CN114387802A - Remote pipe connection system and method for unmanned mining truck of surface mine - Google Patents
Remote pipe connection system and method for unmanned mining truck of surface mine Download PDFInfo
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Abstract
The invention discloses a remote takeover system and a remote takeover method for an unmanned mining truck of a surface mine. The vehicle stops actively after the fault, the dispatching system automatically generates a fault processing suggestion, the remote takeover system actively sends a takeover application according to the takeover suggestion, and the dispatching system authorizes and confirms to ensure that the unmanned mine card is in a takeover state when taking over, so that the unmanned vehicle is prevented from being mistakenly taken over, and the safety risk is reduced. Various abnormalities in the process of remote takeover are realized through a fault monitoring and processing module in the vehicle-mounted system, and active safe parking is realized. And active anti-collision in the remote takeover process is realized through the active anti-collision module. The boundary anti-collision module realizes the anti-collision with the map boundary in the takeover process, and the scheduling management module realizes the safety warning of actively prompting the avoidance during meeting and following.
Description
Technical Field
The invention relates to a remote pipe connection system and a remote pipe connection method for an unmanned mining truck of a surface mine, and belongs to the technical field of auxiliary driving of engineering machinery.
Background
With the application of the unmanned technology in the engineering machinery industry, how to take over remotely after the unmanned mining truck has a fault or in a scene of process interruption, rapidly recovering the interrupted process or taking over the return maintenance of the unmanned vehicle is a hot spot of current research. The key points are that the remote take-over intelligentization and the remote take-over efficiency are improved, and the safety of the mining truck after the remote take-over is ensured.
FIG. 1 is a field diagram of operation of an unmanned mining truck for a surface mine. And the dispatching system 8 performs mode management and task allocation through the communication base station 6 according to the state of the unmanned mining truck. The normal operation flow is that the unmanned mining truck enters the loading area 1 for loading operation under the scheduling of the scheduling system 8 and the loading equipment 2, enters the unloading area 4 for unloading operation through the structured road 3 after loading is finished, and returns to the loading area 1 for loading after unloading is finished. The scheduling system 8 performs a series of scheduling management. The mine card is switched from the exchange area 9 to be unmanned to carry out unmanned transportation operation. If the discharged material is discharged on the flat ground or in a retaining wall, the material is cleaned by a bulldozer 5.
The road conditions of the surface mines are complex, cliffs or mountains are often arranged at the loading area, the unloading area and the two sides of the roads, and a plurality of unmanned vehicles are often operated in an unmanned transportation area. When a vehicle breaks down or a process is interrupted, how to quickly solve the problem is the key for ensuring the efficiency of the whole system. How to ensure the safety of the vehicle to be taken over in the remote taking over process is the root of the safe operation of the system.
The existing remote takeover method does not definitely need to classify the fault of takeover, and whether the takeover is needed or not is judged by remote takeover personnel, so that the method not only has high requirements on the remote takeover personnel, but also causes lower takeover efficiency. Aiming at the safety protection measures of the vehicle after the remote takeover, the existing remote takeover scheme basically depends on the remote takeover personnel guarantee, the means of safety guarantee is single, the head-up display function is added to some remote takeover schemes, and the remote takeover scheme is helpful for mastering the information of the unmanned vehicle in real time. Because the blind areas that the vehicle volume is great exist are more, the camera can not all-round cover and the communication also has the delay, so take over in-process vehicle still has great potential safety hazard.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a remote pipe connecting system and a remote pipe connecting method for an unmanned mining truck of a surface mine, and the problems of low remote pipe connecting efficiency, poor reliability and single safety guarantee after the unmanned mining truck has a fault or is interrupted in the process in the prior art are solved.
In order to achieve the above object, the present invention adopts the following technical solutions:
a remote takeover system for an unmanned mining truck of a surface mine comprises a vehicle-mounted system, a dispatching system and a remote takeover system,
the vehicle-mounted system feeds back information to the dispatching system, wherein the information comprises vehicle body information, vehicle fault information, vehicle video information, a vehicle mode and a vehicle takeover state;
the scheduling system automatically generates corresponding processing suggestions according to information uploaded by the vehicle-mounted system, or authorizes a remote take-over instruction according to the application of the remote take-over system, and issues scheduling information to the vehicle-mounted system, wherein the scheduling information comprises mode switching information and an emergency stop control instruction;
the remote takeover system feeds self state information back to the dispatching system in the remote takeover process, and actively sends takeover application to the dispatching system according to a takeover suggestion, wherein the state information comprises the fault state, the communication state and the takeover state of the remote takeover system; and the remote takeover system receives the collision information and the warning information uploaded by the vehicle-mounted system in the remote takeover mode, and issues a corresponding emergency stop instruction to the vehicle-mounted system, so that the vehicle remotely takes over the control instruction.
Further, the vehicle-mounted system comprises an active anti-collision module, a fault monitoring and processing module, a communication safety monitoring module and a control instruction arbitration module,
the active anti-collision module comprises a sensing module and a safety judgment module, can monitor the distance between front and rear obstacles of the vehicle in real time, and realizes active safety parking when the distance between the obstacles and the vehicle is within a safety distance;
the fault monitoring and processing module can monitor the faults of the vehicle and generate corresponding fault codes according to the fault types and the grades;
the communication safety monitoring module monitors the network communication safety in the communication process in real time;
the control instruction arbitration module forwards the remote takeover control instruction to control the vehicle to realize corresponding speed limit and safe parking actions.
Furthermore, the dispatching system comprises a mode management module, a dispatching management module, a boundary anti-collision module, a remote take-over authorization and switching module and a fault management module,
the mode management module can control mode switching of the unmanned vehicle, the switching modes comprise a manned mode, an unmanned mode and a remote takeover mode, and the unmanned mode and the remote takeover mode comprise a pause state and a safety state;
the dispatching management module is used for dispatching the unmanned vehicles and the remote takeover vehicles in a unified mode and warning remote takeover personnel to avoid the unmanned vehicles;
the boundary anti-collision module calculates the distance between the vehicle position and the map boundary in real time;
the remote takeover switching and authorization module initiates remote takeover suggestion, confirmation and audit;
and the fault management module automatically generates a fault processing suggestion according to the fault grade and the fault type.
Further, the remote takeover system comprises an emergency stop module, a remote takeover application module and a remote operation module,
the emergency stop module is used for matching with a vehicle which is remotely taken over and controlling the vehicle to stop emergently and comprises a remote taking over system emergency stop module and a dispatching system emergency stop module;
the remote takeover application module can actively initiate a remote takeover request according to the remote takeover suggestion, and actively apply for quitting the remote takeover when quitting;
the remote operation module can remotely control the vehicle to run and work.
A remote takeover method for an unmanned mining truck of a surface mine comprises the following steps:
uploading a fault and takeover mark in real time by the vehicle-mounted system;
the dispatching system automatically generates a processing suggestion according to the uploading fault of the unmanned mining truck;
the remote takeover system sends a takeover request according to the takeover suggestion of the scheduling system;
the dispatcher authorizes taking over and informs the taking over personnel;
the takeover personnel take over the unmanned vehicle remotely;
and exiting the remote takeover.
Further, the step of uploading the fault and takeover flag in real time by the vehicle-mounted system includes:
the fault monitoring and processing module is used for grading according to fault events of the unmanned mining truck, and the grading comprises the following steps: no fault operation, flow interruption caused by terrain, and fault grade. The fault grades are divided into N grades, N +1 grades and N +2 grades;
the fault monitoring and processing module uploads a takeover mark to the dispatching system according to the fault grade: enabling the receivable management mark when the state of the occurred fault event is one of no-fault operation, process interruption caused by terrain, a fault level N level and a fault level N +1 level, uploading the non-receivable management mark when the state of the occurred fault event is the highest fault level N +2, and entering a safe state.
Further, the aforementioned fault with the fault level N +2 mainly includes: the method comprises the following steps that a vehicle body influences driving faults, unmanned system program abnormal termination faults, sensing system faults and positioning system faults;
faults with a fault level of N +1 include: the transverse and longitudinal control precision is low, the behavior is abnormal, the vehicle body does not influence the running fault, and the program running platform is abnormal;
the abnormality corresponding to the fault level N includes: overtime program operation, warning faults of the vehicle system, abnormal loading and unloading states and material jamming of the container.
Further, the dispatching system automatically generates a processing proposal according to the uploading fault of the unmanned mining truck, and the steps are as follows:
when the fault level is N +2, recommending manual inspection;
when the fault level is N +1 level, the process is interrupted due to terrain, and no fault operation occurs, remote take-over is suggested;
when a fault with a fault level of N occurs in the manned mode and the unmanned mode, two suggestions of remote takeover and waiting for fault recovery are generated.
Further, the method for the remote takeover system to issue a takeover request according to the scheduling system takeover recommendation includes:
a remote takeover application module in the remote takeover system sends a takeover request according to a takeover suggestion of a fault management module, and when the remote takeover application module receives a takeover mark, the remote takeover application module sends the takeover request to a scheduling system according to the state of the remote takeover application module:
if the state of the remote takeover system does not meet the working requirement, sending a warning that the state of the remote takeover system does not meet the standard and cannot be taken over to a fault management module of the dispatching system, and upgrading fault processing suggestions of the fault management module to be manual inspection;
and if the state of the takeover system meets the requirement, the remote takeover application module sends a takeover request to the scheduling system.
Further, the steps of authorizing the takeover and notifying the takeover personnel by the dispatcher comprise:
the dispatching personnel authorizes the remote takeover request through a remote takeover authorization and switching module in the dispatching system and informs the remote takeover personnel after the authorization is finished;
the unmanned mining truck is switched into a remote takeover mode through a mode management module of the dispatching system, an emergency stop module in the remote takeover system is matched with the unmanned mining truck which is taken over, and if the matching is unsuccessful, a dispatcher refuses a remote takeover request.
Further, the step of remotely taking over the unmanned vehicle by the takeover personnel comprises the following steps:
in the process of remote take-over, a fault monitoring and processing module of the vehicle-mounted system can monitor vehicle behavior abnormity and vehicle body influence running faults in real time, and a communication safety monitoring module monitors network communication in real time;
if the behavior is abnormal or the vehicle body affects the driving fault in the remote takeover process, the control instruction arbitration module of the vehicle-mounted system actively stops the vehicle and enters a safe state, fault processing and upgrading are carried out, and a dispatcher quits the remote takeover according to the processing suggestion of the dispatching system and informs related personnel of carrying out fault troubleshooting;
if a network communication fault occurs in the remote takeover process, corresponding measures are executed;
if the system works normally after the remote takeover, a scheduling management module of the scheduling system participates in vehicle scheduling according to the position information of the vehicle, an active anti-collision module of the vehicle-mounted system provides the position information of the vehicle in real time, and when the remote takeover vehicle and the unmanned vehicle meet, the remote takeover vehicle is prompted to avoid the unmanned vehicle;
the boundary anti-collision module of the dispatching system calculates the distance between the vehicle and the map boundary in real time according to the position information of the vehicle, and when the distance between the vehicle and the map boundary is smaller than a threshold value, the fault management module issues an emergency control parking instruction.
Further, the specific method for prompting the remote vehicle taking over to avoid the unmanned vehicle by the active anti-collision module comprises the following steps:
when the vehicle moves forwards, when the distance between obstacles is in the range of r 2-r 3, the active anti-collision module sends warning information to prompt a remote takeover person to improve the attention; when the distance of the obstacle is within the range of r 1-r 2, warning a remote takeover person to take deceleration or evasion measures; when the distance between the obstacles is less than r1, whether the remote takeover personnel have a parking command or not, the active anti-collision module issues an emergency parking command to the control command arbitration module, and the control command arbitration module controls the vehicle to safely park, wherein r1 is more than r2 is more than r 3;
when the vehicle backs, the control instruction arbitration module limits the highest speed to be not higher than 5km/h, and when the distance between obstacles is in the range of r 4-r 5, the active anti-collision module sends warning information to warn a remote takeover person to put the attention high; when the obstacle distance is less than r4, the active collision avoidance module sends an emergency stop command, where r4< r 5.
Further, the obstacle distances r1, r2, r3, r4, and r5 are dynamically changed, and the values are dynamically calculated according to the vehicle speed and the vehicle braking capability.
Further, if a network communication failure occurs in the remote takeover process, the specific steps of performing corresponding measures include:
network communication failures include: communication delay, heartbeat loss, communication data anomaly;
if the communication delay fault occurs, actively warning remote takeover personnel;
if the heartbeat is lost, the control instruction arbitration module actively controls the parking and reports the parking reason, and when the fault is recovered, the remote control can be normally continued to take over the driving;
if communication data is abnormal, the control instruction arbitration module actively controls parking and enters a safe state, the fault management module carries out fault processing upgrading, remote takeover is not allowed to continue, and faults need to be manually checked.
Further, the step of remotely taking over the unmanned vehicle by the takeover personnel further comprises:
the communication safety monitoring module checks whether the emergency stop module is in an online network communication state in real time, when the emergency stop module is offline, the fault monitoring and processing module sends an emergency stop instruction to the control instruction arbitration module, and the control instruction arbitration module controls emergency stop and enters a pause state; when the emergency stop device is back on line, the driving can be continuously taken over.
Further, the step of exiting the remote takeover is as follows:
the remote takeover personnel send out takeover quitting application through the remote takeover application module, the dispatching system confirms and authorizes the remote takeover quitting application, and the mode management module controls the remote takeover mode to quit and enter the manned mode.
The invention achieves the following beneficial effects:
1. multiple safety protection in the remote takeover process is realized through the remote takeover switching and authorization module, the active anti-collision module, the remote takeover instruction and safety instruction arbitration module, the communication safety monitoring module, the fault monitoring and processing module and the emergency stop module, and the problems of poor reliability and single safety guarantee of a common remote takeover method can be effectively solved.
2. The manual intervention items are simplified, the system directly pops up the fault processing suggestion, and the remote takeover personnel and the scheduling personnel only need to operate according to the prompt.
3. The dispatching personnel and the remote takeover personnel can both scram the unmanned mining truck which is remotely taken over through the scram module, so that the safety and scram protection of the vehicle is realized, and the potential safety hazard caused by the inattention of the remote takeover personnel is avoided.
Drawings
FIG. 1 is a field diagram of an open pit mine unmanned mining truck operation;
FIG. 2 is a system composition diagram of the present invention;
FIG. 3 is a flow chart of the method of the present invention;
FIG. 4 is a plot of a takeover status and vehicle fault relationship for an unmanned mining truck in accordance with the present invention;
fig. 5 is an active collision avoidance module operational diagram of the present invention.
The meaning of the reference symbols in the figures: 1-a loading zone; 2-loading the equipment; 3-structured road; 4-an unloading zone; 5-a bulldozer; 6-a communication base station; 7-remote take-over system; 8-a scheduling system; 9-exchange zone.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The embodiment discloses a remote takeover system and a remote takeover method for an unmanned mining truck of a surface mine.
FIG. 2 is a block diagram of a surface mine unmanned mining truck remote takeover system, comprising: the system comprises a vehicle-mounted system, a scheduling system and a remote takeover system.
The vehicle-mounted system includes: the system comprises an active anti-collision module, a fault monitoring and processing module, a communication safety monitoring module and a control instruction arbitration module. The active collision avoidance module includes: the sensing module and the safety judgment module can monitor the distance between front and rear obstacles of the vehicle in real time and realize active safety parking when the distance between the obstacles and the vehicle is within a safety distance; the fault monitoring and processing module can monitor faults of the vehicle, including communication faults, behavior abnormity, software and hardware abnormity and the like among modules in the unmanned mine card system, and generates corresponding fault codes according to the types and the grades of the faults; the communication safety monitoring module monitors the network communication safety in the communication process in real time, and comprises communication connectivity monitoring, communication delay monitoring, communication data validity monitoring and communication data updating frequency monitoring; the control instruction arbitration module forwards the remote takeover control instruction to control the vehicle to realize corresponding actions of speed limit, safe parking and the like.
The scheduling system includes: the system comprises a mode management module, a scheduling management module, a boundary anti-collision module, a remote take-over authorization and switching module and a fault management module. The mode management module can control mode switching of the unmanned vehicle, the switching modes comprise a manned mode, an unmanned mode and a remote takeover mode, the unmanned mode and the remote takeover mode comprise a pause state and a safety state, and after the vehicle enters the safety state, mode switching is forbidden, remote takeover is forbidden to continue, and manual intervention processing is required; the dispatching management module is used for dispatching the unmanned vehicles and the remote takeover vehicles in a unified mode and warning remote takeover personnel to avoid the unmanned vehicles; the boundary anti-collision module calculates the distance between the vehicle position and the map boundary in real time; the remote takeover switching and authorization module initiates remote takeover suggestion, confirmation and audit; and the fault management module automatically generates a fault processing suggestion according to the fault grade and the fault type.
The remote takeover system includes: the system comprises an emergency stop module, a remote take-over application module and a remote operation module. The emergency stop module is used for matching with a vehicle which is remotely taken over and controlling the vehicle to stop emergently and comprises a remote taking over system emergency stop module and a dispatching system emergency stop module; the remote takeover application module can actively initiate a remote takeover request according to the remote takeover suggestion, and actively apply for quitting the remote takeover when quitting; the remote operation module can remotely control the vehicle to run and work.
In fig. 2, a01 is information fed back to the scheduling system by the vehicle-mounted system, and includes: vehicle body information (vehicle position, vehicle speed, gear, throttle, brake, etc.), vehicle fault information, vehicle video information, vehicle mode, vehicle takeover status. In fig. 2, a02 is scheduling information issued by the scheduling system to the vehicle-mounted system, and includes: mode switching information and an emergency stop control instruction.
A03 in fig. 2 is status information feedback of the remote takeover system. The feedback status information includes: and remotely taking over the fault state, the communication state and the taking over state of the system. A04 in fig. 2 authorizes the remote takeover instruction of the remote takeover system for the dispatch system.
In fig. 2, a05 is collision information and warning information uploaded by the vehicle-mounted system in the remote takeover mode. In fig. 2, a06 is an emergency stop command in the remote take-over mode, and a vehicle remote take-over control command (gear, throttle, brake, steering angle, cargo box command).
The invention also relates to a remote takeover method of the unmanned mining truck for the surface mine, which comprises the following steps as shown in figure 3:
s101, uploading a fault and manageable mark in real time by the vehicle-mounted system: and a fault monitoring and processing module of the vehicle-mounted system uploads a fault code and a takeover mark to the dispatching system in real time. The fault monitoring and processing module enables the takeover flag according to the fault level of the unmanned mining truck, and the relation between the fault level and the takeover flag is shown in fig. 4.
The overall fault event state of the unmanned mining truck is divided into: no fault operation, flow interruption caused by terrain, and fault grade. The fault grades are divided into N grades, N +1 grades and N +2 grades.
Enabling the manageable flag when the state of the fault event is one of fault-free operation, terrain-caused flow interruption, fault level N level and fault level N +1 level. And when the fault event is the highest fault level N +2, uploading the non-takeover mark and entering a safe state. The faults with the fault level of N +2 mainly comprise: the vehicle body influences the running fault, the unmanned system program abnormal termination fault, the sensing system fault and the positioning system fault. Wherein the takeover fault N +1 stage comprises: the transverse and longitudinal control precision is low, the behavior is abnormal, the vehicle body does not influence the running fault, and the program running platform is abnormal. The abnormality corresponding to the fault level N mainly includes: overtime program operation, warning faults (low oil level, high oil temperature and the like) of the vehicle system, abnormal loading and unloading states, material jamming of a container and the like.
S102, the dispatching system automatically generates a processing suggestion according to the uploading fault of the unmanned mining truck: the fault management module in the dispatching system automatically generates fault processing suggestions according to fault information uploaded by the vehicle-mounted system, wherein the fault management module generates the fault processing suggestions according to the classification and the fault grade of the fault, and the processing suggestions comprise: when the fault level is N +2, recommending manual inspection; when the fault level is N +1 level, the process is interrupted due to terrain, and no fault operation occurs, remote take-over is suggested; when a fault with the fault level of N occurs in the manned mode and the unmanned mode, two suggestions of remote takeover and fault recovery waiting are generated for scheduling personnel to select.
S103, the remote takeover system sends a takeover request according to the takeover suggestion of the dispatching system: and a remote takeover application module in the remote takeover system sends out a takeover request according to a takeover suggestion of the fault management module. When the remote takeover application module receives the takeover mark, the remote takeover application module sends a takeover request to the scheduling system according to the state of the remote takeover application module. If the state of the remote takeover system does not meet the working requirement, sending a warning that the state of the remote takeover system does not meet the requirement and cannot be taken over to a fault management module of the dispatching system; and if the state of the takeover system meets the requirement, the remote takeover application module sends a takeover request to the scheduling system. When the state of the takeover system does not reach the standard and the takeover cannot be carried out, the fault management module of the dispatching system can carry out fault processing upgrading, and the fault processing upgrading proposal is manual inspection.
S104, the dispatcher authorizes taking over and informs the taking over personnel: the dispatching personnel authorizes the remote takeover request through a remote takeover authorization and switching module in the dispatching system, and informs the remote takeover personnel after the authorization is completed, and the remote takeover system prompts that: the takeover request is authorized, and the operation can be normally and remotely taken over. After the dispatching system authorizes, the unmanned mining truck is switched to a remote takeover mode through a mode management module of the dispatching system, and at the moment, an emergency stop module in the remote takeover system is paired with the unmanned mining truck which is taken over. If an abnormal condition occurs (the periphery of the unmanned mine truck has obstacles, the emergency stop module and the unmanned mine truck are not successfully matched), the dispatcher refuses the remote takeover request, and the safety of the takeover process of the unmanned mine truck is ensured.
S105, the takeover personnel remotely take over the unmanned vehicle: in the process of taking over the driving remotely, a fault monitoring and processing module of the vehicle-mounted system can monitor the abnormal behavior of the vehicle, the driving fault of the vehicle body and the abnormal of each module in real time; the communication safety monitoring module monitors network communication in real time. Wherein the vehicle behavior abnormality includes: abnormal gear, abnormal following of steering angle, abnormal container, abnormal braking, abnormal slipping and abnormal speed. The vehicle body driving influence fault comprises the following steps: failure of a steering sensor, unreasonable tire pressure and tire temperature, abnormal oil temperature and abnormal oil level. The network communication faults mainly comprise: communication delay, heartbeat loss, communication data anomalies. In the implementation case, the operation state, the communication real-time property and the data validity of the module are checked for the received and sent information.
After the behavior abnormity occurs in the process of remote takeover or the vehicle body has a fault affecting the driving, the control instruction arbitration module of the vehicle-mounted system actively stops the vehicle and enters a safe state, the fault processing is upgraded, and the dispatcher quits the remote takeover according to the processing suggestion of the dispatching system and informs related personnel of carrying out fault troubleshooting.
When each submodule of the vehicle-mounted system is abnormal, the control instruction arbitration module stops actively and enters a safe state, and the remote takeover driving is forbidden to continue. And a fault management module in the dispatching system prompts that the vehicle does not have the remote takeover condition and needs manual investigation, and quits the remote takeover.
And after network communication delay faults occur in the remote takeover process, actively warning remote takeover personnel. And after heartbeat loss occurs, the control instruction arbitration module actively controls parking and reports the parking reason, and when the fault is recovered, the remote control can be normally continued to take over driving. When communication data is abnormal, the control instruction arbitration module actively controls parking and enters a safe state, the fault management module carries out fault processing upgrading, remote takeover is not allowed to continue, and faults need to be manually checked.
When the system works normally after the remote takeover, the active anti-collision module of the vehicle-mounted system provides vehicle position information in real time. A scheduling management module of the scheduling system participates in vehicle scheduling according to the position information of the vehicle, and prompts the remote takeover vehicle to avoid the unmanned vehicle when the remote takeover vehicle and the unmanned vehicle are about to meet; the method comprises the steps that a boundary anti-collision module of a dispatching system calculates the distance between a vehicle and a map boundary in real time according to position information of the vehicle, wherein the map boundary is an actual road edge boundary acquired by a high-precision positioning vehicle, a distance threshold value between the vehicle position and the map boundary is dynamic, the distance threshold value is calculated according to the vehicle speed and the vehicle braking performance, and when the distance between the vehicle and the map boundary is smaller than the threshold value, a fault management module issues an emergency control parking instruction.
The active anti-collision working principle in the take-over process is shown in fig. 5. When the vehicle moves forwards, when the distance between obstacles is within the range of r 2-r 3, the active anti-collision module sends warning information to prompt a remote person to take over the vehicle to improve the attention. And when the distance of the obstacle is in the range of r 1-r 2, warning a remote takeover person to take deceleration or evasive measures. When the distance between the obstacles is less than r1, whether the remote takeover personnel have a parking instruction or not, the active anti-collision module issues an emergency parking instruction to the control instruction arbitration module, and the control instruction arbitration module controls the vehicle to safely park. When the vehicle backs, the control instruction arbitration module limits the highest speed to be not higher than 5km/h, and when the distance between obstacles is in the range of r 4-r 5, the active anti-collision module sends warning information to warn a remote takeover person to put the attention high; when the obstacle distance is less than r4, the active collision avoidance module sends an emergency stop command. The obstacle distances r1, r2, r3, r4 and r5 are dynamically changed, and the values are dynamically calculated according to the vehicle speed and the vehicle braking capacity. Wherein r1< r2< r3, r4< r 5.
Particularly, the remote takeover system and the dispatching system are both provided with an emergency stop module, and when an abnormal condition occurs, both remote takeover personnel and dispatching personnel can stop the unmanned mining truck through the emergency stop module. In an implementation case, the communication safety monitoring module checks whether the emergency stop module is in an online network communication state in real time, when the emergency stop module is offline, the fault monitoring and processing module sends an emergency stop instruction to the control instruction arbitration module, the control instruction arbitration module controls the emergency stop and enters a pause state, and the emergency stop module can continue to take over driving only when the emergency stop module is recovered to be online.
S106, quitting the remote takeover: the remote takeover personnel send out takeover quitting application through the remote takeover application module, the dispatching system confirms and authorizes the remote takeover quitting application, and the mode management module controls the remote takeover mode to quit and enter the manned mode.
When the unmanned mining truck causes flow interruption due to terrain reasons or a dispatcher requires a certain unmanned mining truck to take over remotely, the working principle is as follows: the method comprises the steps that a dispatcher suspends the unmanned mining truck through a dispatching system, a mode management module switches a remote takeover mode, the remote takeover system sends a takeover application, and the dispatcher confirms and authorizes the remote takeover application. The unmanned mining truck jumps to a remote takeover mode, and the remote takeover center emergency stop device is paired with the unmanned mining truck.
In the implementation case, the safety measures after the remote takeover are consistent with the safety measures in the remote takeover after the fault. The active anti-collision module uploads the position of the vehicle in real time, the boundary anti-collision module calculates the position of the boundary in real time, active anti-collision with the road edge is achieved according to the position relation, and meanwhile, the vehicle position prompts the person taking over the road to actively avoid the unmanned vehicle. The fault monitoring and processing module is used for monitoring and processing the abnormity and controlling the instruction arbitration module to arbitrate the instructions.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (16)
1. A remote takeover system for an unmanned mining truck of a surface mine is characterized by comprising a vehicle-mounted system, a dispatching system and a remote takeover system,
the vehicle-mounted system feeds back information to the dispatching system, wherein the information comprises vehicle body information, vehicle fault information, vehicle video information, a vehicle mode and a vehicle takeover state;
the scheduling system automatically generates corresponding processing suggestions according to information uploaded by the vehicle-mounted system, or authorizes a remote take-over instruction according to the application of the remote take-over system, and issues scheduling information to the vehicle-mounted system, wherein the scheduling information comprises mode switching information and an emergency stop control instruction;
the remote takeover system feeds self state information back to the dispatching system in the remote takeover process, and actively sends takeover application to the dispatching system according to a takeover suggestion, wherein the state information comprises the fault state, the communication state and the takeover state of the remote takeover system; and the remote take-over system receives the collision information and the warning information uploaded by the vehicle-mounted system in the remote take-over mode, and issues a corresponding emergency stop instruction and a vehicle remote take-over control instruction to the vehicle-mounted system.
2. The remote takeover system of an unmanned mining truck for a surface mine according to claim 1, wherein the on-board system comprises an active collision avoidance module, a fault monitoring and processing module, a communication security monitoring module, and a control command arbitration module,
the active anti-collision module comprises a sensing module and a safety judgment module, can monitor the distance between front and rear obstacles of the vehicle in real time, and realizes active safety parking when the distance between the obstacles and the vehicle is within a safety distance;
the fault monitoring and processing module can monitor faults of the vehicle and generate corresponding fault codes according to the type and the grade of the faults;
the communication safety monitoring module monitors the network communication safety in the communication process in real time;
the control instruction arbitration module forwards a remote takeover control instruction to control the vehicle to realize corresponding speed limit and safe parking actions.
3. The surface mine unmanned mining truck remote takeover system of claim 1, wherein the dispatch system includes a mode management module, a dispatch management module, a boundary collision avoidance module, a remote takeover authorization and switching module, a fault management module,
the mode management module can control mode switching of the unmanned vehicle, the switching modes comprise a manned mode, an unmanned mode and a remote takeover mode, and the unmanned mode and the remote takeover mode comprise a pause state and a safety state;
the dispatching management module is used for dispatching unmanned vehicles and remote takeover vehicles in a unified mode and warning remote takeover personnel to avoid the unmanned vehicles;
the boundary anti-collision module calculates the distance between the vehicle position and the map boundary in real time;
the remote takeover switching and authorization module initiates remote takeover suggestion, confirmation and audit;
and the fault management module automatically generates a fault processing suggestion according to the fault grade and the fault type.
4. The surface mine unmanned mining truck remote takeover system of claim 1, wherein the remote takeover system comprises an emergency stop module, a remote takeover application module, and a remote operation module,
the emergency stop module is used for matching with a vehicle which is remotely taken over and controlling the vehicle to stop emergently and comprises a remote taking over system emergency stop module and a dispatching system emergency stop module;
the remote takeover application module can actively initiate a remote takeover request according to the remote takeover suggestion, and actively apply for quitting the remote takeover when quitting;
the remote operation module can remotely control the running and the operation of the vehicle.
5. A remote takeover method for an unmanned mining truck of a surface mine is characterized by comprising the following steps:
uploading a fault and takeover mark in real time by the vehicle-mounted system;
the dispatching system automatically generates a processing suggestion according to the uploading fault of the unmanned mining truck;
the remote takeover system sends a takeover request according to the takeover suggestion of the scheduling system;
the dispatcher authorizes taking over and informs the taking over personnel;
the takeover personnel take over the unmanned vehicle remotely;
and exiting the remote takeover.
6. The method of claim 5, wherein the step of uploading the fault and takeover flags in real time by the on-board system comprises:
the fault monitoring and processing module is used for grading according to fault events of the unmanned mining truck, and the grading comprises the following steps: no fault operation, flow interruption caused by terrain, and fault grade;
the fault grades are divided into N grades, N +1 grades and N +2 grades;
the fault monitoring and processing module uploads a takeover mark to the dispatching system according to the fault grade: enabling the receivable management mark when the state of the occurred fault event is one of no-fault operation, process interruption caused by terrain, a fault level N level and a fault level N +1 level, uploading the non-receivable management mark when the state of the occurred fault event is the highest fault level N +2, and entering a safe state.
7. The method of claim 6, wherein the fault of class N +2 consists essentially of: the method comprises the following steps that a vehicle body influences driving faults, unmanned system program abnormal termination faults, sensing system faults and positioning system faults;
the fault with the fault level N +1 comprises the following steps: the transverse and longitudinal control precision is low, the behavior is abnormal, the vehicle body does not influence the running fault, and the program running platform is abnormal;
the abnormality corresponding to the fault level N comprises the following steps: overtime program operation, warning faults of the vehicle system, abnormal loading and unloading states and material jamming of the container.
8. The method of claim 5, wherein the step of automatically generating processing recommendations by the dispatch system based on the unmanned mining truck upload failure comprises:
when the fault level is N +2, recommending manual inspection;
when the fault level is N +1 level, the process is interrupted due to terrain, and no fault operation occurs, remote take-over is suggested;
when a fault with a fault level of N occurs in the manned mode and the unmanned mode, two suggestions of remote takeover and waiting for fault recovery are generated.
9. The method for remotely taking over an unmanned mining truck for a surface mine according to claim 5, wherein the method for the remote takeover system to issue a takeover request according to a dispatch system takeover recommendation comprises:
a remote takeover application module in the remote takeover system sends a takeover request according to a takeover suggestion of a fault management module, and when the remote takeover application module receives a takeover mark, the remote takeover application module sends the takeover request to a scheduling system according to the state of the remote takeover application module:
if the state of the remote takeover system does not meet the working requirement, sending a warning that the state of the remote takeover system does not meet the standard and cannot be taken over to a fault management module of the dispatching system, and upgrading fault processing suggestions of the fault management module to be manual inspection;
and if the state of the takeover system meets the requirement, the remote takeover application module sends a takeover request to the scheduling system.
10. The method of claim 5, wherein the step of the dispatcher authorizing takeover and notifying the takeover personnel comprises:
the dispatching personnel authorizes the remote takeover request through a remote takeover authorization and switching module in the dispatching system and informs the remote takeover personnel after the authorization is finished;
the unmanned mining truck is switched into a remote takeover mode through a mode management module of the dispatching system, an emergency stop module in the remote takeover system is matched with the unmanned mining truck which is taken over, and if the matching is unsuccessful, a dispatcher refuses a remote takeover request.
11. The method of claim 5, wherein the step of remotely taking over the unmanned vehicle by the takeover personnel comprises:
in the process of remote take-over, a fault monitoring and processing module of the vehicle-mounted system can monitor vehicle behavior abnormity and vehicle body influence running faults in real time, and a communication safety monitoring module monitors network communication in real time;
if the behavior is abnormal or the vehicle body affects the driving fault in the remote takeover process, the control instruction arbitration module of the vehicle-mounted system actively stops the vehicle and enters a safe state, fault processing and upgrading are carried out, and a dispatcher quits the remote takeover according to the processing suggestion of the dispatching system and informs related personnel of carrying out fault troubleshooting;
if a network communication fault occurs in the remote takeover process, corresponding measures are executed;
if the system works normally after the remote takeover, a scheduling management module of the scheduling system participates in vehicle scheduling according to the position information of the vehicle, an active anti-collision module of the vehicle-mounted system provides the position information of the vehicle in real time, and when the remote takeover vehicle and the unmanned vehicle meet, the remote takeover vehicle is prompted to avoid the unmanned vehicle;
the boundary anti-collision module of the dispatching system calculates the distance between the vehicle and the map boundary in real time according to the position information of the vehicle, and when the distance between the vehicle and the map boundary is smaller than a threshold value, the fault management module issues an emergency control parking instruction.
12. The method for remotely taking over the unmanned mining truck for the surface mine according to claim 11, wherein the specific method for prompting the remote takeover vehicle to avoid the unmanned vehicle by the active anti-collision module comprises the following steps:
when the vehicle moves forwards, when the distance between obstacles is in the range of r 2-r 3, the active anti-collision module sends warning information to prompt a remote takeover person to improve the attention; when the distance of the obstacle is within the range of r 1-r 2, warning a remote takeover person to take deceleration or evasion measures; when the distance between the obstacles is less than r1, whether the remote takeover personnel have a parking command or not, the active anti-collision module issues an emergency parking command to the control command arbitration module, and the control command arbitration module controls the vehicle to safely park, wherein r1 is more than r2 is more than r 3;
when the vehicle backs, the control instruction arbitration module limits the highest speed to be not higher than 5km/h, and when the distance between obstacles is in the range of r 4-r 5, the active anti-collision module sends warning information to warn a remote takeover person to put the attention high; when the obstacle distance is less than r4, the active collision avoidance module sends an emergency stop command, where r4< r 5.
13. The method of claim 12, wherein the barrier distances r1, r2, r3, r4, r5 are dynamically variable, and the values are dynamically calculated according to vehicle speed and vehicle braking capability.
14. The method for remotely taking over the unmanned mining truck in the surface mine according to claim 11, wherein if a network communication fault occurs in the remote taking over process, the specific steps of performing corresponding measures comprise:
the network communication failure comprises: communication delay, heartbeat loss, communication data anomaly;
if the communication delay fault occurs, actively warning remote takeover personnel;
if the heartbeat is lost, the control instruction arbitration module actively controls the parking and reports the parking reason, and when the fault is recovered, the remote control can be normally continued to take over the driving;
if communication data is abnormal, the control instruction arbitration module actively controls parking and enters a safe state, the fault management module carries out fault processing upgrading, remote takeover is not allowed to continue, and faults need to be manually checked.
15. The method of claim 11, wherein the step of remotely taking over personnel from the unmanned mining truck for the surface mine further comprises:
the communication safety monitoring module checks whether the emergency stop module is in an online network communication state in real time, when the emergency stop module is offline, the fault monitoring and processing module sends an emergency stop instruction to the control instruction arbitration module, and the control instruction arbitration module controls emergency stop and enters a pause state; when the emergency stop device is back on line, the driving can be continuously taken over.
16. The method of claim 5, wherein the step of withdrawing the remote takeover is as follows:
the remote takeover personnel send out takeover quitting application through the remote takeover application module, the dispatching system confirms and authorizes the remote takeover quitting application, and the mode management module controls the remote takeover mode to quit and enter the manned mode.
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