AU2023201045B1 - Method for controlling side mining unmanned vehicle and device - Google Patents
Method for controlling side mining unmanned vehicle and device Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005065 mining Methods 0.000 title description 4
- 230000001133 acceleration Effects 0.000 claims abstract description 33
- 230000004044 response Effects 0.000 claims description 55
- 230000011664 signaling Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 8
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- 239000003245 coal Substances 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
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- 238000013473 artificial intelligence Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A method for controlling an underground unmanned vehicle and a device are provided. The
method includes measuring a traveling speed, an acceleration and a current position of the
unmanned vehicle, and predicting a traveling track of the unmanned vehicle based on the traveling
speed, the acceleration and the current position; detecting whether there are obstacles around the
unmanned vehicle; if there is no obstacle, controlling the unmanned vehicle to travel; if there is an
obstacle, determining whether the obstacle is located on the traveling track, and if the obstacle is
located on the traveling track, detecting a position, a size and a speed of the obstacle, and
controlling the unmanned vehicle to keep a current traveling state or decelerate to stop or determine
an optimal detour route based on the position, the size and the speed of the obstacle and the
traveling speed of the unmanned vehicle.
Description
[0001] The present disclosure relates to the technical field of underground wireless
communication in coal mines, in particular to a method for controlling a side mining unmanned
vehicle and a device.
[0002] With the development of automatic control technology and artificial intelligence technology, unmanned vehicles are widely used in coal mine roadways to liberate manpower.
When the unmanned vehicle is traveling underground, the unmanned vehicle generally affects the
traveling efficiency of the unmanned vehicle due to encountering obstacles (such as falling rocks
or other equipment, etc.). Therefore, it is required to solve a problem of how to control the
underground unmanned vehicle to avoid obstacles automatically.
[0003] The present disclosure provides a method for controlling an underground unmanned vehicle and a device for controlling an underground unmanned vehicle, which are used for
automatic obstacle avoidance of the underground unmanned vehicle.
[0004] According to a first aspect of embodiments of the present disclosure, a method for controlling an underground unmanned vehicle is provided. The method includes measuring a
traveling speed, an acceleration and a current position of the unmanned vehicle, and predicting a
traveling track of the unmanned vehicle based on the traveling speed, the acceleration and the
current position of the unmanned vehicle; detecting whether there are obstacles around the
unmanned vehicle; in response to detecting that there is no obstacle around the unmanned vehicle,
controlling the unmanned vehicle to travel based on the traveling speed of the unmanned vehicle;
and in response to detecting that there is an obstacle around the unmanned vehicle, determining
whether the obstacle is located on the traveling track of the unmanned vehicle, and in response to
determining that the obstacle is located on the traveling track of the unmanned vehicle, detecting a position, a size and a speed of the obstacle, and controlling the unmanned vehicle to keep a current traveling state or decelerate to stop or determine an optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle.
[0005] According to a second aspect of embodiments of the present disclosure, a device for controlling an underground unmanned vehicle is provided. The device includes a first processing
module configured to measure a traveling speed, an acceleration and a current position of the
unmanned vehicle, and predict a traveling track of the unmanned vehicle based on the traveling
speed, the acceleration and the current position of the unmanned vehicle; a detecting module
configured to detect whether there are obstacles around the unmanned vehicle; a controlling
module configured to control the unmanned vehicle to travel based on the traveling speed of the
unmanned vehicle in response to detecting that there is no obstacle around the unmanned vehicle;
and a second processing module configured to determine whether an obstacle is located on the
traveling track of the unmanned vehicle in response to detecting that there is the obstacle around
the unmanned vehicle; and detect a position, a size and a speed of the obstacle, and control the
unmanned vehicle to keep a current traveling state or decelerate to stop or determine an optimal
detour route based on the position, the size and the speed of the obstacle and the traveling speed
of the unmanned vehicle in response to determining that the obstacle is located on the traveling
track of the unmanned vehicle.
[0006] In summary, in the method for controlling the underground unmanned vehicle and the device for controlling the underground unmanned vehicle in embodiments of the present disclosure,
the unmanned vehicle measures the traveling speed, the acceleration and the current position of
the unmanned vehicle, and predicts the traveling track of the unmanned vehicle based on the
traveling speed, the acceleration and the current position of the unmanned vehicle. The unmanned
vehicle detects whether there are obstacles around the unmanned vehicle. In response to detecting
that there is no obstacle around the unmanned vehicle, the unmanned vehicle is controlled to travel
based on the traveling speed of the unmanned vehicle. In response to detecting that there is an
obstacle around the unmanned vehicle, the unmanned vehicle determines whether the obstacle is
located on the traveling track of the unmanned vehicle. In response to determining that the obstacle
is located on the traveling track of the unmanned vehicle, the unmanned vehicle determines the
position, the size and the speed of the obstacle, and controls the unmanned vehicle to keep the current traveling state or decelerate to stop or determine an optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle.
[0007] In this way, in the present disclosure, the unmanned vehicle predicts its traveling track, and when the unmanned vehicle detects that there is an obstacle around the unmanned vehicle, and the obstacle is located on the traveling track of the unmanned vehicle, the unmanned vehicle is controlled to keep a current traveling state or decelerate to stop or determine an optimal detour route based on at least one of the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle. The present disclosure provides an automatic obstacle avoidance method for an underground unmanned vehicle, which improves the traveling efficiency of the underground unmanned vehicle. Moreover, in the present disclosure, when the unmanned vehicle automatically avoids the obstacles, the unmanned vehicle determines the optimal detour route for obstacle avoidance, which improves obstacle avoidance efficiency with fewer resources.
[0008] Additional aspects and advantages of embodiments of the present disclosure will be given in part in the following descriptions, become apparent in part from the following descriptions, or be learned from the practice of the embodiments of the present disclosure.
[0009] These and/or other aspects and advantages of embodiments of the present disclosure will become apparent and more readily appreciated from the following descriptions made with reference to the drawings, in which:
[0010] FIG. 1 is a flowchart showing a method for controlling an underground unmanned vehicle according to an embodiment of the present disclosure;
[0011] FIG. 2 is a schematic diagram showing a device for controlling an underground unmanned vehicle according to an embodiment of the present disclosure.
[0012] Embodiments of the present disclosure are described in detail below, examples of which are shown in the drawings, and the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, and are intended to explain the present disclosure, and should not be construed as limiting the present disclosure.
[0013] A method for controlling a side mining unmanned vehicle and a device for controlling a side mining unmanned vehicle according to embodiments of the present disclosure will be
described below with reference to the accompanying drawings.
[0014] FIG. 1 is a flowchart showing a method for controlling an underground unmanned vehicle
[0015] (hereinafter referred to as an unmanned vehicle) according to an embodiment of the present disclosure. As shown in FIG. 1, the method includes the following step S101 to S104.
[0016] In step 101, a traveling speed, an acceleration and a current position (that is, a current underground position of the unmanned vehicle) of the unmanned vehicle are measured, and a
traveling track of the unmanned vehicle is predicted based on the traveling speed, the acceleration
and the current position of the unmanned vehicle.
[0017] In some embodiments of the present disclosure, the unmanned vehicle is provided with a speed sensor, an acceleration sensor, a positioning module and a laser radar sensor.
[0018] The speed sensor is configured to measure the traveling speed of the unmanned vehicle. The acceleration sensor is configured to measure the acceleration of the unmanned vehicle. The
positioning module and the laser radar sensor are configured to measure the current position of the
unmanned vehicle.
[0019] In some embodiments of the present disclosure, predicting the traveling track of the unmanned vehicle includes calculating a real-time speed of the unmanned vehicle for a period of
time in the future based on the current traveling speed and the acceleration, and then predicting
the traveling track of the unmanned vehicle based on the real-time speed for a period of time in
the future. The period of time in the future may refer to 0 to 10 seconds in the future.
[0020] In addition, in some embodiments of the present disclosure, the unmanned vehicle may detect surrounding environment information, so that the unmanned vehicle may be controlled to
avoid obstacles with reference to the surrounding environment information.
[0021] In step 102, it is detected whether there are obstacles around the unmanned vehicle.
[0022] The unmanned vehicle is provided with an ultrasonic ranging sensor and an infrared sensor. The unmanned vehicle adapts the ultrasonic ranging sensor and the infrared sensor to detect
whether there are obstacles around the unmanned vehicle.
[0023] In step 103, in response to detecting that there is no obstacle around the unmanned vehicle, the unmanned vehicle is controlled to travel based on the traveling speed of the unmanned vehicle.
[0024] Specifically, controlling the unmanned vehicle to travel based on the traveling speed of the unmanned vehicle includes the following step.
[0025] In response to the traveling speed of the unmanned vehicle being within a predetermined interval, the unmanned vehicle is controlled to keep the current traveling state.
[0026] In response to the traveling speed of the unmanned vehicle being not within the predetermined interval, the unmanned vehicle is controlled to accelerate or decelerate, so that the
traveling speed of the unmanned vehicle remains within the predetermined interval.
[0027] The predetermined interval may be preset. For example, the predetermined interval may be in a range of 20 to 25 km/h.
[0028] In step 104, in response to detecting that there is an obstacle around the unmanned vehicle, it is determined whether the obstacle is located on the traveling track of the unmanned vehicle. In
response to determining that the obstacle is located on the traveling track of the unmanned vehicle,
a position, a size and a speed of the obstacle are detected, and the unmanned vehicle is controlled
to keep a current traveling state or decelerate to stop or determine an optimal detour route based
on at least one of the position, the size and the speed of the obstacle and the traveling speed of the
unmanned vehicle.
[0029] Specifically, in some embodiments of the present disclosure, in response to determining that there is the obstacle around the unmanned vehicle, the unmanned vehicle detects whether the
obstacle is a creature, such as by detecting a temperature of the obstacle to detect whether the
obstacle is a creature. In case that the obstacle is a creature (such as a human or an animal), its
behaviors cannot be accurately predicted due to the specific autonomous consciousness of the
creature. Therefore, in order to avoid collisions between the unmanned vehicle and the creature,
the unmanned vehicle is controlled to decelerate to stop immediately, and generate an alarm to
remind the creature to leave. In case that the obstacle is not a creature, the position, the size and
the speed of the obstacle are detected, and the unmanned vehicle is controlled to keep the current
traveling state or decelerate to stop or determine the optimal detour route for automatic obstacle
avoidance.
[0030] The position, the size and the speed of the above-mentioned obstacles and the traveling speed of the unmanned vehicle may be measured by the unmanned vehicle using the ultrasonic ranging sensor and the infrared sensor.
[0031] Furthermore, controlling the unmanned vehicle to keep the current traveling state or decelerate to stop or determine the optimal detour route based on at least one of the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle may include the following step 1 to step 4.
[0032] In step 1, it is determined whether the size of the obstacle affects a normal traveling of the unmanned vehicle.
[0033] In the actual situation, when the obstacle is small (such as the obstacle is only a small stone), no matter where the obstacle is located or how fast it is, it will not affect the normal traveling of the unmanned vehicle. At this time, it is not required for an unmanned vehicle to avoid the obstacles. On this basis, the present disclosure first determines whether the size of the obstacle affects the normal traveling of the unmanned vehicle, so that only when the size of the obstacle affects the normal traveling of the unmanned vehicle, the automatic obstacle avoidance process is started, and when the size of the obstacle does not affect the normal traveling of the unmanned vehicle, the automatic obstacle avoidance process will not be started, so as to avoid triggering unnecessary obstacle avoidance processes and save resources.
[0034] In step 2, in response to determining that the size of the obstacle does not affect the normal traveling of the unmanned vehicle, the unmanned vehicle is controlled to keep the current traveling state.
[0035] In step 3, in response to determining that the size of the obstacle affects the normal traveling of the unmanned vehicle, it is determined whether the speed of the obstacle is zero. If the speed of the obstacle is zero, step 4 is performed. If the speed of the obstacle is not zero, step 5 is performed.
[0036] When the speed of the obstacle is zero or not zero, the obstacle avoidance process will be different, which will be introduced as follows in detail.
[00371 In step 4, if the speed of the obstacle is zero, it is determined whether the unmanned vehicle is capable to bypass the obstacle based on the position of the obstacle. When it is determined that the unmanned vehicle is capable to bypass the obstacle, the unmanned vehicle is controlled to determine a first optimal detour route of the unmanned vehicle based on at least one of the position and the size of the obstacle and the travelling speed of the unmanned vehicle. The first optimal detour route is a route that successfully bypasses the obstacle and requires least resources. The unmanned vehicle is controlled to travel according to the first optimal detour route.
When it is determined that the unmanned vehicle is not capable to bypass the obstacle, the
unmanned vehicle is controlled to decelerate to stop.
[0038] Specifically, determining the first optimal detour route of the unmanned vehicle based on at least one of the position and the size of the obstacle and the traveling speed of the unmanned
vehicle may include determining a route with a shortest distance required for detour as the first
optimal detour route or the second optimal detour route, or determining a route with a smallest
change in the traveling speed of the unmanned vehicle as the first optimal detour route or the
second optimal detour route based on at least one of the position and the size of the obstacle and
the traveling speed of the unmanned vehicle.
[0039] For example, if the unmanned vehicle detects that there is an obstacle around it, the speed of the obstacle is zero, and it is determined that the unmanned vehicle is capable of bypass the
obstacle, if the unmanned vehicle detects that the obstacle is located on a right side of the front,
there are two corresponding alternative detour ways as follows. In a first way, the unmanned
vehicle detours to the right to avoid the obstacle. In a second way, the unmanned vehicle detours
to the left to avoid the obstacle. However, since the obstacle is located on the right side in front of
the unmanned vehicle, the unmanned vehicle need to travel a long distance when detouring to the
right, and if the unmanned vehicle detours to the left, it only needs to travel a short distance. Thus,
the distance required in the second way is the shortest, the detour route in the second way (that is,
the unmanned vehicle detours to the left to avoid the obstacle) is determined as the first optimal
detour route. Alternatively, since the obstacle is located on the right side in front of the unmanned
vehicle, when the unmanned vehicle detours to the right, a detour angle is relatively large. In order
to ensure the unmanned vehicle to travel smoothly, it is required to reduce the traveling speed of
the unmanned vehicle in a large range. If the unmanned vehicle detours to the right, a detour angle
is relatively small, which may reduce the traveling speed of the unmanned vehicle in a small range.
In this way, the change in the traveling speed of the unmanned vehicle in the second way is the
smallest, and a detour route of the second way ( that is, the unmanned vehicle detours to the left
to avoid the obstacle) may be determined as the first optimal detour route.
[0040] In step 5, if the speed of the obstacle is not zero, a trajectory of the obstacle is calculated based on the position, the size and the speed of the obstacle, and it is determined whether a collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle occurs. If the collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle does not occur, the unmanned vehicle is controlled to keep the current traveling state. If the collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle occurs, the unmanned vehicle is controlled to determine a second optimal detour route of the unmanned vehicle based on at least one of the position and the size of the obstacle and the traveling speed of the unmanned vehicle. The second optimal detour route is a route that avoids the collision between the unmanned vehicle and the obstacle and requires least resources. The unmanned vehicle is controlled to travel according to the second optimal detour route.
[0041] Determine the second optimal detour route of the unmanned vehicle based on at least one of the position, the size and the traveling speed of the unmanned vehicle may include determining a route with a shortest distance required for detour as the first optimal detour route or the second optimal detour route, or determining a route with a smallest change in the traveling speed of the unmanned vehicle as the first optimal detour route or the second optimal detour rout based on the position and the size of the obstacle and the traveling speed of the unmanned vehicle.
[0042] For example, if the unmanned vehicle detects that there is an obstacle around it, the speed of the obstacle is not zero, and it is determined that the trajectory of the obstacle and the traveling track of the unmanned vehicle will collide on the right side in front of the unmanned vehicle, there are several corresponding alternative detour ways as follows. In a first way, the unmanned vehicle accelerates to the right to avoid the obstacle. In a second way, the unmanned vehicle decelerates to the right to avoid the obstacle. In a third way, the unmanned vehicle accelerates to the left to avoid the obstacle. In a fourth way, the unmanned vehicle decelerates to the left to avoid the obstacle. At this time, the unmanned vehicle may select the way corresponding to the shortest detour route from the above-mentioned ways and determine the shortest detour route as the second optimal detour route; or select the way corresponding to the smallest change in the traveling speed of the unmanned vehicle and determine the detour route with the smallest change as the second optimal detour route. For example, if the detour routes required by the above-mentioned ways 1 to 4 are 2 meters, 1 meter, 3 meters, and 4 meters, respectively, the detour route in way 2 may be determined as the second optimal detour route.
[0043] From the above-mentioned content, it can be seen that the unmanned vehicle may efficiently avoid obstacles automatically by performing the above-mentioned steps 1 to 5, and ensure that the unmanned vehicle only needs less resources in the process of automatic obstacle avoidance.
[0044] Furthermore, in some embodiments of the present disclosure, when the unmanned vehicle is controlled to decelerate to stop, the unmanned vehicle sends a first control signaling to a rear vehicle. The first control signaling is configured to notify the rear vehicle to decelerate to stop, so as to avoid consecutive collisions due to the failure of the rear vehicle to stop in time.
[0045] In response to controlling the unmanned vehicle to determine the first optimal detour route or the second optimal detour route, the unmanned vehicle sends a second control signaling to the rear vehicle. The second control signaling includes the first optimal detour route or the second optimal detour route determined by the unmanned vehicle. The second control signaling is configured to notify the rear vehicle to travel based on the first optimal detour route or the second optimal detour route, which ensures that rear vehicles successfully avoid obstacles.
[0046] In summary, in the method for controlling the underground unmanned vehicle in embodiments of the present disclosure, the unmanned vehicle measures the traveling speed, the acceleration and the current position of the unmanned vehicle, and predicts the traveling track of the unmanned vehicle based on the traveling speed, the acceleration and the current position of the unmanned vehicle. The unmanned vehicle detects whether there are obstacles around the unmanned vehicle. In response to detecting that there is no obstacle around the unmanned vehicle, the unmanned vehicle is controlled to travel based on the traveling speed of the unmanned vehicle. In response to detecting that there is an obstacle around the unmanned vehicle, the unmanned vehicle determines whether the obstacle is located on the traveling track of the unmanned vehicle. In response to determining that the obstacle is located on the traveling track of the unmanned vehicle, the unmanned vehicle determines the position, the size and the speed of the obstacle, and controls the unmanned vehicle to keep the current traveling state or decelerate to stop or determine an optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle.
[0047] In this way, in the present disclosure, the unmanned vehicle predicts its traveling track, and when the unmanned vehicle detects that there is an obstacle around the unmanned vehicle, and the obstacle is located on the traveling track of the unmanned vehicle, the unmanned vehicle is controlled to keep a current traveling state or decelerate to stop or determine an optimal detour route based on at least one of the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle. The present disclosure provides an automatic obstacle avoidance method for an underground unmanned vehicle, which improves the traveling efficiency of the underground unmanned vehicle. Moreover, in the present disclosure, when the unmanned vehicle automatically avoids the obstacles, the unmanned vehicle determines the optimal detour route for obstacle avoidance, which improves obstacle avoidance efficiency with fewer resources.
[0048] In addition, it is noted that the method of the present disclosure may be executed in real time when the unmanned vehicle is traveling underground.
[0049] FIG. 2 is a schematic diagram showing a device for controlling an underground unmanned vehicle according to an embodiment of the present disclosure. The device for controlling the underground unmanned vehicle is configured in an underground unmanned vehicle. As shown in FIG. 2, the device includes a first processing module, a detecting module, a controlling module and a second processing module.
[0050] The first processing module is configured to measure a traveling speed, an acceleration and a current position of the unmanned vehicle, and predict a traveling track of the unmanned vehicle based on the traveling speed, the acceleration and the current position of the unmanned vehicle.
[0051] The detecting module is configured to detect whether there are obstacles around the unmanned vehicle.
[0052] The controlling module is configured to control the unmanned vehicle to travel based on the traveling speed of the unmanned vehicle in response to detecting that there is no obstacle around the unmanned vehicle.
[0053] The second processing module is configured to determine whether an obstacle is located on the traveling track of the unmanned vehicle in response to detecting that there is the obstacle around the unmanned vehicle, and detect a position, a size and a speed of the obstacle, and control the unmanned vehicle to keep a current traveling state or decelerate to stop or determine an optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle in response to determining that the obstacle is located on the traveling track of the unmanned vehicle.
[0054] Optionally, in some embodiments of the present disclosure, the unmanned vehicle is provided with a speed sensor, an acceleration sensor, a positioning module, a laser radar sensor, an ultrasonic ranging sensor and an infrared sensor.
[0055] The speed sensor is configured to measure the traveling speed of the unmanned vehicle.
[0056] The acceleration sensor is configured to measure the acceleration of the unmanned vehicle.
[0057] The positioning module and the laser radar sensor are used to measure the current position of the unmanned vehicle.
[0058] The ultrasonic ranging sensor and the infrared sensor are configured to measure whether there are obstacles around the unmanned vehicle, and measure the position, the size and the speed of the obstacles.
[0059] Optionally, in some embodiments of the present disclosure, the controlling module is further configured to control the unmanned vehicle to keep the current traveling state in response to the traveling speed of the unmanned vehicle being within a predetermined interval, and control the unmanned vehicle to accelerate or decelerate, so that the traveling speed of the unmanned vehicle remains within the predetermined interval in response to the traveling speed of the unmanned vehicle being not within the predetermined interval.
[0060] Optionally, in some embodiments of the present disclosure, the device is further configured to detect whether the obstacle is a creature in response to determining that there is the obstacle around the unmanned vehicle.
[0061] In case that the obstacle is a creature, the device is configured to directly control the unmanned vehicle to decelerate to stop, and generating an alarm.
[0062] In case that the obstacle is not a creature, the device is configured to detect the position, the size and the speed of the obstacle, and control the unmanned vehicle to keep the current traveling state or decelerate to stop or determine the optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle.
[0063] Optionally, in some embodiments of the present disclosure, the second processing module is further configured to determine whether the size of the obstacle affects a normal traveling of the unmanned vehicle.
[0064] In response to determining that the size of the obstacle does not affect the normal traveling of the unmanned vehicle, the unmanned vehicle is controlled to keep the current traveling state. In response to determining that the size of the obstacle affects the normal traveling of the unmanned vehicle, it is determined whether the speed of the obstacle is zero.
[0065] If the speed of the obstacle is zero, it is determined whether the unmanned vehicle is capable to bypass the obstacle based on the position of the obstacle. If it is determined that the
unmanned vehicle is capable to bypass the obstacle, the unmanned vehicle is controlled to
determine a first optimal detour route of the unmanned vehicle based on at least one of the position
and the size of the obstacle and the travelling speed of the unmanned vehicle. The first optimal
detour route is a route that successfully bypass the obstacle and requires least resources. The
unmanned vehicle is controlled to travel according to the first optimal detour route. If it is
determined that the unmanned vehicle is not capable to bypass the obstacle, the unmanned vehicle
is controlled to decelerate to stop.
[0066] If the speed of the obstacle is not zero, a trajectory of the obstacle is calculated based on the position, the size and the speed of the obstacle, and it is determined whether a collision between
the trajectory of the obstacle and the traveling track of the unmanned vehicle occurs. In case that
the collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle
does not occur, the unmanned vehicle is controlled to keep the current traveling state. In case that
the collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle
occurs, the unmanned vehicle is controlled to determine a second optimal detour route of the
unmanned vehicle based on at least one of the position and the size of the obstacle and the traveling
speed of the unmanned vehicle. The second optimal detour route is a route that avoids the collision
between the unmanned vehicle and the obstacle and requires least resources. The unmanned
vehicle is controlled to travel according to the second optimal detour route.
[00671 Optionally, in some embodiments of the present disclosure, the second processing module is further configured to determine a route with a shortest distance required for detour as the first
optimal detour route or the second optimal detour route based on at least one of the position and
the size of the obstacle and the traveling speed of the unmanned vehicle, or determine a route with
a smallest change in the traveling speed of the unmanned vehicle as the first optimal detour route
or the second optimal detour route.
[0068] Optionally, in some embodiments of the present disclosure, the device is further configured to send a first control signaling to a rear vehicle of the unmanned vehicle in response to controlling the unmanned vehicle to decelerate to stop. The first control signaling is configured to notify the rear vehicle to decelerate to stop.
[0069] In response to controlling the unmanned vehicle to determine the first optimal detour route or the second optimal detour route, the device is further configured to send a second control signaling to the rear vehicle. The second control signaling includes the first optimal detour route or the second optimal detour route determined by the unmanned vehicle, and is configured to notify the rear vehicle to travel based on the first optimal detour route or the second optimal detour route.
[0070] In summary, in the device for controlling the underground unmanned vehicle in embodiments of the present disclosure, the unmanned vehicle measures the traveling speed, the acceleration and the current position of the unmanned vehicle, and predicts the traveling track of the unmanned vehicle based on the traveling speed, the acceleration and the current position of the unmanned vehicle. The unmanned vehicle detects whether there are obstacles around the unmanned vehicle. In response to detecting that there is no obstacle around the unmanned vehicle, the unmanned vehicle is controlled to travel based on the traveling speed of the unmanned vehicle. In response to detecting that there is an obstacle around the unmanned vehicle, the unmanned vehicle determines whether the obstacle is located on the traveling track of the unmanned vehicle. In response to determining that the obstacle is located on the traveling track of the unmanned vehicle, the unmanned vehicle determines the position, the size and the speed of the obstacle, and controls the unmanned vehicle to keep the current traveling state or decelerate to stop or determine an optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle.
[0071] In this way, in the present disclosure, the unmanned vehicle predicts its traveling track, and when the unmanned vehicle detects that there is an obstacle around the unmanned vehicle, and the obstacle is located on the traveling track of the unmanned vehicle, the unmanned vehicle is controlled to keep a current traveling state or decelerate to stop or determine an optimal detour route based on at least one of the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle. The present disclosure provides an automatic obstacle avoidance method for an underground unmanned vehicle, which improves the traveling efficiency of the underground unmanned vehicle. Moreover, in the present disclosure, when the unmanned vehicle automatically avoids the obstacles, the unmanned vehicle determines the optimal detour route for obstacle avoidance, which improves obstacle avoidance efficiency with fewer resources.
[0072] In the description of this specification, the reference term "an embodiment," "some embodiments," "an example," "a specific example," or "some examples," means that a particular
feature, structure, material, or characteristic described in connection with the embodiment or
example is included in at least one embodiment or example of the present disclosure. In this
specification, the above-mentioned terms in various places throughout this specification are not
necessarily referring to the same embodiment or example of the present disclosure. Furthermore,
the particular features, structures, materials, or characteristics may be combined in any suitable
manner in one or more embodiments or examples. In addition, those skilled in the art may combine
different embodiments or examples and features of different embodiments or examples described
in this specification without conflicting with each other.
[0073] Any process or method described in a flowchart or described herein in other ways may be understood to include one or more modules, segments or portions of codes of executable
instructions for achieving specific logical functions or steps in the process, and the scope of a
preferred embodiment of the present disclosure includes other implementations, in which functions
may be performed out of the order shown or discussed, including in substantially simultaneous
fashion or in reverse order depending on the functions involved which should be understood by
those skilled in the art.
[0074] Although explanatory embodiments have been shown and described, it would be appreciated by those skilled in the art that the above embodiments cannot be construed to limit the
present disclosure, and changes, amendments, alternatives, and modifications may be made in the
embodiments without departing from spirit, principles and scope of the present disclosure.
Claims (2)
- What is claimed is: 1. A method for controlling an underground unmanned vehicle, performed by an unmannedvehicle, comprising:measuring a traveling speed, an acceleration and a current position of the unmanned vehicle,and predicting a traveling track of the unmanned vehicle based on the traveling speed, theacceleration and the current position of the unmanned vehicle;detecting whether there are obstacles around the unmanned vehicle;in response to detecting that there is no obstacle around the unmanned vehicle, controllingthe unmanned vehicle to travel based on the traveling speed of the unmanned vehicle;in response to detecting that there is an obstacle around the unmanned vehicle, determiningwhether the obstacle is located on the traveling track of the unmanned vehicle, and in response todetermining that the obstacle is located on the traveling track of the unmanned vehicle, detectinga position, a size and a speed of the obstacle, and controlling the unmanned vehicle to keep acurrent traveling state or decelerate to stop or determine an optimal detour route based on theposition, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle;wherein the unmanned vehicle is provided with a speed sensor, an acceleration sensor, apositioning module, a laser radar sensor, an ultrasonic ranging sensor and an infrared sensor;the speed sensor is configured to measure the traveling speed of the unmannedvehicle;the acceleration sensor is configured to measure the acceleration of the unmannedvehicle;the positioning module and the laser radar sensor are configured to measure thecurrent position of the unmanned vehicle;the ultrasonic ranging sensor and the infrared sensor are configured to measurewhether there are obstacles around the unmanned vehicle, and measure the position, thesize and the speed of the obstacles;wherein controlling the unmanned vehicle to travel based on the traveling speed of theunmanned vehicle comprises: in response to the traveling speed of the unmanned vehicle being within a predetermined interval, controlling the unmanned vehicle to keep the current traveling state; in response to the traveling speed of the unmanned vehicle being not within the predetermined interval, controlling the unmanned vehicle to accelerate or decelerate, so that the traveling speed of the unmanned vehicle remains within the predetermined interval; in response to determining that there is the obstacle around the unmanned vehicle, detecting whether the obstacle is a creature; in case that the obstacle is a creature, directly controlling the unmanned vehicle to decelerate to stop, and generating an alarm; in case that the obstacle is not a creature, detecting the position, the size and the speed of the obstacle, and controlling the unmanned vehicle to keep the current traveling state or decelerate to stop or determine the optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle; wherein controlling the unmanned vehicle to keep the current traveling state or decelerate to stop or determine the optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle comprises: determining whether the size of the obstacle affects a normal traveling of the unmanned vehicle; in response to determining that the size of the obstacle does not affect the normal traveling of the unmanned vehicle, controlling the unmanned vehicle to keep the current travelling state; in response to determining that the size of the obstacle affects the normal traveling of the unmanned vehicle, determining whether the speed of the obstacle is zero; in case that the speed of the obstacle is zero, determining whether the unmanned vehicle is capable to bypass the obstacle based on the position of the obstacle; if it is determined that the unmanned vehicle is capable to bypass the obstacle, controlling the unmanned vehicle to determine a first optimal detour route of the unmanned vehicle based on the position and the size of the obstacle and the travelling speed of the unmanned vehicle, wherein the first optimal detour route is a route that successfully bypasses the obstacle and requires least resources; and controlling the unmanned vehicle to travel according to the first optimal detour route; if it is determined that the unmanned vehicle is not capable to bypass the obstacle, controlling the unmanned vehicle to decelerate to stop; in case that the speed of the obstacle is not zero, calculating a trajectory of the obstacle based on the position, the size and the speed of the obstacle, and determining whether a collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle occurs; in case that the collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle does not occur, controlling the unmanned vehicle to keep the current travelling state; in case that the collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle occurs, controlling the unmanned vehicle to determine a second optimal detour route of the unmanned vehicle based on the position and the size of the obstacle and the traveling speed of the unmanned vehicle, wherein the second optimal detour route is a route that avoids the collision between the unmanned vehicle and the obstacle and requires least resources; and controlling the unmanned vehicle to travel according to the second optimal detour route; wherein determining the first optimal detour route or the second optimal detour route of the unmanned vehicle based on the position and the size of the obstacle and the travelling speed of the unmanned vehicle comprises: based on the position and the size of the obstacle and the traveling speed of the unmanned vehicle, determining a route with a shortest distance required for detour as the first optimal detour route or the second optimal detour route; or determining a route with a smallest change in the traveling speed of the unmanned vehicle as the first optimal detour route or the second optimal detour route; in response to controlling the unmanned vehicle to decelerate to stop, sending a first control signaling to a rear vehicle of the unmanned vehicle, wherein the first control signaling is configured to notify the rear vehicle to decelerate to stop; in response to controlling the unmanned vehicle to determine the first optimal detour route or the second optimal detour route, sending a second control signaling to the rear vehicle, wherein the second control signaling comprises the first optimal detour route or the second optimal detour route determined by the unmanned vehicle, and is configured to notify the rear vehicle to travel based on the first optimal detour route or the second optimal detour route.
- 2. A device for controlling an underground unmanned vehicle, comprising:a first processing module configured to measure a traveling speed, an acceleration and acurrent position of the unmanned vehicle, and predict a traveling track of the unmanned vehiclebased on the traveling speed, the acceleration and the current position of the unmanned vehicle;a detecting module configured to detect whether there are obstacles around the unmannedvehicle;a controlling module configured to control the unmanned vehicle to travel based on thetraveling speed of the unmanned vehicle in response to detecting that there is no obstacle aroundthe unmanned vehicle;a second processing module configured to:determine whether an obstacle is located on the traveling track of the unmanned vehiclein response to detecting that there is the obstacle around the unmanned vehicle; and detect a position, a size and a speed of the obstacle, and control the unmanned vehicle to keep a current traveling state or decelerate to stop or determine an optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle in response to determining that the obstacle is located on the traveling track of the unmanned vehicle; detect whether the obstacle is a creature in response to determining that there is the obstacle around the unmanned vehicle; in case that the obstacle is a creature, directly control the unmanned vehicle to decelerate to stop, and generate an alarm; in case that the obstacle is not a creature, detect the position, the size and the speed of the obstacle, and control the unmanned vehicle to keep the current traveling state or decelerate to stop or determine an optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle; the second processing module is further configured to: determine whether the size of the obstacle affects a normal traveling of the unmanned vehicle; in response to determining that the size of the obstacle does not affect the normal traveling of the unmanned vehicle, control the unmanned vehicle to keep the current travelling state; in response to determining that the size of the obstacle affects the normal traveling of the unmanned vehicle, determine whether the speed of the obstacle is zero; in case that the speed of the obstacle is zero, determine whether the unmanned vehicle is capable to bypass the obstacle based on the position of the obstacle; if it is determined that the unmanned vehicle is capable to bypass the obstacle, control the unmanned vehicle to determine a first optimal detour route of the unmanned vehicle based on the position and the size of the obstacle and the travelling speed of the unmanned vehicle, wherein the first optimal detour route is a route that successfully bypasses the obstacle and requires least resources; and control the unmanned vehicle to travel according to the first optimal detour route; if it is determined that the unmanned vehicle is not capable to bypass the obstacle, controlling the unmanned vehicle to decelerate to stop; in case that the speed of the obstacle is not zero, calculate a trajectory of the obstacle based on the position, the size and the speed of the obstacle, and determine whether a collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle occurs; in case that the collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle does not occur, control the unmanned vehicle to keep the current travelling state; in case that the collision between the trajectory of the obstacle and the traveling track of the unmanned vehicle occurs, control the unmanned vehicle to determine a second optimal detour route of the unmanned vehicle based on the position and the size of the obstacle and the traveling speed of the unmanned vehicle, wherein the second optimal detour route is a route that avoids the collision between the unmanned vehicle and the obstacle and requires least resources; and control the unmanned vehicle to travel according to the second optimal detour route; wherein the unmanned vehicle is provided with a speed sensor, an acceleration sensor, a positioning module, a laser radar sensor, an ultrasonic ranging sensor and an infrared sensor; the speed sensor is configured to measure the traveling speed of the unmanned vehicle; the acceleration sensor is configured to measure the acceleration of the unmanned vehicle; the positioning module and the laser radar sensor are configured to measure the current position of the unmanned vehicle; the ultrasonic ranging sensor and the infrared sensor are configured to measure whether there are obstacles around the unmanned vehicle, and measure the position, the size and the speed of the obstacles; wherein controlling the unmanned vehicle to travel based on the traveling speed of the unmanned vehicle comprises: in response to the traveling speed of the unmanned vehicle being within a predetermined interval, controlling the unmanned vehicle to keep the current travelling state; in response to the traveling speed of the unmanned vehicle being not within the predetermined interval, controlling the unmanned vehicle to accelerate or decelerate, so that the traveling speed of the unmanned vehicle remains within the predetermined interval; in response to determining that there is the obstacle around the unmanned vehicle, detecting whether the obstacle is a creature; in case that the obstacle is a creature, directly controlling the unmanned vehicle to decelerate to stop, and generating an alarm; in case that the obstacle is not a creature, detecting the position, the size and the speed of the obstacle, and controlling the unmanned vehicle to keep the current traveling state or decelerate to stop or determine the optimal detour route based on the position, the size and the speed of the obstacle and the traveling speed of the unmanned vehicle; wherein determining the first optimal detour route or the second optimal detour route of the unmanned vehicle based on the position and the size of the obstacle and the travelling speed of the unmanned vehicle comprises: based on the position and the size of the obstacle and the traveling speed of the unmanned vehicle, determining a route with a shortest distance required for detour as the first optimal detour route or the second optimal detour route; or determining a route with a smallest change in the traveling speed of the unmanned vehicle as the first optimal detour route or the second optimal detour route; in response to controlling the unmanned vehicle to decelerate to stop, sending a first control signaling to a rear vehicle of the unmanned vehicle, wherein the first control signaling is configured to notify the rear vehicle to decelerate to stop; in response to controlling the unmanned vehicle to determine the first optimal detour route or the second optimal detour route, sending a second control signaling to the rear vehicle, wherein the second control signaling comprises the first optimal detour route or the second optimal detour route determined by the unmanned vehicle, and is configured to notify the rear vehicle to travel based on the first optimal detour route or the second optimal detour route.
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