CN114115294A - Underground unmanned processing method and system - Google Patents
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Abstract
The application discloses a method and a system for processing underground unmanned driving, wherein the method comprises the following steps: acquiring an underground actual path, and acquiring an underground path diagram according to the actual path; acquiring the position of at least one unmanned vehicle running underground; obtaining a travel route for each of the at least one unmanned vehicle, wherein the travel route is indicative of a travel route after a current time; determining that at least two unmanned vehicles in the at least one unmanned vehicle have running path conflicts in the same time period according to the running route; performing spatiotemporal locking on a portion of at least two unmanned vehicles, the spatiotemporal locking being used to lock the portion within a predetermined range of positions for a predetermined period of time. Through the method and the device, the problem that no corresponding underground automatic driving strategy exists in the prior art is solved, and therefore technical support is provided for performing excellent automatic driving control in an underground environment.
Description
Technical Field
The application relates to the field of automatic driving, in particular to a downhole unmanned processing method and system.
Background
Along with the construction of intelligent mines, unmanned electric locomotives are being recognized by more and more mine enterprises. The implementation of unmanned system can reduce transportation level operation personnel, including electric locomotive driver and mine car butt joint operating personnel in the pit, and control center can supervise the operation of many platform trucks alone in the pit, improves the working environment, increases equipment operating duration, improves productivity effect, really realizes the mechanized target of changing people, automatic subtracting people.
In the aspect of safety construction, the operation of the mine unmanned locomotive system is helpful for reducing the probability of transportation accidents caused by manual scheduling and manual misoperation, and has great economic and social benefits.
However, no solution is proposed in the prior art for this purpose, since the downhole unmanned driving is different from the open environment above the well and an automatic driving strategy different from that above the well should be adopted.
Disclosure of Invention
The embodiment of the application provides a downhole unmanned processing method and system, which at least solve the problem that no corresponding downhole automatic driving strategy exists in the prior art.
According to one aspect of the application, a downhole unmanned processing method is provided, comprising: acquiring an underground actual path, and acquiring an underground path diagram according to the actual path; acquiring the position of at least one unmanned vehicle running underground; obtaining a travel route for each of the at least one unmanned vehicle, wherein the travel route is indicative of a travel route after a current time; determining that at least two unmanned vehicles in the at least one unmanned vehicle have running path conflicts in the same time period according to the running route; performing spatiotemporal locking on a portion of at least two unmanned vehicles, wherein the spatiotemporal locking is used for locking the portion of vehicles within a predetermined position range within a predetermined time period.
Further, still include: displaying the location of the at least one unmanned vehicle in the pathway map; and displaying the locked preset position range and the locked time in the path diagram after performing space-time locking on part of the at least two unmanned vehicles.
Further, after the part of the vehicles is space-time locked, the part of the vehicles that is space-time locked does not appear in a position range where a path conflict exists during a period of time in which the path conflict exists.
Further, the at least one unmanned vehicle is controlled through a wireless network pre-laid down downhole.
Further, the at least one unmanned vehicle is a permanent magnet variable frequency speed regulation electric locomotive.
According to another aspect of the present application, there is also provided a downhole unmanned processing system, comprising: the first acquisition module is used for acquiring an underground actual path and acquiring an underground path diagram according to the actual path; the second acquisition module is used for acquiring the position of at least one unmanned vehicle running underground; a third obtaining module, configured to obtain a running route of each of the at least one unmanned vehicle, where the running route is used to indicate a running route after a current time; the determining module is used for determining that at least two unmanned vehicles in the at least one unmanned vehicle have running path conflicts in the same time period according to the running route; the system comprises a locking module and a control module, wherein the locking module is used for performing space-time locking on part of at least two unmanned vehicles, and the space-time locking is used for locking the part of the vehicles within a preset position range in a preset time period.
Further, still include: and the display module is used for displaying the position of the at least one unmanned vehicle in the path diagram, and displaying the locked preset position range and the locked time in the path diagram after space-time locking is carried out on part of the at least two unmanned vehicles.
Further, after the part of the vehicles is space-time locked, the part of the vehicles that is space-time locked does not appear in a position range where a path conflict exists during a period of time in which the path conflict exists.
Further, the at least one unmanned vehicle is controlled through a wireless network pre-laid down downhole.
Further, the at least one unmanned vehicle is a permanent magnet variable frequency speed regulation electric locomotive.
In the embodiment of the application, the underground actual path is obtained, and an underground path diagram is obtained according to the actual path; acquiring the position of at least one unmanned vehicle running underground; obtaining a travel route for each of the at least one unmanned vehicle, wherein the travel route is indicative of a travel route after a current time; determining that at least two unmanned vehicles in the at least one unmanned vehicle have running path conflicts in the same time period according to the running route; performing spatiotemporal locking on a portion of at least two unmanned vehicles, wherein the spatiotemporal locking is used for locking the portion of vehicles within a predetermined position range within a predetermined time period. Through the method and the device, the problem that no corresponding underground automatic driving strategy exists in the prior art is solved, and therefore technical support is provided for performing excellent automatic driving control in an underground environment.
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The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 is a flow chart of a downhole unmanned processing method according to an embodiment of the application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In the embodiment, the construction of an unmanned operation system of the underground intelligent electric locomotive and the automatic driving function of the electric locomotive are explained; the unmanned system comprises a network communication system, an electric locomotive scheduling system, an electric locomotive monitoring center and an electric locomotive running roadway monitoring system; the electric locomotive automatic driving function comprises core technical functions of an intelligent automatic driving motor, a communication module based on a 5G network and a WIFI network, barrier recognition, anti-collision early warning, automatic driving and the like. The application of the intelligent unmanned system is beneficial to reducing underground operators, improving the working environment of the on-line workers, increasing the effective operation time of equipment, improving the mine management level and realizing the intrinsic safety.
The unmanned system of the electric locomotive described in this embodiment uses wireless communication (5G/4G/WIFI) and gigabit (ten gigabit) industrial ethernet as a transmission platform, uses a mining rail transportation monitoring system as a safety support, adopts an underground locomotive precise positioning technology, an obstacle identification technology and a mine locomotive scheduling technology, and combines a permanent magnet electric locomotive frequency conversion speed regulation control and a remote monitoring mine safety production transportation comprehensive monitoring system, so as to realize automatic driving and real-time monitoring of the electric locomotive, and achieve the purposes of improving production efficiency and intrinsic safety level, improving underground operation environment and reducing underground operators to the maximum extent.
The system adopts intelligent permanent magnetism variable frequency speed governing electric locomotive in this embodiment, has long-range autopilot function, barrier recognition function, remote communication function (5G 4G WIFI), initiative safety protection function. The system mainly comprises an intelligent electric locomotive unit, a vehicle-mounted controller, a barrier detection device, a network camera, automatic driving monitoring management software and a remote monitoring operation console. The remote monitoring system has the main functions of uploading the analysis results of the working conditions, road conditions and road conditions of the locomotive, receiving remote measurement and control instructions, completing the driving control of starting/stopping, acceleration/deceleration, direction selection, whistling, illumination and the like of the electric locomotive, and realizing the automatic driving operation management and remote monitoring of the electric locomotive.
In the present embodiment, a downhole unmanned processing method is provided, fig. 1 is a flowchart of the downhole unmanned processing method according to an embodiment of the present application, and the steps involved in fig. 1 are described below.
S102, acquiring an underground actual path, and acquiring an underground path diagram according to the actual path;
step S104, acquiring the position of at least one unmanned vehicle running underground;
step S106, obtaining a running route of each unmanned vehicle in the at least one unmanned vehicle, wherein the running route is used for indicating the running route after the current time;
as an optional implementation manner, each unmanned vehicle may be identified by a sensor or a camera arranged in the underground, unique identification information of each unmanned vehicle in the underground is identified, a task corresponding to the unique identification information is searched in a task distribution system according to the identified unique identification information, after the task is found, a start point and an end point of the task are obtained from task information of the task, and route planning is performed according to the start point and the end point, so as to obtain a running route of each unmanned vehicle.
The operation route planning can adopt the following planning modes: acquiring a first data set of roadway two-dimensional laser point cloud; dividing the first data set into a plurality of second data sets, and respectively fitting a first linear expression of the second data sets; calculating slope difference values of any two first straight line expressions, and dividing the first straight line with the slope difference value smaller than a first threshold value into a plurality of third data sets; and fitting the point cloud data of the third data set to form a first curve, setting the first curve as a roadway boundary line, and projecting the side with smaller curvature of the roadway boundary line to the center of the roadway to obtain the vehicle driving path.
Before the segmenting the first data set into a plurality of second data sets and fitting the first linear expression of the second data sets, the method further comprises: and filtering the data of the two-dimensional laser point cloud first data set, removing outlier noise points and sparse point clouds outside an effective distance range, and storing the filtered point cloud data of the first data set into a Cartesian coordinate data set.
The segmenting the first data set into a plurality of second data sets comprises: s1: acquiring a segmentation threshold; s2: calculating a second straight line expression of the head and the tail of the first data set, and calculating the projection distance from the farthest point in the first data set to the second straight line; s3: judging whether the projection distance is larger than the segmentation threshold value, if so, segmenting the first data set; conversely, the first data set is not re-divisible; s4: repeating steps S2 and S3 on the S3 segmented data set until all of the segmented data sets are not re-assignable.
Said segmenting said first data set in said step S3, comprising: and dividing the first data set by taking the farthest point as a dividing point, dividing the data point cloud between the head point and the dividing point of the first data set into a first dividing data set, and dividing the data point cloud between the dividing point and the tail point of the first data set into a second dividing data set.
Step S108, determining that at least two unmanned vehicles in the at least one unmanned vehicle have running path conflicts in the same time period according to the running route;
as another optional implementation manner, unique identification information of the at least two unmanned vehicles is obtained, tasks corresponding to the at least two unmanned vehicles are searched according to the unique identification information, the priority of the task corresponding to each unmanned vehicle is obtained, the operation of the vehicle with high priority is kept unchanged, and the unmanned vehicle with low priority is subjected to space-time locking.
In another embodiment, if two vehicles are less than a predetermined range apart during operation, a first vehicle of the two vehicles reads tag information on a second vehicle, wherein the tag information is used for indicating a priority, and the first vehicle avoids when the second vehicle has a higher priority than the first vehicle or is equal to the first vehicle.
The priority in the tag in the unmanned vehicle is the priority of the task written when the task is issued. And clearing the priority information in the tag after the vehicle finishes executing the task.
Step S110, performing space-time locking on part of at least two unmanned vehicles, wherein the space-time locking is used for locking the part of vehicles in a preset position range in a preset time period. For example, after the part of the vehicles is spatio-temporally locked, the part of the vehicles which are spatio-temporally locked does not appear in the position range where the path conflict exists during the time period where the path conflict exists.
Optionally, after step S110, the method may further include: further comprising: displaying the location of the at least one unmanned vehicle in the pathway map; and displaying the locked preset position range and the locked time in the path diagram after performing space-time locking on part of the at least two unmanned vehicles.
The problem that no corresponding underground automatic driving strategy exists in the prior art is solved through the steps, and therefore technical guarantee is provided for performing excellent automatic driving control in the underground environment.
In the embodiment, the unmanned system of the underground rail transport electric locomotive takes wireless communication (5G/4G/WIFI) and gigabit (ten gigabit) industrial Ethernet as a transmission platform, a mining rail transport monitoring system as a safety support, an underground locomotive precise positioning technology, an obstacle identification technology and a mine locomotive scheduling technology, and a mine safety production and transportation comprehensive monitoring system combining permanent magnet electric locomotive frequency conversion speed regulation control and remote monitoring, so that automatic driving and real-time monitoring of the electric locomotive can be realized, the aims of improving production efficiency and intrinsic safety level, improving underground operation environment and reducing underground operation personnel to the maximum extent are fulfilled. The system is divided into five systems including a communication network platform (5G/4G/WIFI), a locomotive dispatching system, an electric locomotive automatic driving system, an intelligent locomotive unit and a monitoring platform according to the functions of all the devices. These five systems are explained below separately.
The system is as follows: communication network platform
The network communication platform is a core communication transmission platform of the whole system, undertakes the registration management of network communication equipment, accesses each subsystem equipment, uploads and issues locomotive transportation monitoring subsystem measurement and control commands (equipment state information, scheduling instructions, driving instructions and the like), vehicle-ground communication, streaming media video uploading and other communication tasks, and consists of a communication base station, a core backbone switch and an optical fiber network. The communication base station is in ground communication with the vehicle-mounted wireless terminal in a wireless mode, and transparent data transmission between the control center and the locomotive mobile equipment is achieved.
The communication network part is divided into a wired network part and a wireless network part.
1) Wired network
The industrial looped network is utilized to provide the optical and electrical interfaces required by system access, if the communication interface of the existing backbone looped network switch has insufficient margin, a plurality of mining network switches can be additionally arranged to serve as access switches, and the base stations and other equipment are collected and then are integrated into the backbone switch. The underground wired network mainly comprises a gigabit network switch, a stabilized voltage power supply and a network junction box
2) Wireless network
The wireless network part in the unmanned system scheme can adopt three communication schemes of 5G/4G/WIFI, so that wireless network coverage of a mine roadway is realized. The layout coverage of the underground wireless network needs a wireless network base station, a wireless network communication substation and a stabilized voltage power supply. For 5G/4G wireless networks, which need to communicate with local mobile operators, dedicated 5G/4G networks are proposed. The selected WIFI base station needs to adopt a mine wireless base station following IEEE 802.11b/g/n to construct a full-coverage WIFI wireless communication network and a UWB (ultra wide band) ultra wide band accurate positioning network in a monitoring range, so that the switching time of a network AP (access point) is less than 200ms, and the communication bandwidth is more than 20 Mbps. The mining wireless network base station is used as an intelligent working base station of the monitoring system, is in charge of real-time communication with a main control computer on one hand, and carries out wireless information interaction with a vehicle-mounted machine and the like on the other hand, transmits a main control instruction, collects a signal source and identifies driving information, and each base station can realize communication processing of a plurality of electric locomotives. This basic station is "trinity" basic station, except possessing signal acquisition, management and control function, has still possessed wireless communication and the accurate locate function of UWB, can realize the accurate location of control data, audio and video transmission and electric locomotive.
And a second system: locomotive dispatching system
The locomotive dispatching system comprises two parts, namely dispatching operation management and signal interlocking control (signal collection closing), plays roles in locomotive transportation dispatching and signal commanding, can realize interval interlocking, hostile access interlocking and annunciator and switch interlocking control according to signal design arrangement and interval division; the system can monitor the position, the number, the signal machine and the turnout of each underground transport train in real time at the dispatching desk, and command the safe operation of the trains.
The system comprises a pneumatic switch machine device, a pneumatic switch machine control box, a power supply comprehensive protector, a mining annunciator and a scheduling system processing server.
The system has the following functions:
(1) basic latch function
The system has all functions of 'information collection closing' such as section interlocking, hostile access locking, switch interlocking and the like. The road and the turnout have an interlocking relationship, so that the transportation efficiency is improved, and the safety of the transportation process is further ensured.
(2) Display function
The method is characterized in that running state information such as train position, train number, running direction turnout position and zone occupation is displayed in real time on a computer display terminal in the forms of Chinese characters, simulation diagrams, tables and the like, and the method mainly comprises the following steps: train number, running direction, train type; train position, zone vehicle occupancy; a signal lamp display mode; switch position and switch position direction; analog display of a downhole yard; the working states of all the devices; and giving an alarm when running red light.
(3) Scheduling function
The system carries out automatic interlocking and locking control on the train route, section, signal and turnout, automatically switches the turnout direction according to a preset production operation task, gives a train running signal and commands the safe operation of the train. In emergency, the dispatcher can also manually dispatch the trains according to the running conditions of the trains by sections, routes and vehicle types, so that the automatic dispatching and the centralized dispatching of programs are realized.
(4) Emergency power supply function
Each communication controller is provided with a stabilized voltage power supply, and the device has the function of a backup power supply, namely, the backup power supply automatically outputs under the condition of external power failure such as mine maintenance and the like, and the communication controller and the card reading substation are maintained to normally work for more than 2 hours.
And (3) a third system: automatic driving system of electric locomotive
The automatic operation subsystem of the electric locomotive is an electromechanical integrated measurement and control system for controlling the start and stop of the underground electric locomotive, and has automatic navigation and driving functions. The electric locomotive automatic operation subsystem mainly comprises an intelligent electric locomotive, a vehicle-mounted controller, an obstacle detection device, a network camera, automatic driving monitoring management software, a remote monitoring operation console and a control center.
The remote monitoring system has the main functions of uploading the analysis results of the working conditions, road conditions and road conditions of the locomotive, receiving remote measurement and control instructions, completing the driving control of starting/stopping, acceleration/deceleration, direction selection, whistling, illumination and the like of the electric locomotive, and realizing the automatic driving operation management and remote monitoring of the electric locomotive. The automatic driving system framework is shown in the following figure, a user sends an instruction through a control device (computer), the instruction is transmitted to an electric locomotive through network equipment, the electric locomotive judges a response instruction according to the instruction and an obstacle recognition device, and a system server carries out equipment scheduling through videos, locomotive state information and roadway information so as to ensure the safe and stable operation of the system.
And (4) system IV: intelligent locomotive unit
The unmanned system electric locomotive is an intelligent permanent magnet variable frequency speed regulation electric locomotive, and the electric locomotive system adopts a disc type permanent magnet synchronous motor, and has the technical characteristics of safety, reliability, energy conservation, high efficiency, intelligent Internet of things and the like. The intelligent permanent magnet variable frequency speed regulation electric locomotive is provided with a remote automatic control interface, and is matched with a special vehicle-mounted controller through CAN communication, so that automatic driving of the electric locomotive by a computer system is realized.
The intelligent permanent magnet variable frequency speed regulation electric locomotive is uniform and stepless speed regulation in a full speed range, has two modes of electric braking (energy feedback) and mechanical braking, is safe and reliable to operate, saves energy, is efficient, and has manual, remote control, automatic and other driving modes.
The electric locomotive needs to be equipped with wireless communication module, realizes 5G 4G WIFI connection function, to the module that the WIFI is connected, needs to support 802.11b/G/n agreement, realizes observing and controling the instruction and uploads and issue. The vehicle-mounted AP is provided with a communication antenna and is matched with the AP base station for use, so that the vehicle-ground wireless communication is realized. And a soft switching mode of connection first and disconnection second is adopted to realize seamless switching of terminal roaming.
The remote driving control of the electric locomotive can be realized according to a remote measurement and control instruction according to the driving mode setting, and the operation of a driver in a cab can be accepted under the condition of being separated from a remote control console.
The main control unit is embedded with vehicle-mounted control management software and is used for receiving a remote control instruction, analyzing and executing the remote control instruction and reporting locomotive working condition information; the running driving and safety protection of the electric locomotive are realized through the related sensor actuator arranged in the cab.
The electric locomotive is equipped with the network appearance of making a video recording, and the vehicle can be passed through the network with relevant information of making a video recording to control center in the form process. The operation condition of the electric locomotive comprises the detection of the working condition parameters of the electric locomotive and the working state of the electric locomotive, such as the working condition of a power supply, the speed of the electric locomotive, the working state of a controller (self-checking function) and a frequency conversion controller, the state of each execution device and the like.
The electric locomotive is provided with a vehicle identification card module and a UWB positioning module, a positioning card reading module is matched in a mounting base station in a roadway and is matched with a positioning tag of a vehicle-mounted controller for use, the accurate position of the electric locomotive is monitored in real time, and the position measured and calculated by the speed is corrected. The control center grasps the position condition of the current locomotive in real time, so that the distance and the driving authorization can be managed. The high-precision vehicle positioning is the operation basis of remote driving and automatic ore drawing operation.
Every locomotive is at the locomotive head position assembly 1 obstacle detection device that has the AI function, realizes detecting discernment judgement to the pedestrian in the tunnel along the way, supports on-vehicle safety protection function. When a person is detected, the functions of whistling, decelerating, braking and the like can be realized.
And (5) a fifth system: monitoring platform
The monitoring is the image monitoring of the underground electric locomotive transportation road condition, and comprises a camera arranged at a fixed point and a vehicle-mounted camera arranged on the electric locomotive. The fixed point camera is directly accessed to the communication network platform through the Ethernet interface, and the vehicle-mounted camera is connected with the vehicle-mounted wireless communication control through the Ethernet interface.
In the scheme of the unmanned system, video monitoring service, storage, underground cameras and the like are divided into a video subnet, a control subnet is additionally divided into networks, a plurality of network switches are configured, VLAN is divided into the ring network switches for isolation, and video data and network information data are transmitted separately, so that the stability and reliability of the system operation are ensured.
The video server, the network video recorder, the client and the software are installed in the ground control center.
And a network camera is respectively arranged in front of and behind the locomotive head of each electric locomotive, and is uploaded to a control center through a train-ground communication network, so that the remote monitoring of road conditions is realized.
The system is provided with a mining network camera, integrates the camera, a protective cover, a lens and a light supplement lamp, can adapt to various severe working environments, and is waterproof and anticorrosive; the low illumination effect is good; the camera and the photoelectric module are integrally designed, and the device is suitable for dark environment and long-distance transmission; may be cascaded through optical fibers.
The unmanned system of the underground intelligent electric locomotive provided by the embodiment comprises an unmanned system environment and an unmanned electric locomotive, wherein the unmanned system is divided into 5 subsystems, and the 5 subsystems mainly comprise a communication network platform (5G/4G/WIFI), a locomotive dispatching system, an electric locomotive automatic driving system, an intelligent locomotive unit and a monitoring platform. The unmanned electric locomotive is an intelligent permanent magnet variable frequency speed regulation electric locomotive, a motor system adopts a disc type permanent magnet synchronous motor, and the unmanned electric locomotive has the technical characteristics of safety, reliability, energy conservation, high efficiency, intelligent internet of things and the like. The intelligent permanent magnet variable frequency speed regulation electric locomotive is provided with a remote automatic control interface, and is matched with a special vehicle-mounted controller through CAN communication, so that automatic driving of the electric locomotive by a computer system is realized.
In this embodiment, an electronic device is provided, comprising a memory in which a computer program is stored and a processor configured to run the computer program to perform the method in the above embodiments.
The programs described above may be run on a processor or may also be stored in memory (or referred to as computer-readable media), which includes both non-transitory and non-transitory, removable and non-removable media, that implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
These computer programs may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks, and corresponding steps may be implemented by different modules.
Such an apparatus or system is provided in this embodiment. The system is called a downhole unmanned processing system and comprises: the first acquisition module is used for acquiring an underground actual path and acquiring an underground path diagram according to the actual path; the second acquisition module is used for acquiring the position of at least one unmanned vehicle running underground; a third obtaining module, configured to obtain a running route of each of the at least one unmanned vehicle, where the running route is used to indicate a running route after a current time; the determining module is used for determining that at least two unmanned vehicles in the at least one unmanned vehicle have running path conflicts in the same time period according to the running route; the system comprises a locking module and a control module, wherein the locking module is used for performing space-time locking on part of at least two unmanned vehicles, and the space-time locking is used for locking the part of the vehicles within a preset position range in a preset time period.
The system or the apparatus is used for implementing the functions of the method in the foregoing embodiments, and each module in the system or the apparatus corresponds to each step in the method, which has been described in the method and is not described herein again.
For example, it also includes: and the display module is used for displaying the position of the at least one unmanned vehicle in the path diagram, and displaying the locked preset position range and the locked time in the path diagram after space-time locking is carried out on part of the at least two unmanned vehicles.
For another example, after the part of the vehicles are space-time locked, the part of the vehicles that are space-time locked does not appear in the position range where the path collision exists during the time period where the path collision exists. Optionally, the at least one unmanned vehicle is controlled via a wireless network pre-deployed downhole. Optionally, the at least one unmanned vehicle is a permanent magnet variable frequency speed regulation electric locomotive.
The problem that no corresponding underground automatic driving strategy exists in the prior art is solved through the steps, and therefore technical guarantee is provided for performing excellent automatic driving control in the underground environment.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A downhole unmanned processing method is characterized by comprising the following steps:
acquiring an underground actual path, and acquiring an underground path diagram according to the actual path;
acquiring the position of at least one unmanned vehicle running underground;
obtaining a travel route for each of the at least one unmanned vehicle, wherein the travel route is indicative of a travel route after a current time;
determining that at least two unmanned vehicles in the at least one unmanned vehicle have running path conflicts in the same time period according to the running route;
performing spatiotemporal locking on a portion of at least two unmanned vehicles, wherein the spatiotemporal locking is used for locking the portion of vehicles within a predetermined position range within a predetermined time period.
2. The method of claim 1, further comprising:
displaying the location of the at least one unmanned vehicle in the pathway map;
and displaying the locked preset position range and the locked time in the path diagram after performing space-time locking on part of the at least two unmanned vehicles.
3. The method of claim 2, wherein the portion of the vehicle that is spatiotemporally locked does not appear in a range of locations where a path conflict exists during a time period in which the path conflict exists after the portion of the vehicle is spatiotemporally locked.
4. A method according to any one of claims 1 to 3, wherein the at least one unmanned vehicle is controlled by a wireless network pre-deployed downhole.
5. The method according to any one of claims 1 to 3, wherein the at least one unmanned vehicle is a permanent magnet variable frequency adjustable speed electric locomotive.
6. A downhole unmanned processing system, comprising:
the first acquisition module is used for acquiring an underground actual path and acquiring an underground path diagram according to the actual path;
the second acquisition module is used for acquiring the position of at least one unmanned vehicle running underground;
a third obtaining module, configured to obtain a running route of each of the at least one unmanned vehicle, where the running route is used to indicate a running route after a current time;
the determining module is used for determining that at least two unmanned vehicles in the at least one unmanned vehicle have running path conflicts in the same time period according to the running route;
the system comprises a locking module and a control module, wherein the locking module is used for performing space-time locking on part of at least two unmanned vehicles, and the space-time locking is used for locking the part of the vehicles within a preset position range in a preset time period.
7. The system of claim 1, further comprising:
and the display module is used for displaying the position of the at least one unmanned vehicle in the path diagram, and displaying the locked preset position range and the locked time in the path diagram after space-time locking is carried out on part of the at least two unmanned vehicles.
8. The system of claim 7, wherein after the spatiotemporal locking of the portion of vehicles, the portion of vehicles that are spatiotemporally locked do not appear in a range of locations where a path conflict exists during a time period in which the path conflict exists.
9. The system according to any one of claims 6 to 8, wherein the at least one unmanned vehicle is controlled by a wireless network pre-deployed downhole.
10. The system according to any one of claims 6 to 8, wherein the at least one unmanned vehicle is a permanent magnet variable frequency adjustable speed electric locomotive.
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