A method for finding points and training techniques in a mining truck skills competition.

Abstract

This invention provides a method and training method for finding points in mining truck skills competitions, relating to the field of engineering machinery operation technology. It aims to solve the problems of existing mining truck skills competition point-finding operations, which rely on personal experience, have low accuracy, chaotic processes, and poor safety. The operation method includes a pre-calibration step, a core three-stage operation, and a reverse point-finding mirror operation. The core operation involves three stages: approaching through the channel centering, fine-tuning the lateral offset, and precise positioning via mirror vision. This is combined with fixed visual relationship alignment, lateral offset prediction and correction, parallel distance measurement using the rearview mirror, and predictive parking to achieve precise point-finding for the mining truck. The reverse scene mirror operation reuses the above technical features, completing positioning by adapting the rearview mirror to the reference line. The training method helps drivers develop muscle memory through layered and repeated practice of the above operations. This invention requires no modification to vehicle hardware, allows for rapid mastery, and provides stable and reproducible precise point-finding, meeting the competition's requirements for positioning accuracy and operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery operation technology, and in particular to a method and training method for finding points in mining truck skills competitions. Background Technology

[0002] Mining trucks are core equipment for material transfer in mines and infrastructure projects, and the skill level of their operators directly affects operational efficiency and safety. In various engineering machinery skills competitions, precise point location for mining trucks is a core assessment item, requiring drivers to park key parts of the vehicle, such as the rear wheels and the center of the truck bed, at designated target points within a short period of time, with deviations controlled within ±3 to ±10 centimeters.

[0003] The existing point-finding operation has significant technical defects: First, it relies on the operator's long-term practical experience and sense of distance, which is greatly affected by psychological state, physical fitness, and the venue environment. Under the high pressure of the competition, it is prone to errors and the results fluctuate wildly. Second, the high cab and large size of the mining truck create serious blind spots. Relying solely on the rearview mirror can easily lead to image distortion, making it difficult to achieve high-precision positioning. Third, the operation process lacks standardization. There is no unified basis for the timing of the driver's deceleration and the magnitude of the directional correction. It often requires multiple forward and backward corrections, wasting competition time and easily introducing new errors. Fourth, existing high-precision positioning technologies mostly rely on expensive sensors and automatic control systems, which conflict with the core requirement of the competition to assess human skills and cannot be applied to the competition scenario. Summary of the Invention

[0004] The purpose of this invention is to provide a method for finding points in mining truck skills competitions, which solves the problems of existing mining truck skills competitions that rely on personal experience, have low accuracy, chaotic processes, and poor safety.

[0005] To achieve the above objectives, the present invention provides a method for finding points in a mining truck skills competition, the method comprising:

[0006] Step S1: Adjust the vehicle body to be parallel to the center line of the target point channel, maintain a fixed visual relationship with the channel edge line using the first set of pre-marked visual reference points, and control the vehicle to approach the target point at a constant speed lower than the preset speed in the center of the channel.

[0007] Step S2: By observing the movement trajectory of the target point relative to the pre-marked second visual reference line, determine and correct the lateral offset of the vehicle so that the center line of the vehicle is aligned with the center of the target point.

[0008] Step S3: Switch to the rearview mirror for observation, ensuring that the target point or associated marker is parallel to and at a constant distance from the preset third reference line in the rearview mirror, thus completing the lateral fine-tuning; based on the pre-calibrated positional relationship between the in-vehicle parking reference point and the ground stop line, complete the longitudinal precise positioning through predictive parking actions.

[0009] Preferably, the first set of visual reference points consists of two symmetrically distributed left and right calibration marks on the lower edge of the vehicle's windshield or on the hood, with the positions satisfying that when the vehicle is driving in the center of the passage, the left and right edges of the passage are tangent to or maintain a fixed visual distance from the corresponding left and right calibration marks.

[0010] Preferably, the second visual reference line is a vertical reference line marked on the windshield, which is coplanar with the vehicle's center line, when the driver maintains a standard racing posture and keeps their head fixed, with their line of sight directly in front of them. The lateral offset direction between the vehicle's center line and the target point is determined by observing the left and right movement of the target point relative to the vertical reference line.

[0011] Preferably, the third reference line is a virtual reference line parallel to the vehicle body inside the rearview mirror, selected from the lower edge of the rearview mirror, the internal structural seam, or the internal calibration mark line.

[0012] Preferably, before step S1, a vehicle-driver calibration step is also included. Before the start of the competition, the driver, in a standard sitting position, determines the specific locations of the first set of visual reference points, the second visual reference line, and the parking reference point through actual parking operations within the preset calibration area.

[0013] Preferably, in step S2, the correction range of the vehicle's lateral deviation is ≤25 degrees, and the steering wheel is immediately straightened after the correction, following the principle of one-time correction to avoid frequent adjustments.

[0014] Preferably, the predictive parking action is the three-two-one parking method. When the visual distance between the parking reference point and the ground stop line is reduced to 0.3 meters to 0.8 meters, the driver silently counts to one in a three-two-one rhythm, and brakes smoothly and synchronously when counting to one.

[0015] Preferably, it also includes a method for reversing to find a reference point, mirroring the operation steps and technical features described in any one of claims 1-7.

[0016] Adjust the vehicle body to be parallel to the center line of the reversing lane, use the first set of pre-marked visual reference points to maintain a fixed visual relationship with the edge line of the lane, and control the vehicle to approach the reversing target point at a constant speed lower than the preset speed in the center of the lane.

[0017] Using the rearview mirror as the main observation window, the pre-calibrated second visual reference line is replaced by the vertical edge of the rearview mirror. By observing the movement trajectory of the reversing target point relative to the vertical edge, the lateral offset is corrected.

[0018] Simultaneous observation using the left and right rearview mirrors ensures that the vehicle's side edges are parallel to and at a constant distance from the preset third reference line, completing lateral fine-tuning. Based on the positional relationship between the parking reference point and the ground stop line, a predictive parking maneuver is used to precisely position the vehicle while reversing, ensuring it is centered and parallel to the target location.

[0019] Compared with existing technologies, the point-finding operation method for mining truck skills competitions provided by this invention has the following beneficial effects: This invention, through the pre-calibration of multiple sets of visual reference points / lines, transforms the position judgment of the vehicle relative to the target point into a concrete visual basis, sequentially completing channel centering, lateral offset correction, mirror fine-tuning, and longitudinal predictive parking. This eliminates reliance on the driver's subjective vehicle sense and operational experience, significantly improving the lateral and longitudinal positioning accuracy and stability of point-finding operations. The operation process is standardized and uniform, with clear visual judgment criteria at each stage, lowering the skill threshold and reducing human error and performance fluctuations during competitions. The solution is implemented solely through in-vehicle visual calibration, requiring no modification to vehicle hardware, adapting to different models of mining trucks and various competition venues, resulting in extremely low promotion and application costs. The vehicle approaches the target point at a constant, low speed, combined with continuous lateral and longitudinal positioning operations and predictive parking, avoiding repeated trial adjustments and significantly improving point-finding efficiency during competitions. Simultaneously, standardized observation angles and visual reference criteria reduce blind spot misjudgments, lower the risk of vehicle collisions, and improve the safety of competition operations.

[0020] This invention also provides a method for point-finding training in ore-carrying vehicle skills competitions, the method comprising:

[0021] Repeatedly practice and comprehensively rehearse the steps in the point-finding operation method of any of the above-mentioned mining truck skills competitions to form muscle memory and conditioned reflexes.

[0022] Compared with the prior art, the point-finding training method for mining truck skills competition provided by the present invention has the same beneficial effects as the point-finding operation method for mining truck skills competition provided by the above-mentioned technical solution, and will not be elaborated here.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1The diagram shows a flowchart illustrating a point-finding operation method for a mining truck skills competition provided by an embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In this embodiment, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations, intended to present related concepts in a specific manner, and should not be construed as superior or more advantageous than other embodiments or designs.

[0028] Example 1

[0029] This invention provides an embodiment of a point-finding operation method for a ore truck skills competition. Figure 1 This diagram illustrates a flowchart of a point-finding operation method for a mining truck skills competition, provided by an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0030] Step S1, Long Distance Approach Stage: By adjusting the vehicle body to be parallel to the center line of the target point channel, and using the pre-calibrated first set of visual reference points to maintain a fixed visual relationship with the channel edge line, the vehicle is controlled to approach the target point at a constant speed lower than the preset speed in the center of the channel.

[0031] It should be noted that before step S1, there is also a vehicle-driver calibration step. Before the start of the competition, the driver adjusts to the standard driving posture. Within the preset calibration area, through actual parking operations, the specific positions of the first set of visual reference points A1 and A2, the second visual reference line (target reference line), and the parking reference point are determined individually. Specifically, the vehicle is driven at a constant speed along the center line of the standard lane. Two symmetrical calibration marks tangent to the left and right sides of the lane are marked on the lower edge of the windshield or on the hood to form the first set of visual reference points. The vehicle is kept facing the target point, and a vertical reference line coplanar with the vehicle's center line is marked in the area directly in front of the windshield, which is the second visual reference line. The target part of the vehicle (such as the rear wheel) is accurately parked on the target point, and the alignment relationship between the fixed points inside the vehicle (such as the wiper node or a corner of the air conditioning vent) and the ground stop line is recorded to determine the parking reference point.

[0032] The goal of step S1 is to quickly adjust the vehicle to an ideal entry route parallel to the centerline of the target point channel, and to leave enough room for subsequent fine-tuning.

[0033] The driver adjusts the vehicle body to be parallel to the center line of the target point channel and maintains a fixed visual relationship with the channel edge line using a first set of visual reference points A1 and A2 pre-marked on the windshield. This allows the vehicle to approach the target point at a low and constant speed in the center of the channel. Specifically, the first set of visual reference points A1 and A2 are two symmetrically distributed left and right marking points on the lower edge of the vehicle's windshield or hood. Their positions are determined through pre-calibration to ensure that when the vehicle is driving in the center of the channel, the left and right edge lines of the channel are tangent to the corresponding left and right marking points or maintain a fixed visual distance.

[0034] Specific operational guidelines: First, straighten the vehicle: Before entering the target area, prioritize adjusting the vehicle to be parallel to the center line of the race track or target lane. The driver should look into the distance and ensure that a specific edge line on the vehicle's hood (or the lower edge of the cab) is parallel to the distant horizon or track boundary line, establishing a preliminary "straight-line" state. Next, select "track reference points": On the lower edge of the windshield or on the hood, at a fixed angle to the driver's line of sight, select two symmetrical reference points, called the first set of visual reference points A1 and A2. Adjust the vehicle position so that the lane edge line (or virtual extension line) on the field is always tangent to or at a fixed distance from these two visual reference points A1 and A2. This method simplifies the complex problem of keeping the vehicle centered into a visual tracking problem of keeping the line aligned with the point. Finally, control the speed: Maintain a low and constant speed, with a recommended speed of 5-10 kilometers per hour, to allow sufficient reaction time for observation and correction.

[0035] Step S2, Mid-range Fine-tuning Stage: By observing the movement trajectory of the target point relative to the pre-calibrated second visual reference line, the lateral offset of the vehicle is judged and corrected so that the center line of the vehicle is aligned with the center of the target point.

[0036] It should be noted that the driver's head remains fixed, and the lateral deviation of the vehicle from the target point is judged and corrected by observing the movement trajectory of the target point relative to the second visual reference line (target reference line) pre-marked on the windshield, ensuring that the vehicle's centerline is aligned with the center of the target point. Specifically, the second visual reference line is a vertical reference line marked on the windshield, coplanar with the vehicle's centerline, directly in front of the driver's line of sight when maintaining a standard racing posture and with the head fixed. The lateral deviation direction of the vehicle's centerline from the target point is determined by observing the left and right movement of the target point relative to the vertical reference line. Furthermore, during the mid-distance fine-tuning phase, the correction of lateral deviation follows the principle of "early detection, early correction, small angle, and one-time fix," meaning that once the target point is detected to deviate from the second visual reference line, a one-time, small-amplitude steering wheel correction is made to bring it back, avoiding repeated large adjustments. Throughout the entire process of finding the reference point, any correction to the steering wheel must be matched with the vehicle speed. The core principle is "slow speed and small angle". The faster the speed, the smaller the angle of the steering correction should be and the smoother the action should be. For example, the correction range of the vehicle's lateral deviation should be ≤25 degrees, and the steering wheel should be straightened immediately after the correction. Follow the principle of correcting in one go and avoid frequent adjustments.

[0037] The goal of step S2 is to accurately correct the lateral offset between the vehicle and the target point, ensuring that the vehicle's centerline is aligned with the center of the target point.

[0038] Specific operating procedures: First, establish a "target reference line": Keep the operator's head fixed and focus their gaze on the target point. On the windshield, draw a virtual "target reference line" from top to bottom directly in front of the line of sight. Imagine it as a wiper arm or make a very thin temporary mark on the glass. Then, make lateral corrections: Slowly drive straight and observe the movement of the target point relative to the "target reference line". If the target point always rises vertically along the "target reference line", it means that the vehicle's center line is aligned with the target point and no lateral correction is needed. If the target point deviates from the "target reference line" and moves to the left, it means that the vehicle's center line is to the right and the steering wheel needs to be slightly adjusted to the left to bring the target point "back" to the reference line. If the target point deviates from the "target reference line" and moves to the right, it means that the vehicle's center line is to the left and the steering wheel needs to be slightly adjusted to the right. The final correction principle: The direction correction at this stage should follow the principle of "early detection, early correction, small angle, and one-time correction" to avoid making large and frequent direction adjustments when approaching the target point, which may cause the vehicle to take an S-shaped route.

[0039] Step S3, Close-range micro-operation and confirmation stage: Switch to the rearview mirror for observation, and make the target point or related mark parallel to the preset third reference line in the rearview mirror and keep the distance constant to complete the lateral fine adjustment; Based on the positional relationship between the pre-calibrated in-vehicle parking reference point and the ground stop line, complete the longitudinal precise positioning through predictive parking action.

[0040] It should be noted that the driver switches to the rearview mirror for observation, ensuring that the target point or its associated marker in the rearview mirror is parallel and at a constant distance to the third reference line defined in the mirror (the reference line in the mirror). This completes the final fine-tuning of the lateral position. Simultaneously, combined with the pre-marked positional relationship between a fixed point inside the vehicle and the ground stop line (the parking reference point), the driver achieves precise longitudinal positioning through a predictive parking maneuver. Specifically, the predictive parking maneuver is the "three-two-one" parking method. When the parking reference point approaches the ground stop line, for example, when the visual distance between the parking reference point and the ground stop line decreases to 0.3 meters to 0.8 meters, the driver mentally counts "three, two, one," and simultaneously applies the brakes at the moment of counting to "one." The core of the "three-two-one parking method" is to use visual distance prediction (0.3 meters to 0.8 meters) + a fixed timing rhythm (1 second / count) to offset the driver's braking reaction delay (approximately 0.5 seconds), achieving a longitudinal positioning error of ≤±2cm. This technique differs from simply relying on experience-based braking timing judgment.

[0041] The goal of step S3 is to complete the final precise positioning, accurately parking the target wheel (usually the rear wheel) or target part of the vehicle within the specified tolerance range.

[0042] Operating Instructions: First, switch the reference system: At this stage, the driver's view can no longer see the target point, so it is necessary to switch from the "target reference line" to the "rearview mirror reference system". Then, use the rearview mirror alignment method: Define the "mirror reference line": In the vehicle's rearview mirror, define a virtual "mirror reference line" that is parallel to the vehicle body, usually the lower edge of the mirror or a structural seam inside the mirror; Observe the alignment: Slowly move the vehicle and adjust the steering wheel so that the edge of the ground target mark or a specific pole remains parallel to the "mirror reference line" in the rearview mirror and the distance is constant, for example, exactly tangent. When this parallel and tangent relationship is established, it means that the vehicle has reached the precise lateral position. Finally, the fixed-point parking method: Establish a "parking reference point": Inside the car, find a fixed object point that remains relatively constant relative to the driver's eye position, such as the wiper blade tip or a corner of the air conditioning vent. When this point coincides with a specific position on the ground (such as an auxiliary stop line in front of the target point), the vehicle's target wheel will be exactly on the line or have reached the target point. The "three, two, one" parking method: When the "parking reference point" is close to the stop line, silently count "three, two, one" in your mind, and when you count to "one", decisively and smoothly step on the brake. This mental buffering process can effectively overcome the problem of inaccurate "prediction of lead time" and achieve precise parking.

[0043] As one possible implementation, a reversing point-finding operation method is also included. This method uses a mirror operation method to mirror the operation logic of the above three stages, mirroring the operation steps and technical features of the point-finding operation method in the aforementioned ore truck skills competition.

[0044] During the long-distance approach phase, the driver adjusts the vehicle body to be parallel to the center line of the reversing lane, uses the first set of pre-marked visual reference points to maintain a fixed visual relationship with the lane edge line, and controls the vehicle to approach the reversing target point at a constant speed lower than the preset speed in the center of the lane.

[0045] During the mid-range fine-tuning stage, the observation window is the main rearview mirror. A target reference line is applied in reverse, treating the reversing target point as a virtual target point and a vertical edge of the rearview mirror as a virtual target reference line. The driver uses the rearview mirror as the main observation window, replacing the pre-calibrated second visual reference line with the vertical edge of the rearview mirror. By observing the movement trajectory of the reversing target point relative to this vertical edge, lateral offset is corrected.

[0046] During the close-range micro-operation and confirmation phase, the distance relationship between the sides of the vehicle and the boundary lines is observed simultaneously through the left and right rearview mirrors. The "rearview mirror alignment method" is applied to ensure that the vehicle is centered and reverses parallel. The driver observes simultaneously through the left and right rearview mirrors to keep the vehicle's side boundaries parallel to the preset third reference line and maintain a constant distance, completing the lateral fine-tuning. Based on the positional relationship between the parking reference point and the ground stop line, the driver completes the precise reversing positioning through predictive parking actions, ensuring that the vehicle is centered and reverses parallel into the target position.

[0047] Compared with the prior art, the point-finding operation method for a mining truck skills competition provided by the embodiments of the present invention has the following beneficial effects:

[0048] 1. By precisely aligning visual reference points / lines, abstract distance and position judgments are transformed into concrete visual alignment relationships, eliminating human estimation errors and ensuring that docking accuracy is stably controlled within ±2 cm, far exceeding the competition requirement of ±3~±10 cm.

[0049] 2. The standardized three-stage process and the principle of "one-time correction" greatly reduce unnecessary back-and-forth correction operations, shorten the time to find the point, and improve the efficiency and results of the competition.

[0050] 3. By establishing a set of objective standards that do not rely on personal driving skills, any operator can master them after short-term training. The results are not affected by psychological or state fluctuations and are highly repeatable.

[0051] 4. This is purely an innovative operating technique, requiring no hardware modifications or expensive equipment additions to the vehicle.

[0052] Without altering the original vehicle structure, it is suitable for any type of mining truck and competition venue, resulting in extremely low promotion costs.

[0053] 5. Systematic observation methods and procedures standardize the driver's line of sight and attention allocation, reducing...

[0054] To reduce the risk of collisions caused by blind spots or panic, and to ensure the safety of equipment and personnel during the competition.

[0055] This invention also provides a method for point-finding training in a mining truck skills competition, the method comprising:

[0056] Repeatedly practice and comprehensively rehearse the steps in the point-finding operation method of any of the above-mentioned mining truck skills competitions to form muscle memory and conditioned reflexes.

[0057] Compared with the prior art, the point-finding training method for mining truck skills competition provided by the present invention has the same beneficial effects as the point-finding operation method for mining truck skills competition provided by the above-mentioned technical solution, and will not be elaborated here.

[0058] Example 2

[0059] Preparations before implementation: Vehicle-driver calibration: First, the driver adjusts to the standard driving position for the competition, and the vehicle is parked on a flat and open field. A clear center line and a target point are marked 15 meters, 10 meters and 5 meters in front of the vehicle, respectively.

[0060] Next, establish the first set of visual reference points A1 and A2: The driver looks at the center line in the distance and slowly moves the vehicle to keep it strictly centered. At this time, observe the lower edge of the windshield and find two points tangent to the left and right lane lines. Use an erasable colored pen or stick a very small temporary marker on these two points. These two points are the personalized first set of visual reference points A1 and A2.

[0061] Then mark the second visual reference line (target reference line): keep the vehicle centered and facing the target point, fix the driver's head, and mark a short vertical line on the windshield directly above the target point. This is the target reference line.

[0062] Finally, determine the parking reference point: precisely position the vehicle's target rear wheels on the target point. Maintaining your seated position, find a fixed point inside the car, such as a raised node on the right windshield wiper. This point should be aligned with a certain position on the ground (or the stop line ahead). This relationship is the "parking reference point".

[0063] By transforming abstract distance and position judgments into concrete visual alignment relationships, human estimation errors are eliminated, and parking accuracy can be stably controlled within ±2 cm, far exceeding competition requirements. The standardized process and the "one-time correction principle" greatly reduce unnecessary back-and-forth correction operations, shorten completion time, and improve competition efficiency. By establishing a set of objective standards that do not rely on personal "vehicle feel," any operator can master it after short-term training. The results are not affected by psychological or state fluctuations, and the repeatability is extremely high. No hardware modifications or expensive equipment need to be added to the vehicle. It is purely an innovation in operating techniques, applicable to any type of mining truck and competition venue, with extremely low promotion costs. The systematic observation methods and processes standardize the driver's operating line of sight and attention allocation, reducing the risk of collisions caused by blind spots or panic.

[0064] Example 3

[0065] Based on Example 2, proceed in a straight line and stop at the loading point: Assume the competition requires that the vehicle enter from the passage and precisely park the left rear wheel within a circular loading point with a diameter of 30cm, with a deviation of less than ±5cm.

[0066] Approaching from a distance (20 meters from the reference point): After entering the lane, the driver first straightens the vehicle. Then, using the previously calibrated first set of visual reference points A1 and A2, the driver ensures that the vehicle is tangent to the left and right edges of the lane, thus guaranteeing that the vehicle stays in the center of the lane. The speed is controlled at 8 km / h.

[0067] Mid-distance fine-tuning stage (10 meters from the point): The driver locks his eyes on the center of the loading point in the distance, keeps his head still, and observes the relative movement of the center point with the "target reference line" he has marked. He finds that the point has moved slightly to the left of the reference line, and judges that the vehicle's center line is slightly to the right. So, the driver very gently adjusts the direction to the left by about 2 degrees. Within one second, he observes that the target point begins to rise vertically along the "target reference line" and immediately straightens the steering wheel.

[0068] Close-range micro-operation and confirmation phase (3 meters from the point): The driver quickly scans the left rearview mirror. Using the "rearview mirror alignment method," he adjusts the direction so that the right edge of the circular mark on the ground is parallel to the "reference line in the mirror" (defined as the lower edge of the mirror) at a constant distance of about 1 centimeter. At the same time, he uses his peripheral vision to watch the road ahead. When the marked "parking reference point" (where the wiper blade node coincides with the stop line on the ground) is reached, he silently counts "three, two, one," and smoothly presses the brake pedal all the way down when he counts "one." The vehicle comes to a smooth stop.

[0069] Result: According to the judges' measurements, the longitudinal and lateral deviations between the center of the left rear wheel and the center of the loading point were both +1.5cm, and the time taken was only 18 seconds, which is an excellent result.

[0070] Example 4

[0071] Based on Examples 2 and 3, reverse into a narrow unloading point: Assume the competition requires that the vehicle reverse into a narrow platform with only 20cm of clearance on both sides, and the center of the vehicle body must be aligned with the unloading port.

[0072] Mirror application: The driver also divides the reversing process into three stages:

[0073] Approaching from a distance (starting by reversing): First, align the vehicle body with the platform channel.

[0074] Mid-distance fine-tuning (while reversing): The driver observes the marker in the center of the unloading port through the rearview mirror. This marker is considered the "reversing target point," and a vertical frame of the rearview mirror is used as a virtual "target reference line." By adjusting the reversing direction, the marker is kept falling along this vertical frame, ensuring a straight reversing trajectory.

[0075] Close-range micro-management (almost there): Simultaneously observe the left and right rearview mirrors, using the "rearview mirror alignment method" to ensure that the distances between the sides of the vehicle and the platform boundary lines appear equal and parallel in the mirrors. At the same time, based on the reversing speed and distance, decisively stop at the predicted "parking reference point."

[0076] Result: The vehicle successfully reversed into position on the first attempt, with even spacing on both sides, and the center of the cargo compartment aligned with the center of the unloading port without any scraping or collision.

[0077] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for finding points in a mining truck skills competition, characterized in that, include: Step S1: Adjust the vehicle body to be parallel to the center line of the target point channel, maintain a fixed visual relationship with the channel edge line using the first set of pre-marked visual reference points, and control the vehicle to approach the target point at a constant speed lower than the preset speed in the center of the channel. Step S2: By observing the movement trajectory of the target point relative to the pre-marked second visual reference line, determine and correct the lateral offset of the vehicle so that the center line of the vehicle is aligned with the center of the target point. Step S3: Switch to the rearview mirror for observation, and make the target point or associated mark parallel to the preset third reference line in the rearview mirror and keep the distance constant to complete the lateral fine adjustment; Based on the pre-defined positional relationship between the in-vehicle parking reference point and the ground stop line, longitudinal precision positioning is achieved through predictive parking actions.

2. The method for finding points in a mining truck skills competition according to claim 1, characterized in that, The first set of visual reference points consists of two symmetrically distributed left and right calibration marks on the lower edge of the vehicle's windshield or hood, with the positions satisfying the following: when the vehicle is driving in the center of the passage, the left and right edges of the passage are tangent to the corresponding left and right calibration marks or maintain a fixed visual distance.

3. The method for finding points in a mining truck skills competition according to claim 1, characterized in that, The second visual reference line is a vertical reference line marked on the windshield, which is coplanar with the vehicle's center line, when the driver maintains a standard driving posture and keeps their head fixed, with their line of sight directly in front of them. The lateral offset direction between the vehicle's center line and the target point is determined by observing the left and right movement of the target point relative to the vertical reference line.

4. The method for finding points in a mining truck skills competition according to claim 1, characterized in that, The third reference line is a virtual reference line parallel to the vehicle body inside the rearview mirror, selected from the lower edge of the rearview mirror, the internal structural seam, or the inner calibration mark line of the mirror.

5. The method for finding points in a mining truck skills competition according to claim 1, characterized in that, Before step S1, there is also a vehicle-driver calibration step. Before the start of the competition, the driver, in a standard sitting position, determines the specific location of the first set of visual reference points, the second visual reference line, and the parking reference point by actually parking in the preset calibration area.

6. The method for finding points in a mining truck skills competition according to claim 3, characterized in that, In step S2, the correction range for the vehicle's lateral deviation is ≤25, and the steering wheel is immediately straightened after the correction, following the principle of one-time correction to avoid frequent adjustments.

7. The method for finding points in a mining truck skills competition according to claim 1, characterized in that, The predictive parking maneuver is the three-two-one parking method. When the visual distance between the parking reference point and the ground stop line is reduced to 0.3 meters to 0.8 meters, the driver silently counts to one in a three-two-one rhythm, and brakes smoothly and synchronously when the count reaches one.

8. The method for finding points in a mining truck skills competition according to claim 1, characterized in that, It also includes a method for reversing to find a reference point, mirroring the operation steps and technical features described in claim 1. Adjust the vehicle body to be parallel to the center line of the reversing lane, use the first set of pre-marked visual reference points to maintain a fixed visual relationship with the edge line of the lane, and control the vehicle to approach the reversing target point at a constant speed lower than the preset speed in the center of the lane. Using the rearview mirror as the main observation window, the pre-calibrated second visual reference line is replaced by the vertical edge of the rearview mirror. By observing the movement trajectory of the reversing target point relative to the vertical edge, the lateral offset is corrected. By observing simultaneously with the left and right rearview mirrors, the vehicle's side boundaries are kept parallel to the preset third reference line with a constant distance, thus completing the lateral fine-tuning. Based on the positional relationship between the pre-calibrated parking reference point and the ground stop line, the vehicle is precisely positioned for reversing through predictive parking actions, ensuring that it is centered and parallel to the target position.

9. A method for finding points in a mining truck skills competition, characterized in that, include: Calibration training phase: Practice calibrating the first set of visual reference points, the second visual reference line, and the parking reference point repeatedly in the preset calibration site until the calibration error is ≤ ±1cm; Phased training phase: Practice the steps in the point-finding operation method of the mining truck skills competition as described in claim 1, and set quantitative assessment standards for each phase; Comprehensive training phase: Based on the forward and reverse positioning methods, practice repeatedly until the completion time is ≤20 seconds and the positioning accuracy is ≤±2cm, forming muscle memory and conditioned reflex.

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