CN111897321B - Unmanned system of underground special vehicle - Google Patents
Unmanned system of underground special vehicle Download PDFInfo
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- CN111897321B CN111897321B CN202010567882.5A CN202010567882A CN111897321B CN 111897321 B CN111897321 B CN 111897321B CN 202010567882 A CN202010567882 A CN 202010567882A CN 111897321 B CN111897321 B CN 111897321B
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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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- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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Abstract
The invention belongs to the technical field of unmanned, and discloses an unmanned system of an underground special vehicle team, which comprises a total station, an inertial navigation module and a sensing module arranged on each special vehicle in the vehicle team; priority labels are arranged in all special vehicles in the special vehicle team, after the labels are triggered and started, the vehicles are set to be in a high priority mode, the high priority vehicles send out avoidance signals, and after the low priority vehicles receive the avoidance signals, the high priority vehicles are avoided to pass through; in the special motorcade, a first control module is arranged in the head car, a second control module is arranged in other vehicles, the first control module is used for calculating the course and the position information of the vehicle according to the measurement information of the total station and the inertial navigation module, and the second control module is used for controlling the vehicle to run along with the head car within a safe distance. The invention can reduce the cost of vehicles and the overall cost of mines, and can be widely applied to the field of mine transportation.
Description
Technical Field
The invention belongs to the technical field of unmanned, and relates to an unmanned system of an underground special vehicle.
Background
In the underground trackless auxiliary transportation vehicle and equipment, the moving and face reversing operation of the fully mechanized mining face is mainly realized through special vehicles, and the special vehicles are trackless rubber-tired quick moving complete equipment, can be used for carrying equipment such as hydraulic supports, moving and changing equipment, pump stations, scraper chains and other bulk materials, can be matched with other equipment, can be used for carrying all parts of a coal mining machine, a belt conveyor, a scraper, a crusher and the like, and can realize underground long-distance and heavy-gradient quick carrying equipment. The special vehicles can be divided into four types according to functions, namely, frame types, shovel boards, multifunctional types and auxiliary types, and particularly, the special vehicles can be provided with a bracket carrier, a shovel board carrier, an explosion-proof storage battery scraper, a loader, a mobile power station and the like. The special vehicle is driven by a specific operator, and the operator's sight is easily blocked by obstacles and has high labor intensity due to poor conditions, dim light and large dust under the mine, so that the safety transportation accident is easy to occur, the special vehicle belongs to a high-risk working environment, and the personal safety of the operator is difficult to ensure. Therefore, how to lighten the labor intensity and the number of workers, reduce the occurrence of transportation accidents, improve the safety of work and the efficiency of underground transportation is an important problem to be faced and solved by underground work.
According to statistics, in mine safety accidents in China, mine transportation accidents account for about three of the total number of accidents, and the proportion is continuously increased along with the expansion of mining scale. At present, all special vehicles engaged in mine trackless transportation are manually operated and controlled by underground workers, and the operation result is easily influenced by human subjective factors. In recent years, with the intensive research of unmanned vehicles and the continuous development, maturation and application of ground unmanned technologies, attempts are made to apply some unmanned technologies and schemes commonly used on the ground to the mine field, so that the number of workers on the working face can be further reduced, the interference of artificial subjective factors can be avoided, the running efficiency of special vehicles for trackless transportation can be improved, and the automation and intelligence levels of underground whole bodies can be improved. The special vehicle is main equipment for underground trackless auxiliary transportation of fully mechanized mining face moving and face reversing operation, can be used for transporting equipment such as hydraulic supports, shifting and pumping stations and other bulk materials, can realize underground long-distance, large-gradient and large-mass equipment transportation, and has strong transportation capacity. By means of the unmanned system, manual participation can be reduced, personnel safety is guaranteed, safety of underground work is improved, overall operation efficiency of the system can be effectively improved, and a technical thought and a solution are provided for realizing underground trackless auxiliary special vehicles and other trackless auxiliary transport vehicles.
The existing unmanned system starts from a single vehicle arrangement sensor, multiple types of sensors are required to be installed on all underground vehicles to determine accurate position detection of the vehicles so as to realize unmanned functions, and the whole vehicle is high in cost. Therefore, there is a need to provide a new unmanned system for special vehicles to achieve fleet operation of special vehicles and to reduce fleet costs.
Disclosure of Invention
The invention aims to provide an unmanned system of a special vehicle in a pit, the whole mine is formed into the unmanned system of the special vehicle, other vehicles can have unmanned functions only by installing a small number of sensors with sensing functions except for a plurality of types of sensors installed on a head vehicle, the whole functions of a newly added vehicle are easy to realize after the newly added vehicle is simply transformed into the system, and the high-cost sensors are not required to be installed again.
In order to solve the technical problems, the invention adopts the following technical scheme: an unmanned system of underground special motorcades comprises a total station, an inertial navigation module and a sensing module arranged on each special vehicle in the motorcade, wherein the total station (8) is arranged on a fixed track under the pit, and a prism (7) matched with the total station is arranged outside the body of the special vehicle;
priority labels are arranged in all special vehicles in the special vehicle team, after the labels are triggered and started, the vehicles are set to be in a high priority mode, the high priority vehicles send out avoidance signals, and after the low priority vehicles receive the avoidance signals, the high priority vehicles are avoided to pass through;
in the special motorcade, a first control module is arranged in the head car, a second control module is arranged in other vehicles, the first control module is used for calculating the course and the position information of the vehicle according to the measurement information of the total station (8) and the inertial navigation module, and the second control module is used for controlling the vehicle to run along with the head car within a safe distance.
The unmanned system of the underground special vehicle team further comprises a fixed position tag arranged at a fixed position underground; the sensing module comprises an ultrasonic radar (1), a millimeter wave radar (2), a laser radar (4), an infrared sensor (3) and a vision sensor (6), wherein the ultrasonic radar (1) is arranged at the front, rear, middle, lower and surrounding positions of a vehicle body of the special vehicle and is used for detecting barrier information of the surrounding environment of the vehicle in a short distance, and the measuring range is 0.3-2 meters;
the millimeter wave radar is arranged at the front, rear, middle and lower positions of the underground transport vehicle and is used for sensing road information around the vehicle in a middle-long distance, and the measuring range is 12-18 meters; the laser radar is arranged at the top of the special vehicle and can rotate, and is used for sensing road information and obstacle information around the vehicle;
the infrared sensor is arranged around the vehicle and used for sensing biological information around the vehicle and judging whether a person exists in the measuring range;
the visual sensors are arranged at the middle positions and the left and right sides of the front and the rear of the vehicle, are used for recording target information of the front, the rear and the two sides of the vehicle, and are also used for scanning position labels marked on underground fixation; the first control module and the second control module are also used for determining the accurate position of the vehicle according to the fixed position label image acquired by the visual sensor.
In the special vehicle team, the special vehicles are provided with wireless communication modules, the first control module and the second control module are used for realizing mutual communication among the vehicles in the vehicle team through the wireless communication modules of the vehicles, interacting speed and distance information among the vehicles, and controlling the running speed of the vehicles according to the received speed and distance information of other vehicles.
The wireless communication module comprises a data storage unit, a wireless sending unit and a wireless receiving unit, wherein a first control module in a head car and a second control module in a tail car are used for summarizing and packaging the fleet data of the self fleet and then sending the collected and packaged fleet data to surrounding fleet external vehicles through the wireless communication module of the located vehicle, and are also used for collecting and receiving the vehicle data in the surrounding environment in real time through the wireless communication module and controlling the running speed of the vehicles of the located fleet according to the received vehicle data in the surrounding environment;
and the second control module in other vehicles in the vehicle team is used for sending the vehicle information of the current vehicle to the front and rear vehicles adjacent to the vehicle through the wireless communication module.
The fleet data includes type, number, speed, and position of the vehicle, and the vehicle data includes type, number, speed, and position of the vehicle.
Every other fixed time, the head car and the tail car of the motorcade send motorcade data and receive surrounding vehicle data, if the sending time of the received surrounding vehicle data is later than the time of the original stored data, the original information is updated and stored through the data storage unit until the next sent data information covers the data; if the received surrounding vehicle data is transmitted earlier than the original stored data, the received communication data is discarded.
The first control module and the second control module are also used for calculating the distance between the vehicle and other surrounding vehicles through receiving information, judging the running state of the surrounding vehicles and whether obstacles exist or not, and providing information basis for the subsequent decision of the current vehicle; when an obstacle exists, obstacle information and vehicle running state information within a certain distance are sent in advance, and a control system of the current motorcade sends a control instruction to slow down or brake an executing mechanism, so that danger is avoided.
The unmanned system of the underground special vehicle team further comprises an underground control center, wherein the underground control center is arranged underground and is in communication connection with the vehicle team in a wireless communication mode and used for receiving vehicle team data and forwarding the vehicle team data to the underground control center.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides an unmanned system of underground special vehicles, which is characterized in that wireless communication modules are arranged among underground special vehicles to be in communication connection, meanwhile, by means of fixed position labels, total stations and inertial navigation modules which are arranged on a head car, and sensing sensors which are arranged on all vehicles, underground special vehicle fleets are arranged into an intelligent network with sensing functions, when the fleets run, all types of sensors are arranged on the head car of the special vehicles, and a small number of types of sensors are arranged on the other vehicles, so that the unmanned system of the special vehicles can be formed under mines, and the unmanned system of the special vehicles has an unmanned function as a whole. Compared with the mine which is formed by reforming each vehicle into an unmanned vehicle, the mine forming the unmanned network reduces the cost of the vehicle and the overall cost of the mine, and besides the head vehicle, the other vehicles only need to be provided with a small number of sensors with sensing function and follow the head vehicle to participate in the network at a certain speed and within a safe distance, so that the unmanned network has the unmanned function. In addition, by setting the priority label of the vehicle, the motorcade can be matched with other underground trackless transport vehicles, mining equipment or various robots and the like to form a network for underground unmanned and mine unmanned work.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned system of an underground special vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of the comprehensive judgment of a vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of two priorities and conversion of a special vehicle according to an embodiment of the present invention;
FIG. 4 is a flow chart of a fleet operation mode of a special vehicle in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a sensor configuration of a special vehicle according to an embodiment of the present invention;
FIG. 6 is a top view of a sensor configuration of a special vehicle in an embodiment of the invention;
fig. 7 illustrates a fleet operation mode of a special vehicle in an embodiment of the present invention.
In the figure: 1 is an ultrasonic radar, 2 is a millimeter wave radar, 3 is an infrared sensor, 4 is a laser radar, 5 is an inertial navigation module, 6 is a visual sensor, 7 is a prism, 8 is a total station, 9 is a head car, and 10 is other vehicles.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the embodiment of the invention provides an unmanned system of an underground special vehicle team, which comprises a total station, an inertial navigation module and a sensing module arranged on each special vehicle in the vehicle team, wherein the total station 8 is arranged on a fixed track under the well, and a prism 7 matched with the total station 8 is arranged on the outer side of the body of the special vehicle. In the special motorcade, a first control module is arranged in the head car, a second control module is arranged in other vehicles, the first control module is used for calculating the course and the position information of the vehicle according to the measurement information of the total station 8 and the inertial navigation module 5, and the second control module is used for controlling the vehicle to run along with the head car within a safe distance.
In the embodiment, the high-precision navigation positioning of the special vehicle mainly uses the total station and the inertial navigation module, and the total station has high positioning precision and can accurately and stably position the underground vehicle. Since the inertial navigation module can produce error accumulation over time and there is no GPS signal downhole, the vehicle is required to provide initial values for positioning calculations for the inertial navigation module by the total station prior to calculation. Meanwhile, the total station is required to correct and calibrate the position of the special vehicle at regular intervals, so that the high-precision heading and positioning information of the special vehicle are maintained. The total station is arranged on a fixed track in the pit, the position of the total station can move as required, the prism 7 matched with the total station is arranged on the outer side of the head car body of the special vehicle, the prism is attached to the outer side of the head car body of the special vehicle, and the prism is attached to the head car body, and the prism are matched with each other to measure accurate position information of the vehicle in real time. The inertial navigation module is fixedly connected with the vehicle body, and the inertial navigation module calculates the vehicle position in real time through an accelerometer and a gyroscope in the inertial navigation module and is used for determining the course and position information of the special vehicle during running.
As shown in fig. 2, before a special vehicle goes down a well, the comprehensive state of the running vehicle should be determined. Judging the special vehicle from two aspects: (1) priority of the special vehicle. According to the actual working state and working requirement of the transport vehicle, the priority of the vehicle is divided into a low priority and a high priority, and the two priorities of the special vehicle can be mutually converted. (2) the precision grade of the special vehicle. The invention sets the precision grade of the special vehicle to be high precision. And (3) the operation mode of the special vehicle. The embodiment sets the operation mode of the special vehicle as the operation mode of the motorcade.
The priority level of the vehicle refers to different operating states of the vehicle. As shown in fig. 3, the priority levels of the underground special vehicles are classified into a normal operation state and an emergency operation state according to the degree of emergency in which the vehicles actually operate. The normal working state is a general state of the vehicle, is a non-emergency state, has lower priority, and the emergency working state indicates that the vehicle has higher priority. When the current special vehicle is in a normal working state, if vehicles with emergency working states around pass, and when two vehicles collide, the vehicles with the emergency working states have priority to pass, the vehicles with the normal working states need to give up roads for the vehicles with the emergency working states, and the vehicles with the normal working states pass again after the vehicles with the emergency working states pass. The two priority states can be converted according to actual working conditions. When the special vehicle encounters an emergency work task, the special vehicle is converted from low priority to high priority and can pass through preferentially, and other vehicles with low priority pass through again after the special vehicle passes through. And after the special vehicle finishes working, the priority is reduced to a low level.
In this embodiment, priority tags are disposed in all special vehicles in the special fleet, and after the tags are triggered and turned on, the vehicles are set to a high priority mode, the high priority vehicles send out avoidance signals, and after the low priority vehicles receive the avoidance signals, the high priority vehicles are avoided.
As shown in fig. 4, for the accuracy class of the vehicle, the accuracy class is classified into high accuracy, medium accuracy and low accuracy according to different accuracy class requirements, and different types of sensors are arranged on the special vehicle according to different accuracy requirements to realize environment sensing. Accurate heading information and position information are required to be high in precision, more accurate heading information and position information are required to be medium in precision, and heading information is not required to be low in precision, and only approximate position information is required to be low in precision. As the special vehicle has larger mass and large loading mass, once dangerous consequences are serious, the invention prescribes the precision grade of the special vehicle as high precision, and establishes a special vehicle positioning system with underground high precision.
Specifically, as shown in fig. 5 and 6, the sensing module includes an ultrasonic radar 1, a millimeter wave radar 2, a laser radar 4, an infrared sensor 3 and a vision sensor 6, wherein the ultrasonic radar 1 is arranged at the front, rear, middle, lower and surrounding positions of a vehicle body of a special vehicle and is used for detecting obstacle information of the surrounding environment of the vehicle within a short distance, and the short distance is a measuring range of 0.3 to 2 meters; the millimeter wave radar is arranged at the front, rear, middle and lower positions of the underground transport vehicle and is used for sensing road information around the vehicle in a middle-long distance, and the measuring range is 12-18 meters; the laser radar is arranged at the top of the special vehicle and can rotate, and is used for sensing road information and obstacle information around the vehicle; the infrared sensor is arranged around the vehicle and used for sensing biological information around the vehicle and judging whether a person exists in the measuring range; the visual sensor is arranged at the middle position and the left side and the right side right in front of and behind the vehicle and used for recording target information of the front side, the rear side and the two sides of the vehicle, and is simultaneously used for scanning position labels marked on underground fixing, detectable labels with high-precision position information are arranged at the positions of the fixed positions of the roadway and the positions which can be detected by the visual sensor, the visual sensor can identify the labels of the fixed positions to determine the accurate positions of special vehicles, the special vehicles can identify the positions of the labels at the positions where the visual sensor can identify the positions, the special vehicles can determine the positions of the vehicles through identifying the fixed labels, and the position special vehicles without the labels can determine the positions of the vehicles through the cooperation of the total station and the prism.
Specifically, as shown in fig. 6, in this embodiment, six ultrasonic radars 1 are provided and are respectively installed at the front left corner, the front right corner, the rear left corner, the rear right corner, the front Fang Zhengzhong and the rear right position of the underground special vehicle, so that obstacle information of the surrounding environment of the vehicle can be sensed within a short distance (0.3 to 2 m). The millimeter wave radars 2 are arranged in four positions of a front left corner, a front right corner, a rear left corner and a rear right corner of the underground special vehicle, and can sense road information around the vehicle in a middle-long distance (12-18 m). The lidar 4 is provided in one, is mounted on the top of the vehicle and is rotatable, and can sense road information and obstacle information around the vehicle. The infrared sensor sets up 3 four, and the mounted position is with millimeter wave radar, can 360 degrees looks around in short distance to biological information around the perception vehicle judges whether someone has in the measuring range. The vision sensors 6 are arranged in four, are respectively arranged in the middle of the front, the middle of the rear, the middle of the left side and the middle of the right side of the vehicle, are used for recording the target information of the front, the rear and the two sides of the vehicle, and can scan and represent the position labels fixed in the pit.
As for the operation mode of the vehicle, referring to fig. 7, the present invention sets the operation mode of the special vehicle to the fleet mode. When the vehicle is operated in a vehicle team mode, the vehicle team forms a network, besides the communication between the head vehicle and the tail vehicle and surrounding vehicles, the vehicle team also needs to communicate with each other, and the speed, the distance and other information among the vehicles are interacted to control the overall operation of the vehicles.
When a special vehicle runs in a vehicle team mode, a plurality of vehicles are run in the well at a time, the vehicles are numbered before running in the well, the vehicles are arranged in a row according to a fixed number sequence, a certain safety distance is reserved between the vehicles, a wireless communication module is arranged on the vehicles and communicated with other surrounding vehicles and sensors in the environment, and whether personnel and obstacles exist in the surrounding environment or not is judged.
Further, as shown in fig. 1, in the special vehicle team, wireless communication modules are disposed on the special vehicles, and the first control module and the second control module are configured to implement mutual communication between each vehicle in the vehicle team through the wireless communication module of the vehicle, interact speed and distance information between the vehicles, and control running speed of the vehicle according to the received speed and distance information of other vehicles. As for the operation mode of the vehicle, referring to fig. 4, the operation mode of the special vehicle in the present embodiment is a fleet mode. When the vehicle is operated in a vehicle team mode, the vehicle team forms a network, besides the communication between the head vehicle and the tail vehicle and surrounding vehicles, the vehicle team also needs to communicate with each other, and the speed, the distance and other information among the vehicles are interacted to control the overall operation of the vehicles.
In this embodiment, when a special vehicle runs in a fleet, a plurality of vehicles are run in a well at a time, the vehicles are numbered before running in the well, the vehicles are arranged in a row according to a fixed number sequence, a certain safety distance is reserved between the vehicles, and the vehicles are provided with wireless communication modules which communicate with other surrounding vehicles and sensors in the environment to judge whether personnel and obstacles exist in the surrounding environment.
Further, in this embodiment, the wireless communication module includes a data storage unit, a wireless sending unit, and a wireless receiving unit, where a first control module in a head vehicle and a second control module in a tail vehicle are configured to aggregate and package fleet data of a fleet of vehicles and send the aggregate and packaged fleet data to surrounding vehicles outside the fleet through the wireless communication module of the vehicle, and further configured to collect and receive vehicle data in a surrounding environment in real time through the wireless communication module, and control an operation speed of a vehicle of the fleet of vehicles according to the received vehicle data in the surrounding environment; and the second control module in other vehicles in the vehicle team is used for sending the vehicle information of the current vehicle to the front and rear vehicles adjacent to the vehicle through the wireless communication module.
Specifically, the fleet data includes type, number, speed, and position, and the vehicle data includes type, number, speed, and position of the vehicle.
Further, at fixed time intervals, the head car and the tail car of the motorcade send motorcade data and receive surrounding vehicle data, if the sending time of the received surrounding vehicle data is later than the time of the original stored data, the original information is updated and stored through the data storage unit until the next sent data information covers the data; if the received surrounding vehicle data is transmitted earlier than the original stored data, the received communication data is discarded.
Further, the control unit in the motorcade calculates the distance between the vehicle and other surrounding vehicles through receiving the information, judges the running state of the surrounding vehicles and whether the surrounding vehicles have obstacles, and provides information basis for the subsequent decision of the current vehicle; when an obstacle exists, obstacle information and vehicle running state information within a certain distance are sent in advance, and a control system of the current motorcade sends a control instruction to slow down or brake an executing mechanism, so that danger is avoided.
Further, as shown in fig. 1, the unmanned system of the underground special vehicle fleet in this embodiment further includes an underground control center, where the underground control center is configured to receive vehicle fleet data of the vehicle fleet and forward the vehicle fleet data to an underground control center, specifically, in this embodiment, when the special vehicle travels underground, the vehicle fleet information may be transmitted to the underground control center in a wireless manner, and then the underground control center sends the special vehicle data to the underground control center in a wired manner, so that an underground person can know the position and the traveling state of the underground special vehicle at any time.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (7)
1. The unmanned system of the underground special vehicle team is characterized by comprising a total station, an inertial navigation module, a sensing module arranged on each special vehicle in the vehicle team, and a fixed position tag arranged at a fixed position in the underground; the total station (8) is arranged on a fixed rail under the well, and a prism (7) matched with the total station is arranged on the outer side of the special vehicle body; the sensing module comprises a visual sensor (6);
priority labels are arranged in all special vehicles in the special vehicle team, after the labels are triggered and started, the vehicles are set to be in a high priority mode, the high priority vehicles send out avoidance signals, and after the low priority vehicles receive the avoidance signals, the high priority vehicles are avoided to pass through;
in the special motorcade, a first control module is arranged in the head vehicle, and a second control module is arranged in other vehicles, wherein the first control module is used for calculating the course and the position information of the vehicle according to the measurement information of the total station (8) and the inertial navigation module, and the second control module is used for controlling the vehicle to run along with the head vehicle within a safe distance;
in the special vehicle team, wireless communication modules are arranged on the special vehicles, the first control module and the second control module are used for realizing mutual communication among the vehicles in the vehicle team through the wireless communication modules of the vehicles, interacting speed and distance information among the vehicles, and controlling the running speed of the vehicles according to the received speed and distance information of other vehicles;
the visual sensor is used for recording target information at the front and back sides and two sides of the vehicle and scanning position labels marked on underground fixation; the first control module and the second control module are also used for determining the accurate position of the vehicle according to the fixed position label image acquired by the visual sensor.
2. The unmanned system of a special underground vehicle team according to claim 1, wherein the sensing module comprises an ultrasonic radar (1), a millimeter wave radar (2), a laser radar (4), an infrared sensor (3) and a visual sensor (6), wherein the ultrasonic radar (1) is arranged at the front, the rear, the middle and the lower parts of the special vehicle and at the periphery of the vehicle body and is used for detecting the barrier information of the surrounding environment of the vehicle in a short distance, and the measuring range is 0.3 to 2 meters;
the millimeter wave radar is arranged at the front, rear, middle and lower positions of the underground transport vehicle and is used for sensing road information around the vehicle in a middle-long distance, and the measuring range is 12-18 meters; the laser radar is arranged at the top of the special vehicle and can rotate, and is used for sensing road information and obstacle information around the vehicle;
the infrared sensor is arranged around the vehicle and used for sensing biological information around the vehicle and judging whether a person exists in the measuring range;
the visual sensors are arranged at the middle positions and the left and right sides of the front and the rear of the vehicle.
3. The unmanned system of a special vehicle team in the pit according to claim 1, wherein the wireless communication module comprises a data storage unit, a wireless transmitting unit and a wireless receiving unit, the first control module in the head car and the second control module in the tail car are used for summarizing and packaging the vehicle team data of the vehicle team and then transmitting the summarized and packaged vehicle team data to the vehicles outside the surrounding vehicle team through the wireless communication module of the vehicle, and the unmanned system is also used for collecting and receiving the vehicle data in the surrounding environment in real time through the wireless communication module and controlling the running speed of the vehicle team according to the received vehicle data in the surrounding environment;
and the second control module in other vehicles in the vehicle team is used for sending the vehicle information of the current vehicle to the front and rear vehicles adjacent to the vehicle through the wireless communication module.
4. A downhole specialty fleet unmanned system according to claim 3, wherein the fleet data comprises type, number, speed, and position, and the vehicle data comprises type, number, speed, and position of the vehicle.
5. The unmanned system of a special underground fleet according to claim 1, wherein the head car and the tail car of the fleet transmit fleet data and receive surrounding vehicle data every a fixed period of time, and if the transmission time of the received surrounding vehicle data is later than the time of the original stored data, the original information is updated and stored by the data storage unit until the data information transmitted next time is covered; if the received surrounding vehicle data is transmitted earlier than the original stored data, the received communication data is discarded.
6. The unmanned system of a special vehicle team in the pit according to claim 1, wherein the first control module and the second control module are further used for calculating the distance between the vehicle and other surrounding vehicles by receiving information, judging the running state of the surrounding vehicles and whether obstacles exist, and providing information basis for the subsequent decision of the current vehicle; when an obstacle exists, obstacle information is sent in advance, and a control system of the current motorcade sends a control instruction to slow down or brake an executing mechanism, so that danger is avoided.
7. The unmanned system of a special fleet of vehicles downhole of claim 1, further comprising a downhole control center disposed downhole and communicatively coupled to the fleet of vehicles via wireless communication for receiving the fleet of vehicles and forwarding to the uphole control center.
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| CN113341969B (en) * | 2021-06-01 | 2023-12-08 | 江苏徐工工程机械研究院有限公司 | Traffic control system for mining truck and method thereof |
| CN114355876A (en) * | 2021-11-22 | 2022-04-15 | 中国煤炭科工集团太原研究院有限公司 | Safety control system and method |
| CN116559926A (en) * | 2022-01-29 | 2023-08-08 | 华为技术有限公司 | Method, device and equipment for positioning and positioning |
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