CN109521715A - Unmanned mine car driving mode control system and method - Google Patents
Unmanned mine car driving mode control system and method Download PDFInfo
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- CN109521715A CN109521715A CN201811515488.6A CN201811515488A CN109521715A CN 109521715 A CN109521715 A CN 109521715A CN 201811515488 A CN201811515488 A CN 201811515488A CN 109521715 A CN109521715 A CN 109521715A
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- unmanned
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- control
- control module
- mine car
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000012530 fluid Substances 0.000 claims description 9
- 238000000465 moulding Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000005065 mining Methods 0.000 description 4
- 239000003245 coal Substances 0.000 description 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2603—Steering car
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned mine car driving mode control systems, comprising: mode selector switch, unmanned controller, unmanned control module, manual manual operation switch, pilot steering control module, execution module.The invention also discloses a kind of unmanned mine car driving mode control methods.The present invention is switched by operation mode to be switched, it can be realized the switching of unmanned mine car unmanned mode and pilot steering mode, pilot steering control module and unmanned control module are exported using parallel-connection structure to actuator, and pilot steering is controlled prior to unmanned control, artificial intervention when convenient for occurring unexpected under unmanned mode.
Description
Technical field
The present invention relates to a kind of off-highway mine cars, specifically, are related to a kind of unmanned mine car driving mode control system
And method.
Background technique
Intelligent mine is the core of mining industry technology competition of new generation, and Intelligent mine technology will give the development band of Global Mining Industry
Carry out unprecedented opportunities, traditional mine technology will be gradually backed out mining industry stage, intelligent, information-based, automation mine
Technology will open a brand-new and vigorous development in science and technology field.The unmanned off-highway mine car that surface mining uses
It is the chief component of Automation of Coal Mine operation, is more and more paid close attention to by mineral industry, it can be to a certain extent
Improve safe and healthy performance index, moreover it is possible to reduce operating cost and improve productivity etc., it has also become Automation of Coal Mine solution
In important component.
Summary of the invention
Technical problem solved by the invention is to provide a kind of unmanned mine car driving mode control system and method, leads to
Operation mode switching switch is crossed, can be realized the switching of unmanned mine car unmanned mode and pilot steering mode, manually
Driving control module and unmanned control module are exported using parallel-connection structure to actuator, and pilot steering control is prior to nothing
People's Driving control, artificial intervention when convenient for occurring unexpected under unmanned mode.
Technical solution is as follows:
A kind of unmanned mine car driving mode control system, comprising:
Mode selector switch, output end is connected by cable with unmanned controller, unmanned for switching to
Mode or manned mode；If operation mode is switched to unmanned mode, mode selector switch will be unmanned
Status signal is exported to unmanned controller；If operation mode is switched to manned mode, mode selector switch will
Manned status signal is exported to manual manual operation switch；
Unmanned controller, receives unmanned status signal, and output end passes through cable and unmanned control module
It is connected, unmanned controller outputs control signals to unmanned control module according to operating condition；
Unmanned control module, output end are connected by cable or fluid pressure line with execution module, and control is passed through
Element processed converts the control signal that unmanned controller exports to the input signal of execution module；
Manual manual operation switch, output end are connected by cable or fluid pressure line with pilot steering control module, will
Operational motion is converted into the input signal of pilot steering control module；
Pilot steering control module, output end are connect by cable or fluid pressure line with execution module, and control is passed through
Element converts the operational motion of manual manual operation switch to the input signal of execution module；
Execution module, output end are connect by mechanical structure with vehicle, receive artificial Driving control module and nobody drives
The input signal for sailing control module, for making vehicle complete traveling movement.
Further, execution module is converted by brake, load lifting cylinder, steering cylinder or motor and realizes vehicle movement
Driving force and steering force, driving vehicle complete the operation under various operating conditions.
Further, mode selector switch uses electric switch.
Further, the control element that unmanned control module uses selects hydraulic valve, power drive system or direct current step
Into electric machine controller.
Further, the control element that pilot steering control module uses selects hydraulic valve or power drive system.
Further, unmanned mode and manned mode are exported using parallel-connection structure to actuator, control vehicle fortune
Row.
A kind of unmanned mine car driving mode control method, comprising:
Mode selector switch switches driving mode；If operation mode is switched to unmanned mode, pattern switching is opened
Pass exports unmanned status signal to unmanned controller；If operation mode is switched to manned mode, mould
Formula switching switch exports manned status signal to manual manual operation switch；
Unmanned controller receives unmanned status signal, outputs control signals to unmanned control according to operating condition
Module；Unmanned control module converts execution module for the control signal that unmanned controller exports by control element
Input signal；
Manual manual operation switch converts operational motion to the input signal of pilot steering control module；Pilot steering controls mould
Block converts the operational motion of manual manual operation switch to by control element the input signal of execution module；
Execution module receives the input signal of artificial Driving control module and unmanned control module, and vehicle is made to complete row
Sail movement.
Preferably, execution module is converted by brake, load lifting cylinder, steering cylinder or motor and realizes vehicle movement
Driving force and steering force, driving vehicle complete the operation under various operating conditions.
Preferably, unmanned control module will by hydraulic valve, power drive system or DC stepper motor controller
The control signal of unmanned controller output is converted into the input signal of execution module.
Preferably, pilot steering control module is moved the operation of manual manual operation switch by hydraulic valve or power drive system
It is converted into the input signal of execution module, realizes manual control priority function.
The technology of the present invention effect includes:
The unmanned mine car driving mode control system of the present invention, for realize the unmanned mode of unmanned mine car and
The switching control of pilot steering mode facilitates normal operating of the unmanned mine car in the process of running under pilot steering mode,
The debugging and test of unmanned mine car early period is also facilitated to increase system by increasing manual operation priority acccess control simultaneously
Safety and operation convenience.
The present invention is switched by operation mode to be switched, and the unmanned mode of unmanned mine car and pilot steering may be implemented
The switching of mode, pilot steering control module and unmanned control module are exported using parallel-connection structure to actuator, and artificial
Driving control is prior to unmanned control, artificial intervention when convenient for occurring unexpected under unmanned mode, increases and is
The convenience of safety and the operation of system.
Detailed description of the invention
Fig. 1 is the control flow chart of unmanned mine car driving mode control system in the present invention.
Specific embodiment
Be described below and specific embodiments of the present invention be fully shown, with enable those skilled in the art to practice and
It reproduces.
As shown in Figure 1, being the control flow chart of unmanned mine car driving mode control system in the present invention.
Unmanned mine car driving mode control system, comprising: mode selector switch, unmanned controller, nobody drives
Sail control module, manual manual operation switch, pilot steering control module, execution module.
Mode selector switch, output end are connect by cable with unmanned controller, are realized and are switched using electric switch
One key switching is controlled, for switching to unmanned mode or manned mode, if being switched to unmanned mode
Unmanned status signal is exported to unmanned controller；By manned state if being switched to manned mode
Signal is exported to manual manual operation switch；Unmanned mode and manned mode are exported using parallel-connection structure to actuator, control
Vehicle operation processed, pilot steering are controlled prior to unmanned control；Pilot steering control module and unmanned control module
Using parallel-connection structure
Unmanned controller, receives unmanned status signal, and output end passes through cable and unmanned control module
It is connected, unmanned control module is output control signals to according to operating condition；Pilot steering mode in this way, then will not export any
Signal is to unmanned control module；
Unmanned control module, output end are connected by cable or fluid pressure line with execution module, and liquid is passed through
The control elements such as pressure valve, power drive system, DC stepper motor controller, the control signal that unmanned controller is exported turn
Turn to the input signal of execution module；
Manual manual operation switch, can be handle, pedal etc., and output end passes through cable or fluid pressure line and pilot steering control
Molding block is connected, and converts operational motion to the input signal of pilot steering control module；
Pilot steering control module, output end are connect by cable or fluid pressure line with execution module, by hydraulic valve,
The control elements such as power drive system convert the operational motion of manual manual operation switch to the input signal of execution module, realize people
Industry control priority function；
Execution module, output end are connect by mechanical structure with vehicle, and artificial Driving control module and unmanned is received
The input signal of control module passes through the portions such as brake, load lifting cylinder, steering cylinder, motor for making vehicle complete traveling movement
Part is converted into the various driving forces and steering force for realizing vehicle movement, and driving vehicle completes the operation under various operating conditions.
Unmanned mine car driving mode control method, comprising:
Driving mode is switched to unmanned mode or manned mode by mode selector switch；If driving mode
It is switched to unmanned mode, mode selector switch exports unmanned status signal to unmanned controller；If driven
Sailing pattern switching is manned mode, and mode selector switch will export manned status signal to manual manual operation switch；
Unmanned controller receives unmanned status signal, outputs control signals to unmanned control according to operating condition
Module；
Unmanned control module, will by control elements such as hydraulic valve, power drive system, DC stepper motor controllers
The control signal of unmanned controller output is converted into the input signal of execution module；
Manual manual operation switch converts operational motion to the input signal of pilot steering control module；Pilot steering controls mould
Block converts the operational motion of manual manual operation switch to the input signal of execution module, realizes manual control priority function；
Execution module receives the input signal of artificial Driving control module and unmanned control module, according to input signal
It controls vehicle and completes traveling movement.
It should be understood that the foregoing is merely a specific embodiment of the invention, but protection scope of the present invention is not
It is confined to this, anyone skilled in the art in the technical scope disclosed by the present invention, can readily occur in variation
Or replacement, it should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the claim
Protection scope subject to.
Claims (10)
1. a kind of unmanned mine car driving mode control system characterized by comprising
Mode selector switch, output end is connected by cable with unmanned controller, for switching to unmanned mode
Or manned mode；If operation mode is switched to unmanned mode, mode selector switch is by unmanned state
Signal is exported to unmanned controller；If operation mode is switched to manned mode, mode selector switch is by someone
Driving condition signal is exported to manual manual operation switch；
Unmanned controller, receives unmanned status signal, and output end is connected by cable with unmanned control module
It connects, unmanned controller outputs control signals to unmanned control module according to operating condition；
Unmanned control module, output end are connected by cable or fluid pressure line with execution module, and control member is passed through
Part converts the control signal that unmanned controller exports to the input signal of execution module；
Manual manual operation switch, output end are connected with pilot steering control module by cable or fluid pressure line, will be operated
Movement is converted into the input signal of pilot steering control module；
Pilot steering control module, output end are connect by cable or fluid pressure line with execution module, and control element is passed through
Convert the operational motion of manual manual operation switch to the input signal of execution module；
Execution module, output end are connect by mechanical structure with vehicle, and artificial Driving control module and unmanned control are received
The input signal of molding block, for making vehicle complete traveling movement.
2. unmanned mine car driving mode control system as described in claim 1, which is characterized in that execution module passes through braking
Device, load lifting cylinder, steering cylinder or motor are converted into the driving force and steering force for realizing vehicle movement, and driving vehicle is completed various
Operation under operating condition.
3. unmanned mine car driving mode control system as described in claim 1, which is characterized in that mode selector switch uses
Electric switch.
4. unmanned mine car driving mode control system as described in claim 1, which is characterized in that unmanned control module
The control element used selects hydraulic valve, power drive system or DC stepper motor controller.
5. unmanned mine car driving mode control system as described in claim 1, which is characterized in that pilot steering control module
The control element used selects hydraulic valve or power drive system.
6. unmanned mine car driving mode control system as described in claim 1, which is characterized in that unmanned mode with have
People's driving mode is exported using parallel-connection structure to actuator, and vehicle operation is controlled.
7. a kind of unmanned mine car driving mode control method, comprising:
Mode selector switch switches driving mode；If operation mode is switched to unmanned mode, mode selector switch will
Unmanned status signal is exported to unmanned controller；If operation mode is switched to manned mode, mode is cut
Switch is changed to export manned status signal to manual manual operation switch；
Unmanned controller receives unmanned status signal, outputs control signals to unmanned control mould according to operating condition
Block；Unmanned control module converts execution module for the control signal that unmanned controller exports by control element
Input signal；
Manual manual operation switch converts operational motion to the input signal of pilot steering control module；Pilot steering control module is logical
Cross the input signal that control element converts the operational motion of manual manual operation switch to execution module；
Execution module receives the input signal of artificial Driving control module and unmanned control module, so that vehicle is completed traveling dynamic
Make.
8. unmanned mine car driving mode control method as claimed in claim 7, which is characterized in that execution module passes through braking
Device, load lifting cylinder, steering cylinder or motor are converted into the driving force and steering force for realizing vehicle movement, and driving vehicle is completed various
Operation under operating condition.
9. unmanned mine car driving mode control method as claimed in claim 7, which is characterized in that unmanned control module
It is converted by the control signal that hydraulic valve, power drive system or DC stepper motor controller export unmanned controller
For the input signal of execution module.
10. unmanned mine car driving mode control method as claimed in claim 7, which is characterized in that pilot steering controls mould
Block converts the operational motion of manual manual operation switch to by hydraulic valve or power drive system the input signal of execution module, real
Existing manual control priority function.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410679932.7A CN118636923A (en) | 2018-12-12 | 2018-12-12 | Unmanned mine car parallel driving mode control system and method |
| CN201811515488.6A CN109521715A (en) | 2018-12-12 | 2018-12-12 | Unmanned mine car driving mode control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811515488.6A CN109521715A (en) | 2018-12-12 | 2018-12-12 | Unmanned mine car driving mode control system and method |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410679932.7A Division CN118636923A (en) | 2018-12-12 | 2018-12-12 | Unmanned mine car parallel driving mode control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109521715A true CN109521715A (en) | 2019-03-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811515488.6A Pending CN109521715A (en) | 2018-12-12 | 2018-12-12 | Unmanned mine car driving mode control system and method |
| CN202410679932.7A Pending CN118636923A (en) | 2018-12-12 | 2018-12-12 | Unmanned mine car parallel driving mode control system and method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410679932.7A Pending CN118636923A (en) | 2018-12-12 | 2018-12-12 | Unmanned mine car parallel driving mode control system and method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941876A (en) * | 2012-11-23 | 2013-02-27 | 南京理工大学 | Unmanned vehicle steering system and control method thereof |
| CN105270407A (en) * | 2015-10-20 | 2016-01-27 | 广州橙行智动汽车科技有限公司 | Driving mode switching method and system for automatic driving automobile |
| US20170305425A1 (en) * | 2016-04-26 | 2017-10-26 | Baidu Online Network Technology (Beijing) Co., Ltd. | Driverless vehicle, driverless vehicle control method and driverless vehicle control apparatus |
| CN107310547A (en) * | 2017-06-30 | 2017-11-03 | 奇瑞汽车股份有限公司 | Control method for vehicle and system |
| CN107487307A (en) * | 2016-12-23 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of Vehicular brake device and its vehicle |
| CN209640688U (en) * | 2018-12-12 | 2019-11-15 | 内蒙古北方重型汽车股份有限公司 | Unmanned mine car driving mode control system |
-
2018
- 2018-12-12 CN CN201811515488.6A patent/CN109521715A/en active Pending
- 2018-12-12 CN CN202410679932.7A patent/CN118636923A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941876A (en) * | 2012-11-23 | 2013-02-27 | 南京理工大学 | Unmanned vehicle steering system and control method thereof |
| CN105270407A (en) * | 2015-10-20 | 2016-01-27 | 广州橙行智动汽车科技有限公司 | Driving mode switching method and system for automatic driving automobile |
| US20170305425A1 (en) * | 2016-04-26 | 2017-10-26 | Baidu Online Network Technology (Beijing) Co., Ltd. | Driverless vehicle, driverless vehicle control method and driverless vehicle control apparatus |
| CN107487307A (en) * | 2016-12-23 | 2017-12-19 | 宝沃汽车（中国）有限公司 | A kind of Vehicular brake device and its vehicle |
| CN107310547A (en) * | 2017-06-30 | 2017-11-03 | 奇瑞汽车股份有限公司 | Control method for vehicle and system |
| CN209640688U (en) * | 2018-12-12 | 2019-11-15 | 内蒙古北方重型汽车股份有限公司 | Unmanned mine car driving mode control system |
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| Publication number | Publication date |
|---|---|
| CN118636923A (en) | 2024-09-13 |
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Application publication date: 20190326 |