CN110053573A - A kind of surface mine truck Intelligent unattended drives and scheduling system - Google Patents
A kind of surface mine truck Intelligent unattended drives and scheduling system Download PDFInfo
- Publication number
- CN110053573A CN110053573A CN201910381917.3A CN201910381917A CN110053573A CN 110053573 A CN110053573 A CN 110053573A CN 201910381917 A CN201910381917 A CN 201910381917A CN 110053573 A CN110053573 A CN 110053573A
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- module
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- central processing
- mine truck
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- 238000012545 processing Methods 0.000 claims abstract description 52
- 238000012544 monitoring process Methods 0.000 claims abstract description 32
- 238000003384 imaging method Methods 0.000 claims abstract description 23
- 239000000446 fuel Substances 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
System is driven and dispatched the invention discloses a kind of surface mine truck Intelligent unattended, including central processing unit, road surface GPS positioning module and radio receiving transmitting module, it is wirelessly connected between road surface GPS positioning module and central processing unit, it is connected between central processing unit and radio receiving transmitting module, central processing unit is connected with vehicle GPS locating module and three-dimensional imaging module by radio receiving transmitting module signal, central processing unit is connected with backstage monitoring modular, backstage operational module, backstage image-forming module and warning module, central processing unit is connected with walking module by radio receiving transmitting module signal, obstacle avoidance module and loading and unloading execution module, central processing unit is connected with autonomous control module.The present invention can make mine truck carry out unmanned and scheduling under complicated surface mine running during use.
Description
Technical field
It drives and dispatches the present invention relates to unmanned technical field more particularly to a kind of surface mine truck Intelligent unattended
System.
Background technique
With the development of science and technology, pilotless automobile is developed and is applied by people, however it is existing nobody
Driving technology is mainly used on the vehicle of normal road traveling, for mine truck used on surface mine, due to outdoor
The scheduling of the road conditions complexity and mine truck in mine at runtime is frequent, so that existing unmanned technology can not expire
The use demand of sufficient mine truck, for this purpose, system is driven and dispatched we have proposed a kind of surface mine truck Intelligent unattended.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of surface mine truck intelligence proposed
It can unmanned and scheduling system.
To achieve the goals above, present invention employs following technical solutions:
A kind of surface mine truck Intelligent unattended drives and scheduling system, including central processing unit, road surface GPS positioning module and nothing
Line transceiver module is wirelessly connected between the road surface GPS positioning module and central processing unit, the central processing unit and wireless receipts
It is connected between hair module, the central processing unit is connected with vehicle GPS locating module and three by radio receiving transmitting module signal
Image-forming module is tieed up, the central processing unit is connected with backstage monitoring modular, backstage operational module, backstage image-forming module and early warning mould
Block, the central processing unit are connected with walking module, obstacle avoidance module and loading and unloading execution module by radio receiving transmitting module signal,
The central processing unit is connected with autonomous control module, the autonomous control module by radio receiving transmitting module and walking module,
Obstacle avoidance module is connected with the equal signal of loading and unloading execution module, and the central processing unit is connected with memory module.
Preferably, the central processing unit is connected with information of vehicles monitoring modular by radio receiving transmitting module signal, described
Information of vehicles monitoring modular includes vehicle tyre pressure monitoring modular, vehicle fuel quantity monitoring modular and vehicle brake piece monitoring modular.
Preferably, the backstage image-forming module is connected with video imaging terminal and chart imaging terminal, the video imaging
Terminal and chart imaging terminal are display screen.
Preferably, the central processing unit is connected with level-one communicating terminal, and the central processing unit passes through wireless receiving and dispatching mould
Block is connected with second level communicating terminal.
Preferably, the road surface GPS positioning module is specially several and is uniformly mounted on the two sides in roadside.
Preferably, the central processing unit, autonomous control module, radio receiving transmitting module, warning module, memory module, after
Platform operational module, backstage monitoring modular, backstage image-forming module and level-one communicating terminal are located at control room.
Preferably, the walking module, obstacle avoidance module, loading and unloading execution module, vehicle GPS locating module, three-dimensional imaging
Module, second level communicating terminal and information of vehicles monitoring modular are installed on surface mine truck.
A kind of surface mine truck Intelligent unattended proposed by the present invention drives and scheduling system, beneficial effect are: we
During running use, the route that road surface GPS positioning module can be travelled for mine truck is positioned case in advance,
Vehicle GPS locating module can position in real time mine truck, during mine truck traveling, three-dimensional imaging module energy
Enough environment to around the truck of mine carry out real-time detection and are transferred to backstage, can be by certainly under the processing of central processing unit
Main control module realizes automatic control and driving to mine truck to the control of walking module and obstacle avoidance module, for mine
The travel situations of truck and the vehicle condition of mine truck can be monitored in real time on the backstage of system, and can manipulate mould by backstage
Block carries out timely human intervention to the mine truck of automatic Pilot, in the case where automatic Pilot and human intervention drive, mine
Mountain truck can be realized the scheduling between unmanned and mine truck, so that mine trucks entering this system can be multiple
Unmanned and scheduling is carried out under miscellaneous surface mine.
Detailed description of the invention
Fig. 1 is that a kind of surface mine truck Intelligent unattended proposed by the present invention drives and dispatch the structural block diagram of system；
Fig. 2 is the knot of the backstage image-forming module of a kind of surface mine truck Intelligent unattended driving proposed by the present invention and scheduling system
Structure block diagram；
Fig. 3 is that a kind of surface mine truck Intelligent unattended proposed by the present invention drives and dispatch the information of vehicles monitoring modular of system
Structural block diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right",
The orientation or positional relationship of the instructions such as "top", "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specific side
Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
Referring to Fig.1-3, a kind of surface mine truck Intelligent unattended drives and dispatches system, including central processing unit, road surface
GPS positioning module and radio receiving transmitting module are wirelessly connected between road surface GPS positioning module and central processing unit, road surface GPS positioning
Module is specially several and is uniformly mounted on the two sides in roadside, and road surface GPS positioning module can be travelled for mine truck
Route positioned in advance, and the traveling for mine truck provides route.
It is connected between central processing unit and radio receiving transmitting module, central processing unit is connected by radio receiving transmitting module signal
There are vehicle GPS locating module and three-dimensional imaging module, vehicle GPS locating module can position in real time mine truck, in mine
During mountain truck travels, after three-dimensional imaging module can carry out real-time detection and is transferred to the environment around the truck of mine
Platform.
Central processing unit is connected with backstage monitoring modular, backstage operational module, backstage image-forming module and warning module, for
The data that system monitors when running, can be imaged, with after an action of the bowels by backstage image-forming module under the processing of central processing unit
Platform personnel, which are observed, to be checked, when the data of mine truck occur abnormal, warning module can sound an alarm carry out early warning, mention
The backstage personnel that wake up intervene the traveling of mine truck.
Central processing unit is connected with walking module, obstacle avoidance module and loading and unloading by radio receiving transmitting module signal and executes mould
Block can realize the control of walking module and obstacle avoidance module by backstage operational module pair under the processing of central processing unit
The automatic control and driving of mine truck, can be to mine truck by control of the backstage operational module to loading and unloading execution module
Loading-unloading vehicle controlled.
Central processing unit is connected with autonomous control module, autonomous control module by radio receiving transmitting module and walking module,
Obstacle avoidance module is connected with the equal signal of loading and unloading execution module, under the processing of central processing unit, can pass through autonomous control module pair
Automatic control and driving to mine truck are realized in the control of walking module and obstacle avoidance module, and pass through autonomous control module pair
The control of loading and unloading execution module can control the loading-unloading vehicle of mine truck.
Central processing unit is connected with memory module, various data handled by the central processing unit of mine truck driving process
It is stored in memory module, so as to backstage, personnel are checked.
Central processing unit, autonomous control module, radio receiving transmitting module, warning module, memory module, backstage operational module,
Backstage monitoring modular, backstage image-forming module and level-one communicating terminal are located at control room, and walking module, obstacle avoidance module, loading and unloading are held
Row module, vehicle GPS locating module, three-dimensional imaging module, second level communicating terminal and information of vehicles monitoring modular are installed in dew
On its mine truck.
Central processing unit is connected with information of vehicles monitoring modular, information of vehicles monitoring modular by radio receiving transmitting module signal
It include vehicle tyre pressure monitoring modular, vehicle fuel quantity monitoring modular and vehicle brake piece monitoring modular, vehicle tyre pressure monitoring modular
The tire pressure of the tire of mine truck can be monitored, vehicle fuel quantity monitoring modular can be to the progress of the oil mass of mine truck
Monitoring, vehicle brake piece monitoring modular can temperature to the brake block of mine truck, heat be monitored.
Backstage image-forming module is connected with video imaging terminal and chart imaging terminal, and video imaging terminal and chart imaging are eventually
End is display screen, for the data that backstage monitoring modular is monitored, backstage image-forming module the data of monitoring can be carried out at
Picture is presented for video data especially by video imaging terminal, for icon data especially by chart imaging terminal
It is presented.
Central processing unit is connected with level-one communicating terminal, and central processing unit is connected with second level by radio receiving transmitting module and communicates
Terminal can be realized when having driver or passenger on the truck of mine by level-one communicating terminal and second level communicating terminal
The real time communication between personnel on backstage personnel and mine truck.
In summary: during running use, road surface GPS positioning module can be gone the present invention for mine truck
The route sailed is positioned in advance, and vehicle GPS locating module can position in real time mine truck, and in mine, truck is travelled
In the process, three-dimensional imaging module can carry out real-time detection to the environment around the truck of mine and be transferred to backstage, in centre
Under the processing for managing device, the control of walking module and obstacle avoidance module can be realized by autonomous control module to mine truck from
Dynamic control and driving, the vehicle condition of travel situations and mine truck for mine truck can be supervised in real time on the backstage of system
It surveys, and timely human intervention can be carried out by mine truck of the backstage operational module to automatic Pilot, in automatic Pilot and people
In the case where intervening driving, mine truck can be realized the scheduling between unmanned and mine truck, so that mine
Trucks entering this system can carry out unmanned and scheduling under complicated surface mine.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of surface mine truck Intelligent unattended drives and scheduling system, including central processing unit, road surface GPS positioning module and
Radio receiving transmitting module, it is characterised in that: be wirelessly connected between the road surface GPS positioning module and central processing unit, the center
It is connected between processor and radio receiving transmitting module, the central processing unit is connected with vehicle by radio receiving transmitting module signal
GPS positioning module and three-dimensional imaging module, the central processing unit are connected with backstage monitoring modular, backstage operational module, backstage
Image-forming module and warning module, the central processing unit are connected with walking module, obstacle avoidance module by radio receiving transmitting module signal
With loading and unloading execution module, the central processing unit is connected with autonomous control module, and the autonomous control module is by wirelessly receiving
Hair module is connect with walking module, obstacle avoidance module and the equal signal of loading and unloading execution module, and the central processing unit is connected with storage
Module.
2. a kind of surface mine truck Intelligent unattended according to claim 1 drives and scheduling system, it is characterised in that: institute
It states central processing unit and information of vehicles monitoring modular, the information of vehicles monitoring modular packet is connected with by radio receiving transmitting module signal
Contain vehicle tyre pressure monitoring modular, vehicle fuel quantity monitoring modular and vehicle brake piece monitoring modular.
3. a kind of surface mine truck Intelligent unattended according to claim 1 drives and scheduling system, it is characterised in that: institute
It states backstage image-forming module and is connected with video imaging terminal and chart imaging terminal, the video imaging terminal and chart imaging terminal
It is display screen.
4. a kind of surface mine truck Intelligent unattended according to claim 1 drives and scheduling system, it is characterised in that: institute
It states central processing unit and is connected with level-one communicating terminal, the central processing unit is connected with second level communication eventually by radio receiving transmitting module
End.
5. a kind of surface mine truck Intelligent unattended according to claim 1 drives and scheduling system, it is characterised in that: institute
State the two sides that road surface GPS positioning module is specially several and is uniformly mounted on roadside.
6. a kind of surface mine truck Intelligent unattended described in any one of -4 drives and scheduling system according to claim 1,
It is characterized by: the central processing unit, autonomous control module, radio receiving transmitting module, warning module, memory module, backstage behaviour
Control module, backstage monitoring modular, backstage image-forming module and level-one communicating terminal are located at control room.
7. a kind of surface mine truck Intelligent unattended described in any one of -4 drives and scheduling system according to claim 1,
It is characterized by: the walking module, obstacle avoidance module, loading and unloading execution module, vehicle GPS locating module, three-dimensional imaging module,
Second level communicating terminal and information of vehicles monitoring modular are installed on surface mine truck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910381917.3A CN110053573A (en) | 2019-05-09 | 2019-05-09 | A kind of surface mine truck Intelligent unattended drives and scheduling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910381917.3A CN110053573A (en) | 2019-05-09 | 2019-05-09 | A kind of surface mine truck Intelligent unattended drives and scheduling system |
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| CN110053573A true CN110053573A (en) | 2019-07-26 |
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| CN201910381917.3A Pending CN110053573A (en) | 2019-05-09 | 2019-05-09 | A kind of surface mine truck Intelligent unattended drives and scheduling system |
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Cited By (5)
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| CN111260913A (en) * | 2020-01-16 | 2020-06-09 | 江苏徐工工程机械研究院有限公司 | Unloading method and system for mining truck of unmanned transportation system of surface mine |
| CN111547054A (en) * | 2020-05-15 | 2020-08-18 | 北京踏歌智行科技有限公司 | Road right distribution and management and control method of unmanned system based on surface mine |
| CN112419703A (en) * | 2020-04-14 | 2021-02-26 | 青岛慧拓智能机器有限公司 | Intelligent unmanned mine card crossing traffic scheduling system and method |
| CN114091982A (en) * | 2022-01-20 | 2022-02-25 | 北京慧拓无限科技有限公司 | Multi-unmanned vehicle operation scheduling method and system, electronic equipment and unmanned vehicle |
| CN114355931A (en) * | 2021-12-30 | 2022-04-15 | 羽玖(上海)科技有限公司 | Unmanned intelligent dispatching system for mining vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111260913A (en) * | 2020-01-16 | 2020-06-09 | 江苏徐工工程机械研究院有限公司 | Unloading method and system for mining truck of unmanned transportation system of surface mine |
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| CN111547054A (en) * | 2020-05-15 | 2020-08-18 | 北京踏歌智行科技有限公司 | Road right distribution and management and control method of unmanned system based on surface mine |
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| CN114355931A (en) * | 2021-12-30 | 2022-04-15 | 羽玖(上海)科技有限公司 | Unmanned intelligent dispatching system for mining vehicle |
| CN114091982A (en) * | 2022-01-20 | 2022-02-25 | 北京慧拓无限科技有限公司 | Multi-unmanned vehicle operation scheduling method and system, electronic equipment and unmanned vehicle |
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Application publication date: 20190726 |