CN114355891A - Intelligent unmanned transportation system for underground mine - Google Patents
Intelligent unmanned transportation system for underground mine Download PDFInfo
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Abstract
The application discloses an intelligent unmanned transportation system for underground mines, which is provided with an unmanned driving device, an intelligent scheduling management device, a vehicle-road cooperative device and a remote monitoring and emergency pipe connecting device; the unmanned device is loaded on the transport mine car and used for controlling the operation of the transport mine car to enable the transport mine car to have single-car intelligent behavior decision-making capability, the intelligent scheduling management device is used for controlling or assisting the unmanned device and promoting efficient cooperation of various factors of personnel, materials, vehicles, tasks and roads, the vehicle-road cooperation device is arranged on the road side and used for improving the sensing capability of the transport mine car, and the remote monitoring and emergency takeover device is used for ensuring safe operation when the transport mine car breaks down or meets an unmanageable working condition; the whole underground mine intelligent unmanned transportation system is interconnected through the wireless communication device, and unmanned transportation operation is performed under the management and scheduling of the production scheduling center.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to an intelligent unmanned transportation system for underground mines.
Background
With the rapid development of artificial intelligence technology, automatic driving systems have been developed further. Most of automatic driving technologies focus on intelligent driving of a single vehicle, but the single vehicle intelligence has the problems of high cost, low efficiency, low safety factor and the like, cannot well run in an actual road scene, and more technical energy needs to be provided to further improve the safety and the feasibility.
Most coal mines in China belong to underground coal mines, and compared with the open-air operation environment, the underground mining technology is higher in difficulty due to low visualization degree and weak signal intensity, and the level of the existing technology and equipment is not high. The auxiliary transportation of the mine is an important link for building modern intelligent mines, but the auxiliary transportation system is still a short plate, which becomes a bottleneck for restricting the construction of the intelligent mines.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides an unmanned conveyor system of minery intelligence, has solved the problem that above-mentioned autopilot system's security is low.
The application provides an unmanned conveyor system of minery intelligence, includes: the unmanned device is loaded on the transportation tramcar and is used for controlling the operation of the transportation tramcar; the intelligent scheduling management device is in communication connection with the unmanned device and is used for controlling or assisting the unmanned device; the train path coordination device is arranged on one side of the running path of the transport tramcar, is in communication connection with the unmanned device, and is used for improving the sensing capability of the transport tramcar; and the remote monitoring and emergency adapter device is in communication connection with the unmanned device and is used for controlling the operation of the transport tramcar when the unmanned device fails.
In one embodiment, the intelligent scheduling management apparatus includes: a vehicle health management module for managing the health status of the transportation mine car; the road state monitoring module is used for monitoring the running path state of the transport tramcar; the traffic safety control module is in communication connection with the road state monitoring module and is used for managing traffic on the running path of the transport tramcar according to the running path state of the transport tramcar; and the intelligent scheduling module is in communication connection with the vehicle health management module and the road state monitoring module and is used for intelligently arranging the running path and time of the transport mine car according to the health state of the transport mine car and the running path state of the transport mine car.
In one embodiment, the drone includes: the environment sensing module is used for sensing the surrounding environment information of the transport tramcar in the running process; the positioning module is used for acquiring the position information of the transport mine car; the decision planning module is in communication connection with the environment sensing module and the positioning module and is used for generating a running path of the transport mine car according to the position information and the surrounding environment information of the transport mine car; and the control module is in communication connection with the decision planning module and is used for controlling the real-time operation of the transport mine car according to the operation path generated by the decision planning module.
In one embodiment, the control module includes two sets of parallel controllers that back up each other and control the real-time operation of the tramcar individually or in combination.
In an embodiment, the unmanned device further comprises: and the map module is in communication connection with the decision planning module and is used for providing an off-line map to the decision planning module.
In one embodiment, the environmental awareness module includes any one or combination of: laser radar, millimeter wave radar, vision camera.
In one embodiment, the positioning module comprises a combination of sets of the following positioning units: the device comprises a global navigation satellite system, an inertial sensor, a wheel speed odometer, an ultra-wideband positioning unit and a laser radar positioning unit.
In one embodiment, the intelligent unmanned transportation system for mine and industrial mines further comprises: and the wireless communication device covers the running path of the transport tramcar and is used for being in communication connection with the unmanned device, the intelligent scheduling management device, the vehicle road coordination device and the remote monitoring and emergency takeover device.
In one embodiment, the vehicle-road cooperation apparatus includes: the vehicle-road cooperative sensing module and/or the 5G communication module.
In one embodiment, the remote monitoring and emergency takeover device comprises: and the auxiliary operation terminal is used for manually controlling the operation of the transport tramcar when the unmanned device fails.
The underground mine intelligent unmanned transportation system is provided with an unmanned driving device, an intelligent scheduling management device, a vehicle-road cooperation device and a remote monitoring and emergency pipe connecting device; the unmanned device is loaded on the transport mine car, so that the unmanned device has the single-car intelligent behavior decision-making capability and is used for controlling the operation of the transport mine car, the intelligent scheduling management device is in communication connection with the unmanned device and is used for controlling or assisting the unmanned device and promoting efficient cooperation of various factors including personnel, materials, vehicles, tasks and roads, the vehicle-road cooperation device is deployed on the roadside and is used for improving the sensing capability of the transport mine car, the remote monitoring and emergency takeover device is used for ensuring safe operation of the transport mine car when the transport mine car breaks down or meets an unmanageable working condition, the whole underground mine intelligent unmanned transport system is interconnected through the wireless communication device, and unmanned transport operation is developed under the management and scheduling of the production scheduling center.
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The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic structural diagram of an intelligent unmanned transportation system for a minery according to an exemplary embodiment of the present application.
Fig. 2 is a schematic structural diagram of an intelligent unmanned transportation system for a minery according to another exemplary embodiment of the present application.
Fig. 3 is a schematic structural diagram of an intelligent scheduling management apparatus according to an exemplary embodiment of the present application.
Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to an exemplary embodiment of the present application.
Fig. 5 is a schematic structural diagram of an intelligent unmanned transportation system for a minery according to another exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Fig. 1 is a schematic structural diagram of an intelligent unmanned transportation system for a minery according to an exemplary embodiment of the present application. As shown in fig. 1, the intelligent unmanned transportation system for miners comprises: the system comprises an unmanned device 100, an intelligent scheduling management device 200, a vehicle-road cooperation device 300 and a remote monitoring and emergency takeover device 400; the intelligent dispatching management device 200 is in communication connection with the unmanned device 100 and used for controlling or assisting the unmanned device 100, the vehicle path cooperation device 300 is arranged on one side of a running path of the transport mine car and in communication connection with the unmanned device 100 and used for improving the sensing capability of the transport mine car, and the remote monitoring and emergency adapter device 400 is in communication connection with the unmanned device 100 and used for controlling the running of the transport mine car when the unmanned device 100 fails.
The control difficulty is higher due to the influence of the environment on unmanned driving in special scenes, for example, the problems of water vapor and smoke diffusion, dim light, large intersection blind areas, undulation of road surfaces, water accumulation and light reflection and the like exist in the underground mine environment. The conventional sensing technology cannot realize all-weather and all-environment accurate sensing under the complex environment, and cannot guarantee the driving safety. The underground environment cannot receive GNSS signals, and the underground environment has the characteristics of long roadway, dark light, moisture and the like, the conventional positioning technology is difficult to directly obtain absolute positioning information, the positioning precision is not accurate enough, and the robustness of the positioning scheme is not enough. The underground mine environment has the characteristics of long roadway, large road fluctuation and the like, and the underground mine running road is narrow, so that the risk of scraping or collision during wrong and overtaking is increased; the crossroads are numerous and are easy to have transverse incoming cars or other suddenly appearing obstacles, so that the potential safety hazard in the driving process is increased. Thus, the ability to sense the tramcar alone to effect autonomous driving is highly desirable and costly.
In order to solve the problems, the application provides an intelligent unmanned underground mine transportation system which comprehensively and uniformly manages all operation transportation mine cars by arranging an intelligent scheduling management device, so that reasonable planning schemes such as paths, speeds and the like can be made according to operation environments and information (including position information and the like) of the transportation mine cars, traffic disorder and traffic accidents during multi-car operation are avoided, and the safety and the efficiency of automatic operation are improved. In addition, the unmanned device of the transport mine car is utilized (for example, the existing transport mine car is provided, so that the additional cost increase can be reduced, and meanwhile, the existing transport mine car can be fully utilized), so that the transport mine car can be controlled to run by the unmanned device under special conditions (for example, the intelligent dispatching management device is disconnected from the transport mine car in communication or the intelligent dispatching management device fails), the normal running of the transport mine car is ensured, the breakdown of the whole system caused by the failure or link disconnection of a certain part in the system is avoided, and the reliability of the system is improved. The intelligent scheduling management device 200 is responsible for real-time monitoring and comprehensive scheduling of the transport mine cars, managing and scheduling fleets, equipment and personnel in the system according to task requirements, improving operation safety and production efficiency, and finally achieving comprehensive benefit maximization. The unmanned device 100 receives the instruction sent by the dispatching center, and completes the transportation operation of materials and personnel by combining the information of the self position, the surrounding environment and the like. The intelligent dispatching management device 200 can perform information interaction with the unmanned device 100 through the established 5G communication system, provide information such as route and speed planning, behavior decision and the like for the transport mine car, and ensure safe, stable and efficient operation of the vehicle. Meanwhile, the unmanned device 100 uploads the safety monitoring information in real time, and provides information support for effective decision and scheduling of the intelligent scheduling management device 200. The unmanned device 100 has the ability of single-vehicle intelligent behavior decision making, realizes vehicle behavior decision making by integrating information such as environment sensing, positioning, underground high-precision maps and fault diagnosis, and ensures that the transport mine car can still run safely even under the condition that the intelligent dispatching management device 200 fails or the network is disconnected.
The intelligent scheduling management apparatus 200 is a key of the unmanned system. Aiming at the characteristics of long underground and mining roadways, large road fluctuation and the like, the underground path planning method of the mining vehicle is developed, and the indexes of vehicle driving, braking characteristics and smoothness are fully considered. Specifically, different planning strategies are realized according to the speed and the category of the obstacle and the road flatness grade, the static obstacle and the dynamic obstacle are respectively processed, the obstacle and the driving area information obtained through perception prediction are processed in a multi-stage mode, feasible paths are evaluated and dynamically constrained, a planned path which gives consideration to safety and efficiency is generated, re-planning steps are reduced, and the real-time performance of the system is improved. In order to better adapt to complex underground environments, multi-vehicle cooperative decision planning is an important development direction, and comprehensive logic decision judgment is carried out by combining output information of related modules.
The vehicle-road cooperative device 300 is deployed at the road side and mutually transmits data with a transport mine car, and is used for improving the sensing capability of the transport mine car, the V2X vehicle-road cooperative sensing system is adopted to provide surrounding environment information in the running process of the vehicle, the V2X communication technology, the vehicle end and the management and control center are adopted to share sensing results in real time, the over-the-horizon sensing and road early warning functions are provided for the unmanned system, and the unmanned safety and the transport efficiency can be effectively improved. The sensor installation position of the cooperative vehicle and road sensing system is high, the sensor installation position is not easy to be shielded, and global environment information can be provided, so that the number of sensors at a vehicle end is reduced. The sensor equipment is arranged on the road side, so that the sensor equipment is not easily influenced by vibration and dust and has the advantage of high detection precision; and the working conditions of the intersection can be obtained, so that the perception decision of a plurality of vehicles is assisted, and the road utilization rate is improved. Specifically, the vehicle-road coordination device 300 may include a vehicle-road coordination sensing module and/or a 5G communication module.
When the unmanned device 100 fails, that is, the transportation mine car cannot be driven automatically, the remote monitoring and emergency adapter device 400 is used for taking over the transportation mine car to ensure safe operation of the transportation mine car when the transportation mine car fails or meets the working condition which cannot be processed, so that the safety is further improved. The automatic driving technology can operate in a conventional scene and working conditions, but an unexpected state may still occur, and the remote monitoring and emergency take-over device 400 is one of effective means for assisting automatic safe operation, and can effectively ensure the safety and reliability of the automatic driving technology. Through high real-time video coding and decoding, vehicle state monitoring, immersive remote driving interaction and other key technologies, the running state of the vehicle and real-time images around the vehicle can be monitored in real time, and when the unmanned system breaks down or meets an unmanageable working condition, the vehicle can be remotely taken over to ensure the safe running of the transport tramcar. The remote monitoring and emergency taking-over device 400 can monitor the running state of the vehicle and real-time images around the vehicle in real time through key technologies such as high real-time video coding and decoding, vehicle state monitoring and immersive remote driving interaction, and can take over the vehicle remotely to guarantee safe running of the transport mine car when the unmanned system breaks down or encounters an operating condition which cannot be processed.
The underground mine intelligent unmanned transportation system is provided with an unmanned driving device, an intelligent scheduling management device, a vehicle-road cooperation device and a remote monitoring and emergency pipe connecting device; the unmanned device is loaded on the transport mine car, so that the unmanned device has the single-car intelligent behavior decision-making capability and is used for controlling the operation of the transport mine car, the intelligent scheduling management device is in communication connection with the unmanned device and is used for controlling or assisting the unmanned device and promoting efficient cooperation of various factors including personnel, materials, vehicles, tasks and roads, the vehicle-road cooperation device is deployed on the roadside and is used for improving the sensing capability of the transport mine car, the remote monitoring and emergency takeover device is used for ensuring safe operation of the transport mine car when the transport mine car breaks down or meets an unmanageable working condition, the whole underground mine intelligent unmanned transport system is interconnected through the wireless communication device, and unmanned transport operation is developed under the management and scheduling of the production scheduling center.
Fig. 2 is a schematic structural diagram of an intelligent unmanned transportation system for a minery according to another exemplary embodiment of the present application. As shown in fig. 2, the intelligent unmanned transportation system for industrial and mining wells may further include: the wireless communication device 500 is arranged on the running path of the transportation mine car, and specifically, the wireless communication device 500 covers the running path of the transportation mine car, namely, the full coverage of the transportation mine car in the running process is realized. The wireless communication device 500 is used for being in communication connection with the unmanned device 100, the intelligent scheduling management device 200, the vehicle cooperation device 300 and the remote monitoring and emergency takeover device 400; the wireless communication device 500 may include a 5G module, among others.
In consideration of the problem that communication signals are weak (for example, 5G signals are weak) in a special environment of a mine, due to the fact that the underground operation environment is complex, sensing devices of the transportation mine car at intersection, up-down slope and underground chamber of a mine have sensing blind areas. The conventional vehicle-mounted sensing scheme requires a plurality of sensors with high precision to be installed around the vehicle body for acquiring environmental information, has a limited ability to sense distance, and is easily obscured. Once the sensor breaks down, the vehicle can not continue to operate, the cost is high, and the safety factor is low. In order to improve this condition, this application is through add wireless communication device on the traffic route of transportation mine car to improve the transportation mine car and keep being connected with intelligent scheduling management device in the operation process, thereby guarantee intelligent scheduling management device's management and control scope and reliability.
Fig. 3 is a schematic structural diagram of an intelligent scheduling management apparatus according to an exemplary embodiment of the present application. As shown in fig. 3, the intelligent scheduling management apparatus 200 may include: a vehicle health management module 210, a road state monitoring module 220, a traffic safety management and control module 230 and an intelligent scheduling module 240; the vehicle health management module 210 is used for managing the health state of the transport mine car, the road state monitoring module 220 is used for monitoring the running path state of the transport mine car, the traffic safety management and control module 230 is in communication connection with the road state monitoring module 220 and used for managing the traffic on the running path of the transport mine car according to the running path state of the transport mine car, and the intelligent scheduling module 240 is in communication connection with the vehicle health management module 210 and the road state monitoring module 220 and used for intelligently arranging the running path and time of the transport mine car according to the health state of the transport mine car and the running path state of the transport mine car. The intelligent dispatching management device 200 realizes dynamic management of the road right and reasonable use of the underground mine chamber based on the traffic rule and the road characteristics, and solves the conflict of resources; the vehicle condition, the fault and the like are detected based on the real-time vehicle state data, the vehicle health state is maintained, and core elements influencing the transportation efficiency are continuously mined; meanwhile, multidimensional sensing data in the driving process of the vehicle are analyzed, the road is monitored comprehensively, and obstacles influencing the transportation efficiency and the safety are reduced. Specifically, as shown in fig. 2, the vehicle health management module 210 may include: a real-time monitoring unit 211, an equipment management unit 212, a maintenance management unit 213, and a fault management unit 214; the system comprises a real-time monitoring unit 211, an equipment management unit 212, a maintenance management unit 213 and a fault management unit 214, wherein the real-time monitoring unit 211 is used for monitoring vehicle information in real time, the equipment management unit 212 is used for managing vehicle-mounted equipment information, the maintenance management unit 213 is used for managing maintenance information and states of vehicles in the intelligent unmanned underground mine transportation system, and the fault management unit 214 is used for storing and managing fault information in the intelligent unmanned underground mine transportation system; the units are used for respectively realizing the monitoring and the management of the vehicles in the underground mine intelligent unmanned transportation system, so that the health state of the vehicles can be known in real time, and the information of available transportation mine cars in the dispatching process can be provided. The road condition monitoring module 220 may include: the system comprises an obstacle detection unit 221, a driving area detection unit 222, a tunnel detection unit 223 and a data analysis unit 224, wherein the obstacle detection unit 221 is used for detecting obstacles in front of the running of the transport mine car, the driving area detection unit 222 is used for detecting road information in the running area of the transport mine car, the tunnel detection unit 223 is used for detecting tunnels in front of the running of the transport mine car, and the data analysis unit 224 is used for comprehensively analyzing and obtaining the running road state of the transport mine car according to the obstacles in front of the running of the transport mine car, the road information in the running area and the tunnels in front of the running. The traffic safety management module 230 may include: the system comprises a traffic regulation management unit 231, an access right management unit 232, a chamber management unit 233 and a conflict management unit 234, wherein the traffic regulation management unit 231 is used for storing and managing regulations to be followed by the transport mine cars in the operation process, the access right management unit 232 is used for determining the road authority of the current operation of the transport mine cars, the chamber management unit 233 is used for detecting chambers on the operation road of the transport mine cars, and the conflict management unit 234 is used for traffic management when a plurality of transport mine cars conflict. The intelligent scheduling module 240 may include: the system comprises a task management unit 241, a scheduling and allocating unit 242, a path planning unit 243 and a state management unit 244, wherein the task management unit 241 is used for obtaining job tasks, analyzing and decomposing the job tasks, the scheduling and allocating unit 242 is used for arranging transportation mine cars according to the job tasks, the path planning unit 243 is used for determining the running path of each transportation mine car according to the scheduling arrangement, and the state management unit 244 is used for monitoring the completion state and the updating state of the job tasks in real time.
When there is no transport task, the transport car waits in the garage for the dispatch allocation unit to dispatch the task. The dispatching distribution unit sends out a vehicle dispatching instruction according to the field condition, the vehicles in the garage receive the instruction and then carry out safety inspection before departure, and if no abnormity exists, the vehicles start to go to a loading or receiving platform waiting area to queue for entering the garage. After receiving the entering command, driving into the loading point, carrying out loading operation, confirming that the vehicle drives away from the loading point after loading is finished, and moving to an unloading waiting area; if the vehicle is in the waiting area of the receiving platform, the vehicle drives into the receiving platform after receiving the entrance instruction, waits for the personnel to get on the vehicle, and drives away from the receiving platform after confirming that the vehicle is completely on the vehicle to go to the waiting area of the underground platform. And after the vehicle arrives at the unloading or receiving platform waiting area, waiting for receiving the entering instruction, then executing corresponding unloading or getting-off operation, and after the corresponding unloading or getting-off operation is finished, driving away from the unloading area or the underground platform to go to the garage. And after the vehicle returns to the garage, the vehicle is parked for health check, and if the state is normal, the transportation operation is finished. In the whole transportation process, the auxiliary transportation vehicle is always in an automatic driving state, and safe and efficient operation of the underground mine auxiliary transportation link can be realized.
Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle according to an exemplary embodiment of the present application. As shown in fig. 4, the above-described unmanned aerial vehicle 100 may include: an environment sensing module 110, a positioning module 120, a decision planning module 130 and a control module 140; the environment sensing module 110 is used for sensing the surrounding environment information of the transport mine car in the running process, the positioning module 120 is used for acquiring the position information of the transport mine car, the decision planning module 130 is in communication connection with the environment sensing module 110 and the positioning module 120 and used for generating a running path of the transport mine car according to the position information of the transport mine car and the surrounding environment information, and the control module 140 is in communication connection with the decision planning module 130 and used for controlling the real-time running of the transport mine car according to the running path generated by the decision planning module 130. Aiming at the characteristics of large load capacity, long braking distance and the like of the mining vehicle, the decision planning module 130 realizes different planning strategies according to the speed, category and road flatness grade of the barrier, respectively processes the static barrier and the dynamic barrier, carries out multi-stage processing on the barrier and driving area information obtained by perception prediction, evaluates and dynamically constrains feasible paths, generates a planning path considering both safety and efficiency, reduces re-planning steps and improves the real-time performance of the system. In order to better adapt to complex underground environments, comprehensive logic decision judgment is carried out through multi-vehicle collaborative decision planning and combined with output information of relevant modules.
In one embodiment, the context awareness module 110 may include any one or combination of the following: laser radar, millimeter wave radar, vision camera.
The environmental awareness module 110 is the basis and key to the safe operation of the transportation mine car. The underground mine environment has the problems of water vapor and smoke diffusion, dim light, large intersection blind areas, rough road surfaces, accumulated water reflection and the like, so the environment sensing module 110 needs to be specially designed. The transportation mine car carries out multisource heterogeneous integration perception by being equipped with sensors such as laser radar, millimeter wave radar and vision cameras, and can realize all-weather and all-environment accurate perception. In addition, the cooperative vehicle-road perception is also an important way for enhancing the perception capability of the transport mine car. The sensors such as the laser radar and the camera are erected on the two sides of the mine road, sensing information is shared with the vehicle in real time, and the full-time and space dynamic traffic information is collected and fused, so that the vehicle has beyond-the-horizon sensing capability, the driving safety under the complex environment is guaranteed, and the road network operation efficiency is improved.
In one embodiment, the positioning module 120 may include a combination of sets of the following positioning units: the device comprises a global navigation satellite system, an inertial sensor, a wheel speed odometer, an ultra-wideband positioning unit and a laser radar positioning unit.
The positioning module 120 is a prerequisite and basis for the tramcar to implement the navigation function, and provides accurate positioning information for the other modules. For an unmanned driving scene of a well mine, a transportation mine car needs to run on the well and in the underground environment at the same time, so that the vehicle-mounted navigation positioning system needs to realize accurate navigation positioning under the two different environments.
In the open air environment, because a Global Navigation Satellite System (GNSS) signal can be received, the GNSS, an inertial sensor (IMU) and a wheel speed odometer are adopted to realize high-precision fusion positioning and attitude determination. However, in the underground environment, because GNSS signals cannot be received and the underground environment has the characteristics of long roadway, dark light, humidity and the like, absolute positioning information is difficult to directly acquire by a vehicle, and the difficulty in realizing accurate navigation and positioning is high. An ultra-wideband positioning Unit (UWB) is required to replace a GNSS for absolute positioning, and efficient multi-source data fusion and cooperative positioning algorithms are researched according to sensor information such as the UWB, IMU and wheel speed odometer. And simultaneously, SLAM resolving is carried out on the acquired three-dimensional laser radar point cloud data, resolving results are integrated into a system, and redundant backup of positioning and attitude determination is realized.
In one embodiment, the control module 140 may include two sets of parallel controllers that back up each other, the two sets of parallel controllers separately or in combination controlling the real-time operation of the tramcar. The primary function of the control module 140 is to precisely achieve desired trajectory and vehicle speed control for the planned horizon. Due to the fact that the underground mine driving road is narrow, the width of the road just allows two vehicles to pass through, and the risk of scraping or collision during vehicle passing and overtaking is increased. In addition, as the number of the fork points is large, transverse vehicles or other suddenly appearing obstacles are easy to appear at the fork points, and the potential safety hazard in the driving process is increased. By designing control strategies such as an integrated control strategy, a driving right switching management strategy and an emergency control strategy, the control of the operation stability of the platform is realized, and dangerous driving instructions are limited. In addition, the control module 140 employs two sets of controller configurations, which back up each other and perform services together. When one set of controller fails, the other set of controller undertakes the service task, so that the continuous service capability of the system is automatically ensured without manual intervention, and the problem of service interruption when the main controller fails is solved.
In an embodiment, as shown in fig. 4, the above-mentioned unmanned device 100 may further include: the map module 150 is communicatively connected to the decision planning module 130, and is configured to provide the offline map to the decision planning module 130. In order to effectively solve the problems caused by possible vehicle-mounted sensor failure, positioning information failure or extreme severe weather, each transport mine car is provided with high-precision map data stored in an off-line mode to serve as the minimum guarantee of vehicle perception information. The semantic high-precision map comprises various semantic elements, and is stored and used in a road layer, an equipment layer, a three-dimensional point cloud layer and the like in a layering manner. The map fully considers the unevenness of the edge of the mine road and the variability of the elevation of the mine, overcomes the problem that the traditional SLAM is insensitive to the height change, ensures that the established base map has good flatness and uniform point cloud distribution, can accurately describe the environment of the mine, and effectively solves the problems of difficult fitting and difficult representation caused by the easy and uneven change of the mine road. The constructed semantic high-precision map can better assist the operation of an automatic driving system, and the safety and the efficiency of automatic driving are ensured.
In order to effectively solve the problems caused by possible vehicle-mounted sensor failure, positioning information failure or extreme severe weather, each vehicle is provided with high-precision map data stored in an off-line mode to serve as the minimum guarantee of vehicle perception information. The semantic high-precision map comprises various semantic elements, and is stored and used in a road layer, an equipment layer, a three-dimensional point cloud layer and the like in a layering manner. The map fully considers the unevenness of the edge of the mine road and the variability of the elevation of the mine, overcomes the problem that the traditional SLAM is insensitive to the height change, ensures that the established base map has good flatness and uniform point cloud distribution, can accurately describe the environment of the mine, and effectively solves the problems of difficult fitting and difficult representation caused by the easy and uneven change of the mine road. The constructed semantic high-precision map can better assist the operation of an automatic driving system, and the safety and the efficiency of automatic driving are ensured.
Fig. 5 is a schematic structural diagram of an intelligent unmanned transportation system for a minery according to another exemplary embodiment of the present application. As shown in fig. 5, the remote monitoring and emergency takeover device 400 may include: an auxiliary work terminal 410 for manually controlling the operation of the tramcar in the event of a failure of the drone 100. Because the underground mining environment is changeable, the transmission stability of signals cannot be guaranteed. Aiming at the characteristics of underground environment, a short-distance control terminal (auxiliary operation terminal 410) is adopted in an unmanned transportation system, so that the control of field personnel on equipment in an emergency or a main network broken link scene is realized, and the fine control in a complex loading/unloading operation mode is supported. The auxiliary operation terminal supports the material transportation mode-loading/unloading management, and supports the interactive functions of voice communication, starting, forward/backward (supporting fine adjustment of operation positions), emergency stop and the like.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. An intelligent unmanned transportation system for a mine, which is characterized by comprising:
the unmanned device is loaded on the transportation tramcar and is used for controlling the operation of the transportation tramcar;
the intelligent scheduling management device is in communication connection with the unmanned device and is used for controlling or assisting the unmanned device;
the train path coordination device is arranged on one side of the running path of the transport tramcar, is in communication connection with the unmanned device, and is used for improving the sensing capability of the transport tramcar; and
and the remote monitoring and emergency adapter device is in communication connection with the unmanned device and is used for controlling the operation of the transport tramcar when the unmanned device fails.
2. The intelligent unmanned transportation system of miners according to claim 1, wherein said intelligent dispatch management means comprises:
a vehicle health management module for managing the health status of the transportation mine car;
the road state monitoring module is used for monitoring the running path state of the transport tramcar;
the traffic safety control module is in communication connection with the road state monitoring module and is used for managing traffic on the running path of the transport tramcar according to the running path state of the transport tramcar; and
and the intelligent scheduling module is in communication connection with the vehicle health management module and the road state monitoring module and is used for intelligently arranging the running path and time of the transport mine car according to the health state of the transport mine car and the running path state of the transport mine car.
3. The intelligent unmanned transportation system of a mineworker according to claim 1, wherein the unmanned device comprises:
the environment sensing module is used for sensing the surrounding environment information of the transport tramcar in the running process;
the positioning module is used for acquiring the position information of the transport mine car;
the decision planning module is in communication connection with the environment sensing module and the positioning module and is used for generating a running path of the transport mine car according to the position information and the surrounding environment information of the transport mine car; and
and the control module is in communication connection with the decision planning module and is used for controlling the real-time operation of the transport mine car according to the operation path generated by the decision planning module.
4. The intelligent unmanned underground mining transportation system of claim 3, wherein the control module comprises two sets of parallel controllers, the two sets of parallel controllers backup each other, and the two sets of parallel controllers individually or jointly control real-time operation of the tramcar.
5. The intelligent unmanned transportation system of a mineworker according to claim 3, wherein the unmanned device further comprises: and the map module is in communication connection with the decision planning module and is used for providing an off-line map to the decision planning module.
6. The intelligent unmanned transportation system of miners according to claim 3, wherein said environment sensing module comprises any one or a combination of: laser radar, millimeter wave radar, vision camera.
7. The intelligent unmanned transportation system of miners according to claim 3 wherein said positioning module comprises a combination of sets of the following positioning units: the device comprises a global navigation satellite system, an inertial sensor, a wheel speed odometer, an ultra-wideband positioning unit and a laser radar positioning unit.
8. The intelligent unmanned transportation system of miners according to claim 1, further comprising:
and the wireless communication device covers the running path of the transport tramcar and is used for being in communication connection with the unmanned device, the intelligent scheduling management device, the vehicle road coordination device and the remote monitoring and emergency takeover device.
9. The intelligent unmanned transportation system of miners according to claim 1, wherein said vehicle-road coordination means comprises: the vehicle-road cooperative sensing module and/or the 5G communication module.
10. The intelligent unmanned underground mining transportation system of claim 1, wherein the remote monitoring and emergency takeover device comprises: and the auxiliary operation terminal is used for manually controlling the operation of the transport tramcar when the unmanned device fails.
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