Intelligent command and dispatching method, device and equipment for mine truck and storage medium

Abstract

The application discloses a kind of mining truck intelligent command scheduling method, device, equipment and storage medium, involve open-pit mine intelligent traffic technical field, comprising: according to current communication link state, establish fusion communication link between ground platform wireless link, air-based platform unmanned aerial vehicle relay link and space-based platform satellite communication link;According to current geographic position and current working surface environment data, generate dynamic transport path planning data, so that the vehicle terminal controls mining truck to travel according to dynamic transport path planning data;When current geographic position triggers electronic fence boundary and / or current driver state data meets preset abnormality determination threshold, the vehicle terminal controls mining truck to stop traveling according to dynamic transport path planning data, and executes target safety response action, realizes the continuous communication connection of mining truck in open-pit mine deep mining pit signal shielding extreme scene, dynamic path planning and hierarchical safety control.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology in open-pit mines, and in particular to an intelligent command and dispatch method, device, equipment and storage medium for mining trucks. Background Technology

[0002] As the core operational scenario for mineral resource extraction, open-pit mines heavily rely on the large-scale, continuous operation of mining trucks for production and transportation. With the continuous extension of mining depth, the terrain in areas such as deep pits and the edges of spoil heaps is becoming increasingly complex, making traditional manual dispatching methods insufficient to meet the demands for refined management across all weather conditions, regions, and elements. To ensure driver safety and transportation efficiency in extreme operating environments, the construction of an intelligent command and dispatch system with continuous communication, real-time positioning, and emergency response capabilities has become an urgent technical requirement in the field of open-pit mine safety production.

[0003] Existing mining truck dispatching technology mainly relies on a single wireless network on a ground-based platform for positioning, tracking, and command issuance. However, in areas with signal obstruction, such as deep within the mining pit, satellite positioning signals suffer severe attenuation or even complete interruption, resulting in the loss of vehicle location information. Furthermore, the existing communication architecture lacks a collaborative backup mechanism for airborne and spaceborne links, meaning dispatching commands cannot be continuously transmitted when the ground network is interrupted, creating communication blind spots. In addition, existing solutions rely on limited methods for detecting abnormal states such as driver fatigue and sudden illness, and electronic fence control is mostly limited to software alerts, making it difficult to achieve closed-loop safety intervention from early warning to hardware braking. In emergency rescue scenarios, the delayed feedback of on-site information and reliance on manual experience for rescue route planning result in slow response times and low coordination efficiency, failing to meet the technical requirements for rapid and accurate rescue in extreme situations.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a method, device, equipment, and storage medium for intelligent command and dispatch of mining trucks, aiming to solve the technical problem of how to achieve intelligent command and dispatch of mining trucks in extreme scenarios such as signal obstruction in deep pits of open-pit mines.

[0006] To achieve the above objectives, the present invention provides an intelligent command and dispatch method for mining trucks, the method comprising the following steps: Obtain the current geographical location, current communication link status, current working face environment data, and current driver status data of the mining truck in the deep pit operation area of ​​the open-pit mine; Based on the current communication link status, a converged communication link is established between the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link; Based on the current geographical location and the current working face environment data, dynamic transportation route planning data is generated so that the vehicle terminal controls the driving of the mining truck according to the dynamic transportation route planning data. When the current geographical location triggers the electronic fence boundary and / or the current driver status data meets the preset anomaly judgment threshold, a safety control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0007] In one embodiment, the step of establishing a converged communication link among the ground-based platform wireless link, the airborne platform UAV relay link, and the space-based platform satellite communication link based on the current communication link status includes: The reference signal received power of the ground-based platform wireless link, the signal strength of the UAV relay link of the air-based platform, and the carrier-to-noise ratio data of the space-based platform satellite communication link are obtained to obtain the current link quality data. Based on the preset link priority strategy and the current link quality data, when the ground platform wireless link meets the preset availability conditions, the ground platform wireless link is determined as the primary transmission link. When the ground-based platform wireless link does not meet the preset availability conditions in the current link quality data, a UAV relay trigger command is sent to the air-based platform according to the preset link priority policy, so that the air-based platform controls the UAV to establish a temporary communication node and determines the air-based platform UAV relay link as an emergency transmission link. When neither the ground-based platform wireless link nor the airborne platform UAV relay link in the current link quality data meets the preset availability conditions, a satellite link switching command is sent to the space-based platform according to the preset link priority strategy, so that the space-based platform activates the space-based platform satellite communication link and determines the space-based platform satellite communication link as the bottom-line transmission link. A converged communication link is established based on the available links among the main transmission link, the emergency transmission link, and the bottom-line transmission link.

[0008] In one embodiment, the step of establishing a converged communication link among the ground-based platform wireless link, the airborne platform UAV relay link, and the space-based platform satellite communication link based on the current communication link status includes: Obtain the transmission quality parameters of the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link; Based on the comparison results between the transmission quality parameters and the preset quality threshold, the data transmission weight of each link is determined; The scheduling instruction data is divided into packets according to the data transmission weight to obtain a first data packet, a second data packet, and a third data packet. The first data packet is sent to the ground-based platform wireless link, the second data packet is sent to the air-based platform UAV relay link, and the third data packet is sent to the space-based platform satellite communication link; The first data packet, the second data packet, and the third data packet received through each link are merged and deduplicated to obtain complete scheduling instruction data; Based on the complete scheduling instruction data, a converged communication link is established.

[0009] In one embodiment, the step of generating dynamic transportation route planning data based on the current geographical location and the current working surface environment data, so that the vehicle terminal controls the driving of the mining truck according to the dynamic transportation route planning data, includes: Acquire distance data and image data of obstacles ahead; Based on the distance data of the obstacle in front and the image data of the obstacle in front, a fusion recognition process is performed to obtain dynamic obstacle location data and dynamic obstacle type data; Based on the dynamic obstacle location data and the current speed data of the mining truck, the collision time parameter is calculated; When the collision time parameter is less than a preset safe time threshold, emergency obstacle avoidance trajectory data is generated; The dynamic transportation path planning data is partially corrected based on the emergency obstacle avoidance trajectory data to obtain the corrected dynamic transportation path planning data. The corrected dynamic transportation route planning data is used as the dynamic transportation route planning data, so that the vehicle terminal controls the driving of the mining truck according to the dynamic transportation route planning data.

[0010] In one embodiment, the step of generating a safety control command and sending it to the vehicle terminal when the current geographical location triggers the electronic fence boundary and / or the current driver status data meets a preset anomaly judgment threshold, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action, includes: When the electronic fence warning boundary is triggered at the current geographical location, a warning control command is generated and sent to the vehicle terminal so that the vehicle terminal outputs traffic restriction reminder information; When the current geographical location crosses the electronic fence speed limit boundary, a speed limit control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the power output system of the mining truck to reduce the output power to below the preset speed limit value; When the current geographical location is within a dangerous area of ​​the electronic fence, a parking control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the braking system of the mining truck to perform a parking action and controls the engine of the mining truck to reduce to idle speed. Upon receiving the parking completion signal from the mining truck, an unlocking waiting command is generated and sent to the vehicle terminal, so that the vehicle terminal maintains the parking state until a remote unlocking command is received. At least one of the warning control command, the speed limit control command, the parking control command, and the unlock waiting command is identified as a safety control command and sent to the vehicle terminal, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0011] In one embodiment, the step of generating a safety control command and sending it to the vehicle terminal when the current geographical location triggers the electronic fence boundary and / or the current driver status data meets a preset anomaly judgment threshold, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action, further includes: When the current driver status data meets the preset mild abnormality threshold, a mild warning command is generated and sent to the vehicle terminal, so that the vehicle terminal outputs visual icon flashing information and voice rest prompt information; When the current driver status data meets the preset moderate abnormality threshold, a moderate warning command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the steering wheel vibration module to output vibration prompt information; When the current driver status data meets the preset severe abnormality threshold, a severe warning command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the hazard light module and the horn module to output hazard light and intermittent horn information, and controls the auxiliary braking module to apply auxiliary braking force. Based on the abnormal level changes of the mild warning command, the moderate warning command, and the severe warning command, a state machine switching command is generated and sent to the vehicle terminal to enable the vehicle terminal to switch to a multimodal output state. At least one of the mild warning instruction, the moderate warning instruction, the severe warning instruction, and the state machine switching instruction is determined as the safety control instruction and sent to the vehicle terminal, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0012] In one embodiment, the step of generating dynamic transportation route planning data based on the current geographical location and the current working surface environment data, so that the vehicle terminal controls the driving of the mining truck according to the dynamic transportation route planning data, further includes: In response to the emergency rescue trigger signal, the emergency rescue trigger signal is input into the edge artificial intelligence system for alarm level analysis to obtain alarm level data; When the alarm level data meets the preset highest level, an emergency route planning trigger command is automatically generated; When the alarm level data does not meet the preset highest level, the alarm level data is reported to the commander so as to determine whether to generate the emergency path planning trigger command based on the feedback instruction. Based on the coordinates of the accident site, the location of rescue vehicles, and digital elevation model data, emergency transportation route data is generated; The emergency transportation route data is dynamically corrected based on the current geographical location to obtain the corrected emergency transportation route data. The corrected emergency transport route data is determined as dynamic transport route planning data, so that the vehicle terminal controls the driving of the mining truck according to the dynamic transport route planning data.

[0013] Furthermore, to achieve the above objectives, the present invention also proposes an intelligent command and dispatch device for mining trucks, the device comprising: The data acquisition module is used to acquire the current geographical location, current communication link status, current working face environmental data, and current driver status data of the mining truck in the deep pit operation area of ​​the open-pit mine. The link establishment module is used to establish a converged communication link between the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link based on the current communication link status. The route planning module is used to generate dynamic transportation route planning data based on the current geographical location and the current working face environment data, so that the vehicle terminal can control the driving of the mining truck according to the dynamic transportation route planning data; The safety control module is used to generate a safety control command and send it to the vehicle terminal when the current geographical location triggers the electronic fence boundary and / or the current driver status data meets the preset anomaly judgment threshold, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0014] Furthermore, to achieve the above objectives, the present invention also proposes an intelligent command and dispatch device for mining trucks, the device comprising: a memory, a processor, and an intelligent command and dispatch program for mining trucks stored in the memory and executable on the processor, the intelligent command and dispatch program for mining trucks being configured to implement the steps of the intelligent command and dispatch method for mining trucks as described above.

[0015] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a mining truck intelligent command and dispatch program, which, when executed by a processor, implements the steps of the mining truck intelligent command and dispatch method described above.

[0016] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the intelligent command and dispatch method for mining trucks as described above.

[0017] One or more technical solutions proposed in this application have at least the following technical effects: By establishing a converged communication link among ground-based wireless links, airborne UAV relay links, and space-based satellite communication links, a continuous and reliable communication connection between mining trucks and the dispatch center was achieved under extreme scenarios of signal obstruction in deep open-pit mines. Dynamic transportation route planning data was generated through the correlation processing of current geographical location and current working face environmental data, enabling real-time optimization of transportation routes and rapid response to emergencies. Through a dual monitoring mechanism of electronic fence boundary triggering and abnormal driver status data determination, safety control commands were generated and target safety response actions were executed, realizing a closed-loop safety intervention from software early warning to hardware braking, effectively improving the level of personnel safety and transportation management efficiency in extreme operating environments of open-pit mines. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating an embodiment of the intelligent command and dispatch method for mining trucks in this application. Figure 2 This is a flowchart illustrating Embodiment 2 of the intelligent command and dispatch method for mining trucks in this application; Figure 3 This is a schematic diagram of the module structure of the intelligent command and dispatch device for mining trucks according to an embodiment of this application; Figure 4 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the intelligent command and dispatch method for mining trucks in this application. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0022] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0023] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of realizing the above functions, such as a mining truck intelligent command and dispatch method device. The following description uses a mining truck intelligent command and dispatch method device as an example to illustrate this embodiment and the subsequent embodiments.

[0024] Based on this, the embodiments of this application provide an intelligent command and dispatch method for mining trucks, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the intelligent command and dispatch method for mining trucks in this application.

[0025] In this embodiment, the intelligent command and dispatch method for mining trucks includes steps S10 to S40: Step S10: Obtain the current geographical location, current communication link status, current working face environment data, and current driver status data of the mining truck in the deep pit operation area of ​​the open-pit mine; It should be noted that mining trucks refer to heavy-duty dump vehicles used in open-pit mines for earthmoving and rock transport, and are core equipment for mine production and transportation. Open-pit mines refer to mining sites using open-pit mining methods, characterized by wide operating areas, complex terrain, and variable weather. Deep pits refer to deep, concave mining spaces formed during open-pit mining; as mining depth increases, these areas are prone to communication signal obstruction and positioning blind spots. The operating area refers to the specific spatial range within the open-pit mine where mining trucks perform loading, transportation, and unloading activities. Current geographic location refers to the real-time spatial coordinates of the mining truck within the operating area, serving as the basis for route planning and electronic fence control. Current communication link status refers to the real-time quality assessment information of the data transmission channel between the mining truck and the dispatch center, including signal strength, availability, and stability parameters. Current working face environmental data refers to environmental information affecting transportation, such as road conditions, electric shovel location, crushing station spoil heap status, and surrounding dynamic obstacles in the current operating area of ​​the open-pit mine. It should be noted that the current driver status data refers to the fatigue probability and abnormal status information obtained by fusing the driver's visual and physiological characteristics collected through in-vehicle cameras and wearable devices.

[0026] Understandably, step S10 uses the vehicle positioning device, communication module, and environmental sensing device to obtain the current geographical location, current communication link status, current working face environmental data, and current driver status data of the mining truck in the deep pit operation area of ​​the open-pit mine.

[0027] This step enables comprehensive perception of vehicle location, communication quality, environmental conditions, and personnel status under extreme operating scenarios, providing a multi-dimensional data foundation for subsequent integrated communication link establishment, dynamic path planning, and safety control.

[0028] Step S20: Based on the current communication link status, establish a converged communication link between the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link; It should be noted that the ground-based platform wireless link refers to a conventional ground wireless communication channel built around a ground-based converged communication server, through switches, base stations, and access gateways. This is the primary carrier for daily dispatch communication of mining trucks. The airborne platform UAV relay link refers to a temporary relay transmission channel established in areas with obstructed or interrupted ground signals, using UAVs as airborne communication nodes, for emergency communication upgrades. The space-based platform satellite communication link refers to a bottom-line emergency communication channel activated when the ground network is completely interrupted, using high-throughput satellites as the transmission carrier, ensuring the transmission of basic dispatch instructions under extreme conditions. The converged communication link refers to a unified data transmission channel formed by dynamically switching or coordinating among the ground-based, airborne, and space-based links based on real-time communication quality.

[0029] Understandably, step S20 establishes a converged communication link between the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link based on the current communication link status.

[0030] This step, through the dynamic collaboration of a three-layer three-dimensional communication architecture, solved the communication interruption problem caused by signal blockage in deep mining pits, and achieved continuous communication connection in all weather and all areas.

[0031] In one feasible implementation, step S20 includes steps A11 to A16: Step A11: Obtain the transmission quality parameters of the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link; It should be noted that transmission quality parameters refer to quantitative indicators used to measure the data transmission capability of each communication link, including reference signal received power, signal strength, and carrier-to-noise ratio.

[0032] Understandably, step A11 obtains the transmission quality parameters of the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link.

[0033] This step provides real-time quantitative basis for subsequent link weight allocation, ensuring that multi-link collaboration is based on accurate link quality assessment.

[0034] Step A12: Determine the data transmission weight of each link based on the comparison results between the transmission quality parameters and the preset quality threshold; It should be noted that the preset quality threshold refers to a pre-set critical value used to determine whether a communication link meets the basic requirements for data transmission. It should also be noted that the data transmission weight refers to the proportion of data packets sent based on the real-time transmission quality parameters of each link; links with higher quality are assigned greater weight.

[0035] Understandably, step A12 determines the data transmission weight of each link based on the comparison results between the transmission quality parameters and the preset quality threshold.

[0036] This step enables dynamic quantitative allocation of link resources, allowing high-quality links to undertake more transmission tasks and improving overall data transmission efficiency.

[0037] Step A13: Divide the scheduling instruction data into packets according to the data transmission weight to obtain the first data packet, the second data packet, and the third data packet; It should be noted that dispatch instruction data refers to the set of control commands generated by the dispatch center and sent to the vehicle-mounted terminal, including route planning instructions, speed control instructions, and safety warning instructions. It should also be noted that packet processing refers to the process of decomposing the complete dispatch instruction data into multiple sub-data packets according to the data transmission weights of each link. Furthermore, it should be noted that the first data packet, the second data packet, and the third data packet, after packet processing, refer to three independent data subsets corresponding to the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link, respectively.

[0038] Understandably, step A13 divides the scheduling instruction data into packets according to the data transmission weight to obtain the first data packet, the second data packet, and the third data packet.

[0039] This step breaks down a single instruction stream into multi-link parallel transmission units, providing a data organization foundation for concurrent transmission.

[0040] Step A14: Send the first data packet to the ground-based platform wireless link, send the second data packet to the air-based platform UAV relay link, and send the third data packet to the space-based platform satellite communication link; Understandably, step A14 sends the first data packet to the ground-based platform wireless link, the second data packet to the air-based platform UAV relay link, and the third data packet to the space-based platform satellite communication link.

[0041] This step enables the synchronous distribution of scheduling instruction data across three heterogeneous links, avoiding transmission delays caused by single-link congestion.

[0042] Step A15: Merge and deduplicate the first, second, and third data packets received through each link to obtain complete scheduling instruction data; It should be noted that merging and deduplication refers to the process at the receiving end of integrating sub-data packets from different links and removing duplicate content to restore the complete instruction. It should also be noted that the complete scheduling instruction data refers to the original set of scheduling instructions that has been restored after merging and deduplication, without any missing or redundant data.

[0043] Understandably, step A15 merges and deduplicates the first, second, and third data packets received through each link to obtain complete scheduling instruction data.

[0044] This step ensures data integrity after multi-link parallel transmission and eliminates redundancy and out-of-order issues that may arise from packet transmission.

[0045] Step A16: Establish a converged communication link based on the complete scheduling instruction data.

[0046] It should be noted that merging and deduplication refers to the process at the receiving end of integrating sub-data packets from different links and removing duplicate content to restore the complete instruction. It should also be noted that the complete scheduling instruction data refers to the original set of scheduling instructions that has been restored after merging and deduplication, without any missing or redundant data.

[0047] Understandably, step A15 merges and deduplicates the first, second, and third data packets received through each link to obtain complete scheduling instruction data.

[0048] This step ensures data integrity after multi-link parallel transmission and eliminates redundancy and out-of-order issues that may arise from packet transmission.

[0049] Step S30: Generate dynamic transportation route planning data based on the current geographical location and current working face environment data, so that the vehicle terminal can control the driving of the mining truck according to the dynamic transportation route planning data; Understandably, step A16 establishes a converged communication link based on the complete scheduling instruction data.

[0050] This step completes the closed loop of multi-link collaborative transmission, establishing a highly reliable data transmission channel between the dispatch center and the mining trucks.

[0051] In one feasible implementation, step S30 includes steps A21 to A26: Step A21: Obtain distance data and image data of the obstacles ahead; It should be noted that the obstacle distance data refers to the relative distance values ​​of obstacles in front of the mining truck detected by the vehicle-mounted millimeter-wave radar. It should also be noted that the obstacle image data refers to the visual image information of the road environment in front of the mining truck collected by the vehicle-mounted camera.

[0052] Understandably, step A21 involves acquiring distance data and image data of the obstacle in front.

[0053] This step utilizes multi-sensor collaborative perception to provide comprehensive raw data support for subsequent obstacle recognition.

[0054] Step A22: Perform fusion recognition processing based on the distance data and image data of the obstacles in front to obtain dynamic obstacle location data and dynamic obstacle type data; It should be noted that fusion recognition processing refers to the process of correlating and analyzing radar ranging data with visual image data to comprehensively determine the attributes and location of obstacles. It should also be noted that dynamic obstacle location data refers to the real-time spatial coordinates of the obstacle relative to the mining truck, obtained after fusion recognition processing. Finally, it should be noted that dynamic obstacle type data refers to the obstacle category determination result obtained after fusion recognition processing, such as falling rocks, other vehicles, or pedestrians.

[0055] Understandably, step A22 performs fusion recognition processing based on the distance data and image data of the obstacle in front to obtain dynamic obstacle location data and dynamic obstacle type data.

[0056] This step improves the accuracy and reliability of obstacle detection and avoids misjudgments by a single sensor in dusty or low-light environments.

[0057] Step A23: Calculate the collision time parameters based on the dynamic obstacle location data and the current speed data of the mining truck; It should be noted that the current driving speed data refers to the real-time speed information of the mining truck during its journey. It should also be noted that the collision time parameter refers to the estimated time interval between the mining truck and the obstacle, calculated based on the dynamic obstacle position data and the current driving speed data.

[0058] Understandably, step A23 calculates the collision time parameters based on the dynamic obstacle position data and the current driving speed data of the mining truck.

[0059] This step quantifies the degree of collision risk, providing a crucial time dimension for emergency obstacle avoidance decisions.

[0060] Step A24: When the collision time parameter is less than the preset safe time threshold, generate emergency obstacle avoidance trajectory data; It should be noted that the preset safe time threshold refers to the minimum safe time threshold set in advance to trigger emergency obstacle avoidance actions. It should also be noted that emergency obstacle avoidance trajectory data refers to temporary driving route information generated to avoid obstacles when the collision time parameter is less than the preset safe time threshold.

[0061] Understandably, step A24 generates emergency obstacle avoidance trajectory data when the collision time parameter is less than the preset safe time threshold.

[0062] This step automatically initiates obstacle avoidance planning before the collision risk reaches a critical state, gaining valuable response time for vehicle safety.

[0063] Step A25: Based on the emergency obstacle avoidance trajectory data, perform local corrections on the dynamic transportation route planning data to obtain the corrected dynamic transportation route planning data; It should be noted that local correction refers to short-distance route adjustments made in response to sudden obstacles, based on the global path planning. It should also be noted that the corrected dynamic transportation path planning data refers to the transportation path information updated after local correction, including obstacle avoidance strategies.

[0064] Understandably, step A25 involves making local corrections to the dynamic transportation path planning data based on the emergency obstacle avoidance trajectory data, resulting in corrected dynamic transportation path planning data.

[0065] This step achieves an organic integration of global path and local obstacle avoidance, ensuring that mining trucks can safely detour around sudden obstacles without completely interrupting their transportation mission.

[0066] Step A26: Use the corrected dynamic transportation route planning data as the dynamic transportation route planning data so that the vehicle terminal can control the driving of the mining truck according to the dynamic transportation route planning data.

[0067] Understandably, step A26 uses the corrected dynamic transportation route planning data as the dynamic transportation route planning data so that the on-board terminal can control the mining truck's movement based on the dynamic transportation route planning data.

[0068] This step injects obstacle avoidance strategies into the vehicle control closed loop in real time, ensuring continuous and safe operation under complex road conditions in deep mining pits.

[0069] In one feasible implementation, step S30 includes steps A31 to A36: Step A31: Respond to the emergency rescue trigger signal, input the emergency rescue trigger signal into the edge artificial intelligence system for alarm level analysis, and obtain alarm level data; It should be noted that the emergency response trigger signal refers to the initial notification information used to initiate an emergency response, generated by alarms from personnel wearing wearable devices, drone patrols detecting accidents, or personnel actively reporting incidents. It should also be noted that the edge artificial intelligence system refers to local computing nodes deployed close to the data source, i.e., edge artificial intelligence (AI), used for rapid analysis and severity determination of alarm information. Furthermore, alarm severity assessment refers to the process by which the edge AI system comprehensively evaluates the alarm information based on its source, content, and urgency to determine the severity level of the incident. Finally, alarm severity data refers to the quantitative level information output after alarm severity assessment, used to characterize the urgency of the incident.

[0070] Understandably, step A31 responds to the emergency rescue trigger signal, inputs the emergency rescue trigger signal into the edge artificial intelligence system for alarm level analysis, and obtains alarm level data.

[0071] This step enables rapid local processing of alarm information, avoiding the analysis delays caused by remote transmission and improving the timeliness of emergency response.

[0072] Step A32: When the alarm level data meets the preset highest level, an emergency route planning trigger command is automatically generated; It should be noted that the preset maximum level refers to the highest urgency threshold that is pre-set so that the emergency rescue process can be automatically initiated without manual confirmation. It should also be noted that the emergency route planning trigger command refers to the internal control command automatically generated when the alarm level meets the preset maximum level, used to initiate emergency transport route calculation.

[0073] Understandably, step A32 automatically generates an emergency route planning trigger command when the alarm level data meets the preset highest level.

[0074] This step enables second-level automatic response to the highest level of accidents, allowing rescue route planning to begin immediately without waiting for manual approval.

[0075] Step A33: If the alarm level data does not meet the preset highest level, the alarm level data is reported to the commander to determine whether to generate an emergency path planning trigger instruction based on the feedback instructions. It should be noted that the commander refers to the dispatch and management personnel in the dispatch and command center who are responsible for receiving alarm information and making emergency decisions. It should also be noted that the feedback instruction refers to the decision command returned by the commander based on alarm level data and the on-site situation, used to confirm or cancel the emergency route planning.

[0076] Understandably, in step A33, if the alarm level data does not meet the preset highest level, the alarm level data will be reported to the commander so as to determine whether to generate an emergency route planning trigger instruction based on the feedback instructions.

[0077] This step avoids interference with normal production order by using a manual review mechanism, thus achieving an organic combination of automation and human decision-making.

[0078] Step A34: Generate emergency transport route data based on the accident site coordinates, rescue vehicle locations, and digital elevation model data; It should be noted that accident point coordinates refer to the geographic coordinate data of the accident location obtained through alarm information analysis or positioning devices. It should also be noted that rescue vehicle locations refer to the real-time geographic location information of fire trucks, medical vehicles, and other vehicles participating in emergency rescue. Furthermore, digital elevation model (DEM) data refers to three-dimensional terrain data containing surface elevation information, used to support three-dimensional planning and slope analysis of rescue routes. Finally, emergency transport route data refers to the driving route information calculated based on accident point coordinates, rescue vehicle locations, and terrain data, enabling rescue vehicles to quickly reach the scene.

[0079] Understandably, step A34 generates emergency transport route data based on the accident site coordinates, rescue vehicle locations, and digital elevation model data.

[0080] This step takes into account factors such as the location of the accident, the distribution of rescue forces, and terrain undulations to generate the optimal, passable rescue route.

[0081] Step A35: Dynamically correct the emergency transport route data based on the current geographical location to obtain the corrected emergency transport route data; It should be noted that dynamic correction refers to the real-time adjustment of emergency transport routes based on the real-time geographical location of mining trucks or rescue vehicles. It should also be noted that the corrected emergency transport route data refers to the rescue route information updated after dynamic correction, reflecting the latest road conditions and vehicle locations.

[0082] Understandably, step A35 dynamically corrects the emergency transport route data based on the current geographical location to obtain the corrected emergency transport route data.

[0083] This step enables the rescue route to be updated in real time as vehicles move and road conditions change, avoiding the problem of static planning being out of sync with actual traffic conditions.

[0084] Step A36: Determine the corrected emergency transport route data as dynamic transport route planning data so that the vehicle terminal can control the mining truck's movement based on the dynamic transport route planning data.

[0085] Understandably, step A36 determines the corrected emergency transport route data as dynamic transport route planning data so that the on-board terminal can control the mining truck's movement based on the dynamic transport route planning data.

[0086] This step seamlessly switches the emergency route to the actual vehicle control command, realizing a closed loop throughout the entire process from accident alarm to the departure of rescue vehicles.

[0087] Step S40: When the current geographical location triggers the electronic fence boundary and / or the current driver status data meets the preset anomaly judgment threshold, a safety control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0088] It should be noted that the electronic fence boundary refers to the virtual geographical limit pre-defined within the open-pit mine operating area to restrict the driving range of mining trucks, including warning boundaries, speed limit boundaries, and danger zones. The preset anomaly judgment threshold refers to a pre-set critical value used to determine whether the driver's condition has reached a level requiring intervention. The safety control command refers to the dispatch command generated when the electronic fence boundary is triggered geographically or when the driver's condition is abnormal, used to control the mining truck to perform safety actions. The target safety response action refers to the specific safety operations performed by the on-board terminal according to the safety control command, including warning reminders, speed limit control, parking brake, and multi-modal output.

[0089] Understandably, in step S40, when the electronic fence boundary is triggered at the current geographical location or when the current driver status data meets the preset anomaly judgment threshold, a safety control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0090] This step achieves dual safety monitoring of geographical location crossing and driver abnormalities. By issuing hierarchical control commands to the vehicle terminal, it combines software warnings with hardware braking, forming a closed-loop safety management mechanism from reminders to mandatory intervention.

[0091] In one feasible implementation, step S40 includes steps A41 to A45: Step A41: When the electronic fence warning boundary is triggered at the current geographical location, a warning control command is generated and sent to the vehicle terminal so that the vehicle terminal outputs traffic restriction reminder information; It should be noted that the electronic fence warning boundary refers to the outermost virtual boundary of the electronic fence. When a vehicle touches this boundary, a warning is triggered, but entry is not restricted. It should also be noted that the warning control command refers to the safety control sub-command generated when a vehicle touches the electronic fence warning boundary, which triggers the on-board terminal to output a reminder message. Finally, it should be noted that the traffic restriction reminder message refers to the graphic and audio information displayed on the on-board display and voice module that alerts the driver that they are about to enter a restricted area.

[0092] Understandably, when the electronic fence warning boundary is triggered at the current geographical location, step A41 generates a warning control command and sends it to the vehicle terminal so that the vehicle terminal outputs traffic restriction reminder information.

[0093] This step initiates a gentle warning as the vehicle approaches a dangerous area, giving the driver ample reaction time and room for self-correction.

[0094] Step A42: When the current geographical location crosses the electronic fence speed limit boundary, generate a speed limit control command and send it to the vehicle terminal so that the vehicle terminal controls the power output system of the mining truck to reduce the output power to below the preset speed limit value; It should be noted that the electronic fence speed limit boundary refers to the virtual boundary of the middle layer of the electronic fence; when a vehicle crosses this boundary, mandatory speed limit control is triggered. It should also be noted that the speed limit control command refers to the safety control sub-command generated when a vehicle crosses the electronic fence speed limit boundary to reduce the speed of the mining truck. It should be noted that the power output system refers to the mining truck's engine and its transmission control device, responsible for providing the power required for vehicle movement. Finally, it should be noted that the preset speed limit value refers to the pre-set critical speed value used to limit the maximum speed of the mining truck within a specific area.

[0095] Understandably, when the current geographical location crosses the electronic fence speed limit boundary, step A42 generates a speed limit control command and sends it to the vehicle terminal so that the vehicle terminal controls the power output system of the mining truck to reduce the output power to below the preset speed limit value.

[0096] This step reduces the severity of a potential collision by forcibly reducing the vehicle's speed and proactively weakening its kinetic energy before it moves further into the danger zone.

[0097] Step A43: When the current geographical location is in a dangerous area of ​​the electronic fence, generate a parking control command and send it to the vehicle terminal so that the vehicle terminal controls the braking system of the mining truck to perform a parking action and controls the engine of the mining truck to reduce to idle speed. It should be noted that the electronic fence danger zone refers to the innermost prohibited area of ​​the electronic fence, where the highest level of safety control is triggered when a vehicle enters. The parking control command refers to the safety control sub-command generated when a vehicle enters the electronic fence danger zone, used to force the mining truck to stop. The braking system refers to the braking actuator of the mining truck, used to apply the vehicle brakes upon receiving the parking control command. The parking action refers to the process by which the braking system performs the braking operation to bring the mining truck to a complete stop and maintain a stationary state. The engine refers to the power generation device of the mining truck, which generates mechanical energy by burning fuel to drive the vehicle. The idling state refers to the operating state where the engine maintains its minimum stable operating speed; at this time, the vehicle has no power output but remains ready to be started at any time.

[0098] Understandably, when the current geographical location is in a dangerous area of ​​the electronic fence, step A43 generates a parking control command and sends it to the vehicle terminal so that the vehicle terminal controls the braking system of the mining truck to perform a parking action and controls the engine of the mining truck to drop to idle speed.

[0099] This step achieves physical-level blocking of the prohibited area, and through the combined control of parking and idling, completely eliminates the risk of vehicles losing control in dangerous areas.

[0100] Step A44: Upon receiving the parking completion signal from the mining truck, generate an unlock waiting command and send it to the vehicle terminal so that the vehicle terminal maintains the parking state until a remote unlock command is received. It should be noted that the parking completion signal refers to the confirmation information sent to the dispatch center after the braking system has completed the parking action, indicating that the vehicle has come to a complete stop. The unlocking wait command refers to the safety control sub-command generated after confirming the vehicle is parked, used to maintain the braking state until manual release. The remote unlock command refers to the release command issued by the dispatch center or authorized personnel after confirming on-site safety, used to release the vehicle from the parking lock state.

[0101] Understandably, when step A44 receives the parking completion signal from the mining truck, it generates an unlock waiting command and sends it to the vehicle terminal so that the vehicle terminal maintains the parking state until it receives the remote unlock command.

[0102] This step prevents accidental release of the parking status, ensuring that vehicle locks in dangerous areas must be manually confirmed before release, thus avoiding secondary risks caused by automatic resumption of driving.

[0103] Step A45: Determine at least one of the warning control command, speed limit control command, parking control command, and unlock waiting command as a safety control command, and send it to the vehicle terminal so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0104] Understandably, step A45 identifies at least one of the warning control command, speed limit control command, parking control command, and unlock waiting command as a safety control command and sends it to the vehicle terminal so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0105] This step integrates all the sub-instructions of the three-level response of the electronic fence, forming a complete security control chain from early warning to locking, and realizing a unified dispatch exit for hierarchical management and control.

[0106] In one feasible implementation, step S40 includes steps A51 to A55: Step A51: When the current driver status data meets the preset mild abnormality threshold, generate a mild warning command and send it to the vehicle terminal so that the vehicle terminal outputs visual icon flashing information and voice rest prompt information; It should be noted that the preset mild abnormality threshold refers to a pre-set critical value used to determine if the driver is in a state of mild fatigue or slight abnormality, typically corresponding to basic fatigue characteristics such as yawning. It should also be noted that the mild warning command is a safety control sub-command generated when the driver's condition meets the preset mild abnormality threshold, used to trigger the gentle reminder mode. Furthermore, the visual icon flashing information refers to a graphic warning message displayed on the in-vehicle display screen that flashes to alert the driver to fatigue. Finally, the voice rest prompt information refers to an audio prompt message delivered in a gentle tone via the in-vehicle voice module, suggesting that the driver stop and rest.

[0107] Understandably, in step A51, when the current driver status data meets the preset mild abnormality threshold, a mild warning command is generated and sent to the vehicle terminal, so that the vehicle terminal outputs visual icon flashing information and voice rest prompt information.

[0108] This step uses a non-intrusive reminder method in the early stages of fatigue, which draws the driver's attention without excessively interfering with normal driving.

[0109] Step A52: When the current driver status data meets the preset moderate abnormality threshold, a moderate warning command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the steering wheel vibration module to output vibration prompt information; It should be noted that the preset moderate abnormality threshold refers to a pre-set critical value used to determine if the driver is in a moderately fatigued or significantly abnormal state, typically corresponding to moderate fatigue characteristics such as frequent eye closure. The moderate warning command refers to a safety control sub-command generated when the driver's condition meets the preset moderate abnormality threshold, used to trigger the enhanced alert mode. The steering wheel vibration module refers to a vibration actuator integrated inside the steering wheel, used to deliver a tactile warning to the driver upon receiving the moderate warning command. The vibration alert information refers to the periodic mechanical vibration generated by the steering wheel vibration module, used to remind the driver of driving safety through tactile means.

[0110] Understandably, in step A52, when the current driver status data meets the preset moderate abnormality threshold, a moderate warning command is generated and sent to the vehicle terminal so that the vehicle terminal controls the steering wheel vibration module to output vibration prompt information.

[0111] This step introduces a tactile sensory channel, which uses physical vibrations to forcefully attract the driver's attention when visual and auditory senses may be ignored due to environmental noise.

[0112] Step A53: When the current driver status data meets the preset severe abnormality threshold, a severe warning command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the hazard light module and the horn module to output hazard light and intermittent horn information, and controls the auxiliary braking module to apply auxiliary braking force. It should be noted that the preset severe anomaly threshold refers to a pre-set critical value used to determine if the driver is in a state of severe fatigue or serious abnormality, typically corresponding to dangerous conditions such as prolonged inactivity. The severe warning command refers to a safety control sub-command generated when the driver's condition meets the preset severe anomaly threshold, used to trigger the emergency intervention mode. The hazard warning module refers to the hazard warning flasher control device for mining trucks, used to control the vehicle's turn signals to flash synchronously in emergency situations. The horn module refers to the audible warning device for mining trucks, used to emit a high-decibel sound to warn surrounding personnel and vehicles in emergency situations. The hazard warning and intermittent horn information refers to the combined visual and audible warning signal output by the hazard warning and horn modules, used to maximize the warning effect in severe anomalies. The auxiliary braking module refers to an actuator added to the conventional braking system to automatically apply auxiliary braking force in emergency situations. The auxiliary braking force refers to the additional braking force applied by the auxiliary braking module, used to actively reduce vehicle speed or force the vehicle to stop when the driver is unresponsive.

[0113] Understandably, in step A53, when the current driver status data meets the preset severe abnormality threshold, a severe warning command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the hazard light module and the horn module to output hazard light and intermittent horn information, and controls the auxiliary braking module to apply auxiliary braking force.

[0114] This step initiates comprehensive emergency intervention when the driver loses normal control ability, using sound and light to warn the surrounding area and automatically decelerate and brake to minimize the risk of an accident.

[0115] Step A54: Based on the changes in the abnormality level of the mild warning command, moderate warning command and severe warning command, generate a state machine switching command and send it to the vehicle terminal so that the vehicle terminal switches the multimodal output state; It should be noted that the state machine switching instruction refers to the scheduling sub-command generated based on changes in the driver's abnormality level, used to control the switching between different warning modes of the vehicle terminal. It should also be noted that the multimodal output state refers to the operating mode in which the vehicle terminal simultaneously or alternately uses multiple sensory channels such as vision, hearing, and touch to output warning information to the driver.

[0116] Understandably, step A54 generates a state machine switching command based on the abnormality level changes of the mild warning command, moderate warning command, and severe warning command, and sends it to the vehicle terminal so that the vehicle terminal switches to the multimodal output state.

[0117] This step enables a smooth transition of the warning mode as the degree of abnormality changes, avoiding driver stress caused by sudden changes in warning level and improving the comfort of human-machine interaction.

[0118] Step A55: Determine at least one of the following warning instructions: mild warning instruction, moderate warning instruction, severe warning instruction, and state machine switching instruction, as a safety control instruction, and send it to the vehicle terminal so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0119] Understandably, step A55 identifies at least one of the following warning instructions: mild warning instruction, moderate warning instruction, severe warning instruction, and state machine switching instruction, as a safety control instruction and sends it to the vehicle terminal so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0120] This step integrates the graded early warning of abnormal driver status into a unified safety control exit, complementing electronic fence control and constructing a dual-dimensional safety protection system for both personnel and vehicles.

[0121] This embodiment provides an intelligent command and dispatch method for mining trucks. By constructing a three-layered communication architecture—a ground-based wireless link, an airborne UAV relay link, and a space-based satellite communication link—and dynamically prioritizing and coordinating multi-path transmission based on real-time link quality assessment, a continuous and reliable communication connection between mining trucks and the dispatch center is achieved even in extreme scenarios of signal obstruction in deep open-pit mines. The fusion positioning mode combining inertial navigation systems with onboard ultra-wideband or lidar effectively suppresses the accumulation of positioning drift when satellite signals are interrupted, ensuring the accuracy of vehicle position perception in deep mining areas. Dynamic transportation path planning based on current geographical location and working environment data enables real-time optimization of transportation routes and rapid obstacle avoidance. Through three-level progressive control of electronic fence warning boundaries, speed limit boundaries, and dangerous areas, and multimodal safety warnings based on dual-modal monitoring of driver visual and physiological characteristics, a closed-loop safety intervention mechanism from software alerts to hardware braking is formed. In emergency rescue scenarios, alarm level assessment by an edge AI system and air-ground collaborative path planning enable rapid initiation of accident response and precise dispatch of rescue forces. The combined effect of these technologies has significantly improved transportation efficiency, communication reliability, and personnel safety in the extreme operating environment of open-pit mines.

[0122] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 Step S20 includes steps S201 to S205: Step S201: Obtain the reference signal received power of the ground-based platform wireless link, the signal strength of the UAV relay link on the air-based platform, and the carrier-to-noise ratio data of the space-based platform satellite communication link to obtain the current link quality data. It should be noted that Reference Signal Receiving Power (RSRP) refers to the power intensity of the wireless signal received at the base station or communication node, and is a core indicator for evaluating the coverage quality of wireless links on ground-based platforms. Signal strength refers to the instantaneous field strength amplitude of electromagnetic waves in the communication link, reflecting the transmission stability of the UAV relay link on an airborne platform. Carrier to Noise Ratio (C / N) is the ratio of satellite communication signal power to channel noise power, used to measure the signal purity of satellite communication links on space-based platforms. Current link quality data refers to the evaluation result characterizing the real-time transmission capabilities of the three communication links, formed by combining reference signal received power, signal strength, and carrier to noise ratio.

[0123] Understandably, step S201 obtains the reference signal received power of the ground-based platform wireless link, the signal strength of the UAV relay link on the air-based platform, and the carrier-to-noise ratio data of the space-based platform satellite communication link to obtain the current link quality data.

[0124] This step enables the quantitative collection of transmission quality data across the air-space-ground three-layer links, providing a real-time data foundation for subsequent link priority determination.

[0125] Step S202: Based on the preset link priority strategy and the current link quality data, when the ground platform wireless link meets the preset availability conditions, the ground platform wireless link is determined as the main transmission link. It should be noted that the preset link priority strategy refers to a pre-defined set of rules used to guide the selection of primary and backup links among multiple communication links, configured according to the principle of ground-based priority, air-based priority, and space-based as a backup. It should also be noted that the preset availability conditions refer to pre-defined critical criteria used to determine whether a single communication link has the capability to independently undertake data transmission tasks, including power thresholds and stability indicators. Finally, it should be noted that the primary transmission link refers to the priority link that undertakes the main data transmission tasks in a multi-layered communication architecture, typically a ground-based platform wireless link.

[0126] Understandably, in step S202, based on the preset link priority strategy and the current link quality data, the ground platform wireless link is determined as the primary transmission link when the ground platform wireless link meets the preset availability conditions.

[0127] This step ensures that ground network resources are used preferentially in normal operating scenarios, reduces the frequency of calls to drones and satellite links, and saves emergency communication resources.

[0128] Step S203: When the ground platform wireless link does not meet the preset availability conditions in the current link quality data, send the UAV relay trigger command to the air-based platform according to the preset link priority strategy, so that the air-based platform controls the UAV to establish a temporary communication node and determines the air-based platform UAV relay link as an emergency transmission link. It should be noted that the UAV relay trigger command refers to the scheduling command generated after the ground-based platform's wireless link is detected to be unavailable, which requests the airborne platform to start the UAV and establish an airborne communication node. It should also be noted that the emergency transmission link refers to the backup communication channel that is temporarily activated after the main transmission link fails, undertaking the task of data relay transmission; it is usually provided by the airborne platform's UAV relay link.

[0129] Understandably, in step S203, when the ground-based platform wireless link does not meet the preset availability conditions in the current link quality data, a UAV relay trigger command is sent to the air-based platform according to the preset link priority strategy, so that the air-based platform controls the UAV to establish a temporary communication node and determines the air-based platform UAV relay link as an emergency transmission link.

[0130] This step enables automatic air relay switching when the ground network is interrupted, utilizing the maneuverability of UAVs to quickly fill communication blind spots and ensure the continuous transmission of dispatch commands.

[0131] Step S204: When neither the ground-based platform wireless link nor the airborne platform UAV relay link in the current link quality data meets the preset availability conditions, a satellite link switching command is sent to the space-based platform according to the preset link priority strategy, so that the space-based platform activates the space-based platform satellite communication link and determines the space-based platform satellite communication link as the bottom line transmission link. It should be noted that the satellite link switching command refers to an emergency dispatch command generated when both ground-based and space-based links are detected as unavailable, used to activate the satellite communication function of the space-based platform. It should also be noted that the bottom-line transmission link refers to the last-line backup communication channel activated when all conventional and emergency communication methods fail; it is typically provided by the space-based platform's satellite communication link to ensure minimal communication interruption under extremely adverse conditions.

[0132] Understandably, in step S204, when neither the ground-based platform wireless link nor the airborne platform UAV relay link in the current link quality data meets the preset availability conditions, a satellite link switching command is sent to the space-based platform according to the preset link priority strategy, so that the space-based platform activates the space-based platform satellite communication link and determines the space-based platform satellite communication link as the bottom-line transmission link.

[0133] This step establishes the final safety net for communication links, ensuring a basic connection between the dispatch center and mining trucks even when ground and air networks are completely paralyzed, thus enhancing survivability and communication capabilities under extreme disasters.

[0134] Step S205: Establish a converged communication link based on the available links among the main transmission link, emergency transmission link, and bottom-line transmission link.

[0135] It should be noted that available links refer to the set of communication channels that are determined to be able to transmit data normally at the current moment through link quality assessment, which may include one or more links.

[0136] Understandably, step S205 establishes a converged communication link based on the available links among the main transmission link, emergency transmission link, and bottom-line transmission link.

[0137] This step integrates the available links selected by the priority strategy into a unified converged communication link, realizing the dynamic aggregation and collaborative scheduling of multi-layer network resources in air, space, and ground, and ensuring the communication continuity and reliability of mining trucks in the complex terrain of deep pits in open-pit mines.

[0138] This embodiment provides an intelligent command and dispatch method for mining trucks. By acquiring real-time data on the reference signal received power of the ground-based platform's wireless link, the signal strength of the UAV relay link on the air-based platform, and the carrier-to-noise ratio of the satellite communication link on the space-based platform, a quantitative evaluation basis for the transmission quality of the three-layer air-space-ground links is established. Based on a preset link priority strategy, the ground-based platform's wireless link is designated as the primary transmission link when it meets preset availability conditions, thus prioritizing the use of ground network resources in routine operation scenarios. When the ground-based platform's wireless link does not meet preset availability conditions, a temporary communication node is established by sending a UAV relay trigger command to the air-based platform, designating the UAV relay link on the air-based platform as an emergency transmission link to fill communication blind spots in areas with ground signal obstruction. When neither the ground-based nor the air-based link meets preset availability conditions, a satellite link switching command is sent to the space-based platform to activate the satellite communication link, designating the space-based platform's satellite communication link as the minimum uninterrupted transmission link, ensuring minimal communication uninterruption even in extremely harsh environments. By establishing a converged communication link based on the available links in the main transmission link, emergency transmission link, and bottom-line transmission link, dynamic aggregation and collaborative scheduling of multi-layer network resources are realized. This significantly improves the continuity and reliability of communication between mining trucks and the dispatch center in complex terrain of deep open-pit mines, and provides a stable transmission channel guarantee for intelligent command and dispatch.

[0139] This application also provides an intelligent command and dispatch device for mining trucks, such as... Figure 3 As shown, the intelligent command and dispatch device for mining trucks includes: Data acquisition module 10 is used to acquire the current geographical location, current communication link status, current working face environmental data and current driver status data of the mining truck in the deep pit operation area of ​​the open-pit mine; The link establishment module 20 is used to establish a converged communication link between the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link according to the current communication link status. The route planning module 30 is used to generate dynamic transportation route planning data based on the current geographical location and current working face environment data, so that the vehicle terminal can control the driving of the mining truck according to the dynamic transportation route planning data; The safety control module 40 is used to generate a safety control command and send it to the vehicle terminal when the electronic fence boundary is triggered at the current geographical location and / or the current driver status data meets the preset abnormal judgment threshold, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0140] The intelligent command and dispatch device for mining trucks provided in this application, employing the intelligent command and dispatch method for mining trucks in the above embodiments, can solve the technical problem of how to achieve intelligent command and dispatch of mining trucks in extreme scenarios such as signal obstruction in deep pits of open-pit mines. Compared with the prior art, the beneficial effects of the intelligent command and dispatch device for mining trucks provided in this application are the same as those of the intelligent command and dispatch method for mining trucks provided in the above embodiments, and other technical features in the intelligent command and dispatch device for mining trucks are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0141] In one embodiment, the link establishment module 20 is further used to obtain the reference signal received power of the ground-based platform wireless link, the signal strength of the UAV relay link of the air-based platform, and the carrier-to-noise ratio data of the space-based platform satellite communication link, so as to obtain the current link quality data. Based on the preset link priority strategy and the current link quality data, when the ground platform wireless link meets the preset availability conditions, the ground platform wireless link will be determined as the main transmission link. When the ground-based platform wireless link does not meet the preset availability conditions in the current link quality data, a UAV relay trigger command is sent to the air-based platform according to the preset link priority policy, so that the air-based platform controls the UAV to establish a temporary communication node and the air-based platform UAV relay link is determined as an emergency transmission link. When neither the ground-based platform wireless link nor the airborne platform UAV relay link meets the preset availability conditions in the current link quality data, a satellite link switching command is sent to the space-based platform according to the preset link priority strategy, so that the space-based platform activates the space-based platform satellite communication link and determines the space-based platform satellite communication link as the bottom line transmission link. Establish a converged communication link based on the available links in the main transmission link, emergency transmission link, and bottom line transmission link.

[0142] In one embodiment, the link establishment module 20 is also used to acquire transmission quality parameters of the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link; Based on the comparison results between the transmission quality parameters and the preset quality threshold, the data transmission weight of each link is determined; The scheduling instruction data is divided into packets according to the data transmission weight to obtain the first data packet, the second data packet, and the third data packet. The first data packet is sent to the ground-based platform wireless link, the second data packet is sent to the air-based platform UAV relay link, and the third data packet is sent to the space-based platform satellite communication link; The first, second, and third data packets received through each link are merged and deduplicated to obtain complete scheduling instruction data. Establish a converged communication link based on complete scheduling instruction data.

[0143] In one embodiment, the path planning module 30 is further configured to acquire distance data and image data of obstacles ahead; The system performs fusion recognition processing based on the distance data and image data of the obstacles in front to obtain dynamic obstacle location data and dynamic obstacle type data; Based on the dynamic obstacle location data and the current speed data of the mining truck, the collision time parameters are calculated. When the collision time parameter is less than the preset safe time threshold, emergency obstacle avoidance trajectory data is generated; The dynamic transportation route planning data is partially corrected based on the emergency obstacle avoidance trajectory data to obtain the corrected dynamic transportation route planning data. The revised dynamic transportation route planning data is used as the dynamic transportation route planning data so that the vehicle terminal can control the driving of mining trucks based on the dynamic transportation route planning data.

[0144] In one embodiment, the safety control module 40 is further configured to generate a warning control command and send it to the vehicle terminal when the electronic fence warning boundary is triggered at the current geographical location, so that the vehicle terminal outputs traffic restriction reminder information; When the current geographical location crosses the electronic fence speed limit boundary, a speed limit control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the power output system of the mining truck to reduce the output power to below the preset speed limit value; When the current geographical location is in a dangerous area of ​​the electronic fence, a parking control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the braking system of the mining truck to perform a parking action and controls the engine of the mining truck to reduce to idle speed. Upon receiving the parking completion signal from the mining truck, an unlocking waiting command is generated and sent to the vehicle terminal, so that the vehicle terminal maintains the parking state until a remote unlocking command is received. At least one of the following commands—early warning control command, speed limit control command, parking control command, and unlock waiting command—is identified as a safety control command and sent to the vehicle terminal. This enables the vehicle terminal to control the mining truck to stop traveling according to the dynamic transportation route planning data and to execute the target safety response action.

[0145] In one embodiment, the safety control module 40 is further configured to generate a mild warning command and send it to the vehicle terminal when the current driver status data meets a preset mild abnormality threshold, so that the vehicle terminal outputs visual icon flashing information and voice rest prompt information. When the current driver status data meets the preset moderate abnormality threshold, a moderate warning command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the steering wheel vibration module to output vibration prompt information; When the current driver status data meets the preset severe abnormality threshold, a severe warning command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the hazard light module and the horn module to output hazard light and intermittent horn information, and controls the auxiliary braking module to apply auxiliary braking force. Based on the changes in the abnormality level of mild, moderate and severe warning commands, a state machine switching command is generated and sent to the vehicle terminal to enable the vehicle terminal to switch to a multimodal output state. At least one of the following warning commands—mild warning, moderate warning, severe warning, and state machine switching—is identified as a safety control command and sent to the vehicle terminal. This enables the vehicle terminal to control the mining truck to stop traveling according to the dynamic transportation route planning data and to execute the target safety response action.

[0146] In one embodiment, the path planning module 30 is also used to respond to an emergency rescue trigger signal, input the emergency rescue trigger signal into the edge artificial intelligence system for alarm level analysis, and obtain alarm level data; When the alarm level data meets the preset highest level, an emergency route planning trigger command is automatically generated. When the alarm level data does not meet the preset highest level, the alarm level data will be reported to the commander so that the emergency route planning trigger command can be generated based on the feedback instructions. Based on the coordinates of the accident site, the location of rescue vehicles, and digital elevation model data, emergency transportation route data is generated; The emergency transport route data is dynamically corrected based on the current geographical location to obtain the corrected emergency transport route data. The revised emergency transport route data is used as dynamic transport route planning data so that the vehicle terminal can control the mining truck's movement based on the dynamic transport route planning data.

[0147] This application provides an intelligent command and dispatch device for mining trucks, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the intelligent command and dispatch method for mining trucks in the above embodiment 1.

[0148] The following is for reference. Figure 4This document illustrates a structural schematic diagram of a mining truck intelligent command and dispatch device suitable for implementing embodiments of this application. The mining truck intelligent command and dispatch device in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), vehicle-mounted terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 4 The intelligent command and dispatch equipment for mining trucks shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0149] like Figure 4 As shown, the intelligent command and dispatch equipment for mining trucks may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to programs stored in ROM (Read Only Memory) 1002 or programs loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the intelligent command and dispatch equipment for mining trucks. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Yes, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the intelligent command and dispatch equipment for mining trucks to exchange data wirelessly or via wired communication with other devices. Although the figure shows intelligent command and dispatch equipment for mining trucks with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0150] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0151] The intelligent command and dispatch equipment for mining trucks provided in this application, employing the intelligent command and dispatch method for mining trucks in the above embodiments, can solve the technical problem of how to achieve intelligent command and dispatch of mining trucks in extreme scenarios such as signal obstruction in deep pits of open-pit mines. Compared with the prior art, the beneficial effects of the intelligent command and dispatch equipment for mining trucks provided in this application are the same as those of the intelligent command and dispatch method for mining trucks provided in the above embodiments, and other technical features in this intelligent command and dispatch equipment are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0152] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0153] The above description is merely a specific embodiment of this application, but the scope of protection of this application 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 this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0154] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the intelligent command and dispatch method for mining trucks in the above embodiments.

[0155] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory or Flash Memory), optical fibers, CD-ROM (CD-Read Only Memory), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0156] The aforementioned computer-readable storage medium may be included in the intelligent command and dispatch equipment for mining trucks; or it may exist independently and not be assembled into the intelligent command and dispatch equipment for mining trucks.

[0157] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by the intelligent command and dispatch equipment for mining trucks, the intelligent command and dispatch equipment for mining trucks: establishes a converged communication link between the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link based on the current communication link status; generates dynamic transportation route planning data based on the current geographical location and current working face environment data, so that the vehicle terminal controls the mining truck to drive according to the dynamic transportation route planning data; and when the current geographical location triggers the electronic fence boundary and / or the current driver status data meets the preset abnormal judgment threshold, the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

[0158] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LAN (Local Area Network) or WAN (Wide Area Network)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0159] 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 this application. 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 the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can 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.

[0160] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0161] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., computer programs) for executing the above-described intelligent command and dispatch method for mining trucks. This solves the technical problem of how to achieve intelligent command and dispatch of mining trucks in extreme scenarios such as signal obstruction in deep open-pit mines. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the intelligent command and dispatch method for mining trucks provided in the above embodiments, and will not be repeated here.

[0162] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the intelligent command and dispatch method for mining trucks as described above.

[0163] The computer program product provided in this application can solve the technical problem of how to achieve intelligent command and dispatch of mining trucks in extreme scenarios such as signal obstruction in deep pits of open-pit mines. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the intelligent command and dispatch method for mining trucks provided in the above embodiments, and will not be repeated here.

[0164] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for intelligent command and dispatch of mining trucks, characterized in that, The method includes: Obtain the current geographical location, current communication link status, current working face environment data, and current driver status data of the mining truck in the deep pit operation area of ​​the open-pit mine; Based on the current communication link status, a converged communication link is established between the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link; Based on the current geographical location and the current working face environment data, dynamic transportation route planning data is generated so that the vehicle terminal controls the driving of the mining truck according to the dynamic transportation route planning data. When the current geographical location triggers the electronic fence boundary and / or the current driver status data meets the preset anomaly judgment threshold, a safety control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action; The step of establishing a converged communication link among the ground-based platform wireless link, the airborne platform UAV relay link, and the space-based platform satellite communication link based on the current communication link status includes: The reference signal received power of the ground-based platform wireless link, the signal strength of the UAV relay link of the air-based platform, and the carrier-to-noise ratio data of the space-based platform satellite communication link are obtained to obtain the current link quality data. Based on the preset link priority strategy and the current link quality data, when the ground platform wireless link meets the preset availability conditions, the ground platform wireless link is determined as the primary transmission link. When the ground-based platform wireless link does not meet the preset availability conditions in the current link quality data, a UAV relay trigger command is sent to the air-based platform according to the preset link priority policy, so that the air-based platform controls the UAV to establish a temporary communication node and determines the air-based platform UAV relay link as an emergency transmission link. When neither the ground-based platform wireless link nor the airborne platform UAV relay link in the current link quality data meets the preset availability conditions, a satellite link switching command is sent to the space-based platform according to the preset link priority strategy, so that the space-based platform activates the space-based platform satellite communication link and determines the space-based platform satellite communication link as the bottom-line transmission link. A converged communication link is established based on the available links among the main transmission link, the emergency transmission link, and the bottom-line transmission link.

2. The method as described in claim 1, characterized in that, The step of establishing a converged communication link among the ground-based platform wireless link, the airborne platform UAV relay link, and the space-based platform satellite communication link based on the current communication link status includes: Obtain the transmission quality parameters of the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link; Based on the comparison results between the transmission quality parameters and the preset quality threshold, the data transmission weight of each link is determined; The scheduling instruction data is divided into packets according to the data transmission weight to obtain a first data packet, a second data packet, and a third data packet. The first data packet is sent to the ground-based platform wireless link, the second data packet is sent to the air-based platform UAV relay link, and the third data packet is sent to the space-based platform satellite communication link; The first data packet, the second data packet, and the third data packet received through each link are merged and deduplicated to obtain complete scheduling instruction data; Based on the complete scheduling instruction data, a converged communication link is established.

3. The method as described in claim 1, characterized in that, The step of generating dynamic transportation route planning data based on the current geographical location and the current working surface environment data, so that the vehicle terminal can control the driving of the mining truck according to the dynamic transportation route planning data, includes: Acquire distance data and image data of obstacles ahead; Based on the distance data of the obstacle in front and the image data of the obstacle in front, a fusion recognition process is performed to obtain dynamic obstacle location data and dynamic obstacle type data; Based on the dynamic obstacle location data and the current speed data of the mining truck, the collision time parameter is calculated; When the collision time parameter is less than a preset safe time threshold, emergency obstacle avoidance trajectory data is generated; The dynamic transportation path planning data is partially corrected based on the emergency obstacle avoidance trajectory data to obtain the corrected dynamic transportation path planning data. The corrected dynamic transportation route planning data is used as the dynamic transportation route planning data, so that the vehicle terminal controls the driving of the mining truck according to the dynamic transportation route planning data.

4. The method as described in claim 1, characterized in that, The step of generating a safety control command and sending it to the vehicle terminal when the current geographical location triggers the electronic fence boundary and / or the current driver status data meets a preset anomaly judgment threshold, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action, includes: When the electronic fence warning boundary is triggered at the current geographical location, a warning control command is generated and sent to the vehicle terminal so that the vehicle terminal outputs traffic restriction reminder information; When the current geographical location crosses the electronic fence speed limit boundary, a speed limit control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the power output system of the mining truck to reduce the output power to below the preset speed limit value; When the current geographical location is within a dangerous area of ​​the electronic fence, a parking control command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the braking system of the mining truck to perform a parking action and controls the engine of the mining truck to reduce to idle speed. Upon receiving the parking completion signal from the mining truck, an unlocking waiting command is generated and sent to the vehicle terminal, so that the vehicle terminal maintains the parking state until a remote unlocking command is received. At least one of the warning control command, the speed limit control command, the parking control command, and the unlock waiting command is identified as a safety control command and sent to the vehicle terminal, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

5. The method as described in claim 1, characterized in that, The step of generating a safety control command and sending it to the vehicle terminal when the current geographical location triggers the electronic fence boundary and / or the current driver status data meets the preset anomaly judgment threshold, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action, further includes: When the current driver status data meets the preset mild abnormality threshold, a mild warning command is generated and sent to the vehicle terminal, so that the vehicle terminal outputs visual icon flashing information and voice rest prompt information; When the current driver status data meets the preset moderate abnormality threshold, a moderate warning command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the steering wheel vibration module to output vibration prompt information; When the current driver status data meets the preset severe abnormality threshold, a severe warning command is generated and sent to the vehicle terminal, so that the vehicle terminal controls the hazard light module and the horn module to output hazard light and intermittent horn information, and controls the auxiliary braking module to apply auxiliary braking force. Based on the abnormal level changes of the mild warning command, the moderate warning command, and the severe warning command, a state machine switching command is generated and sent to the vehicle terminal to enable the vehicle terminal to switch to a multimodal output state. At least one of the mild warning instruction, the moderate warning instruction, the severe warning instruction, and the state machine switching instruction is determined as the safety control instruction and sent to the vehicle terminal, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action.

6. The method as described in claim 1, characterized in that, The step of generating dynamic transportation route planning data based on the current geographical location and the current working surface environment data, so that the vehicle terminal controls the driving of the mining truck according to the dynamic transportation route planning data, further includes: In response to the emergency rescue trigger signal, the emergency rescue trigger signal is input into the edge artificial intelligence system for alarm level analysis to obtain alarm level data; When the alarm level data meets the preset highest level, an emergency route planning trigger command is automatically generated; When the alarm level data does not meet the preset highest level, the alarm level data is reported to the commander so as to determine whether to generate the emergency path planning trigger command based on the feedback instruction. Based on the coordinates of the accident site, the location of rescue vehicles, and digital elevation model data, emergency transportation route data is generated; The emergency transportation route data is dynamically corrected based on the current geographical location to obtain the corrected emergency transportation route data. The corrected emergency transport route data is determined as dynamic transport route planning data, so that the vehicle terminal controls the driving of the mining truck according to the dynamic transport route planning data.

7. An intelligent command and dispatch device for mining trucks, characterized in that, The device includes: The data acquisition module is used to acquire the current geographical location, current communication link status, current working face environmental data, and current driver status data of the mining truck in the deep pit operation area of ​​the open-pit mine. The link establishment module is used to establish a converged communication link between the ground-based platform wireless link, the air-based platform UAV relay link, and the space-based platform satellite communication link based on the current communication link status. The route planning module is used to generate dynamic transportation route planning data based on the current geographical location and the current working face environment data, so that the vehicle terminal can control the driving of the mining truck according to the dynamic transportation route planning data; The safety control module is used to generate a safety control command and send it to the vehicle terminal when the current geographical location triggers the electronic fence boundary and / or the current driver status data meets the preset anomaly judgment threshold, so that the vehicle terminal controls the mining truck to stop driving according to the dynamic transportation route planning data and executes the target safety response action. The link establishment module is also used to obtain the reference signal received power of the ground-based platform wireless link, the signal strength of the UAV relay link of the air-based platform, and the carrier-to-noise ratio data of the space-based platform satellite communication link, so as to obtain the current link quality data. Based on the preset link priority strategy and the current link quality data, when the ground platform wireless link meets the preset availability conditions, the ground platform wireless link is determined as the primary transmission link. When the ground-based platform wireless link does not meet the preset availability conditions in the current link quality data, a UAV relay trigger command is sent to the air-based platform according to the preset link priority policy, so that the air-based platform controls the UAV to establish a temporary communication node and determines the air-based platform UAV relay link as an emergency transmission link. When neither the ground-based platform wireless link nor the airborne platform UAV relay link in the current link quality data meets the preset availability conditions, a satellite link switching command is sent to the space-based platform according to the preset link priority strategy, so that the space-based platform activates the space-based platform satellite communication link and determines the space-based platform satellite communication link as the bottom-line transmission link. A converged communication link is established based on the available links among the main transmission link, the emergency transmission link, and the bottom-line transmission link.

8. A smart command and dispatch device for mining trucks, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the intelligent command and dispatch method for mining trucks as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the intelligent command and dispatch method for mining trucks as described in any one of claims 1 to 6.

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