Method for controlling work vehicle and control system for mining mineral resources

Abstract

The invention provides a method for controlling an operation vehicle and a control system for mining mineral resources, and relates to the field of vehicle control, the field of unmanned driving and the field of intelligent mines. The method comprises the following steps: receiving resource demand information for producing a target mineral product, wherein the resource demand information represents respective corresponding demands of a plurality of target category resources required by a specified production area; task arrangement is carried out according to the demand quantity corresponding to the target category resources and the resource loading information of the candidate transport vehicles, a transport task related to the target category resources is obtained, and the transport task indicates that the transport vehicles loading the target category resources in the multiple candidate transport vehicles travel to a designated production area. The proportional relation among the multiple target loading capacities and the demand quantity proportion meet a similarity condition; and according to the transportation task and the charging demand information of the specified charging position in the specified production area for the target category resources, the transportation vehicle is controlled to run to the specified charging position to unload the target category resources.

Description

Technical Field

[0001] This disclosure relates to the fields of vehicle control, autonomous driving, and smart mining, and more specifically, to a method for controlling operating vehicles and a control system for mining mineral resources. Background Technology

[0002] In mining operations, unmanned mining trucks and other vehicles with intelligent assisted driving functions can automate tasks, reducing human intervention costs and enabling faster and more convenient mineral resource production. However, the high complexity of the mining environment makes it difficult to further improve the production efficiency of mineral resources, thus failing to meet the demand for higher production efficiency. Summary of the Invention

[0003] In view of this, the present disclosure provides a method for controlling operating vehicles and a control system for mining mineral resources.

[0004] One aspect of this disclosure provides a method for controlling operating vehicles, comprising: receiving resource demand information for producing target mineral products, the resource demand information representing the demand quantity corresponding to each of multiple target categories of resources required in a designated production area; performing task scheduling based on the demand quantity corresponding to the target category of resources and resource loading information of candidate transport vehicles to obtain transport tasks related to the target category of resources, the transport tasks instructing transport vehicles loaded with target category of resources among multiple candidate transport vehicles to travel to the designated production area, the proportional relationship between the target loading quantities corresponding to each of the multiple target category of resources and the demand quantity ratios corresponding to each of the multiple target category of resources satisfying a similarity condition; and controlling the transport vehicles to travel to the designated loading position to unload the target category of resources based on the transport tasks and the loading demand information of the designated loading position for the target category of resources in the designated production area.

[0005] Another aspect of this disclosure provides an apparatus for controlling operating vehicles, comprising: a receiving module for receiving resource demand information for producing target mineral products, the resource demand information representing the demand quantities of multiple target categories of resources required in a designated production area; a task scheduling module for scheduling tasks according to the demand quantities corresponding to the target categories of resources and the resource loading information of candidate transport vehicles to obtain transport tasks related to the target categories of resources, the transport tasks instructing transport vehicles loaded with target categories of resources among multiple candidate transport vehicles to travel to the designated production area, the proportional relationship between the target loading quantities corresponding to the multiple target categories of resources and the demand quantity ratios corresponding to the multiple target categories of resources satisfying a similarity condition; and a control module for controlling the transport vehicles to travel to the designated loading position to unload the target categories of resources according to the transport tasks and the loading demand information of the designated loading position for the target categories of resources in the designated production area.

[0006] Another aspect of this disclosure provides a control system for mining mineral resources, comprising: an unmanned transport vehicle and a server. The server is communicatively connected to the unmanned transport vehicle and is configured to perform a method for controlling the operating vehicle according to embodiments of this disclosure.

[0007] Another aspect of this disclosure provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to perform the method as described above.

[0008] Another aspect of this disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed, are used to implement the method described above.

[0009] Another aspect of this disclosure provides a computer program product including computer-executable instructions that, when executed, are used to implement the method described above.

[0010] According to embodiments of this disclosure, by receiving resource demand information of target products and planning transportation tasks that ensure the demand ratios of multiple target resource categories and the proportional relationships between multiple target loading volumes meet similarity conditions, it is possible to control transport vehicles to drive to designated production areas to unload loaded target resource categories based on the transportation tasks and designated loading positions for the loading demand information of target resource categories. This allows for the unloading of target resource categories by multiple transport vehicles to designated production areas, according to the demand for multiple target resource categories in the production of target mineral products. This ensures that the target resource categories unloaded by multiple transport vehicles in designated production areas meet the production needs of target mineral products, avoiding idle time due to a lack of any target resource category in the designated production area, and improving the production efficiency of target mineral products. Attached Figure Description

[0011] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0012] Figure 1 This diagram schematically illustrates an application scenario of a method and apparatus for controlling a work vehicle according to embodiments of the present disclosure.

[0013] Figure 2 A flowchart illustrating a method for controlling a work vehicle according to an embodiment of the present disclosure is shown schematically.

[0014] Figure 3This diagram schematically illustrates an application scenario of a method for controlling a work vehicle according to an embodiment of the present disclosure.

[0015] Figure 4 This diagram schematically illustrates an application scenario of a method for controlling a work vehicle according to another embodiment of the present disclosure.

[0016] Figure 5 The diagram illustrates an application scenario of a control system for mining mineral resources according to an embodiment of the present disclosure.

[0017] Figure 6 A block diagram schematically illustrates an apparatus for controlling a work vehicle according to an embodiment of the present disclosure;

[0018] Figure 7 A block diagram of an electronic device suitable for implementing a method of controlling a work vehicle according to an embodiment of the present disclosure is shown schematically. Detailed Implementation

[0019] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0020] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0021] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0022] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0023] In the embodiments disclosed herein, the collection, updating, analysis, processing, use, transmission, provision, disclosure, and storage of data (e.g., including but not limited to user personal information) comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures have been taken to prevent unauthorized access to user personal information data and to safeguard user personal information security, network security, and national security.

[0024] In the embodiments disclosed herein, user authorization or consent is obtained before acquiring or collecting user personal information.

[0025] Mineral resource products can be obtained by processing one or more categories of mineral resources. For example, high-calorific-value coal resources and low-calorific-value coal resources can be mixed and processed to obtain mineral resource products that meet the actual needs of users. However, in mining operations used to produce mineral resource products, the process of multiple vehicles performing tasks may not be able to meet the processing needs of mineral resource products in a timely manner. This can easily lead to abnormal situations such as waiting for raw materials, thus affecting the production efficiency of mineral resource products.

[0026] Embodiments of this disclosure provide a method for controlling operating vehicles and a control system for mining mineral resources. The method for controlling operating vehicles includes: receiving resource demand information for producing target mineral products, the resource demand information representing the demand quantity corresponding to each of multiple target categories of resources needed in a designated production area; arranging tasks based on the demand quantity corresponding to the target categories of resources and resource loading information of candidate transport vehicles to obtain transport tasks related to the target categories of resources, the transport tasks indicating that transport vehicles loaded with the target categories of resources among multiple candidate transport vehicles will travel to the designated production area, the proportional relationship between the target loading quantities corresponding to each of the multiple target categories of resources and the demand quantity ratios corresponding to each of the multiple target categories of resources satisfy a similarity condition; and controlling the transport vehicles to travel to the designated loading position to unload the target categories of resources based on the transport tasks and the loading demand information of a designated loading position for the target categories of resources in the designated production area.

[0027] Figure 1 The illustration schematically depicts an application scenario of a method and apparatus for controlling a work vehicle according to an embodiment of the present disclosure.

[0028] like Figure 1As shown, application scenario 100 according to this embodiment may include a first vehicle 101, a second vehicle 102, a third vehicle 103, a network 104, and a server 105. The network 104 serves as a medium for providing a communication link between terminal devices 101, 102, 103, and the server 105. The network 104 may include various connection types, such as wired or wireless communication links, or fiber optic cables, etc.

[0029] The first vehicle 101, the second vehicle 102, and the third vehicle 103 can each interact with the server 105 via network 104 to receive or send messages, etc. The first vehicle 101, the second vehicle 102, and the third vehicle 103 can also interact with each other via network 104 to receive or send messages. The first vehicle 101, the second vehicle 102, and the third vehicle 103 can be unmanned vehicles, or may include vehicles driven by a driver.

[0030] The first vehicle 101, the second vehicle 102, and the third vehicle 103 can be any type of work vehicle, such as a mining truck or an excavator.

[0031] Server 105 can be a server that provides various services, such as a server that provides backend management of the movement and operation status of the first vehicle 101, the second vehicle 102, and the third vehicle 103 (this is just an example). The backend management server can analyze and process data such as broadcast messages sent by the vehicles and feed back the processing results to any one of the vehicles.

[0032] It should be noted that the method for controlling work vehicles provided in this disclosure embodiment can generally be executed by server 105. Correspondingly, the device for controlling work vehicles provided in this disclosure embodiment can generally be located in server 105. The method for controlling work vehicles provided in this disclosure embodiment can also be executed by a server or server cluster that is different from server 105 and capable of communicating with the first vehicle 101, the second vehicle 102, the third vehicle 103, and / or server 105. Correspondingly, the device for controlling work vehicles provided in this disclosure embodiment can also be located in a server or server cluster that is different from server 105 and capable of communicating with the first vehicle 101, the second vehicle 102, the third vehicle 103, and / or server 105.

[0033] It should be understood that Figure 1 The number of vehicles, networks, and servers shown is merely illustrative. Any number of vehicles, networks, and servers can be included depending on implementation needs.

[0034] Figure 2 A flowchart illustrating a method for controlling a work vehicle according to an embodiment of the present disclosure is shown schematically.

[0035] like Figure 2 As shown, the method for controlling the work vehicle in this embodiment includes operations S210 to S230.

[0036] In operation S210, resource requirement information for producing the target mineral product is received.

[0037] In operation S220, tasks are arranged based on the demand corresponding to the target category of resources and the resource loading information of candidate transport vehicles to obtain transport tasks related to the target category of resources.

[0038] In operation S230, based on the transportation task and the material feeding requirements of the designated feeding position in the designated production area for the target category of resources, the transport vehicle is controlled to drive to the designated feeding position to unload the target category of resources.

[0039] According to embodiments of this disclosure, the target mineral product can be a mineral resource product obtained by processing multiple categories of mineral resources according to business needs. For example, the target mineral product can be a coal product obtained by crushing and mixing coal raw materials of multiple calorific values. It should be noted that the category of mineral resources can represent resource attributes such as grade and quality of mineral resources, and the target category of resources can have one or more resource attributes of mineral resources. For example, the target category of resources can be high-calorific-value wet coal, and the target category of resources can have both high-calorific-value attributes and target moisture attributes.

[0040] According to embodiments of this disclosure, resource demand information represents the demand for each of multiple target categories of resources required by a specified production area. For example, resource demand information may represent the weight of each of the multiple target categories of resources required to process the target mineral product, the proportional relationship between the multiple target categories of resources, and other information related to the demand for target categories of resources.

[0041] According to embodiments of this disclosure, the transport vehicle can be a vehicle capable of loading and unloading target category resources, such as an unmanned mining truck or other vehicle with autonomous driving capabilities.

[0042] According to embodiments of this disclosure, a transportation task instructs a transport vehicle carrying the target product category resources from among a plurality of candidate transport vehicles to travel to a designated production area. For example, the transportation task may instruct the transport vehicle to the location of the designated production area, and the transport vehicle's autonomous driving module may perform path planning based on the location of the designated production area and travel to the designated area according to the planned autonomous driving path. Alternatively, the transportation task may also include an autonomous driving path for controlling the transport vehicle to travel to the designated production area, so as to directly control the transport vehicle to travel to the designated production area according to the transportation task.

[0043] In some embodiments, a preset task planning algorithm can be used to process the demand for multiple target category resources and the resource loading information of candidate transport vehicles to obtain the transport task corresponding to the transport vehicle among the candidate transport vehicles.

[0044] According to embodiments of this disclosure, the proportional relationship between the target loading quantities corresponding to each of the multiple target product categories satisfies a similarity condition with the demand ratio of each of the multiple target product categories corresponding to their respective demand quantities. The target loading quantity of a target product category can represent the loading quantity of the target transport vehicle carrying the target product category as instructed by the transport task. The target loading quantity can represent the amount of target product category resources dispatched to a designated production area according to the transport task.

[0045] According to embodiments of this disclosure, a designated feeding position can be used as an operation location for processing unloaded target category resources. For example, a designated feeding position can be a crushing position for crushing target category resources. Feeding demand information can indicate the required quantity of each target category resource for the designated feeding position.

[0046] Therefore, the proportional relationship between multiple target loading volumes can represent the resource quantity ratio among multiple target categories of resources that have been transported to or are being transported to the designated production area. When the proportional relationship between multiple target loading volumes and the demand ratio meet the similarity condition, it can indicate that the individual resource quantity of each target category of resources that has been transported to or is being transported to the designated production area can meet the requirements of the individual demand quantities of multiple target categories of resources in the resource demand information. Therefore, based on the transportation task and the material feeding demand information of the designated feeding points for target categories of resources, the transport vehicles can be controlled to travel to the designated production area to unload the loaded target categories of resources and unload them at the designated feeding points. This achieves the goal of scheduling transport vehicles in the operation scenario to unload each target category of resources according to the demand for the production of target mineral products, ensuring that the target categories of resources unloaded by multiple transport vehicles to the designated production area meet the production demand for target mineral products. This avoids idle time caused by the lack of any target category of resources in the designated production area, thereby improving the production efficiency of target mineral products.

[0047] The method for controlling work vehicles provided in this disclosure will be explained in detail below with reference to the accompanying drawings and specific embodiments.

[0048] In some embodiments, multiple waiting transport vehicles loaded with target category resources queue in a waiting area associated with a designated production area. These waiting transport vehicles may be those assigned transport tasks and driven to a waiting area outside the designated production area to wait. Each of the queued waiting transport vehicles is loaded with a corresponding target category resource.

[0049] In one example, an empty transport vehicle used to unload resources of the first target category in a designated production area is traveling out of the designated production area, or will travel out of the designated production area in a future specified time period. Empty transport vehicles in the designated production area are those that have already unloaded the loaded resources of the first target category. After completing the unloading task, the empty transport vehicle can plan an exit path to leave the designated production area, leaving the first designated loading position idle so that the next transport vehicle performing the transport task can approach the first designated loading position to load resources.

[0050] In some embodiments, controlling a transport vehicle to drive to a designated feeding position to unload the target category resource based on the transport task and the feeding demand information of a designated feeding position in a designated production area for the target category resource may include: determining a target transport vehicle loaded with the first target category resource from a plurality of waiting transport vehicles based on the feeding demand information of a first designated feeding position in a designated production area for the first target category resource; performing task planning on the target transport vehicle based on the waiting position of the target transport vehicle and the movement status of empty transport vehicles to obtain an entry task; and

[0051] According to embodiments of this disclosure, the first designated feeding position is the designated feeding position corresponding to the unloading task of the target category resource completed by the empty transport vehicle. The feeding requirement information of the first designated feeding position for the first target category resource may include the category type of the first target category resource, the unloading weight of the first target category resource to be unloaded, and other requirement information for producing the target mineral product.

[0052] It should be noted that a designated production area may include multiple designated feeding points, where multiple transport vehicles feed different types of target mineral resources at these points to meet the proportional demand of the target mineral product for these multiple target mineral resource types. The first target mineral resource and the second target mineral resource can be different types of target mineral resources. For example, the first target mineral resource may be high-calorific-value coal, and the second target mineral resource may be low-calorific-value coal.

[0053] In some embodiments, the unloading requirement information for a first target category of resources can be indicated based on the feeding requirement information corresponding to the first designated feeding position. By matching the feeding requirement information with the category type and loading quantity of the target category resources loaded by each of the waiting transport vehicles, a first target transport vehicle matching the feeding requirement information can be determined, and the first target category resources loaded by the first target transport vehicle match the demand quantity of the first target category resources in the feeding requirement information.

[0054] According to embodiments of this disclosure, a target transport vehicle is controlled to enter a designated production area based on an entry task. Task planning for the target transport vehicle is performed based on the waiting position and the movement state of the empty transport vehicle. This may include processing the position information of the waiting position and the first designated loading position using a path planning algorithm, and using the vehicle position, speed, and other movement states of the empty transport vehicle as constraints for the path planning algorithm to obtain an entry path. The entry path can control the first target transport vehicle to enter the designated production area after the empty transport vehicle has passed through the waiting area, and stop at the first designated loading position to unload the first target product category resource.

[0055] According to embodiments of this disclosure, by planning tasks based on the movement status of empty transport vehicles, the entry task can control the target transport vehicle to avoid collisions with empty transport vehicles. At the same time, according to the feeding requirements of the feeding stations for the first target category of resources, the target transport vehicle can be controlled to overtake other waiting transport vehicles from the queue of waiting vehicles to enter the designated production area. This allows for real-time fulfillment of the feeding requirements of each designated feeding station for each target category of resources, reducing the idle waiting time for producing target mineral products and improving the production and processing efficiency of target mineral resources.

[0056] In some embodiments, controlling a target transport vehicle to enter a designated production area based on an entry task may include: performing risk detection based on the entry path of the target transport vehicle, the movement status of an empty transport vehicle, and the exit path to obtain a risky location with a driving risk; and issuing an entry task to the target transport vehicle located at the waiting position when it is detected that an empty transport vehicle has already passed through the risky area corresponding to the risky location.

[0057] According to the disclosed embodiments, the entry path is determined by the target transport vehicle through path planning, and the exit path is used to control the empty transport vehicle to leave the designated production area. The exit path can be determined by the empty transport vehicle executing a path planning algorithm.

[0058] In some embodiments, a preset risk assessment model can be used to process the entry path of the target transport vehicle, the motion state of the empty transport vehicle, and the exit path to determine the risk location. The risk location can be the location where there is a collision risk between the empty vehicle and the target transport vehicle. For example, the risk location can be a path point where the entry path and the exit path coincide. The risk location can represent the location where there is a collision risk between the target transport vehicle and the empty transport vehicle.

[0059] For example, a risk location can be information indicating that the distance between the entry and exit paths is less than a preset distance threshold. A risk location can also indicate a congestion risk between the target transport vehicle and other risky transport vehicles.

[0060] The risk area corresponding to the risk location can be a preset area centered on the risk location. This allows for the issuance of an entry task to the target transport vehicle even after an empty transport vehicle has already passed through the risk area. This helps control the target transport vehicle to avoid collisions or congestion with the empty transport vehicle, and allows it to overtake other waiting vehicles to enter the designated production area, thereby improving the production efficiency and operational safety of the target mineral products.

[0061] In some embodiments, at least one waiting vehicle queues in front of the target vehicle. For example, the target vehicle may be the last of a group of waiting vehicles, or, for instance, the target vehicle may be in the middle of a group of waiting vehicles.

[0062] In some embodiments, task planning for the target transport vehicle based on the waiting position of the target transport vehicle and the motion state of the empty transport vehicle may further include: performing path planning based on the waiting position of at least one waiting transport vehicle, the waiting position of the target transport vehicle, and the motion state of the empty transport vehicle to obtain an overtaking path for controlling the target transport vehicle to perform an overtaking maneuver.

[0063] According to embodiments of this disclosure, the entry task may include an overtaking route. A server may invoke a route planning algorithm to process the waiting positions of the target transport vehicle and other waiting vehicles. The safe distance between the target transport vehicle and other transport vehicles is used as a constraint on the route planning algorithm to determine a path that allows the target transport vehicle to exit the queue of vehicles when there are other waiting vehicles acting as obstacles both in front and behind it. This enables the target transport vehicle to overtake other waiting transport vehicles and enter the designated production area according to the overtaking route.

[0064] In some embodiments, task planning for the target transport vehicle based on the waiting position of the target transport vehicle and the movement state of the empty transport vehicle may further include: sending an overtaking task to the target transport vehicle carrying the movement state of the empty transport vehicle.

[0065] In some embodiments, the overtaking instruction can be sent to the target transport vehicle via a communication link between the server and the target transport vehicle. The overtaking instruction can be sent to the target transport vehicle via a message encapsulated based on a preset communication protocol. In response to the overtaking instruction, the target transport vehicle performs path planning based on the waiting positions of at least one waiting transport vehicle, the waiting position of the target transport vehicle, and the movement state of the empty transport vehicle to obtain the overtaking path for the mission.

[0066] In some embodiments, the target transport vehicle may overtake multiple waiting transport vehicles according to an overtaking path to perform an overtaking task. The overtaking task may also include controlling the target transport vehicle to drive to an entry path near a first designated feeding position, so as to control the target transport vehicle to enter a designated production area according to the entry path and unload a first target category resource at the first designated feeding position.

[0067] Figure 3 The diagram illustrates an application scenario of a method for controlling a work vehicle according to an embodiment of the present disclosure.

[0068] like Figure 3 As shown, multiple waiting transport vehicles are queuing in waiting areas corresponding to designated production areas. These waiting transport vehicles are designated as first transport vehicle 311, second transport vehicle 312, and third transport vehicle 313. The type and quantity of target product resources loaded on each of these vehicles can be uploaded to the server. Empty transport vehicle 321 has completed its unloading task at the first designated loading position and is currently empty. Other target transport vehicles 322 have moved to the second designated loading position to perform unloading tasks for the second target product category.

[0069] The server can detect the task status information of the unloading tasks corresponding to empty transport vehicle 321 and other target transport vehicles 322. If the task status of the unloading task of empty transport vehicle 311 is detected as "unloading task completed," the server determines the resource requirements of the first designated feeding position for the first target category of resources based on the resource demand information.

[0070] Based on the material feeding requirements of the first designated feeding position for the first target product category, the server selects the second transport vehicle 312 as the target transport vehicle from the first transport vehicle 311, the second transport vehicle 312, and the third transport vehicle 313. The server obtains the exit path L321 of the empty transport vehicle 321 leaving the designated production area, as well as the waiting positions of the second transport vehicle 312, the first transport vehicle 311, and the third transport vehicle 313, to perform route planning and obtain the overtaking path L3111. The server can also determine the real-time driving position of the empty transport vehicle 321 based on its movement state along the exit path L321. If the empty transport vehicle 321 passes through the risk area N301 corresponding to the risk location, an overtaking task carrying the overtaking path L3111 is issued to the second transport vehicle 312, which then performs the overtaking action according to the overtaking path L3111. The second transport vehicle 312 plans the path L3112 based on the location of the first designated feeding position, and controls the second transport vehicle 312 to drive to the first designated feeding position to unload the first target category resource based on the entry path L3112.

[0071] In some embodiments, controlling the transport vehicle to drive to the designated feeding position to unload the target category resource according to the transport task and the feeding demand information of the designated feeding position in the designated production area may further include: controlling the target transport vehicle corresponding to each of the multiple designated feeding positions to perform unloading actions according to the category unloading sequence conditions used to produce the target mineral product.

[0072] According to embodiments of this disclosure, the resource requirement information includes category unloading order conditions, which indicate the unloading order of multiple target category resources for producing the target mineral product.

[0073] In some embodiments, the server can obtain the unloading task execution status of multiple target transport vehicles performing unloading tasks at designated feeding positions. Based on the unloading order condition, if the target transport vehicle unloading the first target resource category completes its unloading task, the target transport vehicle corresponding to the second designated feeding position will unload the second target resource category. During the unloading of the second target resource category to the second designated feeding position, an empty transport vehicle leaves the designated production area, and the first target transport vehicle in the queue of waiting transport vehicles performs an overtaking task and enters the designated production area to wait for the target transport vehicle corresponding to the second designated feeding position to complete its unloading. This allows multiple different designated feeding positions to alternately unload different target resource categories to meet the production and processing needs of the target mineral resources.

[0074] In some embodiments, if there is no target transport vehicle parked near one of the multiple designated feeding positions, or if the target transport vehicle cannot reach the available designated feeding position within a preset time period, the target transport vehicle corresponding to the adjacent designated feeding position can be controlled to prohibit the unloading task, so as to meet the actual business needs for producing the target mineral products.

[0075] In some embodiments, controlling the transport vehicle to drive to the designated loading position to unload the target category of resources may further include: determining the target unloading amount for the target transport vehicle based on the demand ratio; and issuing an unloading task to the target transport vehicle based on the target unloading amount.

[0076] According to embodiments of this disclosure, the carrying device of the target transport vehicle is loaded with target category resources, and the proportional relationship between the target unloading amounts corresponding to each of the multiple target category resources matches the demand ratio. The carrying device of the target transport vehicle can be a device for carrying and unloading materials. For example, the carrying device is a liftable cargo bin, which carries the target category resources by leveling the cargo bin and unloading the target category resources by raising one end of the cargo bin to allow the target category resources to slide down from the other end of the cargo bin.

[0077] In some embodiments, the target unloading amount can correspond to the feeding demand of a specified feeding position for the target type of resource. When the loading amount of the target type of resource on the target transport vehicle is greater than the target unloading amount, task execution parameters such as the attitude of the transport device and the execution time of the unloading task can be controlled based on the unloading task to enable the target vehicle to unload the corresponding target unloading amount.

[0078] In some embodiments, the unloading task is used to indicate at least one of the following control information related to the transport device: unloading tilt angle and unloading tilt duration.

[0079] For example, the unloading tilt angle can represent the lifting angle of one end of the liftable truck bed. Truck beds located at different unloading tilt angles can unload target category resources based on different unloading speeds.

[0080] For example, the unloading tilt duration can represent the duration for which one end of the truck bed is raised and maintained at a specified unloading tilt angle.

[0081] It should be noted that the server can send lifting and lowering commands to the target transport vehicle to send control information, thereby controlling the target transport vehicle to perform or stop the unloading task.

[0082] In some embodiments, the loading amount of the target category resources on the transport vehicle's carrying device can be data reported by the transport vehicle. Control information in the unloading task is determined by setting multiple preset unloading amounts and preset control information.

[0083] For example, if the target transport vehicle has a rated loading capacity of 120 tons for the target product category, preset unloading capacities can be set to 60 tons and 120 tons respectively. The preset control information corresponding to half the rated loading capacity (60 tons) is that, when the target transport vehicle is fully loaded, the unloading tilt angle is 45 degrees and the unloading tilt duration is 20 seconds. Alternatively, the preset control information corresponding to half the rated loading capacity (60 tons) could be that, when the target transport vehicle has half of the rated loading capacity remaining, the unloading tilt angle is 30 degrees and the unloading tilt duration is 45 seconds. When the preset unloading capacity is the rated loading capacity (e.g., unloading the entire vehicle), the corresponding control information is an unloading tilt angle of 45 degrees and an unloading tilt duration of 60 seconds.

[0084] By establishing a mapping relationship between the preset unloading amount, the remaining loading amount of the transport device, and preset control information, control information such as the unloading tilt angle and unloading tilt duration can be determined by obtaining the current remaining loading amount and target unloading amount of the target transport vehicle. This allows for precise control of unmanned mining trucks and other target transport vehicles to meet the actual demand ratio for producing target mineral products, even when there is no weight detection equipment to unload the target type of resources. For example, it can ensure that the target unloading amounts of target transport vehicles at two different designated feeding positions meet the 2:1 ratio of high-calorific-value coal to low-calorific-value coal. Alternatively, it can ensure that the target unloading amounts of target transport vehicles at two different designated feeding positions meet the ratio of dry coal to wet coal, thereby improving the production efficiency of target mineral products.

[0085] Figure 4 The diagram illustrates an application scenario of a method for controlling a work vehicle according to another embodiment of the present disclosure.

[0086] like Figure 4 As shown, the first transport device 401 and the second transport device 402 are the respective transport devices for the first and second target transport vehicles. By controlling the unloading tilt angle of the first transport device 401 to 45 degrees and the unloading tilt duration to 20 seconds, half of the first target mineral resources carried by the first target transport vehicle are unloaded to the second designated loading position. Similarly, by controlling the unloading tilt angle of the second transport device 402 to 45 degrees and the unloading tilt duration to 60 seconds, all the second target mineral resources carried by the second target transport vehicle are unloaded to the second designated loading position. The unloading tilt angle can be represented, for example, as the angle between the first transport device 401 or the second transport device 402 and a preset horizontal line.

[0087] In some embodiments, the target transport vehicle unloads target category resources at a loading station in a designated production area. Issuing unloading tasks to the target transport vehicle based on the target unloading volume may further include: issuing a first unloading task to a first target transport vehicle loaded with a first target category of resources, and issuing a second unloading task to a second target transport vehicle loaded with a second target category of resources; during a designated idle period, controlling the transport device of the first target transport vehicle to suspend unloading operations.

[0088] According to embodiments of this disclosure, a first unloading task represents unloading a first portion of the unloading amount, which is less than the first loading amount loaded by the first target transport vehicle; a second unloading task indicates unloading all the second target category resources loaded by the second target transport vehicle.

[0089] According to embodiments of this disclosure, a designated idle period represents the time interval between the completion of the first unloading task and the arrival of the third target transport vehicle carrying the second target category of resources at the designated loading position. By issuing a stop operation command to the first target transport vehicle during the designated idle period, the carrying device of the first target transport vehicle is controlled to return to the posture of carrying the target category of resources, and the unloading operation is suspended.

[0090] In one example, the first target resource category is low-calorific-value wet coal, and the second target resource category is high-calorific-value dry coal. The demand ratio for the target mineral product for high-calorific-value dry coal and low-calorific-value wet coal is 2:1. A first target transport vehicle fully loaded with low-calorific-value wet coal and a second target transport vehicle fully loaded with high-calorific-value dry coal are respectively parked at the first designated feeding location and the second designated feeding location.

[0091] A first unloading task is issued to the first target transport vehicle. The control information carried in this task instructs the first target transport vehicle to raise its cargo bucket to 45 degrees, maintain this position for 20 seconds, and then lower it to a horizontal position, pausing the unloading operation. At this point, the first unloading amount is half of the first loading amount. A second unloading task is issued to the second target transport vehicle. The control information carried in this task instructs the second target vehicle to raise its cargo bucket to 45 degrees, maintain this position for 60 seconds, and then lower it, unloading all the high-calorific-value dry coal loaded on the second target transport vehicle.

[0092] With the third target transport vehicle, loaded with high-calorific-value dry coal, parked at the second designated feeding position, an unloading task is issued to the first target transport vehicle. The control information carried in this unloading task raises the cargo bucket of the first target transport vehicle to 30 degrees, holds it for 45 seconds, and then lowers it, thus unloading all the remaining low-calorific-value wet coal. A second unloading task is then sent to the third target transport vehicle to raise its cargo bucket to 45 degrees, hold it for 60 seconds, and then lower it, achieving the unloading of all low-calorific-value wet coal. Therefore, by issuing unloading tasks to the target transport vehicles, the lifting and transporting devices of these vehicles can be precisely controlled, allowing the corresponding target resource types to be unloaded to each designated feeding position according to demand ratios, thereby improving the production efficiency and product quality of the target mineral products.

[0093] According to embodiments of this disclosure, the server can specify the feeding requirements of multiple target resource categories at a feeding station based on the demand ratio of the target mineral product for multiple target resource categories, and the current remaining load capacity of the target transport vehicle. This allows for precise control of the unloading tilt angle and duration of each target transport vehicle. This enables precise unloading according to the product quality requirements of the target mineral product, improving both product quality and production efficiency.

[0094] According to embodiments of this disclosure, issuing unloading tasks to target transport vehicles based on target unloading volume further includes: determining the issuance order of multiple unloading tasks corresponding to each of the multiple target resource categories based on the unloading order indicated by resource demand information; and issuing the unloading tasks corresponding to each of the multiple target resource categories to multiple target transport vehicles carrying the multiple target resource categories based on the issuance order. Thus, the product quality of the target mineral products can be guaranteed by controlling the issuance order of unloading tasks, thereby meeting the production efficiency requirements for the target mineral products.

[0095] In some embodiments, the method for controlling the operation vehicle further includes: determining the mining operation task based on the demand corresponding to multiple target categories of resources indicated by resource demand information; and issuing the mining operation task to the target mining vehicle.

[0096] According to embodiments of this disclosure, a mining operation task designates target mining vehicles corresponding to multiple target resource categories and indicates a proportional relationship between multiple mining efficiencies corresponding to each target resource category, matching the demand ratio of multiple quantities. Target mining vehicles may include operating vehicles such as excavators used for mining target resource categories. Mining efficiency is determined based on the mining operation capacity of the target mining vehicles corresponding to the target resource category. For example, mining efficiency may be the weight of coal excavated per hour. Thus, the mining task can indicate the ratio between the total mining efficiency of multiple first target mining vehicles used for mining high-calorific-value coal and the total mining efficiency of multiple second target mining vehicles used for mining low-calorific-value coal, which is the same as the demand ratio. When the mining efficiencies of the first and second target mining vehicles are the same, the ratio of the number of first target mining vehicles to the number of second target mining vehicles is the same as or similar to the demand ratio.

[0097] According to embodiments of this disclosure, the target mining vehicle travels to the mining area corresponding to the target type of resource based on the mining operation task, so as to load the target type of resource into the transport vehicle by performing the mining operation task.

[0098] In one example, multiple target resource categories are high-calorific-value coal and low-calorific-value coal, the target mining vehicles are unmanned excavators, and the transport vehicles are unmanned mining trucks. The server uses the regional location information of each coal resource category on the map and the blending ratio of high-calorific-value coal to low-calorific-value coal in the resource demand information as the demand ratio. The server calls the task planning module to issue mining tasks to each unmanned excavator based on the regional location information and the demand ratio. The mining task includes the regional location information corresponding to either high-calorific-value coal or low-calorific-value coal. The ratio of the number of first unmanned excavators used for mining high-calorific-value coal to the number of second unmanned excavators used for mining low-calorific-value coal is the same as or close to the demand ratio.

[0099] In some embodiments, the method for controlling the operating vehicle further includes: determining the location of the mining area related to the target type of resource from map information characterizing the operating environment; and planning the loading task based on the location of the mining area and the location of the empty transport vehicle.

[0100] According to embodiments of this disclosure, the loading task instructs a target empty transport vehicle in an empty transport vehicle to travel from the target vehicle location to the mining area corresponding to the target type of resource to load the target type of resource, and also instructs the loading amount of the target empty transport vehicle to match the demand corresponding to the target type of resource.

[0101] In some examples, the server plans the routes for multiple empty transport vehicles based on their current locations and the locations of various mining areas. By processing these routes from nearest to farthest, loading task planning is achieved, ensuring that the target empty vehicles travel the shortest distance to the mining area, thus avoiding energy waste and minimizing the impact on operational efficiency.

[0102] In some embodiments, transport vehicles for each designated feeding location can be determined from candidate transport vehicles already loaded with target resource categories, based on the proportion of demand for multiple target resource categories by the target mineral product. By issuing transport tasks to multiple transport vehicles, the loading capacity of each transport vehicle for each target resource category is matched with the feeding demand of each designated feeding location for each target resource category. This ensures that the unloading capacity of transport vehicles arriving at multiple designated feeding locations can promptly meet the processing needs of the target mineral product, avoiding excessive waiting times for transport vehicles loaded with target resource categories.

[0103] In some embodiments, the number of transport vehicles traveling to each feed station in the future can be predicted based on the processing efficiency of the designated feed station, in order to avoid excessive queuing and backlog of transport vehicles at the entrance of the designated production area. In addition, the server can also dispatch waiting transport vehicles to other designated production areas with fewer waiting transport vehicles based on the number of waiting vehicles in the queue, in order to improve operational efficiency.

[0104] In one example, the server can also use the preset constraint number of waiting transport vehicles outside each designated production area as a constraint condition to perform task orchestration, so that the number of waiting vehicles queuing outside the designated production area is less than the preset constraint number, thereby reducing the backlog of queuing vehicles and improving the efficiency of transportation operations.

[0105] Based on the method for controlling operating vehicles provided in the above embodiments, embodiments of this disclosure also provide a control system for mining mineral resources.

[0106] According to embodiments of this disclosure, a control system for mining mineral resources includes: an unmanned transport vehicle and a server. The server is communicatively connected to the unmanned transport vehicle and is configured to execute a method for controlling the operating vehicle according to embodiments of this disclosure.

[0107] Figure 5 The diagram illustrates an application scenario of a control system for mining mineral resources according to an embodiment of the present disclosure.

[0108] like Figure 5As shown, the control system 500 for mining mineral resources includes a cloud server 501, a first unmanned transport vehicle 511, and a second unmanned transport vehicle 512. The cloud server 501 is used to execute the method for controlling the operating vehicles provided in the embodiments of this disclosure, and the first unmanned transport vehicle 511 and the second unmanned transport vehicle 512 are used to unload multiple target types of resources to designated feeding positions in designated production areas to produce target mineral products.

[0109] Figure 6 A block diagram of a device for controlling a work vehicle according to an embodiment of the present disclosure is shown schematically.

[0110] like Figure 6 As shown, the device 600 for controlling the work vehicle includes a receiving module 610, a task scheduling module 620, and a control module 630.

[0111] The receiving module 610 is used to receive resource demand information for the production of target mineral products. The resource demand information represents the demand for multiple target categories of resources in a specified production area.

[0112] The task orchestration module 620 is used to orchestrate tasks based on the demand corresponding to the target category of resources and the resource loading information of candidate transport vehicles, to obtain transport tasks related to the target category of resources. The transport tasks indicate that among multiple candidate transport vehicles, the transport vehicles carrying the target category of resources will travel to the designated production area. The proportional relationship between the target loading quantities corresponding to each of the multiple target category of resources and the demand quantity ratio corresponding to each of the multiple target category of resources meet the similarity condition.

[0113] The control module 630 is used to control the transport vehicle to drive to the designated feeding position to unload the target category resources based on the transportation task and the feeding demand information of the designated feeding position in the designated production area.

[0114] According to an embodiment of this disclosure, the control module is configured to: determine the target unloading amount for the target transport vehicle based on the demand ratio, wherein the transport device of the target transport vehicle is loaded with target category resources, and the proportional relationship between the target unloading amounts corresponding to the multiple target category resources is matched with the demand ratio; and issue an unloading task to the target transport vehicle based on the target unloading amount, wherein the unloading task is used to indicate at least one of the following control information related to the transport device: unloading tilt angle and unloading tilt duration.

[0115] According to embodiments of this disclosure, a target transport vehicle unloads target category resources at a loading station in a designated production area; the control module is further configured to: issue a first unloading task to a first target transport vehicle loaded with a first target category resource, and issue a second unloading task to a second target transport vehicle loaded with a second target category resource, wherein the first unloading task represents unloading a first portion of the unloading amount, which is less than the first loading amount loaded by the first target transport vehicle; the second unloading task indicates that the second target transport vehicle unloads all the second target category resources loaded thereon; during a designated idle period, the transport device of the first target transport vehicle is controlled to suspend the unloading operation, and the designated idle period represents the interval between the completion of the first unloading task and the arrival of the third target transport vehicle loaded with the second target category resource at the designated loading station;

[0116] According to an embodiment of this disclosure, the control module is further configured to: determine the order of issuing multiple unloading tasks corresponding to each of the multiple target category resources based on the unloading order indicated by the resource demand information; and issue the unloading tasks corresponding to each of the multiple target category resources to the multiple target transport vehicles carrying the multiple target category resources based on the order of issuance.

[0117] According to embodiments of this disclosure, multiple waiting transport vehicles loaded with target category resources are queuing in a waiting area associated with a designated production area; an empty transport vehicle in the designated production area for unloading the first target category resource is traveling out of the designated production area, or will travel out of the designated production area in a future specified time period; wherein, the control module is further configured to: determine the target transport vehicle loaded with the first target category resource from the multiple waiting transport vehicles based on the feeding demand information of the first designated feeding position for the first target category resource in the designated production area; perform task planning for the target transport vehicle based on the waiting position of the target transport vehicle and the movement state of the empty transport vehicle to obtain an entry task, the entry task being used to control the target transport vehicle to travel from the waiting position to the first designated feeding position; and control the target transport vehicle to enter the designated production area based on the entry task.

[0118] According to embodiments of this disclosure, the control module is further configured to: perform risk detection based on the entry path of the target transport vehicle, the movement state of the empty transport vehicle, and the exit path to obtain risky locations where there is a driving risk, wherein the entry path is determined by the target transport vehicle through path planning, and the exit path is used to control the empty transport vehicle to leave the designated production area; and when it is detected that the empty transport vehicle has already driven through the risky area corresponding to the risky location, issue an entry task to the target transport vehicle located at the waiting position.

[0119] According to an embodiment of this disclosure, at least one waiting transport vehicle queues up in front of a target transport vehicle; wherein, the control module is further configured to: perform path planning based on the waiting positions of at least one waiting transport vehicle, the waiting position of the target transport vehicle, and the motion state of the empty transport vehicle, to obtain an overtaking path for controlling the target transport vehicle to perform an overtaking action, and the entry task includes the overtaking path.

[0120] According to an embodiment of this disclosure, the control module is further configured to: perform task planning for the target transport vehicle based on the waiting position of the target transport vehicle and the motion state of the empty transport vehicle; and further to: send an overtaking task carrying the motion state of the empty transport vehicle to the target transport vehicle; the target transport vehicle responds to the overtaking instruction and performs path planning based on the waiting position of at least one waiting transport vehicle, the waiting position of the target transport vehicle and the motion state of the empty transport vehicle to obtain the overtaking path in the entry task.

[0121] According to an embodiment of this disclosure, the control module is further configured to: control multiple designated feeding positions to perform unloading actions according to the category unloading sequence conditions for producing target mineral products. The resource requirement information includes category unloading sequence conditions, which indicate the unloading sequence of multiple target category resources for producing target mineral products.

[0122] According to embodiments of this disclosure, the device for controlling the operating vehicle further includes: a first determining module and a mining operation task issuing module.

[0123] The first determining module is used to determine mining operation tasks based on the demand quantities corresponding to multiple target categories of resources indicated by resource demand information. The mining operation tasks indicate the target mining vehicles corresponding to each of the multiple target categories of resources, and indicate the proportional relationship between multiple mining efficiencies corresponding to each of the multiple target categories of resources, which are matched with the demand quantity ratios of multiple quantities. The mining efficiency is determined based on the mining operation capabilities of the target mining vehicles corresponding to the target categories of resources.

[0124] The mining operation task assignment module is used to assign mining operation tasks to target mining vehicles. The target mining vehicles travel to the mining area corresponding to the target resource type according to the mining operation task, so as to load the target resource type into the transport vehicle by performing the mining operation task.

[0125] According to embodiments of this disclosure, the device for controlling the work vehicle further includes a second determining module and a third determining module.

[0126] The second determination module is used to determine the location of mining areas related to the target type of resource from map information representing the operating environment.

[0127] The third determination module is used to plan loading tasks based on the location of the mining area and the location of empty transport vehicles. The loading task instructs the target empty transport vehicle to travel from its target vehicle location to the mining area corresponding to the target resource category to load the target resource category. It also instructs the loading amount of the target empty transport vehicle to match the demand for the target resource category.

[0128] It should be noted that the device part for controlling the work vehicle in the embodiments of this disclosure corresponds to the method part for controlling the work vehicle in the embodiments of this disclosure. For a detailed description of the device part for controlling the work vehicle, please refer to the method part for controlling the work vehicle, which will not be repeated here.

[0129] Figure 7 A block diagram of an electronic device suitable for implementing a method of controlling a work vehicle according to an embodiment of the present disclosure is shown schematically. Figure 7 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0130] like Figure 7 As shown, an electronic device 700 according to an embodiment of this disclosure includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a ROM (Read-Only Memory) 702 or a program loaded from a storage portion 708 into a RAM (Random Access Memory) 703. The processor 701 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of this disclosure.

[0131] RAM 703 stores various programs and data required for the operation of electronic device 700. Processor 701, ROM 702, and RAM 703 are interconnected via bus 704. Processor 701 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 702 and / or RAM 703. It should be noted that the programs may also be stored in one or more memories other than ROM 702 and RAM 703. Processor 701 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0132] According to embodiments of this disclosure, the electronic device 700 may further include an input / output (I / O) interface 705, which is also connected to a bus 704. The electronic device 700 may also include one or more of the following components connected to the input / output (I / O) interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the input / output (I / O) interface 705 as needed. A removable medium 711, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be installed into the storage section 708 as needed.

[0133] According to embodiments of this disclosure, the method flow according to embodiments of this disclosure can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 709, and / or installed from removable medium 711. When the computer program is executed by processor 701, it performs the functions defined in the system of embodiments of this disclosure. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0134] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0135] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0136] For example, according to embodiments of this disclosure, a computer-readable storage medium may include the ROM 702 and / or RAM 703 described above and / or one or more memories other than ROM 702 and RAM 703.

[0137] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods provided in the embodiments of this disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the methods for controlling work vehicles provided in the embodiments of this disclosure.

[0138] When the computer program is executed by the processor 701, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0139] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 709, and / or installed from a removable medium 711. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0140] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on a user's computing device, partially on a user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0141] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features described in the various embodiments of the present disclosure can be combined and / or combined in various ways, even if such combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments of this disclosure may be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0142] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A method for controlling a work vehicle, comprising: Receive resource demand information for the production of target mineral products, wherein the resource demand information represents the demand for each of multiple target categories of resources required by a specified production area; Based on the demand corresponding to the target category of resources and the resource loading information of candidate transport vehicles, task arrangement is performed to obtain transport tasks related to the target category of resources. The transport tasks indicate that among the multiple candidate transport vehicles, the transport vehicle carrying the target category of resources will travel to the designated production area. The ratio between the target loading quantities corresponding to each of the multiple target category of resources and the demand ratio of each of the multiple target category of resources satisfy the similarity condition. Based on the transportation task and the material feeding requirements of the designated feeding position in the designated production area for the target product category, the transport vehicle is controlled to drive to the designated feeding position to unload the target product category.

2. The method according to claim 1, in, The step of controlling the transport vehicle to travel to the designated loading position and unload the target product resource includes: Based on the demand ratio, the target unloading volume for the target transport vehicle is determined. The transport device of the target transport vehicle is loaded with the target category of resources. The proportional relationship between the target unloading volumes corresponding to the multiple target category resources is matched with the demand ratio. An unloading task is issued to the target transport vehicle based on the target unloading volume, wherein the unloading task is used to indicate at least one of the following control information related to the transport device: Unloading tilt angle and unloading tilt duration.

3. The method according to claim 2, wherein, The target transport vehicle unloads the target category of resources at the loading position in the designated production area; the step of issuing an unloading task to the target transport vehicle based on the target unloading volume includes: A first unloading task is issued to a first target transport vehicle carrying a first target category of resources, and a second unloading task is issued to a second target transport vehicle carrying a second target category of resources. The first unloading task represents unloading a first portion of the unloading amount, which is less than the first loading amount carried by the first target transport vehicle. The second unloading task indicates that all the second target category of resources carried by the second target transport vehicle should be unloaded. During a designated idle period, the unloading operation of the first target transport vehicle is suspended. The designated idle period is the time interval between the completion of the first unloading task and the arrival of the third target transport vehicle carrying the second target category of resources at the designated feeding position. Preferably, the step of issuing unloading tasks to the target transport vehicle based on the target unloading volume further includes: Based on the unloading order of multiple target category resources indicated by the resource demand information, the order in which multiple unloading tasks corresponding to each of the multiple target category resources are issued is determined; and Based on the order of issuance, unloading tasks corresponding to each of the multiple target categories of resources are issued to multiple target transport vehicles carrying multiple target category resources.

4. The method according to claim 1 or 2, wherein, Multiple transport vehicles loaded with target category resources are queuing in a waiting area associated with the designated production area; empty transport vehicles in the designated production area used to unload the first target category resources are traveling out of the designated production area, or will travel out of the designated production area in a future specified period of time. The step of controlling the transport vehicle to drive to the designated feeding position to unload the target product category resource based on the transport task and the feeding demand information of the designated feeding position in the designated production area includes: Based on the feeding demand information of the first designated feeding position in the designated production area for the first target category of resources, the target transport vehicle loaded with the first target category of resources is determined from multiple waiting transport vehicles; Based on the waiting position of the target transport vehicle and the movement status of the empty transport vehicle, task planning is performed on the target transport vehicle to obtain an entry task. The entry task controls the target transport vehicle to move from the waiting position to the first designated loading position; and According to the task description, the target transport vehicle is controlled to drive into the designated production area.

5. The method according to claim 4, wherein, The step of controlling the target transport vehicle to enter the designated production area according to the entry task includes: Risk detection is performed based on the entry path of the target transport vehicle, the movement status of the empty transport vehicle, and the exit path to identify risky locations where there is a driving risk. The entry path is determined by the path planning of the target transport vehicle, and the exit path is used to control the empty transport vehicle to leave the designated production area. If it is detected that the empty transport vehicle has already passed through the risk area corresponding to the risk location, the entry task is issued to the target transport vehicle located at the waiting position.

6. The method according to claim 4, wherein, At least one of the waiting transport vehicles is queuing in front of the target transport vehicle; The step of planning the task for the target transport vehicle based on its waiting location and the movement status of the empty transport vehicle further includes: Based on the waiting positions of at least one of the waiting transport vehicles, the waiting position of the target transport vehicle, and the movement state of the empty transport vehicle, path planning is performed to obtain an overtaking path for controlling the target transport vehicle to perform an overtaking maneuver, and the entry task includes the overtaking path; or The step of planning the task for the target transport vehicle based on the waiting position of the target transport vehicle and the movement status of the empty transport vehicle further includes: A passing mission carrying the motion status of an empty transport vehicle is sent to the target transport vehicle. In response to the passing command, the target transport vehicle performs path planning based on the waiting position of at least one waiting transport vehicle, the waiting position of the target transport vehicle, and the motion status of the empty transport vehicle to obtain the passing route in the passing mission.

7. The method according to claim 4, wherein, The step of controlling the transport vehicle to drive to the designated feeding position to unload the target category resource based on the transport task and the feeding demand information of the designated feeding position in the designated production area for the target category resource further includes: According to the category unloading sequence conditions used to produce the target mineral product, the target transport vehicles corresponding to each of the multiple designated feeding positions are controlled to perform unloading actions. The resource demand information includes the category unloading sequence conditions, which indicate the unloading sequence of multiple target category resources used to produce the target mineral product.

8. The method according to claim 1, further comprising: Based on the demand quantities corresponding to multiple target resource categories indicated by the resource demand information, mining operation tasks are determined. The mining operation tasks indicate the target mining vehicles corresponding to each of the multiple target resource categories and indicate the proportional relationship between multiple mining efficiencies corresponding to each of the multiple target resource categories, which are matched with the demand quantity ratio of the multiple demand quantities. The mining efficiency is determined based on the mining operation capacity of the target mining vehicles corresponding to the target resource categories. The mining operation task is issued to the target mining vehicle, wherein the target mining vehicle travels to the mining area corresponding to the target resource type according to the mining operation task, so as to load the target resource type into the transport vehicle by performing the mining operation task.

9. The method according to claim 1 or 8, wherein, The method further includes: The location of mining areas related to the target resource category is determined from map information representing the working environment; Based on the location of the mining area and the location of the empty transport vehicles, a loading task is planned and a loading task is determined. The loading task instructs the target empty transport vehicle to travel from its target vehicle location to the mining area corresponding to the target resource category to load the target resource category. It also instructs that the loading amount of the target empty transport vehicle matches the demand for the target resource category.

10. A control system for mining mineral resources, comprising: Unmanned transport vehicles; A server is communicatively connected to the unmanned transport vehicle, and the server is configured to perform the method of any one of claims 1 to 9.

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