CN-122018504-A - Method of controlling a work vehicle and control system for mining mineral resources

CN122018504ACN 122018504 ACN122018504 ACN 122018504ACN-122018504-A

Abstract

The present disclosure provides a method of controlling a work vehicle and a control system for mining mineral resources, relating to the field of vehicle control, unmanned and smart mining. The method comprises the steps of receiving resource demand information for producing target mineral products, wherein the resource demand information represents the respective corresponding demand of a plurality of target product resources required by a designated production area, carrying out task arrangement according to the demand corresponding to the target product resources and resource loading information of candidate transport vehicles to obtain transport tasks related to the target product resources, wherein the transport tasks indicate that the transport vehicles loading the target product resources travel to the designated production area in a plurality of candidate transport vehicles, the proportion relation between the target loading amounts and the demand proportion meet the similarity condition, and controlling the transport vehicles to travel to the designated loading positions to unload the target product resources according to the transport tasks and the feeding demand information of the designated loading positions for the target product resources in the designated production area.

Inventors

SHEN PEIHONG
HE YUDONG
CHEN HUIYONG
XU WEI
ZHANG JIAHUA

Assignees

易控智驾科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260130

Claims (10)

1. A method of controlling a work vehicle, comprising: Receiving resource demand information for producing target mineral products, wherein the resource demand information represents the respective corresponding demand of a plurality of target product resources required by a designated production area; Carrying out task arrangement according to the required quantity corresponding to the target product resource and resource loading information of the candidate transport vehicles to obtain transport tasks related to the target product resource, wherein the transport tasks indicate that the transport vehicles loading the target product resource in the candidate transport vehicles travel to the appointed production area, the proportion relation between the target loading quantities corresponding to the target product resource respectively and the required quantity proportion of the required quantity corresponding to the target product resource respectively meet the similarity condition; and controlling the transport vehicle to run to the specified feeding position to unload the target product resource according to the feeding demand information of the specified feeding position in the transport task and the specified production area for the target product resource.
2. The method of claim 1, wherein, Wherein said controlling said transport vehicle to travel to said designated loading level to unload said target class resource comprises: Determining a target unloading amount for the target transport vehicle based on the demand ratio, wherein the target transport vehicle is loaded with the target class resources by a carrying device of the target transport vehicle, and the proportional relation between the target unloading amounts corresponding to the target class resources is matched with the demand ratio; Issuing an offloading task to the target transport vehicle based on the target offload volume, wherein the offloading task is to instruct at least one of the following control information associated with the carrier: Unloading inclination angle and unloading inclination duration.
3. The method of claim 2, wherein the target transportation vehicle unloads target class resources at a loading location in a designated production area, the issuing an offload task to the target transportation vehicle based on the target offload amount comprising: Issuing a first unloading task to a first target transport vehicle loaded with first target class resources and issuing a second unloading task to a second target transport vehicle loaded with second target class resources, wherein the first unloading task characterizes unloading a first part of unloading capacity which is smaller than the first loading capacity loaded by the first target transport vehicle; Controlling a carrier device of the first target transport vehicle to pause unloading operation in a specified idle period, wherein the specified idle period represents the interval duration from the completion of the execution of the first unloading task to the running of a third target transport vehicle loading the second target class resource to a specified charging position; preferably, the issuing an unloading task to the target transport vehicle based on the target unloading amount further includes: Determining the issuing sequence of a plurality of unloading tasks corresponding to the target product type resources based on the unloading sequence of the target product type resources indicated by the resource demand information, and And issuing unloading tasks corresponding to the target product resources to a plurality of target transport vehicles carrying the target product resources based on the issuing sequence.
4. The method of claim 1 or2, wherein a plurality of waiting transport vehicles loaded with target class resources are queued up in a waiting area associated with the designated production area, wherein empty transport vehicles in the designated production area for unloading a first target class resource are traveling outside the designated production area, or outside the designated production area in a future designated time period; Wherein the controlling the transportation vehicle to travel to the specified loading position to unload the target class resource according to the loading demand information of the specified loading position in the transportation task and the specified production area for the target class resource comprises: Determining a target transport vehicle loaded with the first target class resource from a plurality of waiting transport vehicles according to the charging demand information of the first designated charging position in the designated production area for the first target class resource; Planning a task of the target transport vehicle according to the waiting position of the target transport vehicle and the motion state of the empty transport vehicle to obtain an entering task, wherein the entering task is used for controlling the target transport vehicle to travel from the waiting position to the first designated feeding position, and And controlling the target transport vehicle to drive into the designated production area according to the entering task.
5. The method of claim 4 wherein said controlling said target transport vehicle to drive into said designated production area in accordance with said entry mission comprises: performing risk detection according to an entering path of a target transport vehicle, a motion state of the empty transport vehicle and an exiting path to obtain a risk position with running risk, wherein the entering path is determined by path planning of the target transport vehicle, and the exiting path is used for controlling the empty transport vehicle to exit the designated production area; and issuing the entering task to the target transport vehicle at the waiting position under the condition that the empty transport vehicle is detected to have traveled through a risk area corresponding to the risk position.
6. The method of claim 4, wherein at least one of the waiting transport vehicles queues up before the target transport vehicle; wherein, according to the waiting position of the target transport vehicle and the motion state of the empty transport vehicle, the task planning is performed on the target transport vehicle, and the method further comprises: According to the waiting position of at least one waiting transport vehicle, the waiting position of the target transport vehicle and the motion state of the empty transport vehicle are subjected to path planning to obtain an overtaking path for controlling the target transport vehicle to execute overtaking action, wherein the entering task comprises the overtaking path, or The task planning for the target transport vehicle according to the waiting position of the target transport vehicle and the motion state of the empty transport vehicle further comprises: And sending an overtaking task carrying the motion state of the empty carrier vehicle to the target carrier vehicle, wherein the target carrier vehicle responds to the overtaking instruction, and performs path planning according to the waiting position of at least one waiting carrier vehicle, the waiting position of the target carrier vehicle and the motion state of the empty carrier vehicle to obtain an overtaking path in the entering task.
7. The method of claim 4, wherein the controlling the transport vehicle to travel to the specified loading level to unload the target class resource based on the loading demand information for the target class resource for the specified loading level in the transport mission and the specified production area further comprises: And controlling the target transport vehicles corresponding to the specified loading positions to execute unloading actions according to the class unloading sequence conditions for producing the target mineral products, wherein the resource demand information comprises the class unloading sequence conditions, and the class unloading sequence conditions represent the unloading sequence of a plurality of target class resources for producing the target mineral products.
8. The method of claim 1, further comprising: determining a mining operation task according to the demand quantities corresponding to the target product resources indicated by the resource demand information, wherein the mining operation task indicates target mining vehicles corresponding to the target product resources respectively, and indicates a proportional relation among a plurality of mining efficiencies corresponding to the target product resources respectively, the mining efficiency is matched with the demand quantity proportion of the demand quantities, and the mining efficiency is determined based on the mining operation capability of the target mining vehicles corresponding to the target product resources; And issuing the mining operation task to a target mining vehicle, wherein the target mining vehicle runs to a mining area corresponding to the target product resource according to the mining operation task so as to load the target product resource to the transport vehicle by executing the mining operation task.
9. The method according to claim 1 or 8, wherein the method further comprises: determining mining area positions related to the target product type resources from map information representing a working environment; And carrying out loading task planning according to the position of the mining area and the vehicle position of the empty carrier vehicle, and determining a loading task, wherein the loading task indicates that a target empty carrier vehicle in the empty carrier vehicle runs from the target vehicle position to the mining area corresponding to the target product resource to load the target product resource, and also indicates that the loading capacity of the target empty carrier vehicle is matched with the demand corresponding to the target product resource.
10. A control system for mining mineral resources, comprising: Unmanned transport vehicles; a server in communication with the unmanned transport vehicle, the server configured to perform the method of any one of claims 1 to 9.

Description

Method of controlling a work vehicle and control system for mining mineral resources Technical Field The present disclosure relates to the field of vehicle control, unmanned, and smart mining, and more particularly, to a method of controlling a work vehicle and a control system for mining resources. Background In mine operation scene, unmanned mine car and other operation vehicles with intelligent auxiliary driving function can realize automatic execution of operation tasks, so as to reduce manual intervention cost and realize rapid and convenient completion of mineral resource product production operation. The complexity of the working environment of the mine working scene is high, so that the production efficiency of mineral resource products is difficult to further improve, and the production efficiency requirements of the mineral resource products are difficult to meet. Disclosure of Invention In view of this, the present disclosure provides a method of controlling a work vehicle and a control system for mining mineral resources. One aspect of the disclosure provides a method of controlling a work vehicle, including receiving resource demand information for producing a target mineral product, the resource demand information representing respective corresponding demand amounts of a plurality of target class resources required for a designated production area, performing task scheduling according to the demand amounts corresponding to the target class resources and resource loading information of candidate transport vehicles to obtain transport tasks related to the target class resources, the transport tasks indicating a proportional relationship between the transport vehicles loading the target class resources to the designated production area and respective corresponding target loading amounts of the plurality of target class resources, and satisfying a similarity condition according to the transport tasks and the feed demand information of the designated feed level for the target class resources in the designated production area, and controlling the transport vehicles to travel to the designated feed level to unload the target class resources. The device comprises a receiving module, a task scheduling module and a control module, wherein the receiving module is used for receiving resource demand information for producing target mineral products, the resource demand information represents the respective corresponding demand of a plurality of target product resources required by a specified production area, the task scheduling module is used for performing task scheduling according to the demand corresponding to the target product resources and resource loading information of candidate transport vehicles to obtain transport tasks related to the target product resources, the transport tasks indicate the transport vehicles loading the target product resources to drive to the specified production area, the proportional relation between the target loads corresponding to the target product resources meets the similarity condition, and the control module is used for controlling the transport vehicles to drive to the specified loading position to unload the target product resources according to the feed demand information of the specified loading position for the target product resources in the transport tasks and the specified production area. Another aspect of the present disclosure provides a control system for mining mineral resources including an unmanned transport vehicle and a server. A server is communicatively coupled to the unmanned transport vehicle, the server configured to perform the method of controlling the work vehicle of the embodiments of the present disclosure. Another aspect of the disclosure provides an electronic device comprising one or more processors and memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described above. Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed, are configured to implement a method as described above. Another aspect of the present disclosure provides a computer program product comprising computer executable instructions which, when executed, are for implementing a method as described above. According to the embodiment of the disclosure, by receiving the resource demand information of the target product and planning the transportation task capable of enabling the demand ratio of the corresponding demand of the plurality of target product resources and the proportion relation between the plurality of target loads to meet the similarity condition, the transportation task can be realized, the transportation vehicle can be controlled to run to the specified production area according to the transportation task and the feeding demand information