is a multi-modal fusion model, including a sensor data feature extraction module, a video image feature extraction module and an infrared thermal imaging feature extraction module, and is used for fusing multi-source data and outputting a fault type and a severity level. The input layer of the fault diagnosis model can input structured data such as vehicle-mounted sensor values (temperature, oil pressure, rotating speed, etc.), and unstructured data such as video image frames and infrared thermal imaging images (features need to be extracted by CNN); the fusion layer performs feature-level fusion on the multi-source data (such as sensor value + image feature vector splicing); and the output layer is used for outputting a fault type (such as a classification task: fire out, fire, tire burst, etc.) and a severity level (a regression task: 1-3 level risk score).

[0047] In an optional embodiment, the target fault type includes fire out and fire, the target severity level includes a low risk level, a medium risk level and a high risk level, and the target vehicle type includes an empty vehicle, a full ordinary vehicle and a dangerous chemical transportation vehicle.

[0048] In the above embodiment, the classification manner of the fault vehicle is clarified, specifically including the target fault type, the target severity level and the target vehicle type, so that the generated multi-layer closed area is more in line with the actual situation, the pertinence and effectiveness of the dispatching instruction are improved, the problem of the fault vehicle in the mining area road is more accurately dealt with, and the traffic congestion and safety risk are reduced.

[0049] The present application clearly distinguishes between engine stall (vehicle loses power but no direct danger) and fire (high-risk emergency), and the response strategies for the two types of failures are completely different; the severity of the failure is divided into low-risk level, medium-risk level and high-risk level. This grading method can take different measures according to the danger level of the failure. For example, high-risk level failure may need to immediately block the road and evacuate surrounding vehicles, while low-risk level failure may only need a simple warning; the vehicle type is divided into empty vehicle, full ordinary vehicle and dangerous chemical transport vehicle, and different types of vehicles have different handling methods and potential risks when they fail, for example, dangerous chemical transport vehicle fire may cause more serious safety accidents and require special emergency measures; it should be noted that whether the dangerous chemical transport vehicle is empty or full, it is considered as a dangerous chemical transport vehicle; the severity level of the failure vehicle can be divided according to the type of failure and the type of vehicle, such as low risk (such as slight oil leakage), medium risk (such as engine smoke), and high risk (such as dangerous chemical leakage). Clear failure type, severity level and vehicle type classification provide quantitative input for scientific calculation of core exclusion zone radius and dynamic buffer zone range (such as fire and high-risk dangerous chemical vehicle corresponding to larger core exclusion zone radius), avoiding the blindness of experience-based control, and ensuring that the control range matches the actual risk; by distinguishing the failure type (such as fire requiring larger exclusion zone), severity level (such as high risk requiring stricter speed limit) and vehicle type (such as dangerous chemical vehicle requiring priority control), the dispatching instruction can accurately focus on high-risk points, for example, for dangerous chemical vehicle fire scene, the core exclusion zone can be quickly expanded and the detour strength of the guidance zone can be strengthened to reduce the risk of secondary accidents.

[0050] Optionally, when the target failure type is fire and the target severity level is high risk, the radius of the core exclusion zone is 70 meters; when the target failure type is engine stall and the target severity level is medium risk, the radius of the core exclusion zone is 50 meters; when the target vehicle type is dangerous chemical transport vehicle, regardless of the failure type and severity level, the speed limit of the dynamic buffer zone is 15 km / h.

[0051] In an optional embodiment, the multi-layer closed area is generated according to the target position information and the target fault information, including: determining a target exclusion zone radius value corresponding to the target fault information according to a preset exclusion zone configuration table, wherein the preset exclusion zone configuration table records exclusion zone radius values corresponding to different fault information; taking the coordinates corresponding to the target position information as the center and the target exclusion zone radius value as the radius to obtain a first circular area, and determining the first circular area as a core exclusion zone; taking the coordinates corresponding to the target position information as the center and a first preset radius value as the radius to obtain a second circular area, and determining the area of the second circular area except the first circular area as a dynamic buffer zone, wherein the first preset radius value is greater than the target exclusion zone radius value; extending the second circular area outward by a second preset radius value to obtain a third circular area, and determining the area of the third circular area except the second circular area as a guide zone, wherein the second preset radius value is greater than the first preset radius value.

[0052] In the above embodiment, the core exclusion zone radius can be determined according to the target fault information, and the core exclusion zone in which the transport vehicle is prohibited to enter can be accurately delimited. The dynamic buffer zone and the guide zone are set with the target position as the center, the vehicle speed in different areas can be limited, prewarning and path guidance can be performed, which helps the related vehicles to plan the path in advance to avoid the dangerous area, and the effectiveness of the mine vehicle scheduling is improved.

[0053] With the help of the preset forbidden area configuration table which records the mapping relationship between different fault information and corresponding forbidden area radius value in detail, according to the obtained target fault information, the target forbidden area radius value matched with the target fault information is found in the configuration table, and then a first circular region is delimited with the position coordinates of the target vehicle as the center and the target forbidden area radius value as the radius, which is the core forbidden area for strictly prohibiting the transport vehicles from entering. A second circular region is delimited with the same target position coordinates as the center and a first preset radius value, which is greater than the target forbidden area radius value, for example, the first preset radius value can be greater than the target forbidden area radius value by a first fixed value (such as 20m or 30m, or other values), and the part of the second circular region except the core forbidden area is the dynamic buffer zone, which is mainly used to limit the vehicle speed and provide early warning for the vehicle to avoid the core forbidden area. A third circular region is obtained by extending the second preset radius value outward with the target position coordinates as the center, and the part of the third circular region except the second circular region is the guide area, and the second preset radius value is greater than the first preset radius value, for example, the second preset radius value is greater than the first preset radius value by a second fixed value (such as 50m, or other values), and the role of the guide area is to guide the related vehicles to plan the path in advance to avoid the core forbidden area and the dynamic buffer zone. Through the preset forbidden area configuration table and the explicit radius calculation method, the embodiment can accurately determine the radius of the core forbidden area according to different fault information, make the division of the closed area more accurate, meet the needs of the actual fault situation, and improve the control effect of the fault area; the size of the core forbidden area can be dynamically adjusted according to the fault type and the severity level, and combined with the settings of the dynamic buffer zone and the guide area, it can adapt to various complex working conditions and different fault scenes, making the scheduling method more flexible and effective. It should be noted that the embodiment is only used as an example to illustrate the circular region, and the shape of the multi-layer closed area is not limited in actual application, for example, it can also be a matrix, an ellipse, or an irregular polygon, etc.

[0054] In an optional embodiment, the first preset radius value is dynamically adjusted according to environmental data and traffic state data, wherein the environmental data includes on-site wind speed and surrounding pit distribution data of the fault vehicle, and the traffic state data includes vehicle flow density data and average speed data in the dynamic buffer zone.

[0055] In the above embodiment, when the dynamic buffer zone is generated, the first preset radius value can be dynamically adjusted according to environmental data and traffic state data such as on-site wind speed, surrounding pit distribution data of the fault vehicle, vehicle flow density data and average speed data in the dynamic buffer zone, which can make the setting of the dynamic buffer zone more suitable for the actual situation, and then make the setting of the multi-layer closed area more reasonable, the scheduling of the transport vehicle more flexible and accurate, and effectively cope with the complex and changeable mine environment, reduce traffic congestion and safety risks.

[0056] The embodiment dynamically adjusts the range of the dynamic buffer zone, i.e., the first preset radius value, by collecting environmental data and traffic state data in real time, so that the management and control of the multi-layer closed area are more in line with the actual working conditions of the mining area. Specifically, two types of key data are mainly obtained: environmental data (including on-site wind speed, distribution of surrounding mines of the fault vehicle) and traffic state data (including vehicle flow density and average vehicle speed in the dynamic buffer zone), which provide real-time basis for radius adjustment; the first preset radius value (the outer boundary radius of the dynamic buffer zone) is not a fixed value, but is optimized in real time according to the above data. For example, when the on-site wind speed is high (which may accelerate the spread of danger) or the surrounding mines are densely distributed (which increases the difficulty of risk avoidance), the first preset radius value can be appropriately increased to expand the buffer range; if the vehicle flow density in the dynamic buffer zone is high and the average speed is high, the buffer area space can be optimized by adjusting the radius to balance the speed limit warning and traffic smoothness; the first preset radius value after dynamic adjustment directly affects the range of the dynamic buffer zone, and then forms a multi-layer management and control structure that adapts to the real-time working conditions with the core prohibited area and the guide area, ensuring the effectiveness of the buffer zone division (speed limit, warning). By dynamically adjusting the radius through on-site wind speed (such as expanding the buffer zone under strong wind to deal with the risk of pollutant spread) and mine distribution data (such as increasing the buffer zone in the mine-dense area to reserve more avoidance space), the buffer zone range accurately covers the potential risks in the real-time environment, solving the problem that a fixed radius cannot cope with environmental changes; the radius is adjusted in combination with the vehicle flow density and average speed in the buffer zone, for example, the buffer zone is appropriately expanded when the vehicle flow is dense to reduce vehicle interweaving conflicts, and the radius is reduced when the vehicle flow is sparse to improve the passing efficiency, achieving a dynamic balance of "space adaptation flow", relieving congestion and reducing the risk of scratching.

[0057] As an optional implementation, when the on-site wind speed is greater than a preset threshold, the first preset radius value is increased by 10 meters; when there is a mine within 30 meters around the fault vehicle, the first preset radius value is increased by 5 meters; when the vehicle flow density data is greater than or equal to a preset density threshold and the average speed data is greater than or equal to a preset data threshold, the first preset radius is increased by 10 meters; when the vehicle flow density data is less than the preset density threshold and the average speed data is less than the preset data threshold, the first preset radius is decreased by 5 meters.

[0058] In an optional embodiment, the first scheduling instruction is sent to the transportation vehicle in the dynamic buffer zone, and the first scheduling instruction is used to instruct the transportation vehicle in the dynamic buffer zone to run at a speed lower than the first vehicle speed limit and a detour route, the detour route being used to indicate a route for avoiding the core prohibited area; the second scheduling instruction is sent to the transportation vehicle in the guide area, and the second scheduling instruction is used to instruct the transportation vehicle in the guide area to run at a speed lower than the second vehicle speed limit and a newly planned path to avoid the dynamic buffer zone, wherein the first vehicle speed limit is less than the second vehicle speed limit.

[0059] In the above embodiments, after determining that there is a fault vehicle on the target mine area road, target position information and target fault information of the fault vehicle are acquired, a multi-layer closed area is generated, and on this basis, a first scheduling instruction is sent to the transport vehicle in the dynamic buffer area to make it run at a speed lower than the first vehicle speed limit and on a detour route that avoids the core forbidden area, which can avoid the vehicle entering the dangerous core forbidden area and ensure the safety of vehicle traffic; a second scheduling instruction is sent to the transport vehicle in the guide area to make it run at a speed lower than the second vehicle speed limit and on a newly planned path to avoid the dynamic buffer area, which can guide the vehicle to plan the path in advance, reduce traffic congestion, and adjust the multi-layer closed area according to the fault vehicle processing progress until it is released, which can flexibly adapt to the state changes of the fault vehicle and improve the response speed and flexibility of the mine vehicle scheduling.

[0060] The embodiment adopts differentiated scheduling strategies for different closed areas (dynamic buffer area and guide area), and the core principle is to achieve fine control of vehicle flow through hierarchical speed limit + path planning. Specifically, a first scheduling instruction is sent to the transport vehicle in the dynamic buffer area, instructing the vehicle to run at a speed lower than the first vehicle speed limit and providing a detour route, which is used to guide the vehicle to avoid the core forbidden area and ensure the safety of the vehicle in the dynamic buffer area. The first vehicle speed limit is a relatively low speed value, such as 20 km / h (or other values), which is used to limit the speed of the vehicle in the dynamic buffer area and reduce the risk of avoiding due to excessive speed. A second scheduling instruction is sent to the transport vehicle in the guide area, instructing the vehicle to run at a speed lower than the second vehicle speed limit and providing a newly planned path, which is used to guide the vehicle to avoid the dynamic buffer area and ensure that the vehicle can plan the path in advance and safely detour. The second vehicle speed limit is a relatively high speed value, but still lower than the normal driving speed, for example, 25 km / h (or other values), which is used to limit the speed of the vehicle in the guide area and ensure that the vehicle has enough time and space to adjust the path. By setting different speed limits (first vehicle speed limit and second vehicle speed limit), the embodiment ensures that the vehicle travels at a lower speed in the dynamic buffer area and at a relatively high speed in the guide area, which balances safety and traffic efficiency. The low speed limit (first vehicle speed limit) of the dynamic buffer area and the clear detour route ensure that vehicles travel at low speed in high-risk areas and accurately avoid the core forbidden area, greatly reducing the risk of secondary collision due to excessive speed or incorrect route. The path planning in the guide area splits the vehicle in advance, reducing the pressure of vehicle flow entering the buffer area. The differentiated instruction content (specific speed limit value and clear route) provides clear operation guidance for vehicles in different areas, avoids execution deviation caused by ambiguous scheduling instructions, and improves the orderliness of vehicle cooperative avoidance in the mine. In actual application, the above first and second scheduling instructions can be displayed through the vehicle's on-board terminal, such as displaying the speed limit requirement and the detour route or the newly planned path.

[0061] In an optional embodiment, the detour route is obtained by the scheduling system in the following manner: determining the current position and destination position of the second vehicle, wherein the second vehicle is any vehicle in the dynamic buffer zone; and generating a detour route for the second vehicle to avoid the core forbidden area according to the current position, the destination position and the real-time digital twin map of the target mining area.

[0062] In the above embodiment, the detour route for the second vehicle to avoid the core forbidden area can be generated according to the current position, the destination position of the second vehicle and the real-time digital twin map of the target mining area, which can more accurately plan the route for the vehicle in the dynamic buffer zone, avoid the vehicle entering the core forbidden area, improve the flexibility and accuracy of vehicle scheduling, and reduce traffic congestion and safety risks.

[0063] The current position and destination position information of the second vehicle in the dynamic buffer zone are obtained, and based on the real-time digital twin map of the target mining area, the map can dynamically reflect real-time information such as road conditions and fault area distribution in the mining area. Through algorithm calculation, a detour route that can avoid the core forbidden area and efficiently connect the current position and the destination is planned for the vehicle on the digital twin map. Common path planning algorithms such as Dijkstra and A* mature algorithms can quickly generate obstacle avoidance paths. By using the real-time digital twin map, the system can dynamically generate a detour route according to the current road conditions. The real-time digital twin map can provide accurate position and range of the core forbidden area, and the system can generate a detour route to avoid the core forbidden area according to this information, ensuring the real-time and accuracy of path planning, which enables the vehicle to adjust the driving path in time when encountering unexpected situations and avoid entering dangerous areas. The problem of lack of real-time in detour route planning and inability to adapt to dynamic environmental changes in related technologies is solved, and a precise, efficient and safe detour route for vehicles in the dynamic buffer zone is provided.

[0064] Optionally, for the third vehicle in the guide area, a new planned path can be generated in a similar manner as the second vehicle described above. The third vehicle is any vehicle in the guide area.

[0065] Alternatively, for a third vehicle in the guide area, a new planned path can also be obtained in the following manner: according to the road network topology of the target mining area, a plurality of candidate paths from the current position of the third vehicle to the destination position of the third vehicle are determined, wherein the third vehicle is any vehicle in the guide area; based on a preset risk assessment model, a low-risk candidate path set that avoids the dynamic buffer area and the core forbidden area is screened out; and according to the comprehensive weight of path length, road slope and traffic flow, the optimal path is selected from the low-risk candidate path set as the new planned path. Through the preset risk assessment model, the path passing through the high-risk area can be accurately identified and excluded, ensuring that the vehicle travels on a safe and reliable road and reducing the possibility of accidents; by comprehensively considering multiple dimensions such as path length, road slope and traffic flow, and evaluating and selecting according to the comprehensive weight, the optimal path planned not only is reasonable in distance, but also achieves a good balance in traffic difficulty and congestion, improving the traffic efficiency of the vehicle.

[0066] In an optional embodiment, the multi-layer closed area is adjusted according to the processing progress of the fault vehicle until the multi-layer closed area is removed, comprising: continuously monitoring the latest state of the fault vehicle; when the latest state of the fault vehicle indicates that the severity level of the fault vehicle is reduced, the radius of the core forbidden area is reduced to one third to two thirds of the range, and the radius of the dynamic buffer area is reduced synchronously; when the latest state of the fault vehicle indicates that the fault of the fault vehicle has been eliminated, the multi-layer closed area is removed.

[0067] In the above embodiment, the state of the fault vehicle can be grasped in real time, the range of the multi-layer closed area is reduced when the severity level of the fault vehicle is reduced, the influence on normal traffic is reduced, the multi-layer closed area is removed in time after the fault is eliminated, the normal traffic order is restored, the flexibility and efficiency of the vehicle scheduling in the mining area are improved, and the traffic congestion and safety risk are reduced.

[0068] The latest state of the fault vehicle is continuously monitored, and the development and processing of the fault are comprehensively mastered, for example, the latest state of the fault vehicle is continuously monitored through the aforementioned multi-source data; when the severity level of the fault vehicle is reduced, the radius of the core forbidden zone is reduced to one third to two thirds of the original range, and the radius of the dynamic buffer zone is also reduced at the same time, because as the severity of the fault decreases, the threat to the surrounding environment and vehicle traffic is correspondingly reduced, so the closed range can be appropriately relaxed; when the fault of the fault vehicle is completely eliminated, the multi-layer closed area is directly cancelled, and normal traffic is restored. In the related art, the closed area cannot be adjusted in time according to the real-time progress of fault processing, so that after the severity of the fault is reduced, the closed area still maintains a large range, causing unnecessary traffic congestion and resource waste; because the related art uses a fixed closed range adjustment method, it cannot accurately adjust dynamically according to the specific changes in the severity level of the fault, and cannot adapt to complex and variable actual situations; the embodiment adjusts the closed area range in time according to the change in the severity level of the fault, reduces the impact on normal traffic as much as possible under the premise of safety, avoids traffic congestion caused by excessive locking, and improves the traffic efficiency of the road.

[0069] The above embodiments have at least the following beneficial technical effects: 1) The multi-layer closed area generates dispatching instructions and early flow avoidance instructions for vehicles in different areas, which can quickly respond to fault vehicle situations in mine roads, solve the problem of slow response in related art, and avoid subsequent vehicle congestion; 2) The radius of the core forbidden zone is determined according to the target fault type, severity level and vehicle type, and the radius of the dynamic buffer zone is dynamically adjusted, which can flexibly respond to different fault situations and solve the problem of insufficient flexibility in related art; 3) The route adjustment, path planning and speed limit guidance for vehicles in different areas reduce the risk of traffic congestion and secondary collision, and improve the safety of vehicle traffic in the mine area.

[0070] The above-described embodiments are only part of the embodiments of the present application, not all. The present application will be specifically described below in conjunction with specific embodiments.

[0071] In the field of intelligent traffic management, especially in complex working conditions such as mine environments, vehicle dispatching and traffic safety are crucial. In special working conditions (such as fault vehicle scenarios), existing dispatching methods cannot timely and accurately set closed areas, resulting in dispatching delays and affecting traffic efficiency and safety.

[0072] The embodiment of the present application provides a meeting avoidance dispatching method, which uses real-time monitoring and automated dispatching means, so as to quickly respond to fault vehicle scenarios, significantly reduce dispatching delays, and improve traffic efficiency. Because the early flow avoidance mechanism is adopted, the effect of effectively avoiding collisions and other accidents is achieved, and the traffic safety is greatly enhanced.

[0073] The meeting avoidance scheduling method provided by the embodiments of the present application sets a closed area to set a boundary and avoid early flow of vehicles, ensures orderly traffic of vehicles, and avoids collision and other accidents as much as possible in the case of road repair, water pits on roads, and fault vehicles, mainly in the case of fault vehicles.

[0074] The embodiments of the present application are described in detail below.

[0075] 1. After real-time monitoring of a fault vehicle, immediately start the meeting avoidance scheduling program, and automatically demarcate a closed area according to the position information of the fault vehicle.

[0076] Among them, if the fault code reported by the vehicle is monitored, it can be determined as a fault vehicle. In addition, through the sensing data of the vehicle-mounted sensor, the monitoring data of the roadside monitoring equipment, and the inspection data of the unmanned aerial vehicle inspection, comprehensive data analysis can be performed to determine the fault vehicle.

[0077] And after determining the fault vehicle, the fault type and the corresponding severity level (for example, the fault type is engine stall, and the corresponding severity level is low risk; or the fault type is on fire, and the corresponding severity level is high risk) can be further determined; and the vehicle type (for example, empty vehicle, or full vehicle, or dangerous goods transport vehicle) of the fault vehicle, environmental data (visibility, wind speed and direction, road slope, etc.), and real-time traffic state data (traffic density, average speed, etc.) can be determined. According to the fault type, the severity level, the vehicle type, the environmental data, and the real-time traffic state data, a multi-layer closed area is automatically generated, wherein the multi-layer closed area includes a core forbidden zone that is prohibited to enter, a dynamic buffer zone, and a guide zone, as shown in Figure 2 The guide zone is set at the periphery of the dynamic buffer zone, and is used to guide vehicles to avoid the closed area in advance; the dynamic buffer zone is set at the periphery of the core forbidden zone, and is used to dynamically and real-time adjust the shape according to the above-mentioned multiple factors, limit the speed of vehicles driving to the dynamic buffer zone, and generate a re-planned path for suggesting detour, to guide vehicles to avoid the core forbidden zone.

[0078] 2. Send early flow avoidance instructions to vehicles outside the closed area, including guidance of adjusting the driving route and reducing the speed, to ensure orderly avoidance.

[0079] Among them, different avoidance conditions can be set for the dynamic buffer zone and the guide zone outside the core forbidden zone, such as setting different maximum speed limit values.

[0080] 3. The monitoring system continuously updates the state of the closed area until the fault is eliminated and the normal scheduling mode is restored.

[0081] For example, in a certain mining area, onboard sensors detected that the engine of a fully loaded heavy transport truck suddenly overheated and lost power. At the same time, the roadside monitoring video AI algorithm identified that the vehicle was abnormally stopped and emitting slight smoke. Within 1 second, the system integrated multi-source data to confirm the fault and dynamically calculated and delineated an elliptical closed area with an initial radius of about 70 meters (a core restricted area of ​​50 meters + a dynamic buffer zone of 20 meters) centered on the faulty vehicle (the buffer zone needs to be expanded due to the presence of a mine pit on the west side).

[0082] The system accurately located 12 transport vehicles within a 250-400 meter range ahead of the fault point. Based on each vehicle's real-time location, load (empty / fully loaded), destination (crushing station / unloading area), and the real-time digital twin map of the mining area, it planned detour routes via branch line B for 8 of the vehicles (recommended speed reduced to 20 km / h), and planned routes via alternative road C for the other 4 vehicles that were slightly further away but had suitable destinations (recommended speed maintained at 25 km / h). The specific turning points and speed suggestions were pushed to the respective vehicle screens.

[0083] Meanwhile, the system predicted that the repair vehicle would arrive within 8 minutes and continuously monitored the repair progress and smoke levels via video. Five minutes later, the monitoring showed that the smoke had cleared and the repair vehicle had begun work. The system automatically narrowed the core restricted area to 30 meters and notified some vehicles at the edge of the safety buffer zone to increase their speed to 30 km / h and proceed cautiously. Ten minutes later, the fault was confirmed to be resolved, and the system instructed all vehicles to resume their original routes and normal speeds, recording all data from this event for model optimization.

[0084] Compared with related technologies, the embodiments of this application have at least the following technical effects: because real-time monitoring and automated scheduling are adopted, the effect of rapid response to vehicle failure scenarios is achieved, significantly reducing scheduling delays and improving traffic efficiency; because an advance flow avoidance mechanism is adopted, the effect of effectively avoiding collisions and other accidents is achieved, greatly enhancing traffic safety.

[0085] This application also provides a vehicle dispatching device for mining areas, such as... Figure 3 As shown, Figure 3 This is a structural block diagram of a mining area vehicle dispatching device provided in an embodiment of this application. The device includes: The acquisition module 31 is used to acquire the target location information and target fault information of the vehicle when it is determined that there is a vehicle with a fault on the road in the target mining area. The target fault information includes: target fault type, target severity level and target vehicle type. The generating module 32 is configured to generate a multi-layer closed area according to the target position information and the target fault information, the multi-layer closed area is expanded from inside to outside with the fault vehicle as a reference point and sequentially includes a core forbidden area, a dynamic buffer area and a guide area, the core forbidden area is used to represent an area where a transport vehicle is prohibited to enter, a radius of the core forbidden area is determined according to a target fault type and a target severity level, the dynamic buffer area is arranged at a periphery of the core forbidden area, the dynamic buffer area is used to limit a vehicle speed and provide a warning for avoiding the core forbidden area, and the guide area is located at a periphery of the dynamic buffer area, the guide area is used to guide a related vehicle to plan a path in advance to avoid the core forbidden area and the dynamic buffer area. The sending module 33 is configured to send a first scheduling instruction to a transport vehicle in the dynamic buffer area, send a second scheduling instruction to a transport vehicle in the guide area, and send an early flow avoidance instruction to an external vehicle outside the multi-layer closed area, so as to instruct the external vehicle to avoid in an order, the first scheduling instruction is used to guide the transport vehicle in the dynamic buffer area to adjust a route and guide a first vehicle speed, and the second scheduling instruction is used to guide the transport vehicle in the guide area to plan a path and guide a second vehicle speed. The processing module 34 is configured to adjust the multi-layer closed area according to a processing progress of the fault vehicle, until the multi-layer closed area is released.

[0086] It should be noted that, when the apparatus provided in the above embodiments implements its functions, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described here.

[0087] The application further provides a computer readable storage medium, which stores instructions, when the instructions are executed, the method steps of any one of the above embodiments are performed.

[0088] In an example embodiment, the above computer readable storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk and various computer program storage media.

[0089] The application further discloses an electronic device. Figure 4 As shown in the figure, Figure 4is a structural schematic diagram of an electronic device disclosed by an embodiment of the present application. The electronic device 400 can include at least one processor 401, at least one communication bus 402, a user interface 403, at least one network interface 404, and a memory 405.

[0090] The communication bus 402 is configured to realize connection and communication between the components.

[0091] The user interface 403 can include a display and a camera. Optionally, the user interface 403 can further include a standard wired interface and a wireless interface.

[0092] The network interface 404 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0093] The processor 401 can include one or more processing cores. The processor 401 is connected to various parts of the electronic device (such as a server) by various interfaces and lines, and performs various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 405, and calling data stored in the memory 405. Optionally, the processor 401 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 401 can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU is mainly used to process an operating system, a user interface, and an application program. The GPU is used to render and draw the content to be displayed on the display. The modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 401, but can be implemented by a separate chip.

[0094] The memory 405 can include a random access memory (RAM) and can also include a read-only memory (ROM). Optionally, the memory 405 includes a non-transitory computer-readable storage medium. The memory 405 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 405 can include a program storage area and a data storage area, where the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, etc.; and the data storage area can store data involved in the various method embodiments described above, etc. The memory 405 can also be at least one storage device located away from the aforementioned processor 401. For reference Figure 4 , the memory 405 as a computer storage medium can include an operating system, a network communication module, a user interface module, and an application program of a mine vehicle dispatching method.

[0095] In Figure 4 , the user interface 403 is mainly used to provide an interface for user input and obtain data input by the user; and the processor 401 can be used to call the application program of a mine vehicle dispatching method stored in the memory 405, and when executed by one or more processors 401, the electronic device 400 performs the method described in one or more of the above embodiments. It should be noted that, for the above-mentioned method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0096] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0097] In several embodiments provided in the present application, it should be understood that the disclosed apparatus or system can be implemented in other manners. For example, the division of the apparatus or system embodiments is only illustrative and each division can correspond to a physical division of a physical apparatus or a logical division of a logical apparatus. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0098] The above descriptions are only exemplary embodiments of the present disclosure and cannot limit the scope of the present disclosure. Any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon considering the disclosure herein, with the disclosure herein to serve as a basis for claimed subject matter.

[0099] The present application is intended to cover any variations, uses, or adaptations of the present disclosure following the general principles thereof and including such departures from the present disclosure that come within known use or custom in the art to which the present disclosure pertains.

Claims

1. A method for dispatching vehicles in a mining area, characterized in that, include: If it is determined that there is a disabled vehicle on the road in the target mining area, the target location information and target fault information of the disabled vehicle are obtained, wherein the target fault information includes: target fault type, target severity level and target vehicle type; Based on the target location information and the target fault information, a multi-layered closed area is generated. The multi-layered closed area expands from the inside out with the faulty vehicle as the reference point and includes a core restricted area, a dynamic buffer zone, and a guidance zone. The core restricted area is used to indicate an area where transport vehicles are prohibited from entering. The radius of the core restricted area is determined according to the target fault type and the target severity level. The dynamic buffer zone is set outside the core restricted area. The dynamic buffer zone is used to limit vehicle speed and provide warnings to avoid the core restricted area. The guidance zone is located outside the dynamic buffer zone. The guidance zone is used to guide relevant vehicles to plan their routes in advance to avoid the core restricted area and the dynamic buffer zone. A first dispatch instruction is sent to the transport vehicles in the dynamic buffer zone, a second dispatch instruction is sent to the transport vehicles in the guidance zone, and an advance flow and avoidance instruction is sent to the external vehicles outside the multi-layer closed area to instruct the external vehicles to avoid the traffic in an orderly manner. The first dispatch instruction is used to provide route adjustment guidance and first vehicle speed limit guidance for the transport vehicles in the dynamic buffer zone, and the second dispatch instruction is used to provide route planning and second vehicle speed limit guidance for the transport vehicles in the guidance zone. The multi-layered enclosed area is adjusted according to the progress of the handling of the faulty vehicle until the multi-layered enclosed area is removed.

2. The method according to claim 1, characterized in that, If it is determined that there is a disabled vehicle on the road in the target mining area, the target fault information of the disabled vehicle is obtained, including: Acquire multi-source data, which is used to monitor the operating status of vehicles on the roads in the target mining area. The multi-source data includes sensing data from vehicle-mounted sensors, monitoring data from roadside monitoring equipment, and inspection data from drones. Based on the multi-source data, determine whether the malfunctioning vehicle exists on the road in the target mining area; If it is determined that the faulty vehicle exists on the road in the target mining area, the target fault type, the target severity level, and the target vehicle type of the faulty vehicle are determined.

3. The method according to claim 2, characterized in that, Determining whether the malfunctioning vehicle exists on the roads in the target mining area based on the multi-source data includes at least one of the following: When a fault code is received from the first vehicle, the first vehicle is identified as the faulty vehicle. The first vehicle is any vehicle on the road in the target mining area. The multi-source data also includes the fault code reported by the vehicle. The first sensor data, the first monitoring data, and the first inspection data are comprehensively analyzed to obtain the analysis results. The first sensor data represents the data detected by the sensors of the first vehicle; the first monitoring data represents the data obtained by monitoring the first vehicle using the roadside monitoring equipment; and the first inspection data represents the data obtained by inspecting the first vehicle using the drone. The sensor data from the vehicle-mounted sensors includes the first sensor data; the monitoring data from the roadside monitoring equipment includes the first monitoring data; and the inspection data from the drone includes the first inspection data. When the analysis results contain preset fault characteristics, the first vehicle is determined to be the faulty vehicle.

4. The method according to claim 3, characterized in that, The analysis results are obtained by comprehensively analyzing the first sensor data, the first monitoring data, and the first inspection data, including: extracting features from the first sensor data, the first monitoring data, and the first inspection data to obtain a set of features, wherein the analysis results include the set of features; When the analysis results contain preset fault features, determining the first vehicle as the faulty vehicle includes: comparing the set of features with a preset fault database; if a match is found, then determining the first vehicle as the faulty vehicle.

5. The method according to claim 1, characterized in that, A multi-layered closed region is generated based on the target location information and the target fault information, including: The radius value of the target restricted area corresponding to the target fault information is determined according to the preset restricted area configuration table, wherein the preset restricted area configuration table records the restricted area radius values ​​corresponding to different fault information; a first circular area is obtained with the coordinates corresponding to the target location information as the center and the radius value of the target restricted area as the radius, and the first circular area is determined as the core restricted area; A second circular region is obtained with the coordinates corresponding to the target location information as the center and the first preset radius value as the radius. The area in the second circular region other than the first circular region is determined as the dynamic buffer zone, wherein the first preset radius value is greater than the target restricted area radius value. The second circular region is extended outward by a second preset radius to obtain a third circular region. The area in the third circular region other than the second circular region is defined as the guide area, wherein the second preset radius is greater than the first preset radius.

6. The method according to claim 1, characterized in that, Sending a first dispatch instruction to the transport vehicles in the dynamic buffer zone includes: sending the first dispatch instruction to the transport vehicles in the dynamic buffer zone, wherein the first dispatch instruction is used to instruct the transport vehicles in the dynamic buffer zone to run at a speed lower than the first vehicle speed limit and a detour route, wherein the detour route is used to indicate a route to bypass the core restricted area. Sending a second dispatch instruction to the transport vehicles in the guidance zone includes: sending the second dispatch instruction to the transport vehicles in the guidance zone, the second dispatch instruction being used to instruct the transport vehicles in the guidance zone to run at a speed lower than the second vehicle speed limit and a newly planned route to avoid the dynamic buffer zone, wherein the first vehicle speed limit is lower than the second vehicle speed limit.

7. The method according to claim 6, characterized in that, The detour route is obtained by the scheduling system in the following way: Determine the current location and destination location of the second vehicle, wherein the second vehicle is any vehicle in the dynamic buffer; Based on the current location, the destination location, and the real-time digital twin map of the target mining area, a detour route is generated for the second vehicle to avoid the core restricted area.

8. A vehicle dispatching device for mining areas, characterized in that, For performing the method according to any one of claims 1 to 7, comprising: The acquisition module is used to acquire the target location information and target fault information of the vehicle when it is determined that there is a vehicle with a fault on the road in the target mining area. The target fault information includes: target fault type, target severity level and target vehicle type. A generation module is used to generate a multi-layered closed area based on the target location information and the target fault information. The multi-layered closed area extends from the inside to the outside with the faulty vehicle as a reference point and includes a core restricted area, a dynamic buffer zone, and a guidance zone. The core restricted area is used to indicate an area where transport vehicles are prohibited from entering. The radius of the core restricted area is determined according to the target fault type and the target severity level. The dynamic buffer zone is set outside the core restricted area and is used to limit vehicle speed and provide warnings to avoid the core restricted area. The guidance zone is located outside the dynamic buffer zone and is used to guide relevant vehicles to plan their routes in advance to avoid the core restricted area and the dynamic buffer zone. The sending module is used to send a first scheduling instruction to the transport vehicles in the dynamic buffer zone, a second scheduling instruction to the transport vehicles in the guidance zone, and an advance flow and avoidance instruction to the external vehicles outside the multi-layer closed area, so as to instruct the external vehicles to avoid in an orderly manner. The first scheduling instruction is used to provide route adjustment guidance and first vehicle speed limit guidance to the transport vehicles in the dynamic buffer zone, and the second scheduling instruction is used to provide route planning and second vehicle speed limit guidance to the transport vehicles in the guidance zone. The processing module is used to adjust the multi-layered enclosed area according to the processing progress of the faulty vehicle until the multi-layered enclosed area is released.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed, perform the method as described in any one of claims 1 to 7.

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