CN112783062A - Control system of unmanned mine car - Google Patents
Control system of unmanned mine car Download PDFInfo
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- CN112783062A CN112783062A CN202110010003.3A CN202110010003A CN112783062A CN 112783062 A CN112783062 A CN 112783062A CN 202110010003 A CN202110010003 A CN 202110010003A CN 112783062 A CN112783062 A CN 112783062A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a control system of an unmanned mine car, which relates to the technical field of automatic control of mine cars and comprises a terminal, a server, a car end communication unit, an unmanned control unit and a whole car control unit, wherein the terminal is connected with the server through a network; the terminal is used for issuing a vehicle control instruction, the server is used for forwarding the vehicle control instruction to the vehicle-end communication unit, the vehicle-end communication unit is used for receiving the vehicle control instruction forwarded by the server and sending the vehicle control instruction to the unmanned control unit and the whole vehicle control unit, and the unmanned control unit and the whole vehicle control unit are used for executing corresponding actions according to the vehicle control instruction. The system can improve the efficiency of the operation in the mining area and simultaneously can ensure the running safety of the mine car.
Description
Technical Field
The invention relates to the technical field of automatic control of mine cars, in particular to a control system of an unmanned mine car.
Background
Unmanned operation in a mining area is an effective way for accelerating the construction of a digital smart mine, and is beneficial to realizing safe production, reducing the use cost of manpower and the use cost of a whole vehicle and improving the operation efficiency. The unmanned mine car is an important link for realizing unmanned operation in a mining area, can automatically drive operation along a road network set in the mining area by combining with the actual operation condition of the mine, and operates in a mode of assisting an operating machine by a worker in a loading and unloading area. By the mode, the unmanned mine car can standardize the operation process of the mining area, and the operation efficiency and the operation safety of mining area operation are improved.
However, the existing control system for unmanned mine cars is centralized on the mine car itself, and no good interaction with the outside is formed, so when the mine car enters the unmanned mode, at least one vehicle security guard must be added on the unmanned mine car, and the vehicle security guard completes the vehicle power-on and power-off control and triggers the unmanned request, and this way cannot really realize the unmanned driving and the unmanned intervention of the mine car, and in the actual running process of the mine car, the vehicle security guard may have behaviors such as wrong operation or blind intervention in the running of the vehicle, and further causes the frequent stopping of the vehicle, which affects the working efficiency and even causes the safety problem.
Disclosure of Invention
In view of this, the application provides a control system of unmanned mine car, and main aim at solves current unmanned mine car and needs artificial intervention, can cause the technical problem of wasting of resources and potential safety hazard.
The invention provides a control system of an unmanned mine car, which comprises a terminal, a server, a car end communication unit, an unmanned control unit and a whole car control unit, wherein the terminal is connected with the server through a network; the terminal is used for issuing a vehicle control instruction, the server is used for forwarding the vehicle control instruction to the vehicle-end communication unit, the vehicle-end communication unit is used for receiving the vehicle control instruction forwarded by the server and sending the vehicle control instruction to the unmanned control unit and the whole vehicle control unit, and the unmanned control unit and the whole vehicle control unit are used for executing corresponding actions according to the vehicle control instruction.
Optionally, the system further comprises a camera device, the camera device is connected with the vehicle-end communication unit through a video cable, the camera device is used for collecting vehicle-end video data and uploading the vehicle-end video data to the vehicle-end communication unit, the vehicle-end communication unit is used for uploading the vehicle-end video data to a server, and the server is used for sending the vehicle-end video data to the terminal.
Optionally, the vehicle control instruction includes a vehicle power-on instruction, a vehicle start instruction, an unmanned entering instruction, a vehicle brake instruction, an unmanned exiting instruction, a vehicle stop instruction, a vehicle power-off instruction, and a key-off instruction.
Optionally, the system further comprises a low-voltage storage battery and a relay, wherein the low-voltage storage battery is connected with the vehicle end communication unit through a circuit connecting wire, and the low-voltage storage battery is connected with the unmanned control unit and the vehicle control unit through the relay and the circuit connecting wire; when the vehicle-end communication unit receives a vehicle power-on instruction, the vehicle-end communication unit judges whether the electric quantity of the low-voltage storage battery reaches a preset value, and if the electric quantity of the low-voltage storage battery reaches the preset value, the vehicle-end communication unit sends the vehicle power-on instruction to the whole vehicle control unit through the first bus; and the whole vehicle control unit initiates handshake verification to the vehicle end communication unit through the first bus, and if the handshake verification between the whole vehicle control unit and the vehicle end communication unit is passed, the whole vehicle control unit controls the relay to execute vehicle electrifying action according to the vehicle electrifying instruction.
Optionally, the whole vehicle control unit initiates handshake verification to the vehicle-end communication unit through the first bus, including: the whole vehicle control unit sends verification information to the vehicle end communication unit through the first bus; the vehicle-end communication unit encrypts the verification information according to the secret key to obtain a verification value of the verification information, and sends the verification value to the vehicle control unit; the vehicle control unit judges whether the verification value is the same as the encryption result corresponding to the verification information; if the verification value is the same as the encryption result corresponding to the verification information, the handshake verification between the vehicle control unit and the vehicle end communication unit is passed; and if the times that the verification value is different from the encryption result corresponding to the verification information exceed the preset times, the handshake verification between the vehicle control unit and the vehicle end communication unit is not passed.
Optionally, the system further comprises a power device, wherein the power device is connected with the vehicle control unit through a second bus; when the vehicle-end communication unit receives a vehicle starting instruction, the vehicle-end communication unit sends the vehicle starting instruction to the whole vehicle control unit through the first bus, and the whole vehicle control unit controls the power device to start according to the vehicle starting instruction.
Optionally, when the vehicle-end communication unit receives the unmanned command, the vehicle-end communication unit sends the unmanned command to the vehicle control unit and the unmanned control unit through the first bus; the whole vehicle control unit judges whether the current vehicle state meets a preset unmanned driving condition or not; and if the current vehicle state meets the preset unmanned condition, the whole vehicle control unit and the unmanned control unit execute the unmanned action according to the unmanned command.
Optionally, the unmanned command includes mode parameters, where the mode parameters include an automatic driving mode parameter and a remote driving mode parameter; when the unmanned command comprises an automatic driving mode parameter, the unmanned control unit acquires map data and coordinate data through a server and executes corresponding vehicle braking action through a perception positioning system according to the map data and the coordinate data; when the unmanned driving instruction comprises a remote control driving mode parameter, the vehicle end communication unit receives a vehicle braking instruction and sends the vehicle braking instruction to the whole vehicle control unit through a first bus, the whole vehicle control unit judges whether the vehicle braking instruction conforms to a preset vehicle operation rule, and if the vehicle braking instruction conforms to the preset vehicle operation rule, the whole vehicle control unit executes a corresponding vehicle braking action; and if the vehicle braking instruction does not accord with the preset vehicle operation rule, the whole vehicle control unit executes the vehicle braking action which accords with the preset vehicle operation rule.
Optionally, when the vehicle-end communication unit receives the unmanned exit instruction, the vehicle-end communication unit sends the unmanned exit instruction to the vehicle control unit and the unmanned control unit through the first bus, the vehicle control unit executes the vehicle deceleration parking action according to the unmanned exit instruction, and the unmanned control unit stops executing the unmanned action after the vehicle stops.
Optionally, when the vehicle-end communication unit receives a vehicle power-off instruction or does not receive a vehicle start instruction within a preset time period after receiving the vehicle power-on instruction, the vehicle-end communication unit sends the vehicle power-off instruction to the vehicle control unit through the first bus, the vehicle control unit determines whether the current vehicle state meets a preset power-off condition, and if the current vehicle state meets the preset power-off condition, the vehicle control unit controls the relay to execute a vehicle power-off action according to the vehicle power-off instruction.
Optionally, when the terminal triggers a one-key flameout instruction, the terminal issues a command of exiting the unmanned aerial vehicle, the server forwards the command of exiting the unmanned aerial vehicle, the vehicle-end communication unit receives the command of exiting the unmanned aerial vehicle, the vehicle-end communication unit sends the command of exiting the unmanned aerial vehicle to the vehicle control unit and the unmanned aerial vehicle control unit through the first bus, the vehicle control unit executes a vehicle deceleration parking action according to the command of exiting the unmanned aerial vehicle, and after the vehicle stops, the unmanned aerial vehicle control unit stops executing the unmanned aerial vehicle action according to the command of exiting the unmanned aerial vehicle; the terminal issues a vehicle power-off instruction, the server forwards the vehicle power-off instruction, the vehicle-end communication unit receives the vehicle power-off instruction, the vehicle-end communication unit sends the vehicle power-off instruction to the whole vehicle control unit through the first bus, and the whole vehicle control unit controls the relay to execute the vehicle power-off action according to the vehicle power-off instruction.
The control system of the unmanned mine car provided by the invention can enable the unmanned mine car to receive the vehicle control command from the outside of the mine car by issuing the vehicle control command through the terminal and forwarding the vehicle control command through the server, so that an interactive channel is established between the mine car and the outside, and the system can increase the reliability of command receiving by taking the vehicle end communication unit of the mine car as an internal and external unique communication medium, and enable the unmanned control unit of the mine car and the whole car control unit to complete corresponding actions according to the command, so that the mine car can perform certain actions of powering on, starting, unmanned driving quitting, parking, powering off and the like on site under the condition of no accompanying of safety personnel, thereby improving the efficiency of mine operation and ensuring the safety of mine operation.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic view of a control system for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating the operation of a control system for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating the operation of another unmanned mining vehicle control system according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating the operation of another drone tramcar control system in accordance with an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In one embodiment, a control system for an unmanned mining vehicle is provided, as shown in fig. 1, and comprises a terminal, a server, a vehicle-end communication unit, an unmanned control unit and a vehicle control unit, wherein the terminal is connected with the server through a network, the server is connected with the vehicle-end communication unit and the unmanned control unit through the network, and the vehicle-end communication unit, the unmanned control unit and the vehicle control unit are connected through a first bus. In this embodiment, the terminal may be a smart phone, a smart tablet, a handheld Controller, a personal computer, or other multiple devices or apparatuses, the server may be an independent server or a server cluster, the Network may be a 4G Network, a 5G Network, a wired local Area Network, a wireless local Area Network, or other multiple types of networks, the first bus may be a field bus such as a CAN (Controller Area Network) bus, and specifically, for the specific types of the terminal, the server, the Network, and the bus, this embodiment is not particularly limited, and may be determined according to actual field conditions.
Further, the working process of the control system of the unmanned mine car is as follows: firstly, mine workers issue vehicle control instructions through a terminal, then a server forwards the vehicle control instructions to a vehicle-end communication unit, then the vehicle-end communication unit receives the vehicle control instructions forwarded by the server and sends the vehicle control instructions to an unmanned control unit and a whole vehicle control unit, and finally the unmanned control unit and the whole vehicle control unit execute corresponding actions according to the vehicle control instructions. In this embodiment, the vehicle control command issued by the terminal may be of various types, for example, a vehicle power-on command, a vehicle start command, an unmanned entering command, a vehicle braking command, an unmanned exit command, a vehicle stop command, a vehicle power-off command, a one-key flameout command, and the like, and the vehicle control command may be received by the unmanned control unit and the entire vehicle control unit after being forwarded by the server and the vehicle-side communication unit, so that the unmanned control unit and the entire vehicle control unit may perform corresponding actions of power-on, start, unmanned, braking, unmanned exit, parking, power-off, and the like according to the vehicle control command.
It should be noted that although the drone control unit is connected to the server through the network, the drone control unit and the server do not have a function of transmitting vehicle control commands, because the communication between the drone control unit and the server requires the drone control unit to download map data and positioning data through the service only in the autonomous driving mode, so that the drone control unit can complete the autonomous driving task of the vehicle by means of its own perceptual positioning system. In each control unit of the vehicle end, the vehicle end communication unit is the only control unit capable of transmitting vehicle control instructions with the server, on one hand, the vehicle end communication unit can establish contact with the outside through the server, on the other hand, the vehicle end communication unit can also perform handshake verification with an internal whole vehicle control unit, and transmits the vehicle control instructions to the unmanned control unit and the whole vehicle control unit after the verification is passed, so that the unmanned control unit and the whole vehicle control unit can complete corresponding actions according to the vehicle control instructions, and the unmanned function of the vehicle is realized.
The control system of the unmanned mine car provided by the embodiment can enable the unmanned mine car to receive the vehicle control command from the outside of the mine car by issuing the vehicle control command through the terminal and forwarding the vehicle control command through the server, so that the mine car establishes an interactive channel with the outside, and the system can enable the unmanned control unit of the mine car and the whole car control unit to complete corresponding actions according to the command by taking the car end communication unit of the mine car as an internal and external unique communication medium, thereby not only increasing the reliability of command receiving, but also enabling the mine car to execute power-on, starting, unmanned driving quitting, parking, power-off and other actions on a mine site under the condition of no accompanying of safety personnel, improving the efficiency of mine operation and also ensuring the safety of mine car operation.
In one embodiment, as shown in FIG. 1, the control system of the unmanned mining vehicle further comprises a camera device, and the camera device can be connected with the vehicle-end communication unit through a video line. In this embodiment, the camera device may be specifically a panoramic camera, and may be specifically configured to acquire vehicle-side video data of the vehicle itself and the vehicle surroundings, and upload the vehicle-side video data to the vehicle-side communication unit, and the vehicle-side communication unit may be configured to upload the vehicle-side video data to the server, and forward the vehicle-side video data to the terminal through the server, so that mine workers can check the real-time status of the mine car and know the real-time status information of the vehicle itself and the vehicle surroundings at any time and any place through the terminal.
In one embodiment, the vehicle control commands may include a plurality of commands including a vehicle power-on command, a vehicle start command, an enter unmanned command, a vehicle brake command, an exit unmanned command, a vehicle stop command, a vehicle power-off command, and a key-off command. In this embodiment, each instruction corresponds to a corresponding constraint condition, and the corresponding vehicle control instruction can be successfully issued only when the current vehicle state meets a certain constraint condition. For example, the vehicle power-on command can only be issued during the vehicle power-off period, and the vehicle power-off command can only be issued when the vehicle exits the unmanned mode and is in a parking state, so that the issuing of each command is limited to a certain extent, and by means of the mode, the safety of the unmanned mine car control can be further improved, and improper vehicle commands are prevented from being issued mistakenly, so that misoperation is caused. In addition, each vehicle control command may correspond to one or more execution actions, and each vehicle control command may also include a plurality of sub-control commands. For example, a key-off command may correspond to various operations of decelerating to stop, exiting the unmanned mode, and powering down, while a vehicle braking command may include various sub-control commands of throttle, brake, left turn, right turn, etc. The existence of various vehicle control commands can realize various unmanned functions of the mine car to the maximum extent, and the mutual matching and restriction relationship among the various vehicle control commands can ensure that the mine car runs more safely and reliably.
In one embodiment, as shown in fig. 1, the above-mentioned control system for the unmanned mining vehicle further comprises a low-voltage battery (not shown in fig. 1) and a relay, wherein the low-voltage battery is connected with the vehicle-end communication unit through a circuit connection line, and is further connected with the unmanned control unit and the vehicle control unit through the relay and the circuit connection line. Specifically, as shown in fig. 2, when the vehicle-end communication unit receives a vehicle power-on command, the working flow of the control system of the unmanned mine vehicle is as follows: firstly, mine workers issue a vehicle power-on command through a terminal, then a server forwards the vehicle power-on command to a vehicle-end communication unit, then the vehicle-end communication unit judges whether the electric quantity of a low-voltage storage battery reaches a preset value (the preset value can be set, for example, the voltage of 70% of the capacity of the storage battery), if the electric quantity of the low-voltage storage battery reaches the preset value, the vehicle-end communication unit sends the vehicle power-on command to a whole vehicle control unit through a first bus, after receiving the vehicle power-on command, the whole vehicle control unit initiates handshake verification to the vehicle-end communication unit through the first bus, if the handshake verification between the whole vehicle control unit and the vehicle-end communication unit passes, the whole vehicle control unit controls a relay to execute the vehicle power-on action according to the vehicle power-on command, and if the handshake verification between the whole, the entire vehicle control unit refuses to execute the vehicle power-on action. By the mode, the unmanned control unit and the whole vehicle control unit at the vehicle end can be reliably connected with the vehicle end communication unit, so that the vehicle is effectively prevented from being controlled by a third party to be powered on and powered off, and the safety of system operation is improved.
In an embodiment, as shown in fig. 2, the process of initiating handshake authentication between the vehicle control unit and the vehicle-side communication unit in the above embodiment may be implemented by: firstly, a vehicle control unit sends verification information to a vehicle end communication unit through a first bus, then the vehicle end communication unit encrypts the verification information according to a secret key to obtain a verification value of the verification information, and sends the verification value to the vehicle control unit, finally, the vehicle control unit judges whether the verification value is the same as an encryption result corresponding to the verification information, if the verification value is the same as the encryption result corresponding to the verification information, handshake verification between the vehicle control unit and the vehicle end communication unit is passed, and if the number of times that the verification value is different from the encryption result corresponding to the verification information exceeds a preset number (the preset number can be set, for example, 1 or 3 times), the verification handshake between the vehicle control unit and the vehicle end communication unit is not passed. In addition, the process of initiating the handshake verification by the vehicle control unit and the vehicle-side communication unit may also be implemented in other manners, for example, the handshake verification may also be initiated by the vehicle-side communication unit when the vehicle power-on instruction is issued, and this embodiment is not specifically limited herein. In addition, it should be noted that when the electric quantity of the low-voltage storage battery does not reach the preset value, or the number of times that the verification value of the verification information calculated by the vehicle-end communication unit is different from the encryption result corresponding to the verification information exceeds the preset number of times, the vehicle-end communication unit may forward the result and reason of refusing to execute the power-on action to the server, and forward the result and reason to the terminal through the server, so that mining-area workers can timely know the result and reason of the unsuccessful power-on of the vehicle and make appropriate processing.
In one embodiment, as shown in FIG. 1, the control system for the unmanned mining vehicle further comprises a power plant, wherein the power plant is connected to the vehicle control unit via a second bus. In this embodiment, the power plant may comprise an engine and/or a gearbox etc. and the second bus may be a field bus such as a CAN bus. After the vehicle is powered on, the vehicle-end communication unit may receive the vehicle start instruction forwarded by the server at any time, specifically, as shown in fig. 2, when the vehicle-end communication unit receives the vehicle start instruction, the working flow of the control system of the unmanned mine car is as follows: firstly, mine workers can check whether the surrounding environment of the vehicle meets the vehicle starting requirement (such as no dangerous factors such as obstacles around the vehicle) through vehicle end video information on the terminal, if the vehicle starting requirement is met, a vehicle starting instruction can be issued through the terminal, then, the server forwards the vehicle starting instruction to the vehicle end communication unit, then, the vehicle end communication unit sends the vehicle starting instruction to the whole vehicle control unit through the first bus, and the whole vehicle control unit controls the power device to start according to the vehicle starting instruction, so that the whole vehicle is controlled to start.
In the above embodiment, the vehicle power-ON instruction and the vehicle start instruction may be issued separately or by one key, when the vehicle power-ON instruction and the vehicle start instruction are issued separately, the entire vehicle control unit controls the power-ON switch (ACC switch) and the power-ON switch (ON switch) to be turned ON separately, and then controls the start switch (start switch) to be turned ON, and when the vehicle power-ON instruction and the vehicle start instruction are issued by one key, the entire vehicle control unit controls the power-ON switch (ACC switch), the power-ON switch (ON switch) and the start switch (start switch) to be turned ON one by one. In addition, after the whole vehicle control unit finishes the power-on operation, the unmanned control unit and the camera device can be powered on one by one, so that workers in a mining area can check vehicle-end video information and vehicle state information through the terminal at any time, and the time for issuing each instruction is determined.
In one embodiment, after the vehicle is started, the vehicle-side communication unit may receive the unmanned entering command forwarded by the server at any time, specifically, as shown in fig. 3, when the vehicle-side communication unit receives the unmanned entering command, the working flow of the control system of the unmanned mine vehicle is as follows: firstly, mine workers issue a command for entering unmanned driving through a terminal, then a server forwards the command for entering unmanned driving to a vehicle-end communication unit, then the vehicle-end communication unit sends the command for entering unmanned driving to a vehicle control unit and an unmanned control unit through a first bus, finally the vehicle control unit judges whether the current vehicle state meets the preset unmanned driving condition, and if the current vehicle state meets the preset unmanned driving condition, the vehicle control unit and the unmanned control unit execute the unmanned driving action according to the command for entering unmanned driving.
In the above embodiment, when the vehicle control unit determines whether the current vehicle state meets the preset unmanned condition, it needs to first determine whether the unmanned control unit meets the unmanned condition (i.e., determine whether the current vehicle is in the unmanned state, and determine whether the unmanned mode of the current vehicle can be switched), and determine whether each function and the surrounding environment of the current vehicle are normal, if the current vehicle is not in the unmanned state, and each function and the surrounding environment of the current vehicle are normal, the vehicle control unit and the unmanned control unit can execute the unmanned action according to the unmanned command; if the current vehicle is in the unmanned state, the whole vehicle control unit further needs to further judge whether the unmanned mode of the current vehicle can be switched, if the mode can be switched and the vehicle end state is normal, the whole vehicle control unit and the unmanned control unit can execute the unmanned action according to the unmanned command, and if the mode can not be switched or the vehicle end state is abnormal, the whole vehicle control unit and the unmanned control unit refuse to execute the unmanned command. For example, when the vehicle is in the remote control driving mode, the mining area staff may switch the remote control driving mode to the automatic driving mode by issuing an instruction to enter unmanned driving, and when the vehicle is in the automatic driving mode, the mining area staff needs to issue a vehicle stop instruction first, and can issue an instruction to enter unmanned driving after the vehicle stops, so as to switch the automatic driving mode to the remote control driving mode. In addition, when the unmanned control unit does not meet the condition of entering the unmanned state or various functions and surrounding environments of the current vehicle are abnormal, the vehicle communication unit can also forward the result and reason of refusing to execute the unmanned instruction to the server and forward the result and reason to the terminal through the server, so that mine workers can timely know the result and reason that the vehicle does not successfully enter the unmanned state and can make appropriate treatment. By the mode, the safety of vehicle operation can be enhanced, misoperation of workers in a mining area is prevented, and therefore the probability of dangerous accidents is reduced.
In one embodiment, when the terminal issues the instruction to enter the unmanned aerial vehicle, the terminal may select to issue the mode parameter of the instruction to enter the unmanned aerial vehicle simultaneously or step by step, in this embodiment, the mode parameter may be selected by the mine area staff and issued together with the instruction to enter the unmanned aerial vehicle while issuing the unmanned aerial vehicle instruction, or may be selected by the mine area staff and issued separately through the terminal after issuing the unmanned aerial vehicle instruction. Specifically, as shown in fig. 3, the mode parameters entering the unmanned command include an automatic driving mode parameter and a remote driving mode parameter, when the workers in the mining area select the automatic driving mode, the unmanned control unit may obtain map data and coordinate data through the server, and execute corresponding vehicle braking actions, such as accelerator, brake, left turn, right turn, and the like, through the sensing and positioning system according to the map data and the coordinate data, thereby completing an automatic driving task; when the mine worker selects the remote control driving mode, the mine worker can issue a vehicle braking instruction through the terminal, then the server forwards the vehicle braking instruction to the vehicle end communication unit, then the vehicle end communication unit receives the vehicle braking instruction and sends the vehicle braking instruction to the whole vehicle control unit through the first bus, the whole vehicle control unit judges whether the vehicle braking instruction conforms to a preset vehicle operation rule or not, and if the vehicle braking instruction issued by the terminal conforms to the preset vehicle operation rule, the whole vehicle control unit executes a corresponding vehicle braking action; and if the vehicle braking instruction issued by the terminal does not accord with the preset vehicle operation rule, the whole vehicle control unit executes vehicle braking actions, such as braking and the like, which accord with the preset vehicle operation rule. In the embodiment, the unmanned driving mode is divided into the automatic driving mode and the remote control driving mode, so that the running state of the vehicle can meet the requirements of various unmanned driving situations, and meanwhile, the running safety and reliability of the vehicle in the remote control driving mode can be further improved by setting the running rule of the vehicle, so that the probability of dangerous accidents is reduced.
In one embodiment, after the vehicle enters the unmanned state, namely after the whole vehicle control unit and the unmanned control unit execute the unmanned entering command, the vehicle-end communication unit can receive the unmanned exiting command forwarded by the server at any time, and when the vehicle-end communication unit receives the unmanned exiting command, the working flow of the control system of the unmanned mine vehicle is as follows: firstly, mine workers issue an unmanned quitting instruction through a terminal, then a server forwards the unmanned quitting instruction to a vehicle-end communication unit, then the vehicle-end communication unit sends the unmanned quitting instruction to a vehicle control unit and an unmanned control unit through a first bus, the vehicle control unit executes a vehicle deceleration parking action according to the unmanned quitting instruction, and the unmanned control unit stops executing the unmanned action after the vehicle stops.
In one embodiment, after the vehicle is powered on, the vehicle-end communication unit can receive the vehicle power-off command forwarded by the server at any time, and the vehicle can respond according to actual conditions. When the vehicle-end communication unit receives a vehicle power-off command, the working process of the control system of the unmanned mine vehicle is as follows: firstly, mine workers issue a vehicle power-off command through a terminal, then a server forwards the vehicle power-off command to a vehicle-end communication unit, then the vehicle-end communication unit sends the vehicle power-off command to a whole vehicle control unit through a first bus, the whole vehicle control unit judges whether the current vehicle state meets a preset power-off condition, and if the current vehicle state meets the preset power-off condition, the whole vehicle control unit controls a relay to execute the vehicle power-off action according to the vehicle power-off command; if the current vehicle state does not meet the preset power-off condition, the whole vehicle control unit refuses to execute the power-off operation of the vehicle, and if the vehicle state does not meet the preset power-off condition, the vehicle communication unit can forward the result and reason of refusing to execute the power-off instruction of the vehicle to the server and forward the result and reason to the terminal through the server, so that mine workers can timely know the result and reason of the unsuccessful power-off of the vehicle and make proper treatment. In addition, as shown in fig. 2, under the condition that the vehicle-end communication unit does not receive the vehicle starting instruction within the preset time period after receiving the vehicle power-on instruction, the whole vehicle control unit can also execute the power-off operation, so that the electric quantity of the storage battery can be saved, and the cruising time of the unmanned mine vehicle control system can be prolonged. In this embodiment, when the vehicle control unit determines whether the current vehicle state meets the preset power-off condition, it may determine whether the vehicle has exited the unmanned mode and whether the vehicle has parked properly, and if the vehicle has exited the unmanned mode and the vehicle has parked properly, the vehicle control unit may perform the power-off operation of the vehicle.
In one embodiment, after the vehicle is powered on, the vehicle-end communication unit can receive the one-key flameout instruction forwarded by the server at any time. Specifically, as shown in fig. 4, when the vehicle-end communication unit receives a key-off instruction, the working flow of the control system of the unmanned mine vehicle is as follows: firstly, a mine worker selects a key flameout instruction through a terminal, then the terminal issues an unmanned quitting instruction, a server forwards the unmanned quitting instruction to a vehicle end communication unit, the vehicle end communication unit sends the unmanned quitting instruction to a whole vehicle control unit and the unmanned control unit through a first bus, the whole vehicle control unit executes a vehicle deceleration parking action, after the vehicle stops, the unmanned control unit stops executing the unmanned action, namely quits an unmanned mode, then the terminal issues a vehicle power-off instruction, the server forwards the vehicle power-off instruction to the vehicle end communication unit, and then the vehicle end communication unit sends the vehicle power-off instruction to the whole vehicle control unit through the first bus, so that the whole vehicle control unit controls a relay to execute the vehicle power-off action according to the vehicle power-off instruction. Through the mode, the unmanned mine car can be stopped and powered off in time when meeting emergency, so that the performance of the mine car can not be influenced while accidents are avoided, and the running safety of the mine car is further improved.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, and the software product to be identified may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, or the like), and include several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the method according to the implementation scenarios of the present application.
It will be appreciated by those skilled in the art that the present embodiment provides a control system configuration for an unmanned mining vehicle that is not limiting of the system, and that may include more or fewer components, or some combination of components, or a different arrangement of components. Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus a necessary general hardware platform, and can also be implemented by hardware.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above application serial numbers are for description purposes only and do not represent the superiority or inferiority of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.
Claims (11)
1. A control system of an unmanned mine car is characterized by comprising a terminal, a server, a car end communication unit, an unmanned control unit and a whole car control unit, wherein,
the terminal is connected with the server through a network, the server is connected with the vehicle-end communication unit and the unmanned control unit through the network, and the vehicle-end communication unit, the unmanned control unit and the whole vehicle control unit are connected through a first bus;
the terminal is used for issuing a vehicle control instruction, the server is used for forwarding the vehicle control instruction to the vehicle-end communication unit, the vehicle-end communication unit is used for receiving the vehicle control instruction forwarded by the server and sending the vehicle control instruction to the unmanned control unit and the whole vehicle control unit, and the unmanned control unit and the whole vehicle control unit are used for executing corresponding actions according to the vehicle control instruction.
2. The system according to claim 1, further comprising a camera device connected to the vehicle-end communication unit through a video cable, wherein the camera device is configured to collect vehicle-end video data and upload the vehicle-end video data to the vehicle-end communication unit, the vehicle-end communication unit is configured to upload the vehicle-end video data to the server, and the server is configured to send the vehicle-end video data to the terminal.
3. The system of claim 1, wherein the vehicle control instructions comprise a vehicle power-on instruction, a vehicle start-up instruction, an enter-drone instruction, a vehicle brake instruction, an exit-drone instruction, a vehicle stop instruction, a vehicle power-down instruction, and a key-off instruction.
4. The system of claim 3, further comprising a low voltage battery and a relay, wherein the low voltage battery is connected to the vehicle-side communication unit via a circuit connection line, and wherein the low voltage battery is further connected to the drone control unit and the vehicle control unit via the relay and the circuit connection line;
when the vehicle-end communication unit receives the vehicle power-on instruction, the vehicle-end communication unit judges whether the electric quantity of the low-voltage storage battery reaches a preset value, and if the electric quantity of the low-voltage storage battery reaches the preset value, the vehicle-end communication unit sends the vehicle power-on instruction to the whole vehicle control unit through the first bus;
the whole vehicle control unit initiates handshake verification to the vehicle end communication unit through the first bus, and if the handshake verification between the whole vehicle control unit and the vehicle end communication unit passes, the whole vehicle control unit controls the relay to execute vehicle electrifying action according to the vehicle electrifying command.
5. The system of claim 4, wherein the vehicle control unit initiates handshake verification to the vehicle-side communication unit through the first bus, and the handshake verification comprises:
the whole vehicle control unit sends verification information to the vehicle end communication unit through the first bus;
the vehicle-end communication unit encrypts the verification information according to the secret key to obtain a verification value of the verification information, and sends the verification value to the vehicle control unit;
the vehicle control unit judges whether the verification value is the same as the encryption result corresponding to the verification information;
if the verification value is the same as the encryption result corresponding to the verification information, the handshake verification between the vehicle control unit and the vehicle end communication unit is passed;
and if the times that the verification value is different from the encryption result corresponding to the verification information exceed the preset times, the handshake verification between the finished automobile control unit and the automobile end communication unit is not passed.
6. The system of claim 3, further comprising a power plant, wherein the power plant is coupled to the vehicle control unit via a second bus;
when the vehicle-end communication unit receives the vehicle starting instruction, the vehicle-end communication unit sends the vehicle starting instruction to the whole vehicle control unit through the first bus, and the whole vehicle control unit controls the power device to start according to the vehicle starting instruction.
7. The system of claim 3,
when the vehicle-end communication unit receives the unmanned entering instruction, the vehicle-end communication unit sends the unmanned entering instruction to the whole vehicle control unit and the unmanned control unit through the first bus;
the whole vehicle control unit judges whether the current vehicle state meets a preset unmanned driving condition or not;
and if the current vehicle state meets the preset unmanned condition, the whole vehicle control unit and the unmanned control unit execute the unmanned action according to the unmanned entering command.
8. The system of claim 7, wherein the enter unmanned command comprises mode parameters, wherein the mode parameters comprise an automatic driving mode parameter and a remote driving mode parameter;
when the unmanned command comprises an automatic driving mode parameter, the unmanned control unit acquires map data and coordinate data through a server and executes corresponding vehicle braking action through a perception positioning system according to the map data and the coordinate data;
when the unmanned driving entering instruction contains a remote control driving mode parameter, the vehicle end communication unit receives the vehicle braking instruction and sends the vehicle braking instruction to the whole vehicle control unit through the first bus, the whole vehicle control unit judges whether the vehicle braking instruction conforms to a preset vehicle operation rule, and if the vehicle braking instruction conforms to the preset vehicle operation rule, the whole vehicle control unit executes a corresponding vehicle braking action; and if the vehicle braking instruction does not accord with the preset vehicle operation rule, the whole vehicle control unit executes the vehicle braking action which accords with the preset vehicle operation rule.
9. The system of claim 3,
when the vehicle-end communication unit receives the unmanned command quitting, the vehicle-end communication unit sends the unmanned command quitting to the whole vehicle control unit and the unmanned control unit through the first bus, the whole vehicle control unit executes the vehicle deceleration parking action according to the unmanned command quitting, and after the vehicle stops, the unmanned control unit stops executing the unmanned action according to the unmanned command quitting.
10. The system of claim 3,
when the vehicle end communication unit receives the vehicle power-off instruction or receives the vehicle power-on instruction, the vehicle end communication unit sends the vehicle power-off instruction to the whole vehicle control unit through the first bus, the whole vehicle control unit judges whether the current vehicle state meets the preset power-off condition, and if the current vehicle state meets the preset power-off condition, the whole vehicle control unit controls the relay to execute the vehicle power-off action according to the vehicle power-off instruction.
11. The system of claim 3,
when the terminal triggers a one-key flameout instruction, the terminal issues a command of exiting the unmanned driving, the server forwards the command of exiting the unmanned driving, the vehicle-end communication unit receives the command of exiting the unmanned driving, the vehicle-end communication unit sends the command of exiting the unmanned driving to the whole vehicle control unit and the unmanned control unit through the first bus, the whole vehicle control unit executes a vehicle deceleration parking action according to the command of exiting the unmanned driving, and after the vehicle stops, the unmanned control unit stops executing the unmanned driving action according to the command of exiting the unmanned driving;
the terminal issues a vehicle power-off instruction, the server forwards the vehicle power-off instruction, the vehicle-end communication unit receives the vehicle power-off instruction, the vehicle-end communication unit sends the vehicle power-off instruction to the whole vehicle control unit through the first bus, and the whole vehicle control unit controls the relay to execute the vehicle power-off action according to the vehicle power-off instruction.
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| CN202110010003.3A CN112783062A (en) | 2021-01-05 | 2021-01-05 | Control system of unmanned mine car |
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| CN202110010003.3A CN112783062A (en) | 2021-01-05 | 2021-01-05 | Control system of unmanned mine car |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113467431A (en) * | 2021-08-03 | 2021-10-01 | 上海智能新能源汽车科创功能平台有限公司 | Remote monitoring and emergency intervention management system based on 5G communication |
| CN113460068A (en) * | 2021-06-23 | 2021-10-01 | 安徽海博智能科技有限责任公司 | Mine car unmanned system and method with driving mode switching function |
| CN114326469A (en) * | 2021-11-26 | 2022-04-12 | 江苏徐工工程机械研究院有限公司 | Unmanned mine intelligent auxiliary operation safety control method and system |
| CN114475477A (en) * | 2022-01-19 | 2022-05-13 | 白犀牛智达(北京)科技有限公司 | Unmanned vehicle and low-power-consumption power-on and power-off control device and method thereof |
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2021
- 2021-01-05 CN CN202110010003.3A patent/CN112783062A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460068A (en) * | 2021-06-23 | 2021-10-01 | 安徽海博智能科技有限责任公司 | Mine car unmanned system and method with driving mode switching function |
| CN113467431A (en) * | 2021-08-03 | 2021-10-01 | 上海智能新能源汽车科创功能平台有限公司 | Remote monitoring and emergency intervention management system based on 5G communication |
| CN114326469A (en) * | 2021-11-26 | 2022-04-12 | 江苏徐工工程机械研究院有限公司 | Unmanned mine intelligent auxiliary operation safety control method and system |
| CN114326469B (en) * | 2021-11-26 | 2023-12-08 | 江苏徐工工程机械研究院有限公司 | Unmanned mine intelligent auxiliary operation safety control method and system |
| CN114475477A (en) * | 2022-01-19 | 2022-05-13 | 白犀牛智达(北京)科技有限公司 | Unmanned vehicle and low-power-consumption power-on and power-off control device and method thereof |
| CN114475477B (en) * | 2022-01-19 | 2023-12-29 | 白犀牛智达(北京)科技有限公司 | Unmanned vehicle and low-power-consumption power-on and power-off control device and method thereof |
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