CN112346452A - Mining explosion-proof unmanned vehicle control device - Google Patents
Mining explosion-proof unmanned vehicle control device Download PDFInfo
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- 238000005065 mining Methods 0.000 title claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 230000008447 perception Effects 0.000 claims description 11
- 230000017525 heat dissipation Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 239000003245 coal Substances 0.000 abstract description 17
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010892 electric spark Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- 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
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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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
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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
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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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Abstract
The invention provides a mining explosion-proof unmanned vehicle control device which comprises a sensing system, a decision-making system, a communication system, a vehicle control module, a driving execution module, a wake-up module, a gas monitoring module, a switch and a scheduling management center, wherein the sensing system is used for sensing the explosion-proof unmanned vehicle; the communication system comprises a CAN communication module and a wireless communication module; the wireless communication module, the decision-making system and the sensing system are electrically connected with the switch; the gas detection module is electrically connected with the awakening module, and the awakening module is wirelessly connected with the dispatching management center; the awakening module, the wireless communication module and the decision system are connected with the vehicle control module through the CAN communication module; the vehicle control module is connected with the driving execution module through the CAN communication module; the wireless communication module is wirelessly connected with the dispatching management center through the combined antenna. The invention can detect the gas concentration of the coal mine and start the coal mine through remote control, thereby improving the operation efficiency of the vehicle and reducing the accident risk.
Description
Technical Field
The invention relates to the technical field of unmanned mining vehicles, in particular to a control device for a mining explosion-proof unmanned vehicle.
Background
The mine explosion-proof vehicle is one of main tools for coal mine transportation personnel and materials in China, and has the characteristics of high efficiency, flexibility and strong trafficability. However, the working environment of the coal mine is severe, the danger coefficient is high, the mining explosion-proof vehicles in China are almost driven manually at present, the accident rate of the mining vehicles is high due to the reasons of misoperation of personnel, severe operating environment, technical hidden danger of the vehicles and the like, huge economic loss is caused to the coal mine, and huge potential safety hazard is also brought to coal mine workers.
At present, the application of the unmanned technology on ground vehicles is gradually mature, and the unmanned technology has the characteristics of high efficiency, safety and capability of prolonging the service life of the vehicles. Different from a traffic network with complicated ground, the coal mine transportation route is relatively fixed, and the road network is relatively simple, so that the unmanned technology is very suitable for being used in coal mine transportation, on one hand, the safety accidents of the mining vehicle caused by human misoperation can be avoided, on the other hand, the fund can be saved, the service life of the mining vehicle is prolonged, and the production cost of the coal mine is reduced; in addition, the unmanned mining vehicle can operate for 24 hours all day long, and the production efficiency of the coal mine can be greatly improved. Since the ground road network and road conditions are greatly different from the coal mine road network and road conditions, the ground unmanned control device cannot be directly used, and the unmanned vehicle control device applicable to coal mines can be researched according to the specific environment of the coal mines.
Disclosure of Invention
The invention overcomes the defects of the prior art, and solves the technical problems that: the control device of the mine explosion-proof unmanned vehicle is provided to realize unmanned driving of the mine explosion-proof vehicle.
In order to solve the technical problems, the invention adopts the technical scheme that: a mining explosion-proof unmanned vehicle control device comprises a sensing system, a decision-making system, a communication system, a vehicle control module, a driving execution module, a wake-up module, a gas monitoring module, a switch and a scheduling management center; the communication system comprises a combined antenna, an antenna, a CAN communication module and a wireless communication module;
the wireless communication module, the decision-making system and the sensing system are electrically connected with the switch;
the gas detection module is electrically connected with the awakening module, and the awakening module is wirelessly connected with the dispatching management center through an antenna;
the awakening module, the wireless communication module and the decision system are connected with the vehicle control module through the CAN communication module; the vehicle control module is connected with the driving execution module through the CAN communication module; the sensing system, the decision-making system and the wireless communication module are all connected with the switch; the wireless communication module is wirelessly connected with the dispatching management center through the combined antenna.
The awakening module is used for receiving a starting instruction sent by the dispatching management center and judging whether the whole vehicle needs to be awakened or not by combining a detection result of the gas monitoring module;
the sensing system is used for sensing the surrounding environment of the vehicle, identifying obstacles and constructing a real-time map;
the decision system is used for planning a path according to real-time map information constructed by the perception system and sending the path to the vehicle control module;
the vehicle control module is used for controlling the driving execution module according to a path planning result sent by the decision system;
the wireless communication module is used for uploading the real-time map information constructed by the perception system to a scheduling management center.
Further, the perception system includes a lidar and a vision sensor module.
Furthermore, the number of the vision sensor modules is four, the vision sensor modules are respectively arranged at four corners of the vehicle, the number of the laser radars is two, and the vision sensor modules are respectively arranged at the front and the rear of the vehicle.
Furthermore, the decision-making system and the vehicle control module are designed in a redundant mode.
Furthermore, the driving execution module comprises a driving module, a braking module, an acousto-optic module and a heat dissipation module; the driving module is used for driving the vehicle to walk, the braking module is used for braking the vehicle, the acousto-optic module is used for providing illumination and prompt sound, and the heat dissipation module is used for dissipating heat of the vehicle.
Furthermore, all modules in the control device are subjected to explosion-proof treatment.
Further, the control device for the mining explosion-proof unmanned vehicle is started in a remote control mode, and the control method specifically comprises the following steps:
s1, the dispatching management center sends a vehicle starting instruction to the awakening module through the antenna;
s2, the awakening module starts the gas detection module firstly, judges whether to awaken the vehicle or not by combining the detection result of the gas detection module, and enters the next step if awakening;
s3, after the vehicle is awakened, the sensing system senses the surrounding environment, identifies obstacles and constructs a real-time map;
s4, the decision system plans the path according to the surrounding environment sensed by the sensing system and the map constructed in real time, and sends the path planning result to the vehicle control module;
and S5, the vehicle control module sends control commands to the driving module and the braking module to execute steering, decelerating or stopping operation.
Compared with the prior art, the invention has the following beneficial effects: the invention provides a control device of a mining explosion-proof unmanned vehicle, which can identify obstacles on a coal mine transportation route, can construct a real-time map while identifying the obstacles, and can plan a path according to obstacle information and real-time map information so as to realize positioning, navigation and control of the vehicle; in addition, this controlling means detectable colliery gas concentration starts through remote control, and the detection of gas concentration provides the safety guarantee for going of vehicle, and personnel's operation has further been avoided to remote control's mode, has reduced the accident risk.
Drawings
FIG. 1 is a schematic structural principle diagram of a control device of a mining explosion-proof unmanned vehicle, provided by an embodiment of the invention;
FIG. 2 is a flow chart of a control method according to an embodiment of the present invention;
in the figure: 1. the system comprises a dispatching management center, 2, a combined antenna, 3, an antenna, 4, a wake-up module, 5, a gas detection module, 6, a CAN communication module, 7, a wireless communication module, 8, a decision-making system, 9, a switch, 10, a laser radar, 11, a vision sensor module, 12, a vehicle control module, 13, a driving module, 14, a braking module, 15, an acousto-optic module, 16 and a heat dissipation module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a control device for a mining explosion-proof unmanned vehicle, including a sensing system, a decision system 8, a communication system, a vehicle control module 12, a driving execution module, a wake-up module 4, a gas monitoring module 5, a switch 9, and a scheduling management center 1. The perception system comprises a laser radar 10 and a vision sensor module 11; the communication system comprises a combined antenna 2, an antenna 3, a CAN communication module 6 and a wireless communication module 7; the driving execution module comprises a driving module 13, a braking module 14, an acousto-optic module 15 and a heat dissipation module 16; the wireless communication module 7, the decision-making system 8, the laser radar 10 and the vision sensor module 11 are electrically connected with the switch 9, the awakening module 4, the wireless communication module 7, the decision-making system 8, the vehicle control module 12, the driving module 13, the braking module 14, the acousto-optic module 15 and the heat dissipation module 16 are electrically connected with the CAN communication module 6, the combined antenna 2 and the antenna 3 are wirelessly connected with the dispatching management center 1, the combined antenna 2 is electrically connected with the wireless communication module 7, and the antenna 3 and the gas detection module 5 are electrically connected with the awakening module 4. The driving module 13 is used for driving the vehicle to run, the braking module 14 is used for braking the vehicle, the acousto-optic module 15 is used for providing illumination and prompt sound, and the heat dissipation module 16 is used for dissipating heat of the vehicle.
In the embodiment of the invention, the gas detection module 5 is electrically connected with the awakening module 4, and the awakening module 4 is wirelessly connected with the dispatching management center 1 through the antenna 3; the awakening module 4, the wireless communication module 7 and the decision system 8 are connected with the vehicle control module 12 through the CAN communication module 6; the vehicle control module 12 is connected with the driving execution module through the CAN communication module 6; the perception system, the decision-making system 8 and the wireless communication module 7 are all connected with the switch 9; the wireless communication module 7 is wirelessly connected with the dispatching management center 1 through the combined antenna 2. The awakening module 4 is used for receiving a starting instruction sent by the dispatching management center 1 and judging whether the whole vehicle needs to be awakened or not by combining a detection result of the gas monitoring module 5; the sensing system is used for sensing the surrounding environment of the vehicle, identifying obstacles and constructing a real-time map; the decision system 8 is configured to perform path planning according to real-time map information constructed by the sensing system, and send the path planning to the vehicle control module 12; the vehicle control module is used for controlling the driving execution module according to a path planning result sent by the decision system 8; the wireless communication module 7 is used for uploading the real-time map information constructed by the perception system to the dispatching management center 1.
Specifically, the information of the perception system includes obstacle information recognized by the laser radar 10 and the vision sensor module 11 and map information constructed by the information of the laser radar 10 in real time, the information is respectively transmitted to the decision system 8 and the communication system after passing through the switch 9, and the decision system 8 performs path planning according to the obstacle information and the map information; meanwhile, the wireless communication module 7 in the communication system transmits the barrier information and the map information back to the dispatching management center 1 through the combined antenna 2, so that the monitoring of the vehicle running environment by the working personnel is realized.
Considering that the coal mining transportation environment is severe, in order to improve the safety and reliability of the vehicle, the control device adopts a redundancy design concept during design, wherein two sets of decision-making systems 8 and two sets of vehicle control modules 12 are designed, so that the normal running of the vehicle can be ensured even if one set of the decision-making systems fails to work.
In order to further reduce the contact between personnel and vehicles, the control device is started in a remote control mode, the awakening module 4 is in wireless connection with the dispatching management center 1 through the antenna 3, and the dispatching management center 1 sends instructions to the awakening module 4 through the antenna 3. The wake-up module 4 is a low-power consumption permanent online system and can receive the instruction of the dispatch management center 1 at any time. When the vehicle control device is awakened by the awakening module 4, the vehicle controller, the sensing system, the decision system 8, the CAN communication module 6, the wireless communication module 7, the driving control system and the like all start to be electrified and work, and the vehicle starts to run.
Specifically, in this embodiment, the perception system part comprises 4 vision sensor modules 11 and 2 lidar 10, and 4 vision sensor modules 11 are arranged respectively in the vehicle four corners, and 2 lidar 10 are arranged respectively in the front portion of the vehicle and rear portion, can 360 degrees no dead angle discernment vehicle surrounding barrier, and lidar 10's information still can be used to real-time map construction to this can realize the navigation of vehicle and location in real time.
Flammable and explosive gas dust such as gas is often mixed in the coal mining transportation environment, so that the control device is provided with a gas monitoring module 5 to detect the running environment of the vehicle in real time and ensure that the vehicle runs in a safe environment; meanwhile, all modules of the control device are electrical elements, and phenomena such as electric sparks and electric leakage cannot be completely avoided, so that all modules are subjected to explosion-proof treatment, and high-risk events such as explosion caused by the phenomenon of electric sparks or electric leakage of one module are avoided.
As shown in fig. 2, the control device for the mining explosion-proof unmanned vehicle provided by the embodiment of the invention is started in a remote control manner, and the control method specifically includes the following steps:
s1, firstly, the dispatching management center 1 sends a vehicle starting instruction to the awakening module 4 through the antenna 3;
s2, the awakening module 4 starts the gas detection module 5 firstly, the gas detection module 5 detects the gas concentration, if the gas concentration is in a safe range, the awakening module 4 awakens the whole vehicle, otherwise, the vehicle is not started; if the mobile phone is awakened, the next step is carried out;
s3, after the vehicle is awakened, the sensing system senses the surrounding environment, identifies obstacles and constructs a real-time map;
s4, the decision system 8 plans the path according to the surrounding environment sensed by the sensing system and the map constructed in real time, and sends the path planning result to the vehicle control module 12;
and S5, finally, the vehicle control module 12 sends control commands to the driving module 13 and the braking module 14 to execute steering, deceleration or parking operations.
In summary, the embodiment of the invention provides a control device for a mine explosion-proof unmanned vehicle, which can identify obstacles on a coal mine transportation route, can perform real-time map construction while identifying the obstacles, and can perform path planning according to obstacle information and real-time map information, thereby realizing positioning, navigation and control of the vehicle; in addition, this controlling means detectable colliery gas concentration starts through remote control, and the detection of gas concentration provides the safety guarantee for going of vehicle, and personnel's operation has further been avoided to remote control's mode, has reduced the accident risk.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (7)
1. A mining explosion-proof unmanned vehicle control device is characterized by comprising a sensing system, a decision-making system (8), a communication system, a vehicle control module (12), a driving execution module, a wake-up module (4), a gas monitoring module (5), a switch (9) and a scheduling management center (1); the communication system comprises a combined antenna (2), an antenna (3), a CAN communication module (6) and a wireless communication module (7);
the wireless communication module (7), the decision-making system (8) and the sensing system are electrically connected with the switch (9); the wireless communication module (7) is in wireless connection with the scheduling management center (1) through the combined antenna (2); the gas detection module (5) is electrically connected with the awakening module (4), and the awakening module (4) is wirelessly connected with the dispatching management center (1) through the antenna (3);
the awakening module (4), the wireless communication module (7) and the decision system (8) are connected with the vehicle control module (12) through the CAN communication module (6); the vehicle control module (12) is connected with the driving execution module through the CAN communication module (6);
the awakening module (4) is used for receiving a starting instruction sent by the dispatching management center (1) and judging whether the whole vehicle needs to be awakened or not by combining a detection result of the gas monitoring module (5); the sensing system is used for sensing the surrounding environment of the vehicle, identifying obstacles and constructing a real-time map; the decision system (8) is used for planning a path according to real-time map information constructed by the perception system and sending the path to the vehicle control module (12); the vehicle control module is used for controlling the driving execution module according to a path planning result sent by the decision system (8); the wireless communication module (7) is used for uploading the real-time map information constructed by the perception system to the dispatching management center (1).
2. A mining explosion-proof unmanned vehicle control apparatus according to claim 1, characterized in that the perception system includes a lidar (10) and a vision sensor module (11).
3. The mining explosion-proof unmanned vehicle control device according to claim 2, characterized in that the number of the vision sensor modules (11) is four, one is arranged at each of four corners of the vehicle, the number of the laser radars (10) is two, and one is arranged at each of the front and rear of the vehicle.
4. The mining explosion-proof unmanned vehicle control device according to claim 1, characterized in that the decision-making system (8) and the vehicle control module (12) are of redundant design.
5. The mining explosion-proof unmanned vehicle control device according to claim 1, characterized in that the driving execution module comprises a driving module (13), a braking module (14), an acousto-optic module (15) and a heat dissipation module (16);
the driving module (13) is used for driving the vehicle to run, the braking module (14) is used for braking the vehicle, the acousto-optic module (15) is used for providing illumination and prompt sound, and the heat dissipation module (16) is used for dissipating heat of the vehicle.
6. The mining explosion-proof unmanned vehicle control device of claim 1, characterized in that all modules in the control device are explosion-proof.
7. The mining explosion-proof unmanned vehicle control device according to claim 1, characterized in that it is started by a remote control mode, and its control method specifically includes the following steps:
s1, the dispatching management center (1) sends a vehicle starting instruction to the awakening module (4) through the antenna (3);
s2, the awakening module (4) starts the gas detection module (5) firstly, judges whether to awaken the vehicle or not by combining the detection result of the gas detection module (5), and enters the next step if awakening;
s3, after the vehicle is awakened, the sensing system senses the surrounding environment, identifies obstacles and constructs a real-time map;
s4, the decision system (8) plans the path according to the surrounding environment sensed by the sensing system and the map constructed in real time, and sends the path planning result to the vehicle control module (12);
and S5, the vehicle control module (12) sends control commands to the driving module (13) and the braking module (14) to execute steering, deceleration or parking operation.
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