CN113428165A - MDC 300-based mine car automatic driving safety system and method - Google Patents
MDC 300-based mine car automatic driving safety system and method Download PDFInfo
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- CN113428165A CN113428165A CN202110721067.4A CN202110721067A CN113428165A CN 113428165 A CN113428165 A CN 113428165A CN 202110721067 A CN202110721067 A CN 202110721067A CN 113428165 A CN113428165 A CN 113428165A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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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
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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Abstract
The invention discloses an MDC 300-based automatic driving safety system and method for a mine car, and the safety system comprises an equipment driving module, a fault management module and a data processing module, wherein the equipment driving module is used for detecting the fault state of vehicle-mounted equipment and outputting feedback information to the fault management module; the function detection unit is used for monitoring the system function logic input/output and the function state and feeding back the failure information which cannot be processed to the failure management module; the fault management module is used for receiving fault information of each module and performing fault processing; the emergency braking module is used for executing an emergency safe parking or normal parking instruction sent by the fault management module when the fault management module judges that the fault occurs; the equipment driving module and the function detection unit are both arranged at the input end of the fault management module, and the emergency braking module is arranged at the output end of the fault management module. The automatic driving safety system of the invention carries out real-time detection and safety processing on various failures and faults and records the failures and the faults to the log system so as to ensure the safe and stable operation of the automatic driving system of the mine car under severe environmental scenes.
Description
Technical Field
The invention relates to the technical field of automatic safe driving of mine cars, in particular to an automatic driving safety system and an automatic driving safety method of a mine car based on MDC 300.
Background
At present, due to the problems of large dust, high danger, open-air operation and the like in mines, labor difficulty and labor cost are increased, and the problems become important factors for restricting the rapid development of the mines. The development of automatic driving of mine cars is vigorously carried out, and the development trend is now that the mine cars are applied to mine scenes. However, the safety and stability of the existing automatic driving system of the mine car are still key factors for restricting the landing of the product.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and in order to realize the aim, the invention adopts a mine car automatic driving safety system and a method based on MDC300 to solve the problems in the background technology.
An MDC 300-based mine car autopilot safety system comprising:
the equipment driving module is used for detecting the fault state of the vehicle-mounted equipment and outputting feedback information to the fault management module;
the function detection unit is used for monitoring the system function logic input/output and the function state and feeding back the failure information which cannot be processed to the failure management module;
the fault management module is used for receiving fault information of each module and performing fault processing;
the emergency braking module is used for executing an emergency safe parking or normal parking instruction sent by the fault management module when the fault management module judges that the fault occurs;
the equipment driving module and the function detection unit are both arranged at the signal input end of the fault management module, and the emergency braking module is arranged at the signal output end of the fault management module.
As a further aspect of the invention: the device driving module comprises a millimeter wave radar driving unit for detecting and feeding back millimeter wave radar faults, a laser radar driving unit for detecting and feeding back laser radar faults and a combined inertial navigation driving unit for detecting and feeding back combined inertial navigation faults.
As a further aspect of the invention: the fault management module is provided with a system monitoring module for monitoring the system running state and the hardware state and a vehicle-mounted TOBX for remote information transmission.
As a further aspect of the invention: the fault management module is provided with a log system for fault recording.
As a further aspect of the invention: and a signal output end of the emergency braking module is provided with a control unit for signal conversion, and an output end of the control unit is provided with a VCU actuator module.
As a further aspect of the invention: the emergency braking module is formed by combining an automatic braking system and an emergency braking warning system.
A method comprising an MDC 300-based automatic drive safety system for mine cars as described in any of the above, comprising the steps of:
detecting the fault state of the vehicle-mounted equipment through an equipment driving module and outputting feedback information to a fault management module;
meanwhile, the input and output and the function state of the system are monitored by using a function detection unit, and the failure information which cannot be processed is fed back to a failure management module;
the fault management module receives fault information of each module and processes the fault;
the vehicle-mounted TOBX receives the information after the fault processing and reports the information to the remote mine car dispatching system;
and meanwhile, the emergency braking module executes an emergency safe parking or normal parking instruction sent by the fault management module when the fault management module judges that the fault occurs.
Compared with the prior art, the invention has the following technical effects:
by adopting the technical scheme, the equipment fault detection monitoring and information feedback are carried out by utilizing the equipment driving module which is arranged and mainly comprising the millimeter wave radar driving unit, the laser radar driving unit and the combined inertial navigation driving unit. And meanwhile, a function detection unit is arranged to monitor the input/output and service function states of the system and feed back the fault which cannot be processed. And monitoring the communication state of each equipment module and whether MDC hardware fails and feeds back by using a system monitoring module. The comprehensive fault information is fed back to the fault management module for unified processing. And the fault management module reports fault information through the vehicle-mounted TBOX. And the emergency brake module controls the VCU actuator module to execute an emergency safe parking or normal parking instruction. Therefore, the safety of the whole system is ensured in the automatic driving process of the mine car. And various failures and faults are detected and processed in real time, and the safety state is recorded to a system log so as to ensure that the automatic driving system of the mine car runs safely and stably under the severe environment scene of the mine car.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a schematic illustration of the construction of an automated mine car steering safety system according to some embodiments disclosed herein;
fig. 2 is a block diagram of an MDC 300-based security design architecture according to some embodiments disclosed herein;
FIG. 3 is a flow chart of a method of providing an autonomous drive safety system for mine cars according to some embodiments disclosed herein;
FIG. 4 is a data flow diagram of a mine car autopilot safety system according to some embodiments disclosed herein;
FIG. 5 is a system state diagram of the mining vehicle autopilot safety system of some embodiments disclosed herein.
In the figure: 1. a device driving module; 11. a millimeter wave radar drive unit; 12. a laser radar drive unit; 13. a combined inertial navigation driving unit; 2. a function detection unit; 3. a fault management module; 31. a system monitoring module; 32. vehicle-mounted TOBX; 33. a log system; 4. an emergency braking module; 41. a control unit; 42. a VCU actuator module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Referring to fig. 1 and 2, in an embodiment of the present invention, an MDC 300-based automatic drive safety system for mine cars includes:
the equipment driving module 1 is used for detecting the fault state of the vehicle-mounted equipment and outputting feedback information to the fault management module 3;
the device driving module 1 mainly comprises a millimeter wave radar driving unit 11 for detecting a feedback millimeter wave radar fault, a laser radar driving unit 12 for detecting a feedback laser radar fault, and a combined inertial navigation driving unit 13 for detecting a feedback combined inertial navigation fault. Meanwhile, the detected fault information is sent out and fed back to the fault management module 3
The function detection unit 2 is used for monitoring the system function logic input/output and the function state and feeding back the failure information which cannot be processed to the failure management module 3;
in a specific embodiment, the function detecting unit 2 further includes a decision function unit, a planning function unit, a shovel function unit, and a fusion function unit. The specific realized functional functions are as follows: the correctness and the overtime state of the input value are detected, the fault is processed, and the fault which cannot be processed needs to be sent to the fault management module 3 for processing; the correctness of the output value is detected, the fault is processed, and the fault which cannot be processed needs to be sent to the fault management module 3 for processing; function monitoring: whether the function requirements are met or not and whether the functions are consistent with the expectations or not are detected, faults are processed, and the faults which cannot be processed need to be sent to the fault management module 3 for processing.
The fault management module 3 is used for receiving fault information of each module and performing fault processing; specifically, various types of fault information of each module can be received, and unified classification processing is performed.
The fault management module 3 is provided with a system monitoring module 31 for monitoring the system running state and the hardware state, and a vehicle-mounted TOBX32 for remote information transmission. Specifically, the system monitoring module 31 detects the system resource usage, communication status, MDC hardware failure, and the like, and feeds back the detected results to the fault management module 3.
The fault management module 3 is provided with a log system 33 for recording faults so as to facilitate the subsequent checking and processing of system fault information.
The equipment driving module 1 and the function detection unit 2 are both arranged at the signal input end of the fault management module 3, and the emergency braking module 4 is arranged at the signal output end of the fault management module 3.
The emergency braking module 4 is used for executing an emergency safe parking or normal parking instruction sent by the fault management module 3 when judging that a fault occurs;
the emergency braking module 4 is formed by combining an automatic braking system (AEB) and an emergency braking warning system (ESS).
A control unit 41 for signal conversion is arranged at a signal output end of the emergency brake module 4, that is, a received AEB + ESS control command is converted into a VCU signal, and a VCU actuator module 42 is arranged at an output end of the control unit 41, so that a safety operation is executed according to the control command. Such as: emergency safe stop processing or normal stop.
FIG. 4 is a data flow diagram of a mine car autopilot safety system. The fault management module 3 is illustrated as processing and performing signal output operations in accordance with the various module information streams received.
As shown in FIG. 5, a diagram of the changing state of the automatic drive safety system of a mining vehicle is shown. And after the signals are acquired according to the detection of the states of all the modules of the mine car, the fault management module 3 sends feedback. And switching the system state of the mine car.
A method comprising an MDC 300-based automatic drive safety system for mine cars as described in any of the above, comprising the steps of:
as shown in FIG. 3, a flow chart of a method of automatically operating a safety system for a mining vehicle is illustrated.
Detecting the fault state of the vehicle-mounted equipment through the equipment driving module 1 and outputting feedback information to the fault management module 3;
meanwhile, the function detection unit 2 is used for monitoring the input and output and the function state of the system, and failure information which cannot be processed is fed back to the failure management module 3;
the fault management module 3 receives fault information of each module and carries out fault processing;
the vehicle-mounted TOBX32 receives the information after fault processing and reports the information to a remote mine car dispatching system;
meanwhile, the emergency braking module 4 executes an emergency safe parking or normal parking instruction sent when the fault management module 3 judges that a fault occurs.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, which should be construed as being within the scope of the invention.
Claims (7)
1. An MDC 300-based automatic drive safety system for mine cars, comprising:
the equipment driving module (1) is used for detecting the fault state of the vehicle-mounted equipment and outputting feedback information to the fault management module;
the function detection unit (2) is used for monitoring the input and output of system function logic and the function state and feeding back failure information which cannot be processed to the failure management module;
the fault management module (3) is used for receiving fault information of each module and performing fault processing;
the emergency braking module (4) is used for executing an emergency safe parking or normal parking instruction sent when the fault management module judges that the fault occurs;
the equipment driving module and the function detection unit are both arranged at the signal input end of the fault management module, and the emergency braking module is arranged at the signal output end of the fault management module.
2. The MDC 300-based automatic drive safety system for mine cars of claim 1, wherein the equipment drive module comprises a millimeter wave radar drive unit (11) for detecting a feedback millimeter wave radar fault, a lidar drive unit (12) for detecting a feedback lidar fault, and a combined inertial navigation drive unit (13) for detecting a feedback combined inertial navigation fault.
3. The MDC 300-based automatic drive safety system for mine cars according to claim 1, wherein the fault management module is provided with a system monitoring module (31) for system operation status and hardware status monitoring, and an on-board TOBX (32) for remote information transmission.
4. The MDC 300-based mining vehicle autopilot safety system of claim 3 wherein the fault management module is provided with a logging system (33) for fault logging.
5. The MDC 300-based automatic drive safety system for mine cars according to claim 1, wherein the signal output of the emergency brake module is provided with a control unit (41) for signal conversion, the output of which is provided with a VCU actuator module (42).
6. The MDC 300-based mining vehicle autopilot safety system of claim 5 wherein the hard braking module incorporates an autobrake system and a hard brake warning system.
7. A method including the MDC 300-based car autopilot safety system of any of claims 1 through 6, the specific steps comprising:
detecting the fault state of the vehicle-mounted equipment through an equipment driving module and outputting feedback information to a fault management module;
meanwhile, the input and output and the function state of the system are monitored by using a function detection unit, and the failure information which cannot be processed is fed back to a failure management module;
the fault management module receives fault information of each module and processes the fault;
the vehicle-mounted TOBX receives the information after the fault processing and reports the information to the remote mine car dispatching system;
and meanwhile, the emergency braking module executes an emergency safe parking or normal parking instruction sent by the fault management module when the fault management module judges that the fault occurs.
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| CN202110721067.4A CN113428165A (en) | 2021-06-28 | 2021-06-28 | MDC 300-based mine car automatic driving safety system and method |
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| CN202110721067.4A CN113428165A (en) | 2021-06-28 | 2021-06-28 | MDC 300-based mine car automatic driving safety system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116339284A (en) * | 2023-03-29 | 2023-06-27 | 安徽海博智能科技有限责任公司 | Unmanned mining card remote ignition and flameout control system and method |
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2021
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