A method and system for dispatching mobile cockpits

Abstract

This application provides a scheduling method and system for mobile cockpits. The method includes: after a task is generated, marking its logical segment and broadcasting it within the initial logical segment; if no mobile cockpit claims the task within the initial logical segment, the task is propagated hop-by-hop along the roadway to adjacent logical segments; for each hop of propagation, the scope of participation for claiming the task is determined based on the number of propagation hops, and the scope of participation narrows as the number of propagation hops increases; mobile cockpits with claiming qualifications claim the task, and the task recipient is determined and scheduling is executed based on the claiming results. This method, without centralized scheduling, reduces channel occupancy and terminal computing overhead during task broadcasting, avoids insufficient long-distance movement and handling capabilities caused by priority claiming by remote mobile cockpits, and meets the scheduling needs of mobile cockpits in underground roadways.

Description

Technical Field

[0001] This application belongs to the field of mine communication technology, and in particular relates to a scheduling method and system for a mobile cockpit. Background Technology

[0002] The underground roadways are long and narrow, with multiple mobile control units performing inspections along sections of the roadways. These mobile control units interact via near-field wireless communication. In the existing task scheduling method, a task is broadcast to all mobile control units after it is generated, and each unit claims the task according to a fixed priority. This method has the following drawbacks: First, broadcasting the task to the entire roadway results in a large number of remote mobile control units, unrelated to the task, receiving the task, consuming channel bandwidth and increasing terminal computing overhead. Second, remote and near-field mobile control units participate in claiming tasks according to the same rules, meaning remote mobile control units may claim tasks before near-field units, leading to long-distance movement of mobile control units and increased task response time. Third, the fixed priority rules do not adjust participation eligibility according to the diffusion distance, resulting in insufficient processing capabilities for remote, low-capacity mobile control units after claiming tasks. Summary of the Invention

[0003] To address the challenges of reducing channel occupancy and terminal computing overhead during task broadcasting while avoiding insufficient long-distance movement and handling capabilities due to priority claiming by remote mobile cockpits, this application provides a scheduling method and system for mobile cockpits.

[0004] This application first provides a method for scheduling mobile cockpits, including: multiple mobile cockpits distributed in various logical sections of underground roadways; after a task is generated, its corresponding logical section is marked and broadcast within the initial logical section; if no mobile cockpit claims the task within the initial logical section, the task propagates hop-by-hop along the roadway to adjacent logical sections; a logical section is a continuous spatial unit divided along the roadway, and hop-by-hop propagation is the process of the task spreading from one logical section to an adjacent logical section; for each hop of the task propagation, the scope of participation for mobile cockpits within the corresponding logical section is determined based on the number of propagation hops, and the scope of participation narrows as the number of propagation hops increases; only mobile cockpits that meet the comprehensive capability ranking criteria are eligible to claim the task, and the comprehensive capability ranking is the ranking of mobile cockpits based on personnel job level, operating authority, hardware configuration, and historical task completion status; the scope of participation is the ranking range of mobile cockpits eligible to claim the task; mobile cockpits eligible to claim the task claim the task, determine the task recipient based on the claim result, and execute scheduling; claiming the task is the act of a mobile cockpit declaring that it will accept the task.

[0005] Optionally, after the task is generated, its corresponding logical segment is marked and broadcast within the initial logical segment. If no mobile cockpit claims the task within the initial logical segment, the task propagates hop-by-hop along the roadway to adjacent logical segments. This includes: dividing the roadway into continuous logical segments according to the communication coverage area; marking the corresponding logical segment after the task is generated, broadcasting it within the corresponding logical segment, and opening a claim window; if no mobile cockpit claims the task within the claim window, the task is forwarded to adjacent logical segments. The propagation hop count is incremented by one for each logical segment traversed. Propagation stops when the propagation hop count reaches the maximum propagation hop count corresponding to the task weight. The task weight is the task importance level determined according to the task type, and the claim window is the time period during which the task is open for claiming after broadcasting.

[0006] Optionally, for each hop the task spreads, the scope of participation for mobile cockpits within the corresponding logical segment is determined based on the number of hops. The scope narrows as the number of hops increases, and only mobile cockpits with a satisfactory overall capability ranking are eligible to participate. This includes: ranking each mobile cockpit based on personnel job level, operating authority, hardware configuration, and historical task completion status to generate an overall capability ranking; pre-establishing a correspondence between the number of hops and the circuit breaker threshold; after receiving the task, the mobile cockpit reads the number of hops, queries the corresponding circuit breaker threshold, and only mobile cockpits with an overall capability ranking not exceeding the circuit breaker threshold are eligible to participate. The circuit breaker threshold is the ranking limit value corresponding to the scope of participation.

[0007] Optionally, the process of a mobile cockpit with the right to claim a task, determining the task recipient and executing scheduling based on the claim result, includes: the mobile cockpit with the right to claim a task self-checking its load status and path reachability, and broadcasting a claim receipt after confirming that it can accept the task; collecting the claim receipts in the claim window, comparing the overall capability ranking of the mobile cockpits in the receipts, and determining the mobile cockpit with the highest ranking as the task recipient; the task recipient going to the task location to execute the task, the claim result propagating backward along the task diffusion path and terminating subsequent diffusion, and the claim receipt being a broadcast message from the mobile cockpit declaring that it has accepted the task.

[0008] Optionally, when no mobile cockpit claims the task within the claim window, the task is forwarded to adjacent logical segments. The diffusion hop count is incremented by one for each logical segment it passes through, and diffusion stops when the diffusion hop count reaches the maximum diffusion hop count corresponding to the task weight. This includes: the task weight is determined according to the task type, and different task weights correspond to different maximum diffusion hop counts; after receiving the task, the mobile cockpit verifies the task identifier, and tasks that have already been received are not forwarded again; when the mobile cockpit forwards the task, it increments the diffusion hop count by one, and when the diffusion hop count equals the maximum diffusion hop count, it stops forwarding to adjacent logical segments.

[0009] Optionally, the step of sorting each mobile cockpit based on personnel job level, operating authority, hardware configuration, and historical task completion status to generate a comprehensive capability ranking includes: after entering the logical segment, the mobile cockpit broadcasts its own capability parameters, including personnel job level, operating authority, hardware configuration, and historical task completion status; after receiving the capability parameters, each mobile cockpit sorts them according to a unified rule and generates a comprehensive capability ranking table locally; after the mobile cockpit leaves the logical segment, each mobile cockpit removes it from the comprehensive capability ranking table, and subsequent rankings are automatically filled.

[0010] Optionally, the pre-established correspondence between the diffusion jump count and the fuse line includes: when the diffusion jump count is zero, setting the fuse line to correspond to all priorities, so that all mobile cockpits are eligible to claim; when the diffusion jump count is within a preset range, the fuse line narrows step by step with the narrowing range remaining consistent; when the diffusion jump count exceeds the preset range, the narrowing range of the fuse line increases step by step, so that the far-end logic segment retains only the mobile cockpit with the highest priority.

[0011] Optionally, the collection and claiming window compares the overall capability ranking of the mobile cockpits in the claim receipts, and the mobile cockpit with the highest ranking is determined as the task recipient. This includes: the claim receipt containing the overall capability ranking of the mobile cockpit, the current load rate, and the claim statement; all claim receipts in each mobile cockpit collection and claiming window are sorted from front to back according to the overall capability ranking; the mobile cockpit with the highest overall capability ranking and a load rate that does not exceed the threshold is determined as the task recipient, and the remaining claim receipts are automatically invalidated. The load rate is the ratio of the current task load of the mobile cockpit to the task capacity.

[0012] Optionally, the claim result propagates backward along the task diffusion path and terminates subsequent diffusion, including: the task recipient broadcasts the claim result, the claim result propagates backward hop by hop along the logical segments traversed by the task; after receiving the claim result, the mobile cockpit of each logical segment stops forwarding the task and clears the cache to be forwarded; after the claim result propagates to the initial logical segment of the task, the diffusion process of the task terminates.

[0013] This application also provides a mobile cockpit scheduling system, including a task diffusion module, an eligibility determination module, and an assignment scheduling module. The task diffusion module is used to mark the logical segment to which the task belongs after it is generated and broadcast it within the initial logical segment. If no mobile cockpit claims the task within the initial logical segment, the task diffuses hop by hop along the roadway to adjacent logical segments. The eligibility determination module is used to determine the scope of mobile cockpits to claim the task within the corresponding logical segment based on the number of diffusion hops after each diffusion hop. The scope of claiming the task narrows as the number of diffusion hops increases, and only mobile cockpits that meet the comprehensive capability ranking conditions are eligible to claim the task. The assignment scheduling module is used for mobile cockpits with the claiming qualifications to claim the task, determine the task recipient based on the claiming result, and execute the scheduling.

[0014] In the embodiments provided in this application, tasks are propagated hop-by-hop from near to far according to logical segments, so that the task propagation range gradually expands with the claiming situation. When a mobile cockpit claims the task at the near end, the task is not propagated to the far end, reducing the channel occupation of irrelevant data and terminal processing overhead. Each hop of propagation simultaneously narrows the claiming participation range, so that only high-capacity mobile cockpits can participate in claiming at the far end. The propagation mechanism and the circuit breaker mechanism are linked on the same hop count dimension. The hop count is both a unit of propagation distance and a unit of qualification narrowing. The near end is open and fully competitive to select a suitable receiver, while the far end only retains high-capacity mobile cockpits as a backup. Under the condition of no center, it realizes both the nearby acceptance of tasks and the guarantee of processing capabilities. Attached Figure Description

[0015] 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, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a general flowchart of the mobile cockpit scheduling method in the embodiments of this application; Figure 2 This is a flowchart of logical segmentation and task diffusion in the embodiments of this application; Figure 3 This is a flowchart illustrating the qualification determination process in this application's embodiments; Figure 4 This is a flowchart of the claiming and scheduling process in the embodiments of this application; Figure 5 This is a task forwarding control flowchart in an embodiment of this application; Figure 6 This is a flowchart illustrating the comprehensive capability ranking generation process in the embodiments of this application; Figure 7 This is a flowchart illustrating the fuse setting process in the embodiments of this application; Figure 8 This is a flowchart illustrating the process of determining the task recipient in this application embodiment; Figure 9 This is a flowchart illustrating the propagation of the claim result in an embodiment of this application. Detailed Implementation

[0017] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not limiting, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without such specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0018] In this embodiment, multiple mobile cockpits are distributed across various logical sections of the underground roadway. Each mobile cockpit moves and operates along the roadway direction, carrying personnel and monitoring equipment, and possesses near-field wireless communication capabilities. The underground roadway is long and narrow, and the roadway walls and heavy equipment obstruct and reflect wireless signals. Data exchange between the mobile cockpits is achieved through near-field wireless communication. Tasks originate from equipment anomalies detected by the mobile cockpits or pre-arranged operational tasks. After a task is generated, the mobile cockpit that generated the task marks the logical section to which the task belongs and broadcasts it to that logical section.

[0019] In some embodiments, such as Figure 1 As shown, this application provides a method for scheduling a mobile cockpit, specifically including: S101: Multiple mobile cockpits are distributed in various logical sections of the underground roadway. After the mission is generated, the logical section to which it belongs is marked and broadcast within the initial logical section. If no mobile cockpit claims the mission within the initial logical section, the mission will spread hop by hop along the roadway to the adjacent logical section. The logical section is a continuous spatial unit divided along the roadway. Hop by hop is the process of the mission spreading from one logical section to the adjacent logical section.

[0020] S102: For each hop of mission expansion, the scope of mobile cockpits to claim and participate in the mission is determined based on the number of expansion hops. The scope of claim and participation narrows as the number of expansion hops increases. Only mobile cockpits that meet the comprehensive capability ranking criteria are eligible to claim the mission. The comprehensive capability ranking is the ranking of mobile cockpits based on personnel job level, operating authority, hardware configuration, and historical mission completion status. The scope of claim and participation is the ranking range of mobile cockpits that are eligible to claim the mission.

[0021] S103: A mobile cockpit with the qualification to claim a task shall claim the task, determine the task recipient based on the claim result and execute the scheduling, and claiming the task shall be the act of the mobile cockpit declaring that it has accepted the task.

[0022] Specifically, a logical segment is a continuous spatial unit divided along the tunnel. The range of each logical segment corresponds to the stable coverage distance of near-field wireless communication. Mobile cockpits within the same logical segment can communicate directly, while mobile cockpits in adjacent logical segments can exchange data through forwarding. The logical segments are arranged sequentially along the tunnel direction, with each logical segment adjacent to the next, forming a linear sequence of logical segments consistent with the tunnel direction. Hop-by-hop diffusion is the process of a task propagating from one logical segment to an adjacent logical segment. Each forwarding of a task through a logical segment is counted as one hop. The diffusion hop count starts from the initial logical segment, which has a diffusion hop count of zero.

[0023] It should be noted that the distribution of multiple mobile cockpits within the tunnel changes as the operation progresses, and the mobile cockpits can move between different logical segments. When a task is generated, the logical segment where the mobile cockpit that generated the task is located is the initial logical segment, and the task is first broadcast within the initial logical segment. After receiving the task, the mobile cockpits in the initial logical segment can declare their acceptance within the claim window. If no mobile cockpit in the initial logical segment declares its acceptance when the claim window ends, the task is forwarded from the mobile cockpits in the initial logical segment to the two adjacent logical segments, and the propagation hop count becomes one. After receiving the task, the mobile cockpits in the adjacent logical segments also decide whether to accept it within the claim window; if no one claims it, it continues to be forwarded to more distant logical segments. The task propagates hop by hop along the tunnel in two directions until a mobile cockpit claims it or the maximum propagation hop count is reached.

[0024] Specifically, the overall capability ranking is determined by sorting the mobile cockpits based on personnel job level, operating authority, hardware configuration, and historical task completion performance. Personnel job level reflects the operator's position and skill level; operating authority reflects the types of equipment and operational scope that the mobile cockpit can operate; hardware configuration reflects the types of tools and monitoring equipment carried by the mobile cockpit; and historical task completion performance reflects the efficiency and quality of past task executions. These four dimensions are comprehensively sorted according to a unified rule to obtain the overall capability ranking of each mobile cockpit within the current logical segment; a smaller ranking number indicates stronger overall capability. Each mobile cockpit exchanges capability parameters via broadcast and sorts them locally according to the same rules to obtain a consistent overall capability ranking table.

[0025] It should be noted that the scope of participation in the task claiming is the priority range of mobile cockpits eligible to claim the task. With each hop of task propagation, the scope of participation within the corresponding logical segment narrows. Initially, all mobile cockpits within the logical segment are eligible to claim the task. After the first hop, only mobile cockpits with a comprehensive capability ranking within the circuit breaker threshold are eligible. After the second hop, the circuit breaker threshold narrows further. The circuit breaker threshold is the priority limit value corresponding to the scope of participation. Mobile cockpits are eligible to claim the task if their comprehensive capability ranking does not exceed the circuit breaker threshold; otherwise, they are not eligible. Claiming the task is the act of a mobile cockpit declaring its acceptance of the task. After claiming the task, the mobile cockpit broadcasts a claim confirmation to the entire logical segment, declaring that it has accepted the task.

[0026] For example, the task assignee is a mobile cockpit that has successfully claimed the task. Once the task assignee is determined, it proceeds to the task location to perform the operation according to the task requirements. The determination of the task assignee does not require the participation of the central node. Each mobile cockpit obtains a consistent task assignee result through local comparison based on the same claim receipt and sorting rules.

[0027] Specifically, the near-field wireless communication between mobile cockpits adopts a self-organizing network approach. Once the mobile cockpits enter each other's communication range, a communication link is automatically established, without the need for pre-configuration of network infrastructure. After the communication link is established, the mobile cockpits can directly send and receive data, and the data can cover multiple logical segments through multi-hop forwarding. Each mobile cockpit maintains a neighbor list, recording the identifiers and communication status of other mobile cockpits within its communication range. The neighbor list is dynamically updated through periodic heartbeat messages.

[0028] It should be noted that a task goes through four states from generation to completion: Pending Claim, Claimed, In Progress, and Completed. After a task is generated and broadcast, it enters the Pending Claim state. Once the mobile cockpit successfully claims it, it enters the Claimed state. After the task recipient begins processing, it enters the In Progress state. After processing is completed and a completion message is broadcast, it enters the Completed state. Each mobile cockpit maintains a task status table locally, recording the current status of each known task. The task status is updated synchronously via broadcast messages.

[0029] In some embodiments, such as Figure 2 As shown, after the task is generated, its corresponding logical segment is marked and broadcast within the initial logical segment. If no mobile cockpit claims the task within the initial logical segment, the task propagates hop-by-hop along the aisle to adjacent logical segments, including: S201: Divide the alleyway into continuous logical segments according to the communication coverage area.

[0030] S202: After the task is generated, mark the logical segment to which it belongs, broadcast it within the logical segment, and open the claim window.

[0031] S203: When there is no mobile cockpit to claim in the claim window, the task is forwarded to the logical segment adjacent to its logical segment. The diffusion hop count is incremented by one for each logical segment it passes through. Diffusion stops when the diffusion hop count reaches the maximum diffusion hop count corresponding to the task weight. The task weight is the level of task importance determined according to the task type. The claim window is the time period that is open for claiming after the task is broadcast.

[0032] Specifically, when dividing the roadway into continuous logical segments according to communication coverage, the stable transmission distance of near-field wireless communication is used as the basis to match the length of each logical segment with the direct communication distance between the mobile cockpit. The boundaries of the logical segments can be set in conjunction with the equipment distribution within the roadway and the management scope of the work team, so that the logical segment division corresponds to the actual work unit. The logical segments are numbered sequentially along the roadway direction, and each logical segment records the numbers of its upstream and downstream adjacent logical segments. When forwarding tasks, the forwarding direction is determined based on the numbers of the adjacent logical segments.

[0033] It should be noted that after a task is generated, its corresponding logical segment is marked, and it is broadcast within that segment, opening a claim window. The task data packet contains information such as task identifier, task type, task location, initial logical segment number, current propagation hop count, and maximum propagation hop count. The task identifier is a unique number for the task, used to distinguish different tasks and prevent duplicate forwarding. The task location is the location of the task within the tunnel, used by the moving cockpit to determine its distance from the task. The initial logical segment number is the number of the logical segment where the task was generated, the current propagation hop count is the number of hops the task has already propagated, and the maximum propagation hop count is the farthest distance the task is allowed to propagate.

[0034] Specifically, the claim window is the time period open for claiming tasks after the task is broadcast, and the length of the claim window is uniform across the entire formation. After a task is broadcast in a logical segment, the claim window for that logical segment opens, and mobile cockpits eligible to claim within the window can broadcast a claim confirmation. After the claim window closes, if a mobile cockpit within that logical segment has claimed the task, the task will not be forwarded to other logical segments; if no mobile cockpit has claimed the task, the task will be forwarded to the adjacent logical segment.

[0035] For example, if no mobile cockpit claims the task within the claim window, the task is forwarded to adjacent logical segments, incrementing the diffusion hop count by one for each logical segment it passes through. Forwarding is performed by the mobile cockpit within the current logical segment. The mobile cockpit increments the current diffusion hop count in the task data packet by one and broadcasts it to adjacent logical segments. Upon receiving the forwarded task, the mobile cockpit in the adjacent logical segment opens the claim window for its current logical segment. The task diffuses simultaneously upstream and downstream along the tunnel, with the diffusion hop count counted independently in each direction. Diffusion stops in that direction when the diffusion hop count reaches the maximum diffusion hop count corresponding to the task weight. The task weight is a level of task importance determined by the task type. Different task weights correspond to different maximum diffusion hop counts; emergency fault tasks have higher task weights and larger maximum diffusion hop counts, while routine inspection tasks have lower task weights and smaller maximum diffusion hop counts.

[0036] Specifically, task weights are determined during task generation. The task generator looks up the task weight and maximum propagation hop count in a table based on the task type and writes it into the task data packet. The rules for determining task types are uniform across the entire team: equipment parameters exceeding safe limits are classified as emergency fault handling; regular equipment maintenance and minor fault troubleshooting are classified as routine equipment operation and maintenance; and planned data collection and status inspections are classified as daily inspection and collection. Once the task generator determines the task type, the task type is fixed in the task data packet and does not change with the hop count during propagation.

[0037] It should be noted that the length of the claim window is set according to the task weight, with different task weights corresponding to different window lengths. Emergency fault-related tasks have shorter claim windows, allowing for rapid task dissemination and finding a recipient; regular tasks have longer claim windows, providing sufficient self-checking and response time for mobile cockpits within the logical segment. The window length is uniformly configured across the entire formation, and the task data packet contains window duration information; each mobile cockpit uses the window duration specified in the task data packet for timing.

[0038] Specifically, the logical segment number is unique throughout the entire tunnel, and the numbering increases sequentially along the tunnel's direction. Each mobile cockpit maintains a local logical segment topology table, recording the number of each logical segment, the numbers of adjacent logical segments, and the length of each logical segment. The logical segment topology table is generated through negotiation among the mobile cockpits during formation initialization. When the work surface advances, causing changes in the logical segment boundaries, the logical segment topology table is updated synchronously. During task forwarding, the mobile cockpit queries the logical segment topology table to determine the numbers of adjacent logical segments and forwards the task to the adjacent logical segments according to their numbers.

[0039] For example, the division of logical segments can be adjusted as roadway operations progress. When the progress of the work face causes changes in communication coverage, the mobile cockpit can renegotiate the logical segment boundaries. After the boundary adjustment, each mobile cockpit updates its local logical segment number and its relationship with adjacent logical segments. During the logical segment adjustment, tasks that have been generated but not yet claimed and completed will still be executed and propagated according to the logical segment division before the adjustment, while newly generated tasks will be executed according to the logical segment division after the adjustment, avoiding confusion in the propagation path of ongoing tasks due to the logical segment adjustment.

[0040] Specifically, tasks can be automatically generated by the mobile cockpit or manually created by operators via the vehicle-mounted terminal. When tasks are automatically generated, the mobile cockpit's monitoring module collects equipment operating parameters in real time. If parameters exceed normal ranges, a task data package is automatically generated, and the task type is automatically determined based on the degree of abnormality. When tasks are manually created, operators select the task type and fill in the task description on the vehicle-mounted terminal, which then generates the task data package. Tasks generated in both ways are scheduled through the same dissemination and claiming process, which remains consistent regardless of the task's origin.

[0041] In some embodiments, such as Figure 5 As shown, when no mobile cockpit is claimed within the claim window, the task forwards to adjacent logical segments. The diffusion hop count increments by one for each logical segment traversed. Diffusion stops when the diffusion hop count reaches the maximum diffusion hop count corresponding to the task weight, including: S501: Task weights are determined based on task type, and different task weights correspond to different maximum spread jumps.

[0042] S502: After receiving a task, the mobile cockpit verifies the task identifier; tasks that have already been received will not be forwarded.

[0043] S503: When forwarding tasks in the mobile cockpit, increment the diffusion hop count by one. When the diffusion hop count equals the maximum diffusion hop count, stop forwarding to adjacent logical segments.

[0044] Specifically, task weights are determined based on task type, with different weights corresponding to different maximum diffusion hop counts. Task types are divided into three categories: emergency fault handling, routine equipment maintenance, and daily inspection and data collection. Each category corresponds to a different task weight and maximum diffusion hop count. Emergency fault handling tasks impact operational safety and require finding a contractor as quickly as possible; the maximum diffusion hop count is set to cover the entire tunnel. Routine equipment maintenance tasks require finding a contractor near the work area; the maximum diffusion hop count is set to several logical segments surrounding the initial logical segment. Daily inspection and data collection tasks have lower timeliness requirements; the maximum diffusion hop count is set to the initial logical segment and adjacent logical segments. The correspondence between task weights and maximum diffusion hop counts is uniformly configured across the entire formation. Each mobile cockpit obtains the maximum diffusion hop count by looking up the task type field in the task data packet.

[0045] It should be noted that after receiving a task, the mobile cockpit verifies the task identifier; tasks already received are not forwarded. Each mobile cockpit maintains a local list of received task identifiers. Upon receiving a task data packet, it first compares the task identifier with the list. If the task identifier is already in the list, the task data packet is discarded without forwarding or opening a claim window. The task identifier list is updated on a rolling basis over time, and task identifiers that exceed a set time limit are automatically cleared. This verification mechanism prevents tasks from being forwarded back and forth within the tunnel, forming a loop, and also prevents the same task from being processed repeatedly by the same mobile cockpit.

[0046] Specifically, when the mobile cockpit forwards a task, it increments the diffusion hop count by one. If the diffusion hop count equals the maximum diffusion hop count, it stops forwarding to adjacent logical segments. After receiving the task data packet, the mobile cockpit reads the current diffusion hop count and the maximum diffusion hop count. If the current diffusion hop count is less than the maximum diffusion hop count, it increments the current diffusion hop count by one and forwards it to adjacent logical segments. If the current diffusion hop count equals the maximum diffusion hop count, it stops forwarding and only opens the claim within its current logical segment. The hop counts for the two diffusion directions are calculated independently. When the maximum diffusion hop count is reached in the upstream direction, diffusion in the upstream direction only stops, while the downstream direction remains unaffected.

[0047] It should be noted that task forwarding does not specify a dedicated forwarding node; any online mobile cockpit within a logical segment can perform forwarding. When multiple mobile cockpits simultaneously receive tasks requiring forwarding, each mobile cockpit independently determines whether to forward the task, based on the condition that the current diffusion hop count is less than the maximum diffusion hop count and that the vehicle has not forwarded the task before. Due to the duplicate task verification mechanism, even if multiple mobile cockpits simultaneously forward the same task to adjacent logical segments, the mobile cockpits in adjacent logical segments, upon receiving the task, will verify it using the task identifier and only process the first arriving task data packet, discarding subsequent duplicate data packets. This design ensures that forwarding is not dependent on a specific node; any mobile cockpit within a logical segment can complete forwarding, and the offline status of a single mobile cockpit does not affect task diffusion.

[0048] For example, if a task is spread to the maximum number of hops but no mobile cockpit claims it, the task data packet is retained in the farthest logical segment and periodically retransmitted. Simultaneously, the logical segment in the task generation direction broadcasts a notification that the task has not been claimed. The unclaimed task is retransmitted once per claim window period in the farthest logical segment. After the maximum number of retransmissions is reached, the task is marked for manual intervention, and operators manually assign a recipient via the onboard terminal. Manual assignment bypasses the claim process, and the assignment result is directly broadcast to all logical segments. This mechanism ensures that tasks are not lost in extreme cases, serving as a supplement to the automatic claim process.

[0049] In some embodiments, such as Figure 3As shown, for each hop the task spreads, the scope of participation for mobile cockpits within the corresponding logical segment is determined based on the number of hops. The scope narrows as the number of hops increases, and only mobile cockpits meeting the overall capability ranking criteria are eligible to participate, including: S301: Sort each mobile cockpit based on personnel job level, operating authority, hardware configuration, and historical task completion status to generate a comprehensive capability ranking.

[0050] S302: Pre-establish the correspondence between diffusion jump number and fuse line.

[0051] S303: After receiving the mission, the mobile cockpit reads the diffusion jump count and queries the corresponding circuit breaker. Mobile cockpits whose overall capability ranking does not exceed the circuit breaker are eligible to claim the mission. The circuit breaker is the ranking limit value corresponding to the scope of claiming participation.

[0052] Specifically, each mobile cockpit is ranked based on personnel job level, operating authority, hardware configuration, and historical task completion status to generate a comprehensive capability ranking. Personnel job level is determined by the operator's position and skill qualifications; operating authority is determined by the types of equipment and operating range that the mobile cockpit can operate; hardware configuration is determined by the types of tools and monitoring equipment carried by the mobile cockpit; and historical task completion status is determined by the efficiency and quality of past task completion by the mobile cockpit. After each of these four dimensions is assessed, they are comprehensively ranked according to a unified rule to obtain the comprehensive capability ranking of each mobile cockpit. The ranking rule is unified across the entire team, and each mobile cockpit calculates independently locally, resulting in consistent ranking results.

[0053] It should be noted that a pre-established correspondence between the number of diffusion hops and the circuit breaker threshold is established, with the circuit breaker threshold representing the priority limit value corresponding to the scope of claiming participation. This correspondence is pre-configured in each mobile cockpit in the form of a mapping table, which records the circuit breaker threshold priority number corresponding to each diffusion hop number. When the diffusion hop number is zero, the circuit breaker threshold corresponds to all priorities, and all mobile cockpits are eligible to claim the claim. As the diffusion hop number increases, the circuit breaker threshold priority number decreases, narrowing the scope of claiming participation. The mapping table is unified across the entire formation, and each mobile cockpit queries the same mapping table to obtain the same circuit breaker threshold.

[0054] Specifically, after receiving a task, the mobile cockpit reads the spread hop count and queries the corresponding circuit breaker. Mobile cockpits with an overall capability ranking not exceeding the circuit breaker are eligible to claim the task. Upon receiving the task data packet, the mobile cockpit first reads the current spread hop count, then uses the spread hop count as an index to query the circuit breaker mapping table to obtain the circuit breaker ranking number corresponding to this hop. The mobile cockpit compares its own overall capability ranking with the circuit breaker. If its ranking number is less than or equal to the circuit breaker number, it retains its claim eligibility and continues with load self-checking and reachability assessment. If its ranking number is greater than the circuit breaker number, it is not eligible to claim the task, discards the task data packet, does not broadcast a claim receipt, and does not participate in subsequent claim receipt comparisons. A mobile cockpit that has been circuit-broken can still forward the task to an adjacent logical segment; forwarding behavior is not restricted by claim eligibility.

[0055] For example, among the four dimensions of comprehensive capability ranking, personnel job level reflects the shift leader's qualification and professional skill level; operating authority reflects the authorized operating scope of the mobile cockpit within the mining equipment operating system; hardware configuration reflects the types of maintenance tools, measuring instruments, and communication equipment carried by the mobile cockpit; and historical task completion status reflects the average time and quality evaluation of tasks completed by the mobile cockpit over a certain period. The rating standards for all four dimensions are unified across the entire team, and reassessment is conducted after personnel shift changes or equipment modifications. The comprehensive capability ranking reflects the mobile cockpit's overall ability to perform tasks; the higher the ranking, the stronger the comprehensive capability.

[0056] Specifically, the mobile cockpit periodically broadcasts a status heartbeat within the logical segment. The heartbeat message includes the mobile cockpit identifier, current location, current load rate, and overall capability ranking. The status heartbeat serves two purposes: first, it indicates to other mobile cockpits within the logical segment that the vehicle is online; second, it synchronizes the vehicle's latest location and load status. If other mobile cockpits do not receive a heartbeat from a vehicle for several consecutive cycles, they determine that the vehicle has left or gone offline and remove it from the ranking list. The heartbeat cycle is consistent across the entire formation.

[0057] In some embodiments, such as Figure 6 As shown, the process of ranking each mobile cockpit based on personnel job level, operating permissions, hardware configuration, and historical task completion to generate a comprehensive capability ranking includes: S601: After the mobile cockpit enters the logic segment, it broadcasts its own capability parameters, which include personnel job level, operating authority, hardware configuration, and historical mission completion status.

[0058] S602: After receiving the capability parameters, each mobile cockpit sorts them according to a unified rule and generates a comprehensive capability ranking table locally.

[0059] S603: After a mobile cockpit leaves a logical section, each mobile cockpit removes it from the integrated capability priority table, and subsequent priorities are automatically filled.

[0060] Specifically, after entering a logical segment, the mobile cockpit broadcasts its own capability parameters, including personnel job level, operating permissions, hardware configuration, and historical task completion status. Once the mobile cockpit enters a new logical segment and establishes communication with other mobile cockpits within that segment, it proactively broadcasts a capability parameter message containing the vehicle's four-dimensional capability parameters and the mobile cockpit's identifier. Upon receiving the capability parameter message, online mobile cockpits within the logical segment store the new mobile cockpit's parameters in their local capability parameter tables. The new mobile cockpit also requests capability parameters from other mobile cockpits within the logical segment. Each mobile cockpit responds to the request and replies with its own parameters. After collecting all the parameters, the new mobile cockpit establishes its local capability parameter table.

[0061] It should be noted that after receiving the capability parameters, each mobile cockpit sorts them according to a unified rule and generates a comprehensive capability ranking table locally. The sorting rule is that after the four dimensions are comprehensively evaluated in a unified manner, they are arranged from highest to lowest comprehensive value, with the mobile cockpit with the highest comprehensive value ranking first, the second highest ranking second, and so on. Because the sorting rule is unified across the entire formation, and the input capability parameters are also kept consistent through broadcasting, the comprehensive capability ranking tables generated locally by each mobile cockpit are exactly the same. When the capability parameters of a mobile cockpit change, such as due to personnel changes or hardware configuration changes, the mobile cockpit rebroadcasts the capability parameters, and each mobile cockpit updates its local ranking table upon receiving them.

[0062] Specifically, after a mobile cockpit leaves a logical segment, it is removed from the overall capability ranking table by each other, and subsequent cockpits automatically fill the vacancy. Once a mobile cockpit leaves a logical segment, it stops broadcasting status heartbeats. If other mobile cockpits within the logical segment do not receive a heartbeat message from that mobile cockpit for several consecutive cycles, it is determined that the mobile cockpit has left and is deleted from both its local capability parameter table and the overall capability ranking table. Mobile cockpits immediately after the deleted mobile cockpit in the original ranking are decremented by one and automatically fill the vacancy. The replacement rules are uniform across the entire formation, and the replacement results executed locally by each mobile cockpit are consistent. When a mobile cockpit re-enters the logical segment, it rebroadcasts its capability parameters and participates in the ranking process.

[0063] For example, at the boundary of a logical segment, there might be a situation where the mobile cockpit is located in an area overlapping two logical segments. A mobile cockpit located at the boundary can receive messages from both logical segments simultaneously. The mobile cockpit determines its own logical segment based on its position and participates in the claiming and sorting of that logical segment using the logical segment number corresponding to its location. When the mobile cockpit moves between logical segments, a logical segment switch is triggered the instant it crosses the boundary. The mobile cockpit broadcasts its capability parameters to the new logical segment and simultaneously broadcasts a departure message to the original logical segment, updating the priority tables of both logical segments accordingly.

[0064] In some embodiments, such as Figure 7 As shown, the pre-established correspondence between the diffusion jump number and the fuse line includes: S701: When the diffusion jump count is zero, set the fuse line to the corresponding sequence number so that all moving cockpits are eligible to claim it.

[0065] S702: When the diffusion jump number is within the preset range, the fuse line narrows step by step and the narrowing range remains consistent.

[0066] S703: After the number of diffusion jumps exceeds the preset range, the narrowing of the fuse line increases, so that only the first-order moving cockpit is retained in the far-end logic section.

[0067] Specifically, when the diffusion hop count is zero, the circuit breaker is set to the corresponding all priority levels, making all mobile cockpits eligible to claim the mission. When the mission is broadcast in the initial logical segment, the diffusion hop count is zero, and the circuit breaker is set to a priority number not less than the total number of mobile cockpits within the logical segment. All mobile cockpits within the logical segment, regardless of their overall capability priority, are eligible to claim the mission. The initial logical segment is the logical segment where the mission occurs. Mobile cockpits within this segment are closest to the mission, have the lowest movement cost, and opening all priority levels helps find suitable recipients nearby, giving even lower-priority mobile cockpits a chance to claim the mission.

[0068] It should be noted that when the number of diffusion hops is within the preset range, the circuit breaker line narrows hop by hop with a consistent narrowing rate. As the number of diffusion hops increases from zero to the upper limit of the preset range, the circuit breaker line's priority number decreases by a fixed value with each hop, resulting in a uniform narrowing of the claiming and participation range. The preset range corresponds to the adjacent logical segments around the task. The mobile cockpits in these logical segments are relatively close to the task, and the movement cost is still within an acceptable range. Uniformly narrowing the circuit breaker line can retain a large number of participating slots while gradually filtering out mobile cockpits with lower priority, ensuring that there are still a sufficient number of mobile cockpits in the adjacent logical segments to participate in the competition.

[0069] Specifically, after the number of diffusion hops exceeds the preset range, the rate at which the circuit breaker line narrows increases, ensuring that only the highest-ranking mobile cockpit remains in the farthest logical segment. After the number of diffusion hops exceeds the upper limit of the preset range, the rate at which the circuit breaker line's ranking decreases with each hop is greater than the previous stage, rapidly narrowing the scope of participation. When diffusion reaches the farthest logical segment, mobile cockpits are far from the task, resulting in high movement costs. A large number of mobile cockpits participating in the claim process would generate many invalid interactions, and even if lower-ranking mobile cockpits successfully claim the task, the longer movement time would affect the task's response speed. Rapidly narrowing the circuit breaker line ensures that only the highest-ranking mobile cockpit in the farthest logical segment is eligible to claim the task, guaranteeing a high-capability mobile cockpit as a backup with minimal interaction. Once the circuit breaker line narrows to the first rank, it stops narrowing, and the farthest logical segment retains the highest-ranking mobile cockpit as the final backup.

[0070] For example, the preset range and narrowing degree of the fuse line mapping table can be configured according to the tunnel length and the density of mobile cockpits. For logic sections with a higher density of mobile cockpits, the initial fuse line value can be set larger to allow more mobile cockpits to participate in the competition; for logic sections with a lower density of mobile cockpits, the initial fuse line value should be correspondingly reduced. The size of the preset range is determined based on the near-field communication coverage distance and the distribution of work teams; the preset range can be appropriately expanded for tunnels with large coverage distances and wide team distribution. The mapping table configuration is uniform across the entire formation, and each mobile cockpit uses the same mapping table.

[0071] In some embodiments, such as Figure 4 As shown, the process of assigning a mobile cockpit to a user with the right to claim the task, determining the task recipient based on the claiming result, and executing the scheduling includes: S401: The mobile cockpit with claiming qualifications self-checks the load status and path accessibility, and broadcasts a claim receipt after confirming that it can be accepted.

[0072] S402: Collect the claim receipts in the claim window, compare the overall capability ranking of the mobile cockpits in the receipts, and determine the mobile cockpit with the highest ranking as the mission recipient.

[0073] S403: The mission recipient proceeds to the mission location to execute the mission. The claim result propagates backward along the mission propagation path and terminates subsequent propagation. The claim receipt is a broadcast message from the mobile cockpit declaring the acceptance of the mission.

[0074] Specifically, mobile cockpits with the right to claim tasks self-check their load status and path reachability. Upon confirmation, they broadcast a claim confirmation. The load status self-check involves the mobile cockpit checking its current number of unfinished tasks and task capacity. If the current task load does not exceed the load threshold, it can accept new tasks; if it does, it abandons the claim. The path reachability self-check involves the mobile cockpit checking if the alleyway from its current location to the task location is passable. If the path is clear and the task location is accessible, it confirms it can accept the task; if the path is blocked and cannot be bypassed, it abandons the claim. After passing the self-check, the mobile cockpit broadcasts a claim confirmation to its current logical segment and all logical segments along the spread path. The claim confirmation is a broadcast message from the mobile cockpit declaring its acceptance of the task, containing the mobile cockpit's identifier, overall capability ranking, current load rate, and claim declaration.

[0075] It should be noted that the process involves collecting claim receipts from the claim window and comparing the overall capabilities of the mobile cockpits in the receipts. The mobile cockpit with the highest overall capability is determined as the mission recipient. Each mobile cockpit collects all received claim receipts in the claim window. After the claim window closes, all receipts are sorted by overall capability from smallest to largest. The mobile cockpit with the smallest overall capability is the highest-ranked mobile cockpit and is determined as the mission recipient. The comparison process is performed independently on each mobile cockpit's local machine. Since all mobile cockpits receive the same claim receipts and follow the same sorting rules, the comparison results are consistent. Once the highest-ranked mobile cockpit successfully claims the mission, the claim receipts of the other mobile cockpits automatically become invalid. Mobile cockpits that fail to claim the mission continue to perform their original tasks.

[0076] Specifically, the task assignee travels to the task location to execute the task, and the acceptance result propagates backward along the task diffusion path, terminating subsequent diffusion. Once the task assignee is confirmed, they plan their travel path according to the task type and location, and proceed to the task location to perform the work. The acceptance result is broadcast by the task assignee, and the message propagates backward hop by hop along the logical segments that the task has already diffused, notifying each logical segment that the task has an assignee. Upon receiving the acceptance result, each logical segment stops forwarding the task and closing the acceptance window, thus terminating the task diffusion process.

[0077] For example, the load rate is the ratio of the current workload to the task capacity of the mobile cockpit. Each mobile cockpit sets its task capacity based on its own operational capabilities; the task capacity is the maximum number of tasks the mobile cockpit can handle simultaneously. Each time a mobile cockpit accepts a task, the current workload increases by one; each time a task is completed, the current workload decreases by one. The load rate is the current workload divided by the task capacity. The load threshold is the upper limit of the load rate at which the mobile cockpit can accept new tasks. New tasks can be accepted when the current load rate is below the load threshold; tasks are abandoned when the load threshold is reached or exceeded. The load threshold can be adjusted according to the task type; the load threshold for emergency fault tasks is higher than that for regular tasks, allowing the mobile cockpit to be appropriately overloaded in emergency situations.

[0078] Specifically, the path reachability self-check relies on lane accessibility information. When equipment malfunctions, road blockages, or construction control measures occur within a lane, the on-site mobile cockpit broadcasts a blockage message, including the location and extent of the blockage. Upon receiving the blockage message, each mobile cockpit updates its local lane accessibility map. During the path reachability self-check, the mobile cockpit searches its local accessibility map for a path from its current location to the task location. If a passable path exists, the self-check passes; otherwise, the task is abandoned. The blockage information is dynamically updated based on the situation. Once the blockage is lifted, the mobile cockpit broadcasts a lifting message, and each vehicle updates its accessibility map.

[0079] It should be noted that if the task recipient encounters a failure during execution and cannot continue, the task recipient will broadcast a task abandonment message, and the task will revert to the pending claim state. The diffusion and claiming process will then restart with the logical segment where the task recipient is located as the initial logical segment. During re-diffusion, the task data packet will be marked as a resentment task. The maximum diffusion hops can be adjusted appropriately based on the time already consumed to ensure that the task finds a new recipient as quickly as possible.

[0080] Specifically, after the task recipient is determined, it establishes a direct communication link with the task generator via near-field communication to obtain detailed task information and real-time data. Once the task recipient reaches the task location, it performs the necessary actions according to the task description, and may request assistance from other mobile cockpits during the process. After completion, the task recipient broadcasts a task completion message. Upon receiving this message, each mobile cockpit marks the task as completed and releases the associated caches and states. The task completion message is broadcast to the entire logical segment to ensure that all relevant mobile cockpits are promptly informed of the task status.

[0081] In some embodiments, such as Figure 8 As shown, the collection and claiming window displays claim receipts. The mobile cockpits are ranked according to their overall capabilities, and the mobile cockpit ranked highest is determined as the mission recipient, including: S801: The claim receipt includes the mobile cockpit's overall capability ranking, current load factor, and claim statement.

[0082] S802: Collect all claim receipts in the claim window of each mobile cockpit and sort them from first to last according to their comprehensive capabilities.

[0083] S803: The mobile cockpit with the highest overall capability and load rate not exceeding the threshold is determined as the mission recipient, and the other claim receipts are automatically invalidated. The load rate is the ratio of the current task load of the mobile cockpit to the total task capacity.

[0084] Specifically, the claim receipt includes the mobile cockpit's overall capability ranking, current load rate, and claim statement. The overall capability ranking is used to compare the capabilities of each claiming mobile cockpit; the current load rate is used to determine if the mobile cockpit has remaining capacity to accept tasks; and the claim statement is an identifier indicating the mobile cockpit's intention to accept tasks. The claim receipt also includes a task identifier to identify the task corresponding to the claim. When a mobile cockpit broadcasts a claim receipt, the overall capability ranking in the receipt reflects the vehicle's latest ranking in the current logical segment at the time of broadcast. If the ranking table is updated within the claim window, the latest ranking takes precedence.

[0085] It should be noted that all claim receipts within the collection and claiming window of each mobile cockpit are sorted from first to last according to their overall capabilities. During the claiming window's operation, each mobile cockpit records every claim receipt received; collection ceases after the window closes. When sorting, all receipts are arranged in ascending order of their overall capabilities, forming a claiming order list. If two mobile cockpits have the same overall capability ranking, they are sorted by their mobile cockpit identification number, with the smaller number appearing first, ensuring a unique sorting result.

[0086] Specifically, the mobile cockpit with the highest overall capability and a load rate not exceeding the threshold is identified as the mission recipient, and all other claim receipts are automatically invalidated. After sorting, the first mobile cockpit in the list is selected as a candidate recipient. The load rate in the candidate recipient's claim receipt is checked. If the load rate does not exceed the threshold, it is officially identified as the mission recipient; if the load rate exceeds the threshold, the next mobile cockpit in the list is considered, and so on, until a mobile cockpit with a load rate not exceeding the threshold is found. Mobile cockpits not identified as mission recipients, upon receiving the claim result, mark the claim as unsuccessful and will no longer wait for further information regarding the mission.

[0087] For example, when multiple tasks exist simultaneously within the same logical segment, each task is independently distributed and claimed, without affecting the others. The mobile cockpit can receive multiple tasks simultaneously, perform eligibility checks and self-checks on each, and broadcast claim receipts to tasks that are eligible for claiming and pass the self-check. If the mobile cockpit claims a task and the load rate increases, it may affect the self-check results of subsequent tasks. Once the load rate reaches a threshold, it will no longer claim new tasks, naturally achieving load distribution in a multi-tasking environment.

[0088] It should be noted that the consistency of local calculation results across all mobile cockpits is contingent upon three conditions: first, capability parameters must remain consistent within the logical segment via broadcast; second, the sorting rules and circuit breaker mapping table must be uniformly configured across the entire formation; and third, the claim receipts must be broadcast so that all mobile cockpits receive the same set of receipts. Of these three conditions, capability parameters and claim receipts are automatically synchronized via near-field communication, and the sorting rules and mapping table are uniformly configured during formation formation, requiring no intervention from the central node during operation. If the claim receipts received by the mobile cockpits are not entirely consistent due to signal issues, the set of receipts received at the end of the claim window will be used for comparison. After the signal is restored, the final recipient information will be synchronized through the back propagation of the claim results.

[0089] In some embodiments, such as Figure 9 As shown, the claim result propagates backward along the task diffusion path and terminates subsequent diffusion, including: S901: The task recipient broadcasts the acceptance result, and the acceptance result is propagated backward hop by hop along the logical segments traversed by the task.

[0090] S902: After receiving the claim result, the mobile cockpit of each logical segment stops forwarding the task and clears the cache to be forwarded.

[0091] S903: After the claim result is propagated to the initial logic section of the task, the propagation process of the task terminates.

[0092] Specifically, the task recipient broadcasts the acceptance result, which propagates backward hop by hop along the logical segments traversed by the task. The acceptance result message contains the task identifier and the task recipient identifier. The task recipient broadcasts the acceptance result within its own logical segment, and the mobile cockpit within that segment, upon receiving it, forwards the acceptance result in the direction from which the task originated. The acceptance result is transmitted back along the same path to the logical segments through which the task propagated outward from its initial logical segment. If the task propagates simultaneously upstream and downstream, the acceptance result propagates backward in each of those directions respectively.

[0093] It should be noted that after receiving the claim result, the mobile cockpit of each logical segment stops forwarding the task and clears the pending forwarding cache. Upon receiving the claim result, the mobile cockpit first verifies the task identifier. If it confirms that the task is currently being propagated, it immediately stops all forwarding operations for that task and ceases sending task data packets to adjacent logical segments. Pending task data packets cached locally in the mobile cockpit are simultaneously deleted, and the claim window is closed prematurely if it has not yet closed. Tasks already forwarded to more distant logical segments are continued to propagate in the reverse direction by the mobile cockpit that received the claim result, until all propagated logical segments have received the claim result.

[0094] Specifically, once the claim result is propagated to the initial logical segment of the task, the task's propagation process terminates. Upon receiving the claim result, the mobile cockpit in the initial logical segment confirms that the task has been accepted and notifies the task generator that the task has been taken over. The task generator records the task acceptor's information and can subsequently communicate directly with the task acceptor to understand the task's progress. After the claim result propagates to all previously propagated logical segments, all broadcasting, forwarding, and claiming of the task throughout the entire tunnel ceases, and the task enters the execution phase.

[0095] For example, the backpropagation priority of the claim result is higher than the task diffusion priority. The claim result message is sent first in the channel to ensure that each logical segment receives the notification that the task has been accepted as soon as possible, reducing invalid data generated by the continued diffusion of the task. During the backpropagation process, if all mobile cockpits of a certain logical segment are offline, the claim result can be forwarded further by the mobile cockpits of adjacent logical segments. The forwarding path is consistent with the task diffusion path, and it is not required that each logical segment has an online mobile cockpit to confirm hop by hop.

[0096] In some embodiments, this application further provides a mobile cockpit scheduling system, including: a task diffusion module, an eligibility determination module, and an assignment scheduling module. The task diffusion module is used to mark the logical segment to which the task belongs after it is generated and broadcast it within the initial logical segment. When no mobile cockpit claims the task within the initial logical segment, the task diffuses hop by hop along the roadway to adjacent logical segments. The eligibility determination module is used to determine the scope of mobile cockpits to claim the task within the corresponding logical segment based on the number of diffusion hops after each diffusion hop. The scope of claiming the task narrows as the number of diffusion hops increases, and only mobile cockpits that meet the comprehensive capability ranking conditions are eligible to claim the task. The assignment scheduling module is used for mobile cockpits with the claiming qualifications to claim the task, determine the task recipient based on the claiming result, and execute the scheduling.

[0097] In this embodiment, the scheduling system of the mobile cockpit includes a task diffusion module, an eligibility determination module, and a scheduling claim module. The three modules are deployed in the vehicle controller of each mobile cockpit. The modules with the same name in each mobile cockpit execute the same program logic, exchange data through near-field wireless communication, and cooperate in a distributed manner to complete the scheduling function.

[0098] Specifically, the task diffusion module marks the logical segment to which a task belongs after it is generated and broadcasts it within the initial logical segment. If no mobile cockpit claims the task within the initial logical segment, the task diffuses hop-by-hop along the aisle to adjacent logical segments. The task diffusion module is responsible for generating, broadcasting, forwarding, and stopping task data packets, maintaining a task identifier list and diffusion hop count, and performing duplicate task checks and maximum diffusion hop count determination. The task diffusion module receives the circuit breaker result from the eligibility assessment module; mobile cockpits that have been circuit-broken can still forward tasks through the task diffusion module. The task diffusion module also receives the claim result from the claim scheduling module and stops task forwarding upon receiving the claim result.

[0099] It should be noted that the eligibility determination module is used to determine the scope of mobile cockpits to claim and participate in the task after each hop of the task's spread. The scope narrows as the number of hops increases, and only mobile cockpits that meet the overall capability ranking requirements are eligible to claim. The eligibility determination module maintains the capability parameter table and the overall capability ranking table, receives capability parameters broadcast by other mobile cockpits and updates its local ranking table, queries the circuit breaker mapping table to determine if the vehicle is eligible to claim, and sends the result to the claim scheduling module. The eligibility determination module is also responsible for updating and replenishing the ranking table when mobile cockpits enter or leave logical segments.

[0100] Specifically, the task assignment and scheduling module is used by eligible mobile cockpits to claim tasks, determine the task recipient based on the assignment results, and execute scheduling. The module receives the eligibility assessment results from the eligibility assessment module, performs load and path reachability self-checks on eligible tasks, broadcasts assignment receipts upon successful self-checks, collects receipts from the assignment window, compares and sorts them, and determines the task recipient. The module also handles the backpropagation of assignment results, notifying the task propagation module to stop propagation. The task recipient's task assignment and scheduling module plans the travel path and guides the mobile cockpit to the task location to perform the operation.

[0101] For example, the data flow between the three modules is as follows: After the task diffusion module generates or receives a task data packet, it sends the diffusion hop count to the eligibility determination module. The eligibility determination module returns a result indicating whether the vehicle is eligible to claim the task. The claim scheduling module then decides whether to initiate the claim based on the eligibility result. After a successful claim, the claim scheduling module sends the claim result to the task diffusion module, which then stops forwarding and propagates the claim result in reverse. The three modules operate independently on each mobile cockpit. Input data from modules with the same name on each vehicle remains consistent via broadcast, resulting in consistent output results without the need for coordination from a central node.

[0102] Specifically, the task distribution module, qualification determination module, and assignment scheduling module are deployed as software functional units within the vehicle-mounted controller of the mobile cockpit. The vehicle-mounted controller possesses computing and storage capabilities and a near-field wireless communication interface. The three modules share the computing resources and communication interface of the vehicle-mounted controller, exchanging data with each other via the internal message bus. Each mobile cockpit deploys all three modules, with each vehicle having an equal status and no master-slave relationship. The mobile cockpit also carries a monitoring module and an execution module. The monitoring module is responsible for collecting equipment operation data and generating tasks, while the execution module is responsible for performing operational operations according to the instructions of the task recipient.

[0103] For example, a long fully mechanized mining face is divided into five consecutive logical sections numbered one to five along the roadway. Three mobile operator cabins operate within the roadway, designated as Cabin A, Cabin B, and Cabin C. Cabin A, located in logical section one, carries the shift leader and has decision-making authority, with a comprehensive capability priority of one. Cabin B, located in logical section three, carries the inspection personnel and has status monitoring authority, with a comprehensive capability priority of two. Cabin C, located in logical section four, carries the maintenance personnel and has equipment operation authority, with a comprehensive capability priority of three. The circuit breaker mapping table is configured as follows: zero-trip circuit breaker is priority five, one-trip circuit breaker is priority four, two-trip circuit breaker is priority two, and three-trip circuit breaker is priority one.

[0104] A hydraulic support in logic segment 3 experienced a leak. The monitoring module in compartment B detected the anomaly and generated a task. The task type was routine equipment maintenance, and the task weight corresponded to the maximum propagation hop count of three hops. Compartment B marked the initial logic segment as logic segment 3, with a current propagation hop count of zero. It broadcast the task within logic segment 3 and opened a claim window. Only compartment B was present in logic segment 3. Compartment B performed a self-check of its load status and found that it was already executing another monitoring task. The current load rate had exceeded the threshold, preventing it from accepting the new task. Compartment B did not broadcast a claim receipt.

[0105] The claim window for logic segment 3 closed without any claim, and the task was forwarded to logic segments 2 and 4, with the propagation hop count becoming one. Module C in logic segment 4 received the task, read the propagation hop count as one, and checked the circuit breaker priority as fourth. Module C's priority was third; since three is less than four, it was eligible to claim the task. Module C performed a self-check of its load status; there were no incomplete tasks, and the load rate was zero. The self-check passed, and Module C broadcast a claim confirmation. No mobile cockpit was present in logic segment 2, and no claim confirmation was received. Within the one-hop claim window, Module C was the sole claimant.

[0106] Meanwhile, the mission continues to propagate to logic segments 1 and 5, with the propagation hop count becoming two. Cabin A in logic segment 1 receives the mission, reads the propagation hop count as two, checks the circuit breaker position as second, and Cabin A's position is first. Since one is less than two, Cabin A is eligible to claim the mission. Cabin A performs a self-check of its load status; there are currently no incomplete missions, the self-check passes, and Cabin A broadcasts a claim confirmation. There is no moving cockpit in logic segment 5.

[0107] After the second jump claim window closes, each mobile cockpit compares the collected claim receipts. Both Cockpit A (ranked first) and Cockpit C (ranked third) are compared; Cockpit A, with its lower priority number, is ranked first and thus confirmed as the mission recipient. Cockpit C's claim automatically becomes invalid. Cockpit A broadcasts the claim result, which propagates backward along the diffusion path. Logic segments 1, 2, 3, and 4 receive the claim result sequentially, and each cockpit stops mission forwarding and clears its cache. Cockpit A plans its path from logic segment 1 to logic segment 3, and upon reaching logic segment 3, addresses the hydraulic support leak.

[0108] In this example, the task propagates hop-by-hop after finding no recipient in the zero-hop logical segment. Although Module C in the one-hop logical segment broadcasts its acceptance receipt first, Module A in the two-hop logical segment has a higher priority and ultimately accepts the task. Without the circuit breaker mechanism, Module C could successfully accept the task in the one-hop logical segment, and Module 1, where Module A is located, might not even receive the task. Without hop-by-hop propagation, the task is broadcast globally, and all three modules participate in the acceptance simultaneously. Although the result may be the same, modules without modules, such as Module 5, would also receive and process the task data, incurring unnecessary overhead. Hop-by-hop propagation ensures that the task is propagated on demand, while the circuit breaker mechanism ensures that only high-priority modules participate at the remote end. The two mechanisms work together in the hop count dimension, achieving a reasonable allocation of tasks under decentralized conditions.

[0109] Specifically, the task data packet is the data unit carried by the task during its propagation process. Fields in the task data packet that remain unchanged throughout the propagation process include the task identifier, task type, task location, initial logical segment number, maximum propagation hop count, and task weight. Fields updated with each hop include the current propagation hop count. The task data packet also contains task description information, recording the specific content and handling requirements of the task, such as the abnormal device number, abnormal parameters, and suggested handling methods, for the mobile cockpit to determine whether it has the capability to handle the situation. The task data packet has a fixed length to facilitate rapid parsing and forwarding by the mobile cockpit. During forwarding, the task data packet does not modify any fields except for the current propagation hop count, ensuring consistency of task information received by each logical segment.

[0110] It should be noted that after the mobile cockpit is powered on, it first executes an initialization process. Upon powering on, the mobile cockpit scans the near-field wireless channel, searches for online mobile cockpits within its logical segment, establishes a communication link, and sends capability parameters and status heartbeats. Once an online mobile cockpit receives the new vehicle's capability parameters, it adds the new vehicle to its local capability parameter table, recalculates the overall capability ranking table, and broadcasts the updated ranking table. Upon receiving capability parameters from other mobile cockpits, the new vehicle establishes its local capability parameter table and calculates the overall capability ranking table. After initialization, the new vehicle participates in mission diffusion and claiming as normal. If there are no other mobile cockpits in the logical segment where the new vehicle is powered on, the new vehicle independently establishes its capability parameter table and waits for other mobile cockpits to join before exchanging parameters.

[0111] Specifically, when a mobile cockpit powers down or goes offline due to a malfunction, other mobile cockpits detect the offline event through heartbeat timeout. The heartbeat timeout period is uniform across the entire fleet. If a mobile cockpit does not receive a heartbeat message from a vehicle for several consecutive periods, that vehicle is removed from the capability parameter table and the comprehensive capability ranking table, and the vehicle is automatically replaced in the subsequent ranking. After an offline mobile cockpit comes back online, it rebroadcasts its capability parameters and participates in the ranking according to the new vehicle entry process. If a mobile cockpit goes offline during mission execution, any missions already claimed by that mobile cockpit are treated as abandoned missions, and the missions are rolled back to the pending claim state and re-spread.

[0112] For example, during task diffusion, the processing flow of a mobile cockpit after receiving a task data packet is as follows: First, the task identifier is verified; if the task has already been received, it is discarded. Second, the current diffusion hop count is read to determine whether forwarding is necessary; if the current diffusion hop count is less than the maximum diffusion hop count, the hop count is incremented by one before forwarding to the adjacent logical segment. Then, the circuit breaker mapping table is queried to determine if the device is eligible to claim the task. If eligible, a load self-check and path reachability self-check are performed; after passing the self-check, a claim receipt is broadcast in the claim window. If not eligible, the device only participates in forwarding and does not participate in claiming. This processing flow is executed independently on each mobile cockpit, with a fixed processing order. Each mobile cockpit processes the same task data packet according to the same flow, resulting in consistent processing results.

[0113] Specifically, the load status of the mobile cockpit considers not only the current number of tasks but also the estimated remaining execution time of the tasks. When a mobile cockpit claims a task, it includes the current number of tasks and the estimated remaining execution time in its claim receipt. When comparing receipts from other mobile cockpits, if two mobile cockpits have the same overall capability ranking, the mobile cockpit with the shorter estimated remaining execution time is ranked higher. The load rate calculation is primarily based on the number of tasks, with the estimated remaining execution time serving as a secondary ranking criterion when priorities are tied, without altering the logic for determining the circuit breaker threshold and overall capability ranking.

[0114] For example, when there are multiple branch lanes within a lane, logical segments are numbered along the main lane and branch lanes respectively, and logical segment associations are set at the connections between branch lanes and the main lane. After a task is generated in the main lane, it spreads along the main lane. When it spreads to the branch connection, it simultaneously spreads to the branch lane, and the spread hop count in the branch lane is recounted from the connection. The circuit breaker mapping table in the branch lane is the same as that in the main lane, ensuring that the claiming rules in the branch lane are consistent. After the mobile cockpit in the branch lane claims a task, the claiming result propagates backward along the branch lane to the connection, and then propagates backward along the main lane to the initial logical segment.

[0115] It should be noted that the claim window timing begins when the mobile cockpit receives the mission data packet. While the timing of the arrival of the mission data packet by different mobile cockpits within the same logical segment may vary, this difference is within the range of communication latency and has no substantial impact on the claiming result. The end time of the claim window is calculated based on the window duration carried in the mission data packet and the initial reception time of this logical segment, with each mobile cockpit timing independently. If a mobile cockpit receives the mission data packet after the claim window has ended, it will no longer participate in the claiming process for this logical segment and will only perform a forwarding operation. This design avoids the claim window from being extended indefinitely due to network latency, ensuring the rhythm of mission propagation.

[0116] Specifically, the circuit breaker mapping table is configured uniformly during formation initialization. Configuration parameters include the upper limit of the number of jumps within a preset range, the narrowing range per jump within the preset range, and the narrowing range per jump outside the preset range. These configuration parameters are determined based on factors such as tunnel length, mobile cockpit density, and task type distribution. After configuration, each mobile cockpit stores the same mapping table. The mapping table supports online updates. During updates, a designated mobile cockpit broadcasts the new mapping table and version number. Each mobile cockpit receives the broadcast, verifies the version number, and updates its local mapping table. Tasks that have already begun to spread during the update process continue to use the old mapping table, while newly generated tasks use the new mapping table.

[0117] It should be noted that in the field of task scheduling, controlling broadcast range and controlling participation eligibility are usually treated as two independent issues. Schemes for controlling broadcast range often employ directed routing or regional grouping, focusing on where the data is transmitted but not on who is eligible to respond after it arrives. Schemes for controlling participation eligibility often employ priority queuing or capability matching, focusing on who is more suitable to execute the task but not on how the task propagates. When these two mechanisms are placed in the same system, the common practice is to configure two separate sets of parameters: one set for broadcast range and another for participation eligibility. These parameters are unrelated and require separate debugging and maintenance. This application uses the propagation hop count as both the unit of measurement for broadcast range and the basis for narrowing eligibility. For each additional hop the task propagates, the propagation range expands by one hop, while the participation eligibility narrows by one level. The two dimensions of control share the same hop count variable. As the hop count increases, the propagation range and participation eligibility change in opposite directions; the farther the propagation, the fewer mobile cockpits can participate and the higher the capability requirements. This design allows the expansion of the broadcast range and the narrowing of participation eligibility to occur automatically at the same time, without the need for additional parameter synchronization or state coordination. Each mobile pod only needs to read the hop count in the task packet to simultaneously determine whether to forward the task and whether it is eligible to claim it. The relationship between the hop count and the circuit breaker line adopts a gradual-to-rapid setting. In the early stage of diffusion, when the hop count is small, the circuit breaker line narrows slowly, allowing more mobile pods in adjacent logic segments to participate in the competition. In the later stage of diffusion, when the hop count is large, the circuit breaker line narrows rapidly, ensuring that only a small number of high-capability mobile pods remain at the far end. This setting corresponds to the actual situation where the movement cost increases non-linearly with distance. When the distance is short, the movement cost is low, and setting more participation slots helps to select suitable recipients. When the distance is long, the movement cost is high, and reducing the number of participation slots helps to reduce invalid interactions. If only hop-by-hop propagation is used without circuit breaking, every time the task propagates to a new logical segment, all mobile cockpits within that segment can claim it. Remote, lower-priority mobile cockpits may claim it before nearby, higher-priority ones, leading to insufficient long-distance movement and handling capabilities. If only circuit breaking is used without hop-by-hop propagation, the task still requires global broadcasting for each logical segment's mobile cockpits to read the hop count and determine eligibility, leaving the broadcast redundancy problem unresolved. The two mechanisms operate in tandem with the hop count as a common variable. Propagation provides the hop count basis for circuit breaking, while circuit breaking filters out invalid participation during propagation. Dynamic adjustment of participation eligibility is completed simultaneously during task propagation, eliminating the need for a second round of eligibility screening after propagation, thus reducing processing steps.

[0118] This application is not limited thereto. The above description is only an implementation method of this application. All modifications and substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for scheduling a mobile cockpit, characterized in that, include: Multiple mobile cockpits are distributed in various logical sections of the underground roadway. After a task is generated, the logical section to which it belongs is marked and broadcast within the initial logical section. If no mobile cockpit claims the task within the initial logical section, the task will spread hop by hop along the roadway to the adjacent logical section. A logical section is a continuous spatial unit divided along the roadway. Hop by hop is the process of the task spreading from one logical section to the adjacent logical section. Each time the task expands by one hop, the scope of mobile cockpits to claim and participate in the corresponding logical segment is determined based on the number of hops. The scope of claim and participation narrows as the number of hops increases. Only mobile cockpits that meet the comprehensive ability ranking criteria are eligible to claim the task. The comprehensive ability ranking is the ranking of mobile cockpits based on personnel job level, operating authority, hardware configuration, and historical task completion status. The scope of claim and participation is the ranking range of mobile cockpits that are eligible to claim the task. Mobile cockpits with the right to claim tasks will identify the task recipients and execute scheduling based on the claim results. Claiming a task is an act of declaring that a mobile cockpit has accepted a task.

2. The scheduling method for the mobile cockpit according to claim 1, characterized in that, After the task is generated, its corresponding logical segment is marked and broadcast within the initial logical segment. If no mobile cockpit claims the task within the initial logical segment, the task propagates hop-by-hop along the aisle to adjacent logical segments, including: Divide the alleyway into continuous logical segments according to the communication coverage area; After a task is generated, its logical segment is marked, and it is broadcast within that logical segment and a claim window is opened. When there is no mobile cockpit to claim in the claim window, the task is forwarded to the logical segment adjacent to its logical segment. The diffusion hop count is incremented by one for each logical segment it passes through. Diffusion stops when the diffusion hop count reaches the maximum diffusion hop count corresponding to the task weight. The task weight is the level of task importance determined according to the task type. The claim window is the time period that is open for claiming after the task is broadcast.

3. The scheduling method for the mobile cockpit according to claim 1, characterized in that, For each hop the task expands, the scope of participation for mobile cockpits within the corresponding logical segment is determined based on the number of hops. The scope narrows as the number of hops increases, and only mobile cockpits meeting the overall capability ranking criteria are eligible to participate, including: The mobile cockpits are sorted based on personnel job level, operating authority, hardware configuration, and historical task completion status to generate a comprehensive capability ranking. Establish a pre-defined correspondence between diffusion jump count and fuse line; After receiving a mission, the mobile cockpit reads the number of diffusion jumps and queries the corresponding circuit breaker. Mobile cockpits whose overall capability ranking does not exceed the circuit breaker are eligible to claim the mission. The circuit breaker is the ranking limit value corresponding to the scope of claiming participation.

4. The scheduling method for the mobile cockpit according to claim 2, characterized in that, The mobile cockpit claiming task, for which eligibility is available, involves determining the task recipient and executing scheduling based on the claiming results, including: The mobile cockpit that is eligible for acceptance will self-check its load status and path accessibility, and broadcast an acceptance receipt after confirming that it can be taken over. Collect the claim receipts in the claim window, compare the overall capabilities of the mobile cockpits in the receipts, and determine the mobile cockpit with the highest capability as the mission recipient. The mission acceptor proceeds to the mission location to execute the mission. The acceptance result propagates backward along the mission diffusion path and terminates subsequent diffusion. The acceptance receipt is a broadcast message from the mobile cockpit declaring acceptance of the mission.

5. The scheduling method for the mobile cockpit according to claim 2, characterized in that, When no mobile cockpit is claimed within the claim window, the task forwards to adjacent logical segments. The propagation hop count increments by one for each logical segment traversed. Propagation stops when the propagation hop count reaches the maximum propagation hop count corresponding to the task weight, including: Task weights are determined based on task type, and different task weights correspond to different maximum spread jumps; After receiving a task, the mobile cockpit verifies the task identifier; tasks that have already been received will not be forwarded. When forwarding tasks in the mobile cockpit, increment the diffusion hop count by one. When the diffusion hop count equals the maximum diffusion hop count, stop forwarding to adjacent logical segments.

6. The scheduling method for the mobile cockpit according to claim 3, characterized in that, The ranking of each mobile cockpit based on personnel job level, operating authority, hardware configuration, and historical task completion status to generate a comprehensive capability ranking includes: After the mobile cockpit enters the logical section, it broadcasts its own capability parameters, which include personnel job level, operating permissions, hardware configuration, and historical task completion status. After receiving the capability parameters, each mobile cockpit sorts them according to a unified rule and generates a comprehensive capability ranking table locally. After a mobile cockpit leaves a logical section, each mobile cockpit removes it from the overall capability priority list, and subsequent priority levels are automatically filled.

7. The scheduling method for the mobile cockpit according to claim 3, characterized in that, The pre-established correspondence between diffusion jump number and fuse line includes: When the diffusion jump count is zero, the fuse line is set to the corresponding sequence, so that all mobile cockpits are eligible to claim it; When the number of diffusion jumps is within the preset range, the fuse line narrows step by step and the narrowing range remains consistent. After the number of diffusion jumps exceeds the preset range, the narrowing of the fuse line increases, so that only the first-order moving cockpit is retained in the far-end logic section.

8. The scheduling method for the mobile cockpit according to claim 4, characterized in that, The collection and claiming window displays claim receipts. The overall capability ranking of the mobile cockpits in the receipts is compared, and the mobile cockpit with the highest ranking is determined as the mission recipient, including: The claim receipt includes the mobile cockpit's overall capability ranking, current load factor, and claim statement; All claim receipts in the claim window of each mobile cockpit are collected and sorted from front to back according to their comprehensive capabilities. The mobile cockpit with the highest overall capability and whose load rate does not exceed the threshold is identified as the mission recipient, and the other claim receipts are automatically invalidated. The load rate is the ratio of the current task load of the mobile cockpit to the total task capacity.

9. The scheduling method for the mobile cockpit according to claim 4, characterized in that, The claim result propagates backward along the task diffusion path and terminates subsequent diffusion, including: The task recipient broadcasts the acceptance result, and the acceptance result propagates backward hop by hop along the logical segments traversed by the task; After receiving the claim result, the mobile cockpit of each logical segment stops forwarding the task and clears the cache to be forwarded; Once the claim result is propagated to the initial logic section of the task, the propagation process of the task terminates.

10. A dispatching system for a mobile cockpit, characterized in that, include: Task distribution module, eligibility determination module, and task assignment and scheduling module; The task diffusion module is used to mark the logical segment to which the task belongs after the task is generated and broadcast it within the initial logical segment. If no mobile cockpit claims the task within the initial logical segment, the task will diffuse along the alley to the adjacent logical segment one jump at a time. The eligibility determination module is used to determine the scope of mobile cockpits to claim and participate in each logical segment after each hop of mission spread. The scope of claim and participation narrows as the number of hops increases, and only mobile cockpits that meet the requirements of comprehensive capability ranking are eligible to claim. The assignment and scheduling module is used for mobile cockpits that are eligible to take on tasks, and determines the task recipient and executes the scheduling based on the assignment results.

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