Shovel cooperative control method and related device

Abstract

The application discloses a shovel-carrying cooperative control method and related equipment, and belongs to the field of industrial data processing. The method comprises the following steps: acquiring vehicle operation data in a target operation area to determine the remaining loading time of each loading point; dynamically updating the target loading point of each transport vehicle in sequence based on the remaining loading time of each loading point; determining the remaining driving time of each transport vehicle based on the target loading point and target transport task information; and determining the loading power of each loading point according to the remaining driving time of the next transport vehicle in each loading point, and cooperatively controlling the loading equipment. The application takes the remaining loading time of each loading point as the judgment basis, adjusts the target loading point of different transport vehicles, and cooperatively controls the operation power of the loading equipment according to the remaining driving time and the loading power, so that the dynamic matching and data association between the transport vehicle and the loading equipment are realized, thereby reducing the waiting time, reducing the energy consumption and improving the operation efficiency.

Description

Technical Field

[0001] This application relates to the field of industrial data processing technology, and in particular to a method and related equipment for coordinated control of shovel and conveyor transport. Background Technology

[0002] Currently, in the mining and transportation process, loading equipment, such as loaders and excavators, is usually used to complete the mining, and transport vehicles are used to transport the ore.

[0003] However, in practical applications, it has been found that in traditional mining operations, there are often situations where transport vehicles are queuing up to wait for loading, or loaded equipment is waiting for transport vehicles, resulting in low operational efficiency, poor data utilization, low equipment utilization, and increased energy consumption.

[0004] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the Invention

[0005] This application provides a method and related equipment for coordinated control of shovel and loader, which can realize dynamic matching and data association between vehicles and loading equipment, thereby reducing waiting time, reducing energy consumption and improving work efficiency.

[0006] On one hand, embodiments of this application provide a method for coordinated control of shovel and conveyor transport, the method comprising the following steps: Obtain vehicle operation data within the target operation area to determine the remaining loading time at each loading point within the target operation area; Based on the remaining loading time at each loading point within the target work area, the target loading point for each transport vehicle to be loaded within the target work area is dynamically updated sequentially. Based on the target loading point of each transport vehicle to be loaded, and combined with the target transport task information of each transport vehicle to be loaded, the remaining driving time of each transport vehicle to be loaded is determined. Based on the remaining driving time of the next transport vehicle to be loaded at each loading point, the loading power of each loading point is determined, and then the loading equipment is coordinated and controlled based on the loading power.

[0007] Optionally, determining the loading power of each loading point based on the remaining driving time of the next transport vehicle to be loaded at each loading point, and then coordinating the loading equipment based on the loading power, includes: Iterate through and determine the vehicle waiting information at each loading point; If the vehicle waiting information at any loading point indicates that there are no parked transport vehicles, the loading power matching the remaining driving time of the next transport vehicle to be loaded at any loading point is determined by looking up the table based on the remaining driving time and a preset time-power matching table. Then, the loading equipment at any loading point is controlled in a coordinated manner based on the loading power. If the vehicle waiting information at any loading point indicates that a transport vehicle is already parked, the loading power of that loading point is determined to be the maximum loading power, and then the loading equipment is coordinated and controlled based on the maximum loading power.

[0008] Optionally, the step of acquiring vehicle operation data within the target operation area to determine the remaining loading time at each loading point within the target operation area includes: Acquire vehicle operation data within the target operation area; wherein, the vehicle operation data includes the target loading weight of the transport vehicle, the loading weight and loading time each time the loading equipment triggers a loading operation; Determine the remaining load weight of each transport vehicle at each loading point, and calculate the average load weight and average loading time of the loading equipment; The remaining loading times for each transport vehicle are determined based on the ratio of the remaining load weight of each transport vehicle to the average load weight of the loading equipment. The remaining loading time for each transport vehicle is determined based on the product of the remaining loading times of each transport vehicle and the average loading time of the loading equipment. The remaining loading time of all transport vehicles within each loading point is determined by combining the remaining loading time of all vehicles within the target operating area with the loading interval time between adjacent transport vehicles.

[0009] Optionally, the step of dynamically updating the target loading point of each transport vehicle to be loaded within the target operation area based on the remaining loading time of each loading point within the target operation area includes: Based on the geolocation information of each transport vehicle and the geocoordinate information of each loading point, the distance between each transport vehicle and the nearest loading point is determined. The vehicles are sorted according to their distance from the nearest loading point to determine the priority of each vehicle. Based on the priority of each transport vehicle, the target loading point of each transport vehicle to be loaded in the target operation area is dynamically updated to the target point with the shortest remaining loading time, and the remaining loading time of each loading point is updated until the target loading points of all transport vehicles are dynamically updated.

[0010] Optionally, before determining the distance between each transport vehicle and the nearest loading point based on the geographic location information of each transport vehicle and the geographic coordinate information of each loading point, the method further includes: Determine the transportation status of each transport vehicle and filter to obtain the geolocation information of all transport vehicles whose transportation status is empty.

[0011] Optionally, determining the remaining driving time of each transport vehicle to be loaded, based on the target loading point of each vehicle and the target transport task information of each vehicle, includes: Based on the target loading point of each transport vehicle to be loaded, and combined with the target transport task information of each transport vehicle to be loaded, the remaining driving distance and target driving speed of each transport vehicle to be loaded are determined. The remaining driving time for each transport vehicle to be loaded is determined based on the ratio of the remaining driving distance to the target driving speed.

[0012] Optionally, the method further includes: In response to a user-triggered parameter update command, the target loading point of the transport vehicle or the loading power of the loading point is dynamically updated.

[0013] On the other hand, embodiments of this application provide a shovel-and-carry coordinated control device, the device comprising: The data acquisition module is used to acquire vehicle operation data within the target operation area in order to determine the remaining loading time at each loading point within the target operation area. The loading point determination module is used to dynamically update the target loading point of each transport vehicle to be loaded in the target operation area based on the remaining loading time of each loading point in the target operation area. The time calculation module is used to determine the remaining driving time of each transport vehicle to be loaded, based on the target loading point of each transport vehicle to be loaded and the target transport task information of each transport vehicle to be loaded. The collaborative control module is used to determine the loading power of each loading point based on the remaining driving time of the next transport vehicle to be loaded at each loading point, and then to perform collaborative control of the loading equipment based on the loading power.

[0014] On the other hand, embodiments of this application provide an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0015] On the other hand, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0016] On the other hand, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0017] On the other hand, embodiments of this application provide an engineering vehicle, which includes the above-described shovel and transport coordination control device or electronic equipment as described above.

[0018] This application embodiment uses the remaining loading time at each loading point as the basis for judgment, adjusts the target loading point to which different transport vehicles go, and controls the operating power of the loading equipment in conjunction with the remaining driving time and loading power, so as to realize dynamic matching and data association between transport vehicles and loading equipment, thereby reducing waiting time, reducing energy consumption and improving operation efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the implementation environment of a shovel and transport coordinated control method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating a shovel-transportation coordinated control method provided in an embodiment of this application; Figure 3 This is a schematic flowchart illustrating how to determine the remaining loading time at a loading point, as provided in an embodiment of this application. Figure 4 This is a schematic diagram of a process for determining a target loading point for a transport vehicle, provided in an embodiment of this application. Figure 5 This is a schematic diagram of a process for determining the remaining driving time of a transport vehicle, provided in an embodiment of this application. Figure 6 This is a schematic diagram of a process for regulating the power of a loading device according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a shovel and conveyor coordinated control device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0021] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”

[0022] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0024] Currently, in the mining and transportation process, loading equipment, such as loaders and excavators, is usually used to complete the mining, and transport vehicles are used to transport the ore.

[0025] However, in practical applications, it has been found that in traditional mining operations, there are often situations where transport vehicles are queuing up to wait for loading, or loaded equipment is waiting for transport vehicles, resulting in low operational efficiency, poor data utilization, low equipment utilization, and increased energy consumption.

[0026] In view of this, this application provides a shovel-transportation coordinated control method and related equipment. By using the remaining loading time at each loading point as a criterion, the method adjusts the target loading point to which different transport vehicles go, and controls the operating power of the loading equipment in conjunction with the remaining travel time and loading power, thereby achieving dynamic matching between transport vehicles and loading equipment, thereby reducing waiting time, reducing energy consumption and improving work efficiency.

[0027] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0028] The specific implementation methods of the embodiments of this application will be described in detail below with reference to the accompanying drawings. First, a method for coordinated control of earthmoving and transporting provided in the embodiments of this application will be described with reference to the accompanying drawings.

[0029] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the implementation environment of a shovel and transport collaborative control method provided in this application embodiment. In this implementation environment, the main hardware and software components involved include a vehicle processor 110 and a server 120.

[0030] Specifically, the vehicle processor 110 may be equipped with a related shovel-and-haul coordination control program, and the server 120 serves as the backend server for this control program. The vehicle processor 110 and the backend server 120 are connected in communication. The shovel-and-haul coordination control method provided in this embodiment can be executed on the vehicle processor 110 side.

[0031] Server 120 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0032] In addition, server 120 can also be a node server in a blockchain network.

[0033] The vehicle processor 110 and the server 120 can establish a communication connection via a wireless network. This wireless network uses standard communication technologies and / or protocols. The network can be the Internet or any other network, including but not limited to a Local Area Network (LAN), Metropolitan Area Network (MAN), Wide Area Network (WAN), mobile, or any combination of wireless networks, private networks, or virtual private networks. Furthermore, these hardware and software components can use the same or different communication connection methods; this application does not impose specific limitations in this regard.

[0034] Of course, this is understandable. Figure 1 The implementation environment described in this application is only one of the optional application scenarios for the shovel and conveyor coordinated control method provided in this embodiment. The actual application is not fixed. Figure 1 The software and hardware environment shown is not specifically limited in this application.

[0035] like Figure 2 As shown, Figure 2 This is a flowchart illustrating a shovel-transportation coordinated control method provided in an embodiment of this application, specifically including but not limited to steps 100 to 400.

[0036] Step 100: Obtain vehicle operation data within the target operation area to determine the remaining loading time at each loading point within the target operation area.

[0037] In this embodiment, the executing entity can be a control system deployed on a transport vehicle. It obtains vehicle operation data within the current target operation area of ​​the transport vehicle through a vehicle network platform, and calculates the remaining loading time of each loading point within the target operation area based on the vehicle operation data. The remaining loading time of each loading point is quantified to obtain the time required for each loading point to complete the loading task of the current waiting vehicle queue.

[0038] The vehicle operation data mainly includes the current waiting vehicle queue information at each loading point, the target loading weight of each transport vehicle to be loaded, and the operating parameters of the loading equipment at the loading point. This allows for the rapid calculation of the remaining loading time at each loading point based on the vehicle operation data, serving as the data basis for subsequent dispatch and control of transport vehicles.

[0039] In practical applications, the main purpose of loader-transporter coordinated control is to determine the operating parameters of the loading equipment and the loading point of the transport vehicle in real time based on the status and operation data of the loading equipment and transport vehicle performing the loading operation, so as to achieve energy-saving control.

[0040] Specifically, such as Figure 3 As shown, Figure 3 This is a flowchart illustrating a method for determining the remaining loading time at a loading point, provided in an embodiment of this application. The step of acquiring vehicle operation data within a target work area to determine the remaining loading time at each loading point within that target work area includes: Step 110: Obtain vehicle operation data within the target operation area; wherein, the vehicle operation data includes the target loading weight of the transport vehicle, the loading weight and loading time each time the loading equipment triggers a loading operation; Step 120: Determine the remaining load weight of each transport vehicle at each loading point, and calculate the average load weight and average loading time of the loading equipment; Step 130: Based on the ratio of the remaining load weight of each transport vehicle to the average load weight of the loading equipment, determine the remaining loading times for each transport vehicle. Step 140: Based on the product of the remaining loading times of each transport vehicle and the average loading time of the loading equipment, determine the remaining loading time of each transport vehicle. Step 150: Combine the remaining loading time of all transport vehicles in each loading point with the loading interval time between adjacent transport vehicles to determine the remaining loading time of each loading point in the target operation area.

[0041] In this embodiment of the application, vehicle operation data, including the target loading weight of the transport vehicle, the loading weight and loading time of each loading operation triggered by the loading equipment, are first obtained through the vehicle network platform, thereby determining the loading amount of each transport vehicle and the loading amount and loading time of each loading operation triggered by the loading equipment.

[0042] In practical applications, the load weight may fluctuate each time the loading equipment triggers a loading operation. Therefore, the average load weight and average loading time of the loading equipment can be obtained by statistically analyzing the load weight and loading time of the loading equipment within a preset time period and calculating the average value.

[0043] Furthermore, when the transport vehicles at each loading point are in the loading process, the loaded weight can be obtained by combining the sensors on each transport vehicle. The difference between the target loaded weight and the loaded weight can then be calculated to obtain the remaining loaded weight for each transport vehicle at each loading point. For example, if vehicle A has not yet entered the loading process and is still waiting, then vehicle A's remaining loaded weight is equal to its target loaded weight. If vehicle B has already entered the loading process, and its current loaded weight is obtained through the weight sensor deployed on vehicle B, the remaining loaded weight can be obtained by calculating the difference between vehicle B's target loaded weight and its current loaded weight.

[0044] Furthermore, the remaining loading times for each transport vehicle are determined based on the ratio of the remaining load weight of each transport vehicle to the average load weight per load, rounded up. This converts the remaining load weight of each transport vehicle into the number of loading times required. By calculating the product of the remaining loading times for each transport vehicle and the average loading time of the loading equipment, the remaining loading time for each transport vehicle can be quickly obtained.

[0045] Finally, by summing up the remaining loading times of all waiting transport vehicles at each loading point and adding the loading interval time between adjacent loading vehicles (for example, by calculating the time from when the previous transport vehicle leaves the loading station until the next transport vehicle enters the loading station and is ready), the remaining loading time of each loading point in the target work area is obtained.

[0046] Therefore, by calculating the remaining loading time at each loading point, the vehicle waiting information at each loading point is converted into a computable and predictable time resource, providing a data foundation for the scheduling and control of subsequent transport vehicles.

[0047] Step 200: Based on the remaining loading time of each loading point in the target operation area, dynamically update the target loading point of each transport vehicle to be loaded in the target operation area in sequence.

[0048] In this embodiment of the application, based on the remaining loading time of each loading point in the target operation area, the target loading point of each transport vehicle to be loaded in the target operation area is dynamically updated sequentially, guiding the transport vehicles to loading points that are more likely to be received and loaded quickly, reducing the blind waiting of transport vehicles, and realizing vehicle diversion through time perception.

[0049] Therefore, compared to the traditional loading operation where transport vehicles may go directly to the nearest loading point, causing severe congestion at one loading point while another is idle, this application can use the remaining loading time at each loading point as the judgment data to quickly guide transport vehicles to the loading point with the shortest remaining loading time as the target loading point, reducing waiting time and improving operational efficiency.

[0050] Specifically, such as Figure 4 As shown, Figure 4 This is a schematic diagram of a process for determining the target loading point of a transport vehicle according to an embodiment of this application. The step of dynamically updating the target loading point of each transport vehicle to be loaded within the target operating area based on the remaining loading time at each loading point within the target operating area includes: Step 210: Based on the geographic location information of each transport vehicle and the geographic coordinate information of each loading point, determine the distance between each transport vehicle and the nearest loading point; Step 220: Sort each transport vehicle according to its distance from the nearest loading point to determine the priority of each transport vehicle. Step 230: Based on the judgment priority of each transport vehicle, dynamically update the target loading point of each transport vehicle to be loaded in the target operation area as the target point with the shortest remaining loading time, and update the remaining loading time of each loading point until the target loading points of all transport vehicles have been dynamically updated.

[0051] In this embodiment of the application, the current geographic location information is first obtained from the positioning device of each transport vehicle, and then combined with the geographic coordinate information of each loading point to determine the distance information between each transport vehicle and its nearest loading point.

[0052] Furthermore, each transport vehicle is sorted according to its distance from the nearest loading point to determine the priority of each transport vehicle, thereby avoiding vehicle decision-making conflicts and gradually allocating vehicles according to distance priority.

[0053] Specifically, in practical applications, when sorting each transport vehicle according to its distance from the nearest loading point, the sorting can be done from smallest to largest, and the transport vehicle with the smallest distance can be given the highest priority. This way, the transport vehicle that most needs to make a loading point decision as soon as possible will be the vehicle that triggers the loading point decision first.

[0054] Furthermore, following the judgment priority of each transport vehicle, it is determined whether the distance between any transport vehicle and the nearest loading point is the smallest among all transport vehicles. If so, the transport vehicle prioritizes selecting the loading point with the shortest remaining loading time as the target loading point. If not, a two-step judgment can be triggered to determine whether any transport vehicles corresponding to smaller distance values ​​have not determined a target loading point. If any transport vehicles corresponding to smaller distance values ​​have not determined a target loading point, then after all transport vehicles corresponding to smaller distance values ​​have determined their target loading points, the loading point with the shortest remaining loading time is selected as the target loading point for this transport vehicle. If all transport vehicles corresponding to smaller distance values ​​have determined their target loading points, then the loading point with the shortest remaining loading time is selected as the target loading point for this transport vehicle.

[0055] Furthermore, after each dynamic update of the target loading point for each transport vehicle to be loaded within the target operation area, the remaining loading time of each loading point is updated based on the target loading point selected by the transport vehicle and the estimated loading time of the transport vehicle, until the target loading points of all transport vehicles are dynamically updated. This completes the dynamic scheduling and control of all transport vehicles to be loaded within all target operation areas, avoiding the situation where multiple vehicles crowd into a certain loading point, causing severe congestion.

[0056] In practical applications, before determining the distance between each transport vehicle and the nearest loading point based on the geographic location information of each transport vehicle and the geographic coordinate information of each loading point, the method further includes: Determine the transportation status of each transport vehicle and filter to obtain the geolocation information of all transport vehicles whose transportation status is empty.

[0057] In this embodiment of the application, before obtaining the geographic coordinate information of any transport vehicle and calculating the distance to the nearest loading point, the current transport status of the transport vehicle can be read to determine whether the transport vehicle is in an empty state. Only the geographic location information of all transport vehicles in an empty state can be obtained and identified as transport vehicles to be loaded. The vehicle allocation logic for dynamically updating the target loading point is then entered. For transport vehicles that have already been loaded or are already in the process of transport, they do not participate in the subsequent loading point selection. This allows for pre-screening of vehicle operating conditions and avoids confusion in scheduling objects.

[0058] In practical applications, the selection of target loading points can be achieved by jointly filtering based on criteria such as whether newly added transport vehicles have already been set up with target loading points, so as to quickly identify the transport vehicles that need to be selected for target loading points.

[0059] Step 300: Based on the target loading point of each transport vehicle to be loaded, and in conjunction with the target transport task information of each transport vehicle to be loaded, determine the remaining driving time of each transport vehicle to be loaded.

[0060] In this embodiment, based on the target loading point of each transport vehicle to be loaded and combined with the target transport task information of each transport vehicle to be loaded, the remaining driving time required for each transport vehicle to reach its corresponding target loading point is determined. The target transport task information may include road condition information of the transport route generated based on the target loading point, such as route distance and optimal driving speed for each road segment.

[0061] Furthermore, by combining the actual roads and driving speed control strategies within the target operating area, the remaining driving time of each transport vehicle is estimated and calculated, and the current geographic location information of the transport vehicle is converted into the estimated arrival time of the transport vehicle, thereby providing data support for the subsequent coordinated control of loading equipment within the loading point.

[0062] Specifically, such as Figure 5 As shown, Figure 5 This is a flowchart illustrating a method for determining the remaining driving time of a transport vehicle, provided in an embodiment of this application. The method involves determining the remaining driving time of each transport vehicle based on its target loading point and the target transport task information of that vehicle. Step 310: Based on the target loading point of each transport vehicle to be loaded, and combined with the target transport task information of each transport vehicle to be loaded, determine the remaining driving distance and target driving speed of each transport vehicle to be loaded. Step 320: Based on the calculation result of the ratio of the remaining driving distance to the target driving speed of each transport vehicle to be loaded, determine the remaining driving time of each transport vehicle to be loaded.

[0063] In this embodiment, based on the target loading point of each transport vehicle to be loaded, and combined with the target transport task information of each transport vehicle to be loaded, the remaining driving distance of each transport vehicle to be loaded, and the target driving speed of each road segment leading to the target loading point are determined. The target transport task information mainly includes road condition information for each transport route, specifically data such as route distance and optimal driving speed for each road segment, which can be pre-collected and recorded in the vehicle network platform.

[0064] In practical applications, once the target loading point is determined for each transport vehicle to be loaded, the route to the target loading point can be determined based on the geographical coordinates of the target loading point, and the target transport task information can be quickly generated by reading the optimal driving speed for each road segment.

[0065] Furthermore, based on the ratio of the remaining driving distance to the target driving speed of each transport vehicle to be loaded, the remaining driving time of each transport vehicle to be loaded is calculated, thereby providing data support for the subsequent coordinated control of loading equipment at the loading point.

[0066] Step 400: Determine the loading power of each loading point based on the remaining driving time of the next transport vehicle to be loaded at each loading point, and then coordinate the loading equipment based on the loading power.

[0067] In this embodiment of the application, based on the remaining driving time of each transport vehicle to be loaded, the identity information of the next transport vehicle to be loaded at each loading point and its corresponding remaining driving time are determined, thereby matching and determining the loading power of each loading point, and adjusting the loading equipment to complete the shovel-transport coordinated control.

[0068] In practical applications, the loading power of the loading equipment corresponds to the working intensity and rhythm of the loading equipment. Each loading point dynamically matches and determines its loading power based on the remaining driving time of the next transport vehicle to be loaded. This achieves dynamic loading power according to the arrival rhythm of the next transport vehicle, so that the loading equipment does not need to operate according to a preset fixed power. Instead, it can dynamically adjust the loading power of each loading equipment according to the real-time location and remaining driving time of the transport vehicles in the target work area. This avoids situations where the loading equipment finishes too early and idles while waiting, or the loading equipment runs slowly and causes subsequent vehicles to continuously queue.

[0069] Therefore, this application uses the remaining loading time at each loading point as the basis for judgment, adjusts the target loading point to which different transport vehicles go, and controls the operating power of the loading equipment in conjunction with the remaining driving time and loading power, so as to achieve dynamic matching between transport vehicles and loading equipment, thereby reducing waiting time, reducing energy consumption and improving operational efficiency.

[0070] Specifically, such as Figure 6 As shown, Figure 6 This is a flowchart illustrating the process of regulating the power of loading equipment according to an embodiment of this application. The process involves determining the loading power at each loading point based on the remaining driving time of the next transport vehicle to be loaded, and then coordinating the control of the loading equipment based on the loading power. The process includes: Step 410: Iterate through and determine the vehicle waiting information at each loading point; Step 420: If the vehicle waiting information at any loading point is that there are no parked transport vehicles, based on the remaining driving time of the next transport vehicle to be loaded at any loading point, a table lookup is performed in conjunction with a preset time-power matching table to obtain the loading power that matches the remaining driving time, and then the loading equipment at any loading point is coordinated and controlled based on the loading power. Step 430: If the vehicle waiting information at any loading point indicates that a transport vehicle is already parked, determine that the loading power of the loading point is the maximum loading power, and then perform coordinated control of the loading equipment based on the maximum loading power.

[0071] In this embodiment of the application, the vehicle waiting information of each loading point can be determined by iterating through and reading the current waiting vehicle queue information of each loading point.

[0072] For example, if the current waiting vehicle queue information at loading point A is empty, it can be further determined that the vehicle waiting information at loading point A is that there are no parked transport vehicles. If the current waiting vehicle queue information at loading point B contains transport vehicles A1, A2, and B1, it can be further determined that the vehicle waiting information at loading point B is that there are parked transport vehicles.

[0073] Furthermore, the loading power of each loading point is determined based on the vehicle waiting information at each loading point. Specifically, if the vehicle waiting information at any loading point indicates that there are no parked transport vehicles, a lookup table is performed based on a pre-sampled and set time-power matching table to determine the loading power lookup result corresponding to the remaining driving time of the next transport vehicle to be loaded at the current loading point, thereby enabling coordinated control of the loading equipment. If the vehicle waiting information at any loading point indicates that there are parked transport vehicles, it means that there are transport vehicles waiting to be loaded at the current loading point and they are in a queue. In this case, the loading power of the loading equipment is adaptively adjusted to the maximum loading power to improve the operating efficiency, reduce the number of queued vehicles as soon as possible, and reduce the queuing time of subsequent transport vehicles.

[0074] Therefore, by determining the loading power based on the remaining travel time of the next vehicle to be loaded and performing coordinated control, this application can avoid the loading equipment from completing its work prematurely and idling, which would lead to a decrease in equipment utilization and fuel economy. This achieves dynamic matching between transport vehicles and loading equipment, thereby reducing waiting time, lowering energy consumption, and improving operational efficiency.

[0075] Specifically, as an optional implementation, the method further includes: In response to a user-triggered parameter update command, the target loading point of the transport vehicle or the loading power of the loading point is dynamically updated.

[0076] In this embodiment of the application, the target loading point or loading power of the transport vehicle can also be updated in real time in response to the parameter update command triggered by the user, so as to better meet the user's usage needs and adapt to the requirements of shovel and transport collaborative control under different working conditions.

[0077] Specifically, update commands can include different update commands such as voice update commands, touch update commands triggered by touch screen operations, and selection update commands triggered by drop-down menus, and are not limited to the above.

[0078] For example, a monitoring interface can be provided to users through the central control screen of the transport vehicle, allowing manual adjustment of the target loading point of the transport vehicle, thereby enhancing the flexibility of the loader-transport coordinated control.

[0079] The following section provides a detailed explanation and description of the shovel-transportation coordinated control method provided in this invention, in conjunction with a specific application implementation process: This application provides a method for coordinated control of shovel and transport, which can be applied to mining management scenarios. By using the remaining loading time at each loading point as a criterion, the method adjusts the target loading points to which different transport vehicles go, and controls the operating power of the loading equipment in conjunction with the remaining travel time and loading power. This achieves dynamic matching and data association between transport vehicles and loading equipment, thereby reducing waiting time, lowering energy consumption, and improving operational efficiency.

[0080] Specifically, the vehicle operation data of the transport vehicles in the current target operation area is obtained through the vehicle network platform. Based on the vehicle operation data, the remaining loading time of each loading point in the target operation area is calculated. The remaining loading time of each loading point is quantified to obtain the time required for each loading point to complete the loading task of the current waiting vehicle queue.

[0081] In practical applications, the average loading weight and average loading time of the loading equipment can be obtained by statistically analyzing the loading weight and loading time of the loading equipment within a preset time period and calculating the average value. Combined with the loaded weight obtained by the sensors on each transport vehicle, the difference between the target loading weight and the loaded weight can be calculated to obtain the remaining loading weight of each transport vehicle at each loading point. Based on the ratio of the remaining loading weight of each transport vehicle to the average loading weight per load, the remaining loading times of each transport vehicle can be determined. Finally, by calculating the product of the remaining loading times of each transport vehicle and the average loading time of the loading equipment, the remaining loading time of each transport vehicle can be quickly obtained.

[0082] Furthermore, by summing up the remaining loading times of all waiting transport vehicles at each loading point and adding the loading interval time between adjacent loading vehicles, the remaining loading time of each loading point within the target operation area is obtained.

[0083] Furthermore, based on the remaining loading time at each loading point within the target operation area, the target loading point for each transport vehicle waiting to be loaded within the target operation area is dynamically updated sequentially. This guides the transport vehicles to loading points that are more likely to be picked up and loaded quickly, reducing the blind waiting time of transport vehicles and achieving vehicle diversion through time perception.

[0084] Specifically, firstly, the current geographic location information is obtained based on the positioning device of each transport vehicle, and combined with the geographic coordinate information of each loading point, the distance information between each transport vehicle and its nearest loading point is determined. Then, the transport vehicles are sorted according to their distance to the nearest loading point to determine the judgment priority of each transport vehicle, thereby avoiding vehicle decision-making conflicts and gradually allocating according to distance priority.

[0085] Furthermore, based on the target loading point of each transport vehicle to be loaded, and combined with the target transport task information of each transport vehicle to be loaded, the remaining driving time required for each transport vehicle to reach its corresponding target loading point is determined.

[0086] Furthermore, by combining the actual roads and driving speed control strategies within the target operating area, the remaining driving time of each transport vehicle is estimated and calculated, and the current geographic location information of the transport vehicle is converted into the estimated arrival time of the transport vehicle, thereby providing data support for the subsequent coordinated control of loading equipment within the loading point.

[0087] Finally, by traversing and reading the current waiting vehicle queue information at each loading point, the vehicle waiting information at each loading point is determined. Based on the vehicle waiting information at each loading point, the loading power at each loading point is determined. Specifically, if the vehicle waiting information at any loading point indicates that there are no parked transport vehicles, a lookup table is performed based on a pre-sampled and set time-power matching table to determine the loading power lookup result corresponding to the remaining driving time of the next transport vehicle to be loaded at the current loading point, thereby enabling coordinated control of the loading equipment. If the vehicle waiting information at any loading point indicates that there are parked transport vehicles, it means that there are transport vehicles waiting to be loaded at the current loading point and they are in a queue. In this case, the loading power of the loading equipment is adaptively adjusted to the maximum loading power to improve the operating efficiency, reduce the number of queued vehicles as soon as possible, and reduce the queuing time of subsequent transport vehicles.

[0088] Please see Figure 7 , Figure 7 This is a schematic diagram of a shovel-and-carry coordinated control device provided in an embodiment of this application. This application also provides a shovel-and-carry coordinated control device that can implement the above-mentioned shovel-and-carry coordinated control method. The device includes: The data acquisition module 710 is used to acquire vehicle operation data within the target operation area to determine the remaining loading time at each loading point within the target operation area. The loading point determination module 720 is used to dynamically update the target loading point of each transport vehicle to be loaded in the target operation area based on the remaining loading time of each loading point in the target operation area. The time calculation module 730 is used to determine the remaining driving time of each transport vehicle to be loaded based on the target loading point of each transport vehicle to be loaded and the target transport task information of each transport vehicle to be loaded. The collaborative control module 740 is used to determine the loading power of each loading point based on the remaining driving time of the next transport vehicle to be loaded at each loading point, and then to perform collaborative control of the loading equipment based on the loading power.

[0089] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0090] Please see Figure 8 , Figure 8 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device includes: The processor 801 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 802 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 802 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 802 and is called and executed by the processor 801 using the methods described in the embodiments of this application. The 803 input / output interface is used to implement information input and output. The communication interface 804 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 805 transmits information between various components of the device (e.g., processor 801, memory 802, input / output interface 803, and communication interface 804); The processor 801, memory 802, input / output interface 803, and communication interface 804 are connected to each other within the device via bus 805.

[0091] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0092] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0093] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0094] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0095] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0096] Specifically, in one possible implementation, this application embodiment also provides an engineering vehicle, which includes the above-mentioned shovel and transport coordination control device or the above-mentioned electronic equipment.

[0097] Specifically, engineering vehicles are specialized vehicles mainly used for excavation, handling, and transportation operations. These can include different types of engineering vehicles such as dump trucks, concrete mixer trucks, road rollers, excavators, and cranes.

[0098] This application provides a method and related equipment for coordinated control of shovel and loader. It adjusts the target loading points of different transport vehicles based on the remaining loading time at each loading point, and controls the operating power of the loading equipment in conjunction with the remaining travel time and loading power. This achieves dynamic matching and data association between transport vehicles and loading equipment, thereby reducing waiting time, lowering energy consumption, and improving operational efficiency.

[0099] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0100] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0101] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0102] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0103] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0104] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0105] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0106] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0107] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0108] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0109] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for coordinated control of shovel and conveyor transport, characterized in that, The method includes the following steps: Obtain vehicle operation data within the target operation area to determine the remaining loading time at each loading point within the target operation area; Based on the remaining loading time at each loading point within the target work area, the target loading point for each transport vehicle to be loaded within the target work area is dynamically updated sequentially. Based on the target loading point of each transport vehicle to be loaded, and combined with the target transport task information of each transport vehicle to be loaded, the remaining driving time of each transport vehicle to be loaded is determined. Based on the remaining driving time of the next transport vehicle to be loaded at each loading point, the loading power of each loading point is determined, and then the loading equipment is coordinated and controlled based on the loading power.

2. The method according to claim 1, characterized in that, The process of determining the loading power of each loading point based on the remaining driving time of the next transport vehicle to be loaded at each loading point, and then coordinating the loading equipment based on the loading power, includes: Iterate through and determine the vehicle waiting information at each loading point; If the vehicle waiting information at any loading point indicates that there are no parked transport vehicles, the loading power matching the remaining driving time of the next transport vehicle to be loaded at any loading point is determined by looking up the table based on the remaining driving time and a preset time-power matching table. Then, the loading equipment at any loading point is controlled in a coordinated manner based on the loading power. If the vehicle waiting information at any loading point indicates that a transport vehicle is already parked, the loading power of that loading point is determined to be the maximum loading power, and then the loading equipment is coordinated and controlled based on the maximum loading power.

3. The method according to claim 1, characterized in that, The step of acquiring vehicle operation data within the target operation area to determine the remaining loading time at each loading point within the target operation area includes: Acquire vehicle operation data within the target operation area; wherein, the vehicle operation data includes the target loading weight of the transport vehicle, the loading weight and loading time each time the loading equipment triggers a loading operation; Determine the remaining load weight of each transport vehicle at each loading point, and calculate the average load weight and average loading time of the loading equipment; The remaining loading times for each transport vehicle are determined based on the ratio of the remaining load weight of each transport vehicle to the average load weight of the loading equipment. The remaining loading time for each transport vehicle is determined based on the product of the remaining loading times of each transport vehicle and the average loading time of the loading equipment. The remaining loading time of all transport vehicles within each loading point is determined by combining the remaining loading time of all vehicles within the target operating area with the loading interval time between adjacent transport vehicles.

4. The method according to claim 1, characterized in that, The step of dynamically updating the target loading point for each transport vehicle to be loaded within the target operation area based on the remaining loading time at each loading point within the target operation area includes: Based on the geolocation information of each transport vehicle and the geocoordinate information of each loading point, the distance between each transport vehicle and the nearest loading point is determined. The vehicles are sorted according to their distance from the nearest loading point to determine the priority of each vehicle. Based on the priority of each transport vehicle, the target loading point of each transport vehicle to be loaded in the target operation area is dynamically updated to the target point with the shortest remaining loading time, and the remaining loading time of each loading point is updated until the target loading points of all transport vehicles are dynamically updated.

5. The method according to claim 4, characterized in that, Before determining the distance between each transport vehicle and the nearest loading point based on the geographic location information of each transport vehicle and the geographic coordinate information of each loading point, the method further includes: Determine the transportation status of each transport vehicle and filter to obtain the geolocation information of all transport vehicles whose transportation status is empty.

6. The method according to claim 1, characterized in that, The determination of the remaining driving time for each transport vehicle to be loaded, based on the target loading point of each vehicle and the target transport task information of each vehicle, includes: Based on the target loading point of each transport vehicle to be loaded, and combined with the target transport task information of each transport vehicle to be loaded, the remaining driving distance and target driving speed of each transport vehicle to be loaded are determined. The remaining driving time for each transport vehicle to be loaded is determined based on the ratio of the remaining driving distance to the target driving speed.

7. The method according to claim 1, characterized in that, The method further includes: In response to a user-triggered parameter update command, the target loading point of the transport vehicle or the loading power of the loading point is dynamically updated.

8. A shovel-and-carry coordinated control device, characterized in that, The device includes: The data acquisition module is used to acquire vehicle operation data within the target operation area in order to determine the remaining loading time at each loading point within the target operation area. The loading point determination module is used to dynamically update the target loading point of each transport vehicle to be loaded in the target operation area based on the remaining loading time of each loading point in the target operation area. The time calculation module is used to determine the remaining driving time of each transport vehicle to be loaded, based on the target loading point of each transport vehicle to be loaded and the target transport task information of each transport vehicle to be loaded. The collaborative control module is used to determine the loading power of each loading point based on the remaining driving time of the next transport vehicle to be loaded at each loading point, and then to perform collaborative control of the loading equipment based on the loading power.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.

12. An engineering vehicle, characterized in that, The engineering vehicle includes the shovel and transport coordination control device as described in claim 8 or the electronic device as described in claim 9.

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