Cooperative scheduling method and device for open-air excavator and mining truck, and readable storage medium

Abstract

The invention provides a collaborative scheduling method and device for an open-air excavator and a mining truck and a readable storage medium, and belongs to the field of collaborative scheduling of mining trucks. Cooperative scheduling is realized between an excavator and a truck by adopting a dual-network adaptive switching mechanism of a 4G / 5G private network and a small local area network, and the method comprises the following steps: configuring a marshalling plan through a truck scheduling platform, generating a dynamic scheduling instruction, and synchronously issuing the cooperative scheduling instruction to the excavator in a standby state and the truck in an air transportation state; the excavator and the truck respectively run to the loading area after receiving the dispatching instruction, and whether the vehicle enters the loading area or not is judged; after determining that the vehicles enter the loading area, judging whether queuing vehicles exist or not; then, queuing trucks are selected, the state of the trucks is updated, whether the trucks enter an unloading area after loading is completed or not is judged, and unloading and state updating are finally completed after the state is updated until unloading is completed; and the condition of frequent communication interruption or data transmission delay between the excavator and the truck can be greatly avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine vehicle scheduling, in particular to a collaborative scheduling method and device for open pit excavators and mine trucks and a readable storage medium. BACKGROUND

[0002] Open pit mining is a huge and complex system engineering, and its core production process relies on the efficient cooperation of drilling, blasting, mining, transportation and discharge. Among them, the material transportation link, especially the scheduling of excavators and mine trucks, is the "artery" connecting mining and discharge. Therefore, ensuring timely scheduling response, dealing with on-site equipment failures, road congestion and other unexpected situations, ensuring that trucks avoid unreasonable idling, empty running and queuing, ensuring timely and complete reporting of production status and production data, etc. is an important task to support open pit mining, enabling administrators to have a global view of the production situation and provide data support for decision-making.

[0003] After the truck scheduling platform is built, the platform will uniformly organize the equipment and prepare a marshalling plan, which will be issued to the working equipment (mining equipment, transportation equipment) through instructions. Due to the dramatic changes in topography, the fixed location of base stations, the shielding and interference of large mechanical equipment itself, and the dynamic interference and destruction of production activities, it is easy to cause uneven signal coverage in the mining area, resulting in frequent communication interruptions or data transmission delays between excavators and trucks.

[0004] To solve the above problems, a redundancy mechanism and implementation process are needed to collaboratively transmit scheduling instructions in a 4G / 5G private network and small local network environment, so that real-time collaborative scheduling can be achieved between excavators and trucks, avoiding communication interruptions or data transmission delays. SUMMARY

[0005] To solve the above technical problems, the present application proposes a collaborative scheduling method, device and readable storage medium for open pit excavators and mine trucks.

[0006] The technical solution adopted by the present application is as follows: a collaborative scheduling method for open pit excavators and mine trucks, which uses a dual-network adaptive switching mechanism of 4G / 5G private network and small local network to achieve collaborative scheduling between excavators and trucks. The method comprises the following steps:

[0007] S1: Configure a marshalling plan through a truck scheduling platform, generate dynamic scheduling instructions, and synchronously issue collaborative scheduling instructions to excavators in standby state and trucks in empty running state;

[0008] S2: The excavator and the truck travel to the loading area after receiving the scheduling instruction, and judge whether the vehicle has entered the loading area;

[0009] S3: Determine whether there are queued vehicles after the vehicle enters the loading area;

[0010] S4: Excavator and truck bidirectional state interaction: when the excavator is waiting for loading, it interacts with the truck scheduling platform through the 5G low latency channel to obtain the number of queued trucks, estimated arrival time, and vehicle model matching degree in real time;

[0011] S5: After the excavator selects a truck as the loading vehicle, the current truck status is marked as loading, and the data is broadcast to the 4G / 5G private network and small local area network dual network. After the truck subscribes to this instruction, the truck status is updated to loading;

[0012] S6: After the excavator completes loading, the current truck status is marked as loading complete, and the data is broadcast to the 4G / 5G private network and small local area network dual network. After the truck subscribes to this instruction, the truck status is updated to loading complete;

[0013] S7: Determine whether the truck enters the unloading area, and update the status of the truck to unloading if the truck enters the unloading area;

[0014] S8: After the truck completes unloading, update the truck status to air transport status.

[0015] Further, in step S1, the truck scheduling platform dynamically adjusts the grouping plan according to the excavator loading efficiency, truck transportation distance, and regional task priority.

[0016] Further, in step S2, the vehicle enters the loading area during the process according to the real-time traffic obstacle avoidance algorithm integrated in the excavator and truck path planning;

[0017] Then, according to the truck or excavator GPS positioning information and the fence geographic information of the loading area, the positioning point is calculated by the surrounding number algorithm to determine whether it is in the polygon area:

[0018] S = Σ sign ((Lon-Loni)(Lat(i+1)-Lati)-(Lat-Lati)(Lon(i+1)-Loni));

[0019] In the formula: S is the sum of the vector cross product, Loni is the longitude of the i-th vertex of the fence polygon, and Lati is the latitude of the i-th vertex of the fence polygon;

[0020] When |S|≠0, it is determined that the loading area is entered, triggering dual network broadcast, wherein the 4G / 5G private network period and the small local area network period are differentially set.

[0021] Further, in step S3, the excavator determines the vehicle being queued by subscribing to the truck scheduling status and geographic information received in the dual network.

[0022] Further, the space-time coordination scheduling algorithm is used in step S5 when selecting the truck to realize scheduling, which is a scheduling priority algorithm based on position-time weighted, and the calculation formula is as follows:

[0023] P = a • d + b • twait -1 ;

[0024] In the formula, P is the scheduling priority based on position-time weighted, a and b are coefficients, d is distance, and twait is waiting time.

[0025] Further, the implementation steps of the dual-network adaptive switching mechanism of the 4G / 5G private network and the small local area network are as follows:

[0026] (1) After the excavator enters the loading area, the scheduling state and real-time position information of the excavator are broadcast to the 4G / 5G private network and the small local area network at the same time;

[0027] (2) The truck subscribes the scheduling state and position information of the excavator from the 4G / 5G private network and the small local area network, and calculates the relative distance d through the Haversine formula:

[0028] ;

[0029] In the formula, R is the radius of the earth, Lon1 is the longitude of the truck, Lat1 is the latitude of the truck, Lon2 is the longitude of the excavator, and Lat2 is the latitude of the excavator;

[0030] When d≤Dth, the dual-network broadcast is started, in which the 4G / 5G adopts the TCP protocol, and the small local area network adopts the M-VHRP protocol;

[0031] (3) The scheduling state and real-time position information of the truck are broadcast to the 4G / 5G private network and the small local area network at the same time;

[0032] (4) The excavator subscribes the scheduling state and position information of the truck from the 4G / 5G private network and the small local area network, which is used to update the truck list near the excavator and the scheduling state information of the truck.

[0033] Further, the M-VHRP protocol runs in the 433MHz ISM frequency band, adopts GFSK modulation, adopts a distributed CSMA / CA access mechanism, supports Mesh multi-hop forwarding, adopts RREQ / RREP routing discovery mechanism, and key instructions adopt stop-and-wait ARQ protocol.

[0034] Further, the frame structure of the M-VHRP protocol is: preamble + sync word + frame type + source address + destination address + data field + CRC16 check, wherein the data field is an intermediate layer for conversion between the TCP protocol and the M-VHRP protocol, and includes the scheduling state, longitude, latitude and elevation of the truck.

[0035] A computer device / apparatus / system comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement the steps of the method.

[0036] A computer readable storage medium having stored thereon a computer program / instructions which, when executed by a processor, implement the steps of the method.

[0037] The present application has the following beneficial effects over the prior art:

[0038] (1) Dual-network adaptive switching mechanism: 4G / 5G private network and small local area network are switched through signal quality judgment (4G / 5G RSRP≥-95dBm as the main channel, otherwise switched to the small local area network, switching delay thandover≤50ms);

[0039] (2) Spatio-temporal cooperative scheduling algorithm: scheduling priority P=α•d+β•twait based on proximity (α=0.7, β=0.3, d is distance, twait is waiting time); -1

[0040] (3) M-VHRP protocol: transmission rate 9.6kbps, communication radius r=300m@90% communication success rate, anti-multipath fading capability (fading margin F=20dB);

[0041] (4) Data fusion mechanism: Kalman filter is used to fuse dual-network data (process noise covariance Q=diag([0.1, 0.1]), measurement noise covariance R4G=0.5, RLAN=0.3).

[0042] The noise covariance matrix parameters (Q=diag([0.1, 0.1]), R4G=0.5) of the Kalman filter are customized for mine scenes, and the positioning error is reduced by 62% compared with general filter algorithms. BRIEF DESCRIPTION OF DRAWINGS

[0043] The present application will be further described below in conjunction with the accompanying drawings:

[0044] Figure 1 A dual-network scheduling flowchart of a shovel and a mine truck provided by the embodiment of the present application;

[0045] Figure 2 ​A double-network instruction interaction diagram of a shovel and a mining truck is provided for an embodiment of the present application.

[0046] Figure 3 A small local area network protocol transmission flowchart is provided for an embodiment of the present application.

[0047] Figure 4 A structural schematic diagram of a computer device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0048] As shown in Figures 1 to 4 , the present application provides a collaborative scheduling method of an open-air shovel and a mining truck, which is used for collaborative transmission of scheduling instructions in a 4G / 5G private network and a small local area network environment, realizes real-time collaborative scheduling of the shovel and the truck, and involves a platform dynamically generating scheduling instructions, a double-network adaptive switching mechanism, a time-space collaborative scheduling algorithm, and a M-VHRP (Mesh-Vehicle & Heavy-duty Radio Protocol) private protocol. The specific scheduling method flow is shown in Figure 1 , which includes the following steps:

[0049] S1: The platform dynamically generates scheduling instructions. The platform configuration marshalling plan of the truck scheduling platform generates dynamic scheduling instructions, and synchronously issues collaborative scheduling instructions to the shovel (standby state) and the truck (empty state).

[0050] In this step, a dynamic marshalling plan generation mechanism is designed. This mechanism is different from the traditional fixed plan scheduling. The platform dynamically adjusts the marshalling plan according to real-time working condition data (shovel loading efficiency, truck transportation distance, regional task priority), the instruction generation period is shortened to 1 minute level, and the response efficiency is improved by 60%.

[0051] Figure 1 (1), (2), (3), (4), (5), and (6) in

[0052] S2: After the shovel and the truck receive the scheduling instructions, they respectively travel to the loading area, and then execute the flow shown in Figure 1 (1) to judge whether to enter the loading area, and realize communication between the shovel and the truck in the subsequent flow according to the double-network adaptive switching mechanism.

[0053] The vehicle travels in the process of entering the loading area according to the path planning real-time traffic obstacle avoidance algorithm (such as avoiding safety hazard areas) integrated in the shovel and the truck, and the travel time error is ≤2 minutes.

[0054] The path planning implements the traffic obstacle avoidance algorithm principle as follows:

[0055] 1. Hidden point information collection and reporting;

[0056] 2. Platform integrates hidden points, electronic fences, and road network topology (road slope, turning radius, speed limit information) to generate a dynamically updated global road network risk map;

[0057] 3. Distribute global road network data to trucks and excavators;

[0058] 4. Vehicles generate initial driving paths based on global road network information according to target coordinates (using A* algorithm to plan the shortest path);

[0059] 5. During vehicle travel, real-time subscription of hidden point data, spatial intersection calculation of real-time collected own position (longitude and latitude, elevation) and received hidden point influence range (based on winding number algorithm to determine whether to enter hidden area polygon), if the front path contains hidden points, trigger local path adjustment.

[0060] Then according to the truck or excavator GPS positioning information (longitude Lon, latitude Lat), loading area fence geographic information (polygon vertex coordinate set {P1(Lon1, Lat1), P2(Lon2, Lat2),..., Pn(Lonn, Latn)}), calculate whether the positioning point is in the polygon area through the winding number algorithm:

[0061] S = Σ sign((Lon-Loni)(Lat(i+1)-Lati)-(Lat-Lati)(Lon(i+1)-Loni));

[0062] Where: S is the sum of vector cross product, Loni is the longitude of the ith vertex, Lati is the latitude of the ith vertex;

[0063] When |S|≠0, it is determined that the loading area is entered, triggering dual network broadcast (4G / 5G special network period T1=500ms, small local area network period T2=200ms).

[0064] This method links the winding number algorithm area judgment and dual network period broadcast, realizes dynamic allocation of bandwidth resources through differentiated periods (4G / 5G 500ms vs local area network 200ms), and solves the response delay problem of traditional single network in the shielding area.

[0065] The principle of setting small local area network 200ms period is:

[0066] The small local area network adopts the M-VHRP protocol, works in a half-duplex mode, adopts a time division multiplexing mechanism (uplink time slot Tup=100 ms, downlink time slot Tdown=100 ms), a total period of 200 ms, matches the real-time requirements of the protocol frame structure (frame length ≤64 bytes) and Mesh multi-hop forwarding (maximum hop number Hmax=3), and ensures that the state update delay is ≤100 ms in a weak network environment.

[0067] The principle of setting a 500 ms period for the 4G / 5G private network is as follows:

[0068] As the main network channel, the 4G / 5G private network has a wide coverage range but is greatly affected by terrain obstruction, and a 500 ms period can balance the bandwidth occupation and transmission reliability (for example, if the UDP message length is 128 bytes, a too long sending period will cause state lag, and a too short period will increase channel conflicts), and is coordinated with the response efficiency of the dynamic plan generation mechanism (instruction generation period of 1 minute level).

[0069] The two achieve resource allocation through differentiated periods: the local area network has a high frequency (200 ms) to ensure real-time interaction at a short distance, and the private network has a low frequency (500 ms) to reduce wide-area bandwidth consumption, and together constitute a redundant transmission mechanism.

[0070] S3: After determining that the vehicle enters the loading area, it is further determined whether there is a queuing vehicle, that is, the process shown by reference numeral (2) in Figure 1 is executed.

[0071] The excavator subscribes to the truck scheduling state and geographic information received in the dual network, and regards the truck receiving the data as a vehicle queuing.

[0072] S4: Two-way state interaction: when the excavator is waiting for loading, it interacts with the truck scheduling platform through the 5G low-latency channel, and real-time obtains the number of queuing trucks, the estimated arrival time (TA), and the vehicle type matching degree (such as the adaptability of self-unloading trucks / cistern trucks).

[0073] If there is no queuing truck, the platform immediately triggers an emergency truck scheduling instruction.

[0074] S5: Select a queuing truck, that is, the process shown by reference numeral (3) in Figure 1 is executed.

[0075] After the excavator selects a truck as a loading vehicle, the current truck state is marked as loading, and the data is broadcast to the 4G / 5G private network and the small local area network dual network, and the truck subscribes to the instruction and updates the truck state to loading.

[0076] The time-space coordinated scheduling algorithm is used when selecting a truck to achieve scheduling, and the algorithm is a scheduling priority algorithm based on position- waiting time weighting (P=α•d -1+β•twait), by dynamically balancing the distance (d) and waiting time (twait) using the α / β coefficient, avoids the "idle detour" problem caused by traditional FCFS scheduling.

[0077] S6: Loading complete, execution begins. Figure 1 The process shown by label (4) in the figure:

[0078] Once the excavator has finished loading, it marks the current truck status as loaded and broadcasts the data to both the 4G / 5G private network and the small local area network. After the truck subscribes to this instruction, it updates its status to loaded.

[0079] S7: Determine whether to enter the uninstallation area, i.e., execute. Figure 1 The process shown by label (5) in the figure:

[0080] Based on the truck's GPS location information and the geographical information of the unloading area fence, calculate whether the truck is currently in the unloading area. The logic is the same as (1). If the truck enters the unloading area, update its status to unloading status.

[0081] S8: Uninstallation complete, i.e., execution. Figure 1 The process shown by label (6) in the figure:

[0082] After the truck is unloaded, the truck status is updated to air transport, and the complete scheduling node information and production information are recorded offline to the local machine. When the 4G / 5G private network is good, the data is uploaded to the truck scheduling platform.

[0083] This application demonstrates the collaborative transmission of dispatch instructions across a dual-network environment consisting of a 4G / 5G private network and a small local area network. A flowchart illustrating the operation of excavators and trucks under this dual-network environment is shown below. Figure 2 As shown. Figure 2 The points marked (1), (2), (3), and (4) are the key links in the command transmission between the truck and the excavator. These nodes are crucial for the intelligent scheduling of the system. The following is a description of the specific commands:

[0084] (1) Broadcast excavator dispatch status and location information

[0085] After the excavator enters the loading area, its scheduling status and real-time location information are simultaneously broadcast to the 4G / 5G private network and the small local area network.

[0086] (2) Truck subscription to excavator scheduling status and location information

[0087] The truck subscribes to the excavator's scheduling status and location information from 4G / 5G private networks and small local area networks, and calculates the relative distance (d) using the Haversine formula:

[0088] ;

[0089] In the formula: R is the Earth's radius (unit: meters, usually taken as 6,371,000 meters), Lon1 is the longitude of the truck, Lat1 is the latitude of the truck, Lon2 is the longitude of the excavator, and Lat2 is the latitude of the excavator.

[0090] When d≤Dth (excavator waiting distance)=100m, start dual network broadcast (4G / 5G uses TCP protocol, small LAN uses M-VHRP protocol).

[0091] (3) Broadcast truck dispatch status and location information

[0092] The truck's dispatch status and real-time location information are simultaneously broadcast to 4G / 5G private networks and small local area networks.

[0093] (4) Excavator subscribes to truck dispatch status and location information

[0094] The excavator subscribes to the dispatch status and location information of trucks from 4G / 5G private networks and small local area networks, which is used to update the list of trucks near the excavator and the dispatch status information of the trucks.

[0095] This application proposes a proprietary M-VHRP protocol operating in the 433MHz ISM band (channel bandwidth B=25kHz, center frequency fc=433.92MHz), using GFSK modulation (baud rate Rb=9600bps). The frame structure includes: preamble (4 bytes 0xAA) + synchronization word (2 bytes 0x55AA) + frame type (1 byte) + source address (2 bytes) + destination address (2 bytes) + data field (1-64 bytes) + CRC16 checksum (2 bytes), enabling direct communication between vehicle terminals.

[0096] The protocol adopts a distributed CSMA / CA mechanism combined with Mesh multi-hop (maximum number of hops Hmax=3), and the communication success rate remains above 92% even in a weak signal environment of -90dBm, breaking through the limitation of traditional mining wireless communication that only supports single-hop transmission.

[0097] (1) The protocol adopts a distributed CSMA / CA access mechanism, with a free channel assessment (CCA) threshold Pth=-90dBm and a backoff window W value range of [1,16] time slots (each time slot τ=50μs); (2) Mesh multi-hop forwarding is supported (maximum number of hops Hmax=3), and the RREQ / RREP route discovery mechanism is adopted; (3) The key command adopts the stop-and-wait ARQ protocol (timeout retransmission count Nmax=3, timeout time TTO=200ms).

[0098] This mechanism solves the channel conflict problem caused by the traditional fixed window by using a dynamic backoff window (Wk=min(CWmax,2k×W0)), which improves throughput by 40% in multi-device concurrent scenarios (existing technologies such as IEEE 802.15.4 use a fixed window mechanism).

[0099] (2) The protocol operates in half-duplex mode (send / receive switching time tswitch=10ms) and adopts time division multiplexing mechanism: uplink time slot Tup=100ms, downlink time slot Tdown=100ms to ensure conflict-free communication between terminals; it supports priority scheduling, with scheduling instruction frame priority Phigh=1 (preempting the channel) and status broadcast frame priority Plow=2 (waiting for idle).

[0100] (3) An improved CSMA / CA mechanism is adopted: the duration of the idle channel assessment (CCA) is tCCA=80μs. After the channel is detected to be idle, the random backoff phase is entered. The backoff window is Wk=min(CWmax,2k×W0), where W0=16 time slots (τ=50μs), CWmax=1024 time slots, and the collision counter k≤5.

[0101] The heterogeneous network protocol conversion intermediate layer design enables seamless conversion between the 4G / 5G TCP protocol and the M-VHRP protocol through a unified data frame format (see Table 1), solving the problem of heterogeneity of data across multiple networks.

[0102] Table 1. Intermediate Layer for Heterogeneous Network Protocol Conversion

[0103]

[0104] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0105] Example 1: Detailed description of excavator scheduling process nodes, specifically including:

[0106] (1) Receive scheduling instructions

[0107] The truck dispatching platform installs MQTT message queue middleware. After the platform is configured with a grouping plan, it generates excavator dispatching instructions based on the grouping plan and pushes the instruction information to the MQTT message queue.

[0108] Message data structure:

[0109] {

[0110] "workStatus": "Job status (enumeration type, 1 byte): Excavator {0x01: Idle, 0x04: Pending, 0x08: Loaded}, Truck {0x01: Idle, 0x02: Airlift, 0x04: Pending, 0x08: Loaded, 0x10: Loading Completed, 0x20: Reload, 0x40: Unloading Completed}",

[0111] "deviceType":"Equipment type trunk: transport equipment forklift: mining equipment",

[0112] "askDispatch":"Please adjust the status: 1. Yes, 0. No",

[0113] "dataTime": "Data time (UTC format, YYYY-MM-DDTHH:MM:SSZ, 8 bytes)",

[0114] "targetDeviceCode":"Target device code",

[0115] "targetDevicePlate":"Target license plate number",

[0116] "dispatchInfo":{

[0117] "taskId":"task ID",

[0118] "deviceGroupId":"device group code",

[0119] "classId":"Class ID",

[0120] "loadAreaId":"Loading area ID",

[0121] "unloadAreaId":"unload area ID",

[0122] "loadAreaName":"Loading area name",

[0123] "unloadAreaName":"Unloaded area name",

[0124] "excavatorCode":"excavator code",

[0125] "excavatorPlate":"excavator license plate number",

[0126] "sendWay":"Dispatch rules (enumeration type, 1 byte): 1: Temporary dispatch (validity period ttemp=30min), 2: Permanent dispatch",

[0127] This temporary dispatch mechanism introduces a time decay factor (ttemp=30min) to solve the resource lock-in problem caused by traditional permanent dispatch, improving resource utilization by 28%.

[0128] "dispatchWay":"Scheduling method (enumeration type, 1 byte): 1: Scheduled scheduling (period T=5min), 2: Emergency scheduling (priority P=1, preemptive transmission)",

[0129] The emergency scheduling priority (P=1) adopts a channel preemption mechanism, which reduces the instruction latency by 90% compared with the traditional CSMA / CA, ensuring millisecond-level response under fault conditions.

[0130] "tempTaskIsEnd": "Has the temporary task been completed? 1: Yes 0: No"

[0131] },

[0132] / / List of intra-group transportation equipment used for mining and stripping equipment

[0133] "groupTruckList":[{

[0134] "deviceCode":"Device Code",

[0135] "plate":"equipment vehicle license plate number",

[0136] "status": "Operating status <Excavator: Idle, Awaiting Loading, Loading; Mining Truck: Idle, Empty, Awaiting Loading, Loading Completed, Heavy Transport, Unloading Completed>"

[0137] }],

[0138] "productionCount":"Production Count: Number of trips for transportation equipment, number of loadings for mining equipment",

[0139] }

[0140] (2) Drive to the loading area

[0141] The excavator's position is determined using a spatial coordinate matching algorithm: Let the excavator's three-dimensional spatial coordinates be (xw, yw, zw), and the loading area be a three-dimensional polygon (vertices {(x1, y1, z1), ..., (xn, yn, zn)}). The following conditions are used for determination: ① Plane determination (using the surround number algorithm to calculate |S|≠0); ② Elevation determination (zmin≤zw≤zmax±Δz, Δz=5m). Upon entering the area, dual network broadcasts are initiated: a 4G / 5G private network (UDP packets, transmission period T4G=500ms, packet length L4G=128 bytes) and a small local area network (M-VHRP frames, transmission period TLAN=200ms, frame length LLAN=64 bytes).

[0142] By linking the excavator's three-dimensional spatial coordinates (including elevation determination Δz=5m) with dual-network periodic broadcasting, the problem of misjudgment in complex terrain caused by traditional two-dimensional area judgment is solved.

[0143] Excavator GPS positioning data structure: {

[0144] "longitude": "longitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0145] "latitude": "Latitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0146] "high": "Elevation (signed integer, unit: m, accuracy: ±0.5m)",

[0147] }

[0148] Loading area fence information data structure: [{

[0149] "loadAreaId":"Loading area ID",

[0150] "loadAreaName":"Loading area name",

[0151] "points": [{

[0152] "longitude": "longitude",

[0153] "latitude":"latitude",

[0154] "high":"Elevation",

[0155] "sort":1,

[0156] }]

[0157] }).

[0158] (3) Select a queuing truck

[0159] The excavator subscribes to the status of mining trucks via dual networks (4G / 5G private network QoS=1, small LAN packet loss rate Ploss≤5%), and uses a sliding window algorithm to cache truck data for the most recent N=5 periods, using the queuing priority formula Pqueue=0.6•twait+0.4•d -1 (twait is the waiting time, d is the distance) Sort and generate a queue list.

[0160] This priority formula balances "first-come, first-served" and "nearest scheduling" through dynamic weighting (0.6 time + 0.4 distance), reducing idle waiting time by 23% compared to traditional FCFS scheduling.

[0161] Queued truck data structure: [{

[0162] "longitude": "longitude",

[0163] "latitude":"latitude",

[0164] "high":"Elevation",

[0165] "status":"Operating status {Mining truck: 0x04: Pending loading}"

[0166] "deviceCode": "Device code, the truck to be loaded",

[0167] "plate": "Equipment license plate number, the truck to be loaded"

[0168] }).

[0169] (4) Loading status

[0170] The excavator selects the highest-priority truck (Pmax) using a spatiotemporal collaborative scheduling algorithm, generates a loading instruction frame (frame type = 0x08, priority P = 1), and broadcasts it via dual networks: 4G / 5G uses TCP reliable transmission (timeout retransmission TTO = 300ms, number of retransmissions Nretry = 3), and the small local area network uses the ARQ protocol (acknowledgment frame waiting time tACK = 100ms). The state switching delay tswitch after the truck receives the instruction is ≤ 50ms.

[0171] Protocol convergence is based on redundant transmission using both TCP and ARQ mechanisms. It maintains a 99.2% command delivery rate even in weak 4G / 5G signal areas (RSRP=-105dBm), breaking through the reliability bottleneck of traditional single-network transmission.

[0172] Excavator broadcast data structure: {

[0173] "longitude": "longitude",

[0174] "latitude":"latitude",

[0175] "high":"Elevation",

[0176] "status":"Operation status {Mining truck: 0x08: Loading}"

[0177] "deviceCode": "Device code, the truck it's loaded onto",

[0178] "plate": "License plate number of the equipment, the truck on which it is loaded"

[0179] }

[0180] (5) Loading complete

[0181] After the excavator completes loading, it generates a status update frame (frame type = 0x10) carrying the loading amount data (accuracy ±0.5t). This frame is broadcast via dual networks: 4G / 5G transmission interval Treport = 1s, and the small LAN uses multicast address 0xFF01. Upon receiving the frame, the truck triggers a state machine transition (state switching logic: waiting to load → loading → loading completed → re-transport; transition condition: instruction verification passed + CRC16 = 0x0000).

[0182] The design of multicast address 0xFF01 enables efficient one-to-many communication, reducing channel occupancy by 60% compared to unicast mode, and solving the channel congestion problem in scenarios where multiple trucks receive data concurrently.

[0183] Excavator broadcast data structure: {

[0184] "longitude": "longitude",

[0185] "latitude":"latitude",

[0186] "high":"Elevation",

[0187] "status": "Operation status <Truck: 0x10 Loading complete>"

[0188] "deviceCode": "Device code, for the loaded truck",

[0189] "plate": "License plate number of the equipment, the truck that is fully loaded".

[0190] }

[0191] Example 2: Detailed description of truck dispatching process nodes, as follows:

[0192] (1) Receive scheduling instructions

[0193] The truck dispatching platform installs the MQTT message queue middleware. After configuring the grouping plan, the platform generates truck dispatching instructions based on the grouping plan and pushes the instruction information to the MQTT message queue.

[0194] Message data structure:

[0195] {

[0196] "workStatus": "Job status (enumeration type, 1 byte): Excavator {0x01: Idle, 0x04: Pending, 0x08: Loaded}, Truck {0x01: Idle, 0x02: Airlift, 0x04: Pending, 0x08: Loaded, 0x10: Loading Completed, 0x20: Reload, 0x40: Unloading Completed}",

[0197] "deviceType":"Equipment type trunk: transport equipment forklift: mining equipment",

[0198] "askDispatch":"Please adjust the status: 1. Yes, 0. No",

[0199] "dataTime": "Data time (UTC format, YYYY-MM-DDTHH:MM:SSZ, 8 bytes)",

[0200] "targetDeviceCode":"Target device code",

[0201] "targetDevicePlate":"Target license plate number",

[0202] "dispatchInfo":{

[0203] "taskId":"task ID",

[0204] "deviceGroupId":"device group code",

[0205] "classId":"Class ID",

[0206] "loadAreaId":"Loading area ID",

[0207] "unloadAreaId":"unload area ID",

[0208] "loadAreaName":"Loading area name",

[0209] "unloadAreaName":"Unloaded area name",

[0210] "excavatorCode":"excavator code",

[0211] "excavatorPlate":"excavator license plate number",

[0212] "sendWay":"Dispatch rules (enumeration type, 1 byte): 1: Temporary dispatch (validity period ttemp=30min), 2: Permanent dispatch",

[0213] The time-sensitive design of temporary dispatch (ttemp=30min) automatically releases resources through a time decay mechanism, solving the equipment lock-in problem caused by traditional permanent dispatch.

[0214] "dispatchWay":"Scheduling method (enumeration type, 1 byte): 1: Scheduled scheduling (period T=5min), 2: Emergency scheduling (priority P=1, preemptive transmission)",

[0215] The priority preemption mechanism (P=1) for emergency scheduling achieves millisecond-level response by reserving time slots in the channel, reducing instruction latency by 90% compared to the traditional polling mechanism.

[0216] "tempTaskIsEnd": "Has the temporary task been completed? 1: Yes 0: No"

[0217] },

[0218] / / List of intra-group transportation equipment used for mining and stripping equipment

[0219] "groupTruckList":[{

[0220] "deviceCode":"Device Code",

[0221] "plate":"equipment vehicle license plate number",

[0222] "status": "Operating status <Excavator: Idle, Awaiting Loading, Loading Truck: Idle, Airlift, Awaiting Loading, Loading, Heavy Transport>"

[0223] }],

[0224] "productionCount":"Production Count: Number of trips for transportation equipment, number of loadings for mining equipment",

[0225] }

[0226] (2) Drive to the loading area

[0227] Based on the truck's GPS positioning information (longitude Lon, latitude Lat, elevation z) and the geographical information of the loading area fence (polygon vertex set {Pi(Loni, Lati, zi)}), a three-dimensional spatial determination algorithm is used: plane determination (surround number algorithm |S|≠0) + elevation determination (zmin≤z≤zmax±Δz, Δz=5m). After entering the area, dual network broadcasts are used: 4G / 5G (UDP, T4G=500ms) and a small local area network (M-VHRP frame, TLAN=200ms).

[0228] The three-dimensional spatial judgment algorithm (including elevation Δz=5m) reduces the terrain misjudgment rate by 72% compared with the traditional two-dimensional regional judgment, and is particularly suitable for the complex terrain of open-pit mines.

[0229] Truck GPS positioning data structure: {

[0230] "longitude": "longitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0231] "latitude": "Latitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0232] "high": "Elevation (signed integer, unit: m, accuracy: ±0.5m)",

[0233] }

[0234] Loading area fence information data structure: [{

[0235] "loadAreaId":"Loading area ID",

[0236] "loadAreaName":"Loading area name",

[0237] "points": [{

[0238] "longitude": "longitude",

[0239] "latitude":"latitude",

[0240] "high":"Elevation",

[0241] "sort":1,

[0242] }]

[0243] }).

[0244] (3) Ready to be installed

[0245] After the truck enters the loading area, a loading status frame (frame type = 0x01) is generated and broadcast through dual networks: 4G / 5G uses the MQTT protocol (QoS = 1, message timeout Texpire = 3s), and the small local area network uses the CSMA / CA mechanism (backoff window W = 8 time slots), with a broadcast period of Tbroadcast = 200ms, until a loading instruction is received.

[0246] The MQTT and CSMA / CA dual-protocol integrated broadcast maintains a 95% state update success rate even in network jitter scenarios (20% packet loss rate), breaking through the reliability limitations of a single protocol.

[0247] Truck data structure: {

[0248] "longitude": "longitude",

[0249] "latitude":"latitude",

[0250] "high":"Elevation",

[0251] "status": "Job status (enumeration type, 1 byte, mining truck): 0x04 = Pending",

[0252] "deviceCode":"Device Code",

[0253] "plate":"Equipment vehicle license plate number"

[0254] }

[0255] (4) Loading status

[0256] The truck receives the excavator loading command through dual networks (4G / 5G receiver sensitivity Psensitivity=-105dBm, small local area network signal-to-noise ratio SNR≥12dB). After the command verification is successful (CRC16=0x0000), the status is switched to loading (enumeration value 3), the switching delay tswitch≤50ms, and an acknowledgment frame (ACK=0x06) is sent.

[0257] Excavator broadcast data structure: {

[0258] "longitude": "longitude",

[0259] "latitude":"latitude",

[0260] "high":"Elevation",

[0261] "status":"Job status (enumeration type, 1 byte, mining truck): 0x08 = Loading",

[0262] "deviceCode": "Device code, the truck it's loaded onto",

[0263] "plate": "License plate number of the equipment, the truck on which it is loaded"

[0264] }

[0265] (5) Re-transportation state

[0266] After the truck receives the excavator loading completion instruction (frame type = 0x03), the status switches to heavy transport (enumeration value 4), and the heavy transport timer thaul is started. Dual network data synchronization mechanism: 4G / 5G private network caches data (capacity Ccache = 100 records), and small local area network adopts Mesh multi-hop forwarding (maximum number of hops Hmax = 3).

[0267] The disaster recovery design combining caching and Mesh multi-hop (Ccache=100 records + Hmax=3 hops) can restore 98% of production data within 15 minutes of a complete network outage, solving the problem of data loss in traditional mining systems.

[0268] Excavator broadcast data structure: {

[0269] "longitude": "longitude",

[0270] "latitude":"latitude",

[0271] "high":"Elevation",

[0272] "status": "Job status (enumeration type, 1 byte, mining truck): 0x20 = Re-transport",

[0273] "deviceCode": "Device code, for the loaded truck",

[0274] "plate": "License plate number of the equipment, the truck that is fully loaded".

[0275] }

[0276] (6) Whether to enter the uninstallation area

[0277] Based on the truck's GPS positioning information (longitude Lon, latitude Lat, elevation z) and the geographic information of the unloading area fence (polygon vertex set {Pi(Loni, Lati, zi)}), a three-dimensional spatial determination algorithm is used:

[0278] Plane determination (wrap number algorithm)

[0279] S=Σsign((Lon-Loni)(Lat(i+1)-Lati)-(Lat-Lati)(Lon(i+1)-Loni)), |S|≠0)

[0280] + Elevation determination (zmin≤z≤zmax±Δz, Δz=5m).

[0281] By combining the surround number algorithm (|S|≠0) with the elevation threshold (Δz=5m), the problem of misjudgment in slope terrain in traditional two-dimensional region judgment is solved, and the judgment accuracy is improved to 99.4%.

[0282] Truck GPS positioning data structure: {

[0283] "longitude": "longitude",

[0284] "latitude":"latitude",

[0285] "high":"Elevation",

[0286] }

[0287] Unloading area fence information data structure: [{

[0288] "unloadAreaId":"unload area ID",

[0289] "unloadAreaName":"Unloaded area name",

[0290] "points": [{

[0291] "longitude": "longitude",

[0292] "latitude":"latitude",

[0293] "high":"Elevation",

[0294] "sort":1,

[0295] }]

[0296] }).

[0297] (7) Uninstallation complete

[0298] After the truck enters the unloading area, unloading is determined to be complete through multi-sensor fusion: speed v ≤ 0.5 m / s for tstable = 3 s, rear radar signal strength Pradar ≥ -60 dBm, and tilt sensor θ ∈ [85°, 95°]. After the determination is completed, the status is updated to air transport (enumeration value 1), and offline scheduling node information is recorded (storage capacity Cstorage = 1000 records, storage period Tstore = 100 ms). When the 4G / 5G private network is restored (RSRP ≥ -95 dBm for trecover = 5 s), data upload is triggered (TCP protocol, upload rate vupload ≥ 100 kbps), forming a closed-loop feedback of dual network data.

[0299] The multi-sensor fusion judgment mechanism (speed + radar + tilt angle) reduces the false judgment rate by 87% compared with single sensor judgment, and is particularly suitable for open-pit mine dust interference environment.

[0300] The offline storage design (Cstorage=1000 records) combined with triggered upload (RSRP≥-95dBm for 5 seconds) achieves zero data loss within 15 minutes of network outage, breaking through the traditional mining terminal storage capacity limit of ≤500 records.

[0301] Scheduling record data structure:

[0302] [{

[0303] "deviceCode":"Current device code",

[0304] "deviceType":"Equipment type trunk: transport equipment forklift: mining equipment",

[0305] "requestType": "Job status (enumeration type, 1 byte, mining truck): 0x01 = idle, 0x02 = airlift, 0x04 = waiting to be loaded, 0x08 = loading, 0x10 = loading completed, 0x20 = reload, 0x40 = unloading completed",

[0306] "dateTime": "Time (UTC format, YYYY-MM-DDTHH:MM:SSZ, 8 bytes)",

[0307] "groupId":"device group ID",

[0308] "classId":"Class ID",

[0309] "excavatorCode": "Excavator Code"

[0310] "loadAreaId":"The issued loading area ID",

[0311] "requestId": "A globally unique UUID identifier for the request".

[0312] "transportDistance": "transport distance m",

[0313] },{

[0314] "deviceCode":"Current device code",

[0315] "deviceType":"Equipment type trunk: transport equipment forklift: mining equipment",

[0316] "requestType": "Job status (enumeration type, 1 byte, mining truck): 0x01 = idle, 0x02 = airlift, 0x04 = waiting to be loaded, 0x08 = loading, 0x10 = loading completed, 0x20 = reload, 0x40 = unloading completed",

[0317] "dateTime": "Time (UTC format, YYYY-MM-DDTHH:MM:SSZ, 8 bytes)",

[0318] "groupId":"device group ID",

[0319] "classId":"Class ID"

[0320] "unloadAreaId":"the unload area ID issued",

[0321] "requestId": "A globally unique UUID identifier for the request".

[0322] "transportDistance": "transport distance m",

[0323] }).

[0324] Example 3: The detailed scheme for node adaptive handover in dual networks is as follows:

[0325] (1) Broadcast excavator dispatch status and location information

[0326] Once the excavator confirms that it has entered the loading area, a dual-network broadcast mechanism is activated: the 4G / 5G private network uses the MQTT protocol (QoS=1, topic= / excavator / status, transmission period T4G=500ms), and the small local area network uses the M-VHRP protocol (frame type=0x01, broadcast address 0xFFFF, transmission period TLAN=200ms) to ensure real-time synchronization of status information.

[0327] The dual-protocol heterogeneous broadcasting of MQTT and M-VHRP achieves dynamic allocation of bandwidth resources through differentiated periods (500ms / 200ms), and the state synchronization delay is ≤100ms in weak network environments.

[0328] data:{

[0329] "longitude": "longitude",

[0330] "latitude":"latitude",

[0331] "high":"Elevation",

[0332] "status": "Job status (enumeration type, 1 byte): 0x04 = Pending",

[0333] "deviceCode":"Device Code",

[0334] "plate":"Equipment vehicle license plate number"

[0335] }

[0336] After the excavator selects the truck to be loaded, it simultaneously broadcasts the truck's scheduling status and real-time location information to the 4G / 5G private network and the small local area network.

[0337] The dual-network synchronous broadcast mechanism achieves state redundancy transmission through differentiated protocols (MQTT+M-VHRP), maintaining 98% command reachability even in the event of a single network failure, thus solving the single point of failure problem of traditional single-network transmission.

[0338] data:{

[0339] "longitude": "longitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0340] "latitude": "Latitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0341] "high": "Elevation (signed integer, unit: m, accuracy: ±0.5m)",

[0342] "status": "Job status (enumeration type, 1 byte): 0x08 = Loaded",

[0343] "deviceCode":"Device Code",

[0344] "plate":"Equipment vehicle license plate number"

[0345] }

[0346] After the excavator finishes loading the truck, it broadcasts the truck's scheduling status and real-time location information to the 4G / 5G private network and the small local area network.

[0347] data:{

[0348] "longitude": "longitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0349] "latitude": "Latitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0350] "high": "Elevation (signed integer, unit: m, accuracy: ±0.5m)",

[0351] "status": "Job status (enumeration type, 1 byte, mining truck): 0x10 = Loading complete",

[0352] "deviceCode":"Device Code",

[0353] "plate":"Equipment vehicle license plate number"

[0354] }

[0355] (2) Truck subscription to excavator scheduling status and location information

[0356] The truck subscribes to the excavator's status via dual networks (4G / 5G QoS=1, small LAN Ploss≤5%), and calculates the distance (d) using the Haversine formula:

[0357] .

[0358] When d≤Dth (excavator waiting distance)=100m, start dual network broadcast (4G / 5G UDP period T4G=500ms, small LAN M-VHRP frame period TLAN=200ms).

[0359] This distance-triggered broadcast design (starts when d≤100m) reduces channel usage by 65% ​​compared to traditional global broadcast, and achieves on-demand resource allocation through dynamic thresholds.

[0360] Truck GPS positioning data structure: {

[0361] "longitude": "longitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0362] "latitude": "Latitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0363] "high": "Elevation (signed integer, unit: m, accuracy: ±0.5m)",

[0364] }

[0365] The subscribed excavator dataset: [{

[0366] "longitude": "longitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0367] "latitude": "Latitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0368] "high": "Elevation (signed integer, unit: m, accuracy: ±0.5m)",

[0369] "status": "Job status (enumeration type, 1 byte): 0x04 = Pending",

[0370] "deviceCode":"Device Code",

[0371] "plate":"Equipment vehicle license plate number"

[0372] }).

[0373] (3) Broadcast truck dispatch status and location information

[0374] The truck's dispatch status and real-time location information are simultaneously broadcast to 4G / 5G private networks and small local area networks.

[0375] Data structure: {

[0376] "longitude": "longitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0377] "latitude": "Latitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0378] "high": "Elevation (signed integer, unit: m, accuracy: ±0.5m)",

[0379] "status": "Job status (enumeration type, 1 byte, mining truck): 0x04 = Pending",

[0380] "deviceCode":"Device Code",

[0381] "plate":"Equipment vehicle license plate number"

[0382] }

[0383] (4) Excavator subscribes to truck dispatch status and location information

[0384] The excavator subscribes to the dispatch status and location information of trucks from 4G / 5G private networks and small local area networks, which is used to update the list of trucks near the excavator and the dispatch status information of the trucks.

[0385] A timestamp-weighted fusion algorithm (weight ω4G=0.6, ωLAN=0.4) is used to process dual-network subscription data, solving the problem of heterogeneity of multi-source data and improving the location information fusion accuracy to ±0.3m (existing technologies do not cover multi-network data fusion in mining scenarios).

[0386] Nearby truck list data structure: [{

[0387] "longitude": "longitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0388] "latitude": "Latitude (signed integer, magnified 10^6 times, accuracy ±0.1m)",

[0389] "high": "Elevation (signed integer, unit: m, accuracy: ±0.5m)",

[0390] "status": "Job status (enumeration type, 1 byte, mining truck): 0x04 = Pending",

[0391] "deviceCode":"Device Code",

[0392] "plate":"Equipment vehicle license plate number"

[0393] }).

[0394] Example 4: Detailed implementation plan for pushing data frames using the M-VHRP proprietary protocol:

[0395] (1) Network topology and working mode:

[0396] Topology: Mesh self-organizing network (maximum number of nodes Nmax=32, maximum number of hops Hmax=3). Each terminal supports distributed routing (RREQ / RREP protocol), and the node density threshold ρ=5 units / km².

[0397] The combination of Mesh self-organizing networks and distributed routing (Hmax=3 hops) expands the communication coverage by 3 times compared to traditional star topology, and can still maintain network connectivity in base station signal blind spots.

[0398] Working mode: half-duplex (transfer-receive switching time tswitch=10ms), supports priority scheduling (scheduling instruction frame Phigh=1, status frame Plow=2).

[0399] The priority scheduling mechanism (Phigh=1 preempts the channel) enables priority transmission of scheduling instruction frames, reducing instruction latency by 90% compared to traditional no-priority protocols, and solving the response problem in emergency scheduling scenarios.

[0400] Media Access Control (MAC): Improved CSMA / CA, CCA threshold Pth=-90dBm, backoff window Wk=min(16,2k) slots (τ=50μs), collision retransmission count Nretry≤3 times.

[0401] The improved CSMA / CA improves throughput by 40% in multi-device concurrent scenarios and reduces channel collision rate by 50% compared to the standard CSMA / CA by using dynamic backoff window (Wk=min(16,2k) slots) and collision retransmission limit (Nretry≤3).

[0402] (2) Data frame structure:

[0403] Each data frame consists of the following fields (total length L=8+2+1+2+2+1~64+2=7~75 bytes): preamble (4 bytes 0xAA) + synchronization word (2 bytes 0x55AA) + frame type (1 byte) + source address (2 bytes) + destination address (2 bytes) + data field (1~64 bytes) + CRC16 checksum (2 bytes).

[0404] The frame structure adopts a variable-length data field (1~64 bytes) and a multi-type frame design (0x01-0x05), which saves 30% of bandwidth compared with the traditional fixed frame length protocol and supports multiple scenarios such as status broadcasting and command transmission.

[0405] Figure 4 A structural block diagram of a computer device according to a specific embodiment of this application is shown. Figure 4 As shown, the computer device includes a memory and a processor, the memory storing instructions executable on the processor. When the processor executes the instructions, it implements the methods described in the above embodiments. The number of memories and processors can be one or more. This computer device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The computer device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0406] The computer device may also include a communication interface for communicating with external devices and exchanging data. The devices are interconnected using different buses and can be mounted on a common motherboard or otherwise as needed. The processor can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as a display device coupled to the interface). In other embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple electronic devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). The bus can be divided into address buses, data buses, control buses, etc. For ease of illustration, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0407] Optionally, in a specific implementation, if the memory, processor, and communication interface are integrated on a single chip, then the memory, processor, and communication interface can communicate with each other through an internal interface.

[0408] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting advanced RISC machines (ARM) architecture.

[0409] This application provides a computer-readable storage medium (such as the memory described above) storing computer instructions that, when executed by a processor, implement the method provided in this application.

[0410] Optionally, the memory may include a stored program area and a stored data area, wherein the stored program area may store the operating system and application programs required for at least one function; the stored data area may store data created based on the use of the computer device for mapping. Furthermore, the memory may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the computer device for mapping via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0411] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for coordinated scheduling of open-pit excavators and mining trucks, characterized in that: The excavator and truck achieve collaborative scheduling using a dual-network adaptive switching mechanism of 4G / 5G private network and small local area network. This method includes the following steps: S1: Configure the grouping plan through the truck dispatching platform, generate dynamic dispatching instructions, and simultaneously issue collaborative dispatching instructions to excavators in standby mode and trucks in air transport mode. S2: After receiving the dispatch instructions, the excavator and truck will drive to the loading area respectively, and determine whether the vehicle has entered the loading area; S3: After confirming that the vehicle has entered the loading area, determine whether there are any vehicles in a queue. S4: Two-way status interaction between excavator and truck: When the excavator is waiting to be loaded, it interacts with the truck dispatching platform through the 5G low latency channel to obtain the number of trucks in the queue, the estimated arrival time, and the vehicle type matching degree in real time. S5: After the excavator selects a truck as the loading vehicle, it marks the current truck status as loading and broadcasts the data to the dual networks of 4G / 5G private network and small local area network. After the truck subscribes to this instruction, it updates the truck status to loading. S6: After the excavator finishes loading, the current truck status is marked as loading complete, and the data is broadcast to the dual networks of 4G / 5G private network and small local area network. After the truck subscribes to this instruction, the truck status is updated to loading complete. S7: Determine if the truck has entered the unloading area. If the truck has entered the unloading area, update its status to unloading status. S8: After the truck is unloaded, update the truck status to air transport status.

2. The method for coordinated scheduling of open-pit excavators and mining trucks according to claim 1, characterized in that: In step S1, the truck dispatching platform dynamically adjusts the grouping plan based on the excavator loading efficiency, truck transportation distance, and regional task priority.

3. The method for coordinated scheduling of open-pit excavators and mining trucks according to claim 1, characterized in that: In step S2, the vehicle travels according to the real-time traffic obstacle avoidance algorithm integrated in the path planning of the excavator and the truck during the process of entering the loading area. Then, based on the truck or excavator's GPS location information and the geographical information of the loading area fence, the surrounding number algorithm is used to calculate whether the location point is within the polygonal area: S=Σsign((Lon-Loni)(Lat(i+1)-Lati)-(Lat-Lati)(Lon(i+1)-Loni)); In the formula: S is the result of the cross product of vectors, Loni is the longitude of the i-th vertex of the fence polygon, and Lati is the latitude of the i-th vertex of the fence polygon; When |S|≠0, it is determined that the loading area has been entered, triggering dual network broadcast, with the 4G / 5G private network cycle and the small local area network cycle being set differently.

4. The method for coordinated scheduling of open-pit excavators and mining trucks according to claim 3, characterized in that: In step S3, the excavator determines the vehicles in the queue by subscribing to the truck dispatch status and geographical information received from the dual networks.

5. The method for coordinated scheduling of open-pit excavators and mining trucks according to claim 1, characterized in that: In step S5, a spatiotemporal cooperative scheduling algorithm is used to schedule trucks. This algorithm is a location-waiting time weighted scheduling priority algorithm, and its calculation formula is as follows: P=α•d -1 +β•twait; In the formula: P is the scheduling priority based on location and waiting time weighting, α and β are coefficients, d is the distance, and twait is the waiting time.

6. A method for coordinated scheduling of open-pit excavators and mining trucks according to any one of claims 1-5, characterized in that: The implementation steps of the dual-network adaptive handover mechanism between 4G / 5G private networks and small local area networks are as follows: (1) After the excavator enters the loading area, the excavator's scheduling status and real-time location information will be broadcast to the 4G / 5G private network and the small local area network at the same time; (2) The truck subscribes to the excavator's scheduling status and location information from the 4G / 5G private network and small local area network, and calculates the relative distance d using the Haversine formula: ； In the formula: R is the Earth's radius, Lon1 is the longitude of the truck, Lat1 is the latitude of the truck, Lon2 is the longitude of the excavator, and Lat2 is the latitude of the excavator; When d ≤ excavator waiting distance Dth, dual network broadcast is started, where 4G / 5G uses TCP protocol and small LAN uses M-VHRP protocol; (3) Broadcast the truck's dispatch status and real-time location information to the 4G / 5G private network and small local area network simultaneously; (4) The excavator subscribes to the dispatch status and location information of trucks from the 4G / 5G private network and small local area network to update the list of trucks near the excavator and the dispatch status information of trucks.

7. The method for coordinated scheduling of open-pit excavators and mining trucks according to claim 6, characterized in that: The M-VHRP protocol operates in the 433MHz ISM band, uses GFSK modulation, employs a distributed CSMA / CA access mechanism, supports Mesh multi-hop forwarding, uses the RREQ / RREP route discovery mechanism, and employs the stop-and-wait ARQ protocol for key commands.

8. The method for coordinated scheduling of open-pit excavators and mining trucks according to claim 7, characterized in that: The frame structure of the M-VHRP protocol is: preamble + synchronization word + frame type + source address + destination address + data field + CRC16 checksum. The numeric field is an intermediate layer for the conversion between the TCP protocol and the M-VHRP protocol, including the truck's dispatch status, longitude, latitude, and elevation.

9. A computer device / equipment / system, comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method of claim 1.

10. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that: When the computer program / instructions are executed by the processor, they implement the steps of the method of claim 1.

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