CN114387802B - Remote take-over system and method for unmanned mining truck of surface mine - Google Patents
Remote take-over system and method for unmanned mining truck of surface mine Download PDFInfo
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- CN114387802B CN114387802B CN202111615996.3A CN202111615996A CN114387802B CN 114387802 B CN114387802 B CN 114387802B CN 202111615996 A CN202111615996 A CN 202111615996A CN 114387802 B CN114387802 B CN 114387802B
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
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Abstract
The invention discloses a remote take-over system and a remote take-over method for an unmanned mining truck of an open mine. The vehicle is actively parked after fault, the dispatching system automatically generates fault processing advice, the remote take-over system actively sends out take-over application according to the take-over advice, the dispatching system authorizes and confirms, the unmanned mining card is ensured to be in a take-over state when taking over, the misconnection of the unmanned vehicle is prevented, and the safety risk is reduced. The fault monitoring and processing module in the vehicle-mounted system is used for realizing various anomalies in the remote take-over process and realizing active safe parking. The active anti-collision module is used for realizing active anti-collision in the process of remote take-over. The boundary anti-collision module is used for realizing anti-collision with the map boundary in the taking over process, and the scheduling management module is used for realizing active prompt and avoidance safety warning during vehicle meeting and vehicle following.
Description
Technical Field
The invention relates to a remote take-over system and a remote take-over method for an unmanned mining truck of an open pit mine, and belongs to the technical field of engineering machinery auxiliary driving.
Background
With the application of unmanned technology in engineering machinery industry, how to quickly resume an interrupted flow or take over unmanned vehicles to return maintenance through remote take over after the unmanned mining truck fails or in the scene of flow interruption is a hot spot of current research. The key point is to improve the intelligence of the remote take-over and the efficiency of the remote take-over and ensure the safety of the mining truck after the remote take-over.
Fig. 1 is a field diagram of an open mine unmanned mining truck operation. The dispatch 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 dispatching of the dispatching system 8 and the loading equipment 2, enters the unloading area 4 for unloading operation through the structured road 3 after loading is completed, and returns to the loading area 1 for loading after unloading is completed. The scheduling system 8 will perform a series of scheduling management. The mine cards are switched from the exchange area 9 to unmanned transport operation. Unloading if it is in a flat ground or retaining wall, the material is cleaned by bulldozer 5.
The road conditions of the surface mine are complex, the loading area, the unloading area and the two sides of the road are cliffs or mountains, and a plurality of unmanned vehicles are often operated in an unmanned transportation area. When a vehicle fails or the flow is interrupted, how to quickly solve the problem is a key to ensuring the efficiency of the whole system. How to ensure the safety of the take-over vehicle in the remote take-over process is the root of the safe operation of the system.
The existing remote takeover method does not clearly need fault classification of takeover, and the remote takeover personnel is fully used for judging whether the takeover should be taken over or not, so that the method has high requirements on the remote takeover personnel and has lower takeover efficiency. Aiming at the safety protection measures of the vehicle after the remote take over, the existing remote take over scheme is basically ensured by remote take over personnel, the means of the safety guarantee are single, and the head-up display function is added by some remote take over schemes, so that the method is helpful for grasping the information of the unmanned vehicle in real time. Because the dead zone that the vehicle volume is great exists is comparatively more, the camera can't all-round cover and communication also has delay, so take over the in-process vehicle still has great potential safety hazard.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides a remote take-over system and a remote take-over method for an unmanned mining truck in an open pit mine, which solve the problems of low remote take-over efficiency, poor reliability of the method and single safety guarantee after the unmanned mining truck is in fault or after the flow is interrupted in the prior art.
In order to achieve the above object, the present invention adopts the following technical scheme:
a remote take-over system of an unmanned mining truck of an open mine, which comprises a vehicle-mounted system, a dispatching system and a remote take-over 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, vehicle modes and a vehicle takeover state;
the scheduling system automatically generates corresponding processing suggestions according to the information uploaded by the vehicle-mounted system, or issues scheduling information to the vehicle-mounted system according to the application authorization remote take-over instruction of the remote take-over system, wherein the scheduling information comprises mode switching information and an emergency stop control instruction;
the remote take-over system feeds back state information of the remote take-over system to the dispatching system in the remote take-over process, and actively sends out take-over application to the dispatching system according to take-over advice, wherein the state information comprises a fault state, a communication state and a take-over state of the remote take-over system; the remote take-over system receives collision information and warning information uploaded by the vehicle-mounted system when in the remote take-over mode, and issues corresponding scram instructions to the vehicle-mounted system, and the vehicle remotely takes over control instructions.
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 judging module, can monitor the distance between the front obstacle and the rear obstacle of the vehicle in real time, and can realize active safe parking when the distance between the obstacle and the vehicle is within the safety distance;
the fault monitoring and processing module can monitor faults of the vehicle and generate corresponding fault codes according to the fault types and grades;
the communication safety monitoring module monitors network communication safety in the communication process in real time;
the control instruction arbitration module forwards the remote take-over control instruction to control the vehicle to realize corresponding speed limiting and safe parking actions.
Further, the scheduling system comprises a mode management module, a scheduling management module, a boundary anti-collision module, a remote takeover authorization and switching module and a fault management module,
the mode management module can control the mode switching of the unmanned vehicle, wherein the switching modes comprise a manned mode, an unmanned mode and a remote take-over mode, and the unmanned mode and the remote take-over mode comprise a pause state and a safety state;
the dispatching management module dispatches the unmanned vehicles and the remote takeover vehicles uniformly, and alerts the remote takeover personnel to pay attention to avoiding the unmanned vehicles;
the boundary anti-collision module calculates the distance between the vehicle position and the map boundary in real time;
the remote take-over authorization and switching module initiates remote take-over suggestion, confirmation and audit;
the fault management module automatically generates fault handling suggestions according to the fault level and the fault type.
Further, the remote take-over system comprises an emergency stop module, a remote take-over application module and a remote operation module,
the emergency stop module is used for pairing with a vehicle remotely taken over and controlling the vehicle to stop emergently, and comprises a remote take over system emergency stop module and a dispatch system emergency stop module;
the remote take-over application module can actively initiate a remote take-over request according to the remote take-over suggestion, and actively apply for exiting the remote take-over when exiting;
the remote operation module can remotely control the running and operation of the vehicle.
A method for remotely taking over an unmanned mining truck of an open mine comprises the following steps:
uploading fault and take over marks in real time by the vehicle-mounted system;
the scheduling system automatically generates a processing suggestion according to the uploading fault of the unmanned mining truck;
the remote take-over system sends out a take-over request according to the take-over suggestion of the scheduling system;
the dispatcher authorizes the takeover and informs the takeover personnel;
remotely taking over unmanned vehicles by takers;
and exiting the remote take-over.
Further, the step of uploading the fault and take over flag in real time by the vehicle-mounted system includes:
the fault monitoring and processing module classifies according to fault events occurring in the unmanned mining truck, and the classification comprises: no fault operation, flow interruption caused by terrain and fault grade. Wherein the fault class is divided into N level, N+1 level and N+2 level;
the fault monitoring and processing module uploads a flag whether the fault can take over or not to the dispatching system according to the fault level: when the fault event state is one of fault-free operation, flow interruption caused by terrain, fault level N and fault level N+1, enabling the takeover flag, and when the fault event is the highest fault level N+2, uploading the non-takeover flag and entering a safe state.
Further, the fault with the fault level of n+2 mainly includes: the vehicle body influences the running fault, the abnormal termination fault of the unmanned system program, the sensing system fault and the positioning system fault;
faults with a fault rating of n+1 include: the horizontal and vertical control precision is low, the behavior is abnormal, the vehicle body does not influence the running fault and the abnormal fault of the program running platform;
the exception corresponding to the failure level N includes: overtime program running, warning fault of the vehicle system, abnormal loading and unloading states and material clamping of a container.
Further, the scheduling system automatically generates processing suggestions according to the uploading faults of the unmanned mining truck as follows:
when the fault level is n+2, suggesting a manual inspection;
when the fault level is one of N+1 level, flow interruption caused by terrain and fault-free operation, the remote take over is recommended;
when faults with the fault grade of N occur in the manned mode and the unmanned mode, two suggestions of remote take over and waiting for fault recovery are generated.
Further, the method for the remote take-over system to send out the take-over request according to the take-over proposal of the scheduling system comprises the following steps:
the remote take-over application module in the remote take-over system sends out a take-over request according to the take-over proposal of the fault management module, and when the remote take-over application module receives the take-over mark, the remote take-over application module sends out a take-over request to the dispatching system according to the state of the remote take-over application module:
if the state of the remote take-over system does not meet the working requirement, sending an alarm that the state of the remote take-over system does not reach the standard and cannot be taken over to a fault management module of the dispatching system, and upgrading fault processing advice by the fault management module for manual inspection;
and if the state of the take-over system meets the requirement, the remote take-over application module sends a take-over request to the dispatching system.
Further, the step of authorizing the takeover by the dispatcher and notifying the takeover person includes:
the dispatcher authorizes the remote takeover request through a remote takeover authorization and switching module in the dispatching system, and notifies the remote takeover personnel after the authorization is finished;
the unmanned mining truck is switched into a remote take-over mode through a mode management module of the dispatching system, an emergency stop module in the remote take-over system is paired with the unmanned mining truck taken over, and if the pairing is unsuccessful, a dispatching personnel refuses the remote take-over request.
Further, the step of remotely taking over the unmanned vehicle by the takeover person includes:
in the remote take over process, a fault monitoring and processing module of the vehicle-mounted system can monitor abnormal vehicle behavior in real time, a vehicle body influences running faults, and a communication safety monitoring module monitors network communication in real time;
if a behavior abnormality occurs in the remote take-over process or the vehicle body affects the running fault, a 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, a dispatcher exits the remote take-over according to the processing suggestion of the dispatching system, and related personnel are notified to carry out fault troubleshooting;
if network communication faults occur in the process of remote take-over, corresponding measures are executed;
if the remote take-over system works normally, the dispatching management module of the dispatching system participates in vehicle dispatching according to the position information of the vehicle, the active anti-collision module of the vehicle-mounted system provides the vehicle position information in real time, and when the remote take-over vehicle and the unmanned vehicle will meet, the remote take-over vehicle is prompted to avoid the unmanned vehicle;
and 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 take-over vehicle to avoid the unmanned vehicle by the active anti-collision module comprises the following steps:
when the vehicle advances, the active anti-collision module sends warning information to prompt a remote takeover person to improve the attention when the distance between the obstacles is within the range of r 2-r 3; when the obstacle distance is within the range of r 1-r 2, warning a remote takeover personnel to take deceleration or avoidance measures; when the obstacle distance is smaller than r1, the active anti-collision module issues an emergency stop instruction to the control instruction arbitration module, and the control instruction arbitration module controls the vehicle to safely stop, regardless of whether a remote taker has a stop instruction, wherein r1 is smaller than r2 is smaller than r3;
when the vehicle backs up, the control instruction arbitration module limits the highest speed of the vehicle to be not higher than 5km/h, and when the distance between the obstacles is within the range of r 4-r 5, the active anti-collision module sends warning information to warn a remote takeover person to take high attention; when the obstacle distance is less than r4, the active anti-collision module sends an emergency stop command, wherein r4< r5.
Further, the obstacle distances r1, r2, r3, r4, r5 are dynamically changed, and the values thereof are dynamically calculated according to the vehicle speed and the vehicle braking ability.
Further, if a network communication fault occurs in the remote take-over process, the specific steps of executing the corresponding measures include:
the network communication failure includes: communication delay, heartbeat loss and abnormal communication data;
if communication delay faults occur, actively warning a remote takeover person;
if the heartbeat is lost, the control instruction arbitration module actively controls the parking and reports the parking reason, and the remote take over driving can be normally continued after the fault is recovered;
if communication data are abnormal, the control instruction arbitration module actively controls parking and enters a safe state, the fault management module performs fault processing and upgrading, remote taking over is not allowed, and manual troubleshooting is needed.
Further, the step of remotely taking over the unmanned vehicle by the takeover person further includes:
the communication safety monitoring module is used for checking whether the emergency stop module is in an online network communication state in real time, and the fault monitoring and processing module is used for sending an emergency stop instruction to the control instruction arbitration module when the emergency stop module is offline, and the control instruction arbitration module is used for controlling the emergency stop and entering a pause state; and when the emergency stop device is on-line, the vehicle can continue taking over the vehicle.
Further, the steps of exiting the remote take-over are as follows:
the remote takeover personnel sends out a takeover exit application through the remote takeover application module, the dispatching system confirms and authorizes, and the mode management module controls the remote takeover exit mode and enters the manned mode.
The invention has the beneficial effects that:
1. multiple safety protection in the remote take-over process is realized through the remote take-over authorization and switching module, the active anti-collision module, the remote take-over instruction and safety instruction arbitration module, the communication safety monitoring module, the fault monitoring and processing module and the scram module, and the problems of poor reliability and single safety guarantee of a general remote take-over method can be effectively solved.
2. The manual intervention is simplified, the system directly pops up fault processing suggestions, and remote takeover personnel and scheduling personnel only need to operate according to the prompt.
3. The dispatching personnel and the remote takeover personnel can scram the unmanned mining truck of the remote takeover through the scram module, so that double protection of safe scram of the vehicle is realized, and potential safety hazards caused by the fact that the attention of the remote takeover personnel is not concentrated are avoided.
Drawings
FIG. 1 is a field diagram of an open mine unmanned mining truck operation;
FIG. 2 is a diagram of the system of the present invention;
FIG. 3 is a flow chart of the method of the present invention;
FIG. 4 is a diagram of the takeover condition and vehicle failure relationship of the unmanned mining truck of the present invention;
FIG. 5 is a diagram of the operation of the active anti-collision module of the present invention.
Meaning of reference numerals in the drawings: 1-a loading zone; 2-loading equipment; 3-structuring the road; 4-an unloading zone; 5-bulldozer; 6-a communication base station; 7-a remote take over system; 8-a scheduling system; 9-exchange zone.
Description of the embodiments
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
The embodiment discloses a remote take-over system and a remote take-over method for an unmanned mining truck of an open pit mine.
Fig. 2 is a diagram of the composition of a surface mine unmanned mining truck remote take over system, comprising: the system comprises a vehicle-mounted system, a dispatching system and a remote take-over system.
The in-vehicle 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 anti-collision module includes: the sensing module and the safety judging module can monitor the distance between the front obstacle and the rear obstacle of the vehicle in real time, and realize active safety parking when the distance between the obstacle and the vehicle is within the safety distance; the fault monitoring and processing module can monitor faults of the vehicle, including communication faults, abnormal behaviors, abnormal software and hardware and the like among the modules in the unmanned mining card system, and generates corresponding fault codes according to the fault types and grades; the communication safety monitoring module monitors 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 take-over control instruction to control the vehicle to realize corresponding actions such as speed limiting, safe parking and the like.
The scheduling system comprises: 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 the mode switching of the unmanned vehicle, wherein the switching modes comprise a human mode, an unmanned mode and a remote take-over mode, the unmanned mode and the remote take-over mode comprise a pause state and a safety state, after the vehicle enters the safety state, the mode switching is forbidden, the remote take-over is forbidden, and the manual intervention is needed; the dispatching management module dispatches the unmanned vehicles and the remote takeover vehicles uniformly, and alerts the remote takeover personnel to pay attention to avoiding the unmanned vehicles; the boundary anti-collision module calculates the distance between the vehicle position and the map boundary in real time; the remote take-over authorization and switching module initiates remote take-over suggestion, confirmation and audit; the fault management module automatically generates fault handling suggestions according to the fault level and the fault type.
The remote take-over 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 pairing with a vehicle remotely taken over and controlling the vehicle to stop emergently, and comprises a remote take over system emergency stop module and a dispatch system emergency stop module; the remote take-over application module can actively initiate a remote take-over request according to the remote take-over suggestion, and actively apply for exiting the remote take-over when exiting; the remote operation module can remotely control the running and operation of the vehicle.
In fig. 2, a01 is information fed back to the scheduling system by the vehicle-mounted system, including: vehicle body information (vehicle position, vehicle speed, gear, throttle, brake, etc.), vehicle failure information, vehicle video information, vehicle mode, vehicle takeover status. In fig. 2, a02 is scheduling information issued to the vehicle-mounted system by the scheduling system, including: mode switching information, scram control command.
A03 in fig. 2 is feedback of status information of the remote takeover system. The feedback state information comprises: the remote takes over the fault state, communication state and take over state of the system. A04 in FIG. 2 grants remote takeover instructions for the dispatch system to the remote takeover system.
In fig. 2, a05 is a collision information and warning information of the remote take-over system uploaded by the vehicle-mounted system in the remote take-over mode. A06 in fig. 2 is an emergency stop command in the remote take-over mode, and the vehicle remotely takes over control commands (gear, throttle, brake, corner, and cargo box commands).
The invention also relates to a remote take-over method of the unmanned mining truck of the surface mine, which comprises the following steps of:
s101, uploading fault and takeover marks in real time by a vehicle-mounted system: the fault monitoring and processing module of the vehicle-mounted system uploads the fault code and whether the mark can be taken over 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 relationship 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. Wherein the fault class is divided into N level, N+1 level and N+2 level.
The takeover flag is enabled when the fault event condition that occurs is one of no fault operation, a flow disruption caused by terrain, a fault level N, a fault level n+ 1. And uploading the flag which can not be taken over when the fault event is the highest fault level of N+2, and entering a safe state. The faults with the fault level of n+2 mainly comprise: the vehicle body affects the driving fault, the abnormal termination fault of the unmanned system program, the sensing system fault and the positioning system fault. Wherein the fault n+1 stage that can take over comprises: the horizontal and vertical control precision is lower, the behavior is abnormal, the vehicle body does not influence the running fault and the abnormal fault of the program running platform. The exception corresponding to the fault level N mainly includes: overtime program running, warning faults of the vehicle system (such as too low oil level, too high oil temperature and the like), abnormal loading and unloading states, material clamping of a container and the like.
S102, the scheduling system automatically generates processing suggestions according to the uploading faults of the unmanned mining truck: the fault management module in the dispatching system automatically generates fault processing suggestions according to the fault information uploaded by the vehicle-mounted system, wherein the fault management module generates the fault processing suggestions according to the classification of faults and the fault level, and the fault processing suggestions comprise: when the fault level is n+2, suggesting a manual inspection; when the fault level is one of N+1 level, flow interruption caused by terrain and fault-free operation, the remote take over is recommended; when faults with the fault grade of N occur in the manned mode and the unmanned mode, two suggestions of remote take-over and waiting for fault recovery are generated for selection of a dispatcher.
S103, the remote take-over system sends out a take-over request according to the take-over proposal of the dispatching system: and a remote take-over application module in the remote take-over system sends out a take-over request according to the take-over proposal of the fault management module. When the remote take-over application module receives the take-over mark, a take-over request is sent to the dispatching system according to the state of the system. If the state of the remote take-over system does not meet the working requirement, sending an alarm that the state of the remote take-over system does not reach the standard and cannot be taken over to a fault management module of the dispatching system; and if the state of the take-over system meets the requirement, the remote take-over application module sends a take-over request to the dispatching system. When the state of the taking over system does not reach the standard and cannot be taken over, the fault management module of the dispatching system can conduct fault processing upgrading, and upgrading fault processing suggestions are manually checked.
S104, the dispatcher authorizes to take over and informs the takeover personnel: the dispatcher authorizes the remote take-over request through a remote take-over authorization and switching module in the dispatching system, and notifies the remote take-over personnel after the authorization is finished, and the remote take-over system prompts: the take over request is authorized and the operation can be taken over normally and remotely. After the dispatching system is authorized, the unmanned mining truck is switched to a remote take-over mode through a mode management module of the dispatching system, and at the moment, the emergency stop module in the remote take-over system is paired with the unmanned mining truck taken over. If abnormal conditions occur (obstacles, scram modules and unmanned mining trucks are not successfully paired around the unmanned mining truck), the dispatcher refuses the remote take-over request, and the safety of the unmanned mining truck take-over process is ensured.
S105, taking over personnel remotely take over the unmanned vehicle: in the process of remotely taking over driving, a fault monitoring and processing module of the vehicle-mounted system can monitor abnormal vehicle behaviors, influence the driving fault of the vehicle body and abnormal modules in real time; the communication security monitoring module monitors network communication in real time. Wherein the vehicle behavior anomaly comprises: gear abnormality, steering angle follow abnormality, cargo box abnormality, braking abnormality, slip abnormality, speed abnormality. The vehicle body influencing the running failure includes: failure of steering sensor, unreasonable tire pressure and tire temperature, abnormal oil temperature and abnormal oil level. The network communication failure mainly includes: communication delay, heartbeat loss, communication data anomalies. In the implementation case, the operation state check, the communication real-time check and the data validity check of the module are carried out on the received and transmitted information.
After the fault that the behavior is abnormal or the vehicle body affects the running occurs in the remote take over 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 exits the remote take over according to the processing suggestion of the dispatching system to inform related personnel to carry out fault investigation.
When the sub-modules of the vehicle-mounted system are abnormal, the control instruction arbitration module actively stops and enters a safe state, and continuous remote taking over running is forbidden. The fault management module in the dispatching system prompts that the vehicle does not have a remote take-over condition, needs manual investigation and exits the remote take-over.
And after network communication delay faults occur in the remote take-over process, actively warning remote take-over personnel. After the heartbeat is lost, the control instruction arbitration module actively controls the parking and reports the parking reason, and the remote take over driving can be normally continued after the fault is recovered. When communication data is abnormal, the control command arbitration module actively controls parking and enters a safe state, the fault management module performs fault processing and upgrading, remote taking over is not allowed, and manual troubleshooting is needed.
When the remote take over system works normally, the active anti-collision module of the vehicle-mounted system provides vehicle position information in real time. The dispatching management module of the dispatching system participates in vehicle dispatching 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 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, wherein the map boundary is an actual road edge boundary acquired by positioning the vehicle with high precision, the distance threshold value between the vehicle position and the map boundary is dynamic, the distance 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, the fault management module issues an emergency control parking instruction.
The active anti-collision working principle in the process of taking over is shown in figure 5. When the vehicle advances, the active anti-collision module sends warning information to prompt a remote takeover person to improve the attention when the distance between the obstacles is within the range of r 2-r 3. And when the obstacle distance is within the range of r 1-r 2, warning the remote takeover personnel to take deceleration or avoidance measures. When the obstacle distance is smaller than r1, the active anti-collision module issues an emergency stop instruction to the control instruction arbitration module, and the control instruction arbitration module controls the vehicle to stop safely, regardless of whether a remote taker has a stop instruction. When the vehicle backs up, the control instruction arbitration module limits the highest speed of the vehicle to be not higher than 5km/h, and when the distance between the obstacles is within the range of r 4-r 5, the active anti-collision module sends warning information to warn a remote takeover person to take high attention; and when the obstacle distance is smaller than r4, the active anti-collision module sends an emergency stop instruction. The obstacle distances r1, r2, r3, r4, r5 are dynamically changed, and the values are dynamically calculated according to the vehicle speed and the vehicle braking capability. Wherein r1< r2< r3, r4< r5.
Particularly, the remote takeover system and the dispatching system are both provided with emergency stop modules, and when abnormal conditions occur, the remote takeover personnel and the dispatching personnel can stop the unmanned mining truck through the emergency stop modules. In the implementation case, the communication safety monitoring module checks whether the emergency stop module is in an online network communication state in real time, and 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 suspension state, and the emergency stop module can continue to take over driving only when the emergency stop module resumes online.
S106, exiting the remote take-over: the remote takeover personnel sends out a takeover exit application through the remote takeover application module, the dispatching system confirms and authorizes, and the mode management module controls the remote takeover exit mode and enters the manned mode.
When the unmanned mining truck is interrupted in flow or a dispatcher requires a certain unmanned mining truck to remotely take over due to a topographic cause, the working principle is as follows: the dispatching personnel pauses the unmanned mining truck through the dispatching system, the mode management module switches the remote take-over mode, the remote take-over system sends a take-over application, and the dispatching personnel confirms and authorizes. The unmanned mining truck jumps to a remote take-over mode, and the remote take-over center emergency stop device is paired with the unmanned mining truck.
In the implementation case, the security measures after remote take over are consistent with those in remote take over after failure. The active anti-collision module uploads the vehicle position in real time, the boundary anti-collision module calculates the boundary position in real time, the active anti-collision with the road edge is realized according to the position relation, and meanwhile, takeover personnel are prompted to actively avoid the unmanned vehicle according to the vehicle position. The fault monitoring and processing module is used for monitoring and processing the abnormality and controlling the instruction arbitration module to arbitrate the instruction.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (9)
1. A remote take-over system of an unmanned mining truck for an open mine is characterized by comprising a vehicle-mounted system, a dispatching system and a remote take-over system,
the vehicle-mounted system feeds back information to the dispatching system, wherein the feedback information comprises vehicle body information, vehicle fault information, vehicle video information, vehicle mode and vehicle takeover state,
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 judging module, can monitor the distance between the front obstacle and the rear obstacle of the vehicle in real time, and can realize active safe parking when the distance between the obstacle and the vehicle is within a safe distance;
the fault monitoring and processing module can monitor faults of the vehicle and generate corresponding fault codes according to the types and the grades of the faults;
the communication safety monitoring module monitors network communication safety in the communication process in real time;
the control instruction arbitration module forwards a remote take-over control instruction to control the vehicle to realize corresponding speed limiting and safe parking actions;
the dispatching system comprises a mode management module, a dispatching management module, a boundary anti-collision module, a remote taking over authorization and switching module and a fault management module,
the dispatching system automatically generates corresponding processing advice according to the feedback information uploaded by the vehicle-mounted system, or issues dispatching information to the vehicle-mounted system according to the application authorization remote take-over instruction of the remote take-over system, the dispatching information comprises mode switching information and scram control instruction,
the mode management module controls the mode switching of the unmanned vehicle, wherein the switching modes comprise a manned mode, an unmanned mode and a remote take-over mode, and the unmanned mode and the remote take-over mode comprise a pause state and a safety state;
the dispatching management module dispatches the unmanned vehicles and the remote takeover vehicles uniformly, and alerts the remote takeover personnel to pay attention to avoiding the unmanned vehicles;
the boundary anti-collision module calculates the distance between the vehicle position and the map boundary in real time;
the remote take-over authorization and switching module initiates remote take-over suggestion, confirmation and audit;
the fault management module automatically generates fault processing suggestions according to the fault grade and the fault type;
the remote take-over system comprises an emergency stop module, a remote take-over application module and a remote operation module, wherein the remote take-over system feeds back state information of the remote take-over system to the dispatching system in the process of remote take-over, and actively sends out take-over application to the dispatching system according to take-over advice, and the state information comprises a fault state, a communication state and a take-over state of the remote take-over system; the remote take-over system receives collision information and warning information uploaded by the vehicle-mounted system when in the remote take-over mode, and issues corresponding scram instructions to the vehicle-mounted system, the vehicle remotely takes over control instructions,
the emergency stop module is used for pairing with a vehicle remotely taken over and controlling the vehicle to stop emergently, and comprises a remote take over system emergency stop module and a dispatching system emergency stop module;
the remote take-over application module can actively initiate a remote take-over request according to the remote take-over suggestion, and actively apply for exiting the remote take-over when exiting;
the remote operation module can remotely control the running and operation of the vehicle.
2. A method for remotely taking over an unmanned surface mine truck, which is based on the unmanned surface mine truck remote take-over system as claimed in claim 1, comprising the following steps:
uploading fault and take over marks in real time by the vehicle-mounted system;
the scheduling system automatically generates a processing suggestion according to the uploading fault of the unmanned mining truck;
the remote take-over system sends out a take-over request according to the take-over suggestion of the scheduling system;
the dispatcher authorizes the takeover and informs the takeover personnel;
the takeover personnel remotely takes over the unmanned vehicle:
in the remote take over process, the fault monitoring and processing module of the vehicle-mounted system can monitor abnormal vehicle behavior in real time, the vehicle body influences the driving fault, the communication safety monitoring module monitors network communication in real time,
if the abnormal behavior or the running influence fault of the vehicle body occurs in the remote take-over process, the control instruction arbitration module of the vehicle-mounted system actively stops the vehicle and enters a safe state, and carries out fault processing upgrading, the dispatcher exits the remote take-over according to the processing suggestion of the dispatching system to inform related personnel to carry out fault investigation,
if a network communication fault occurs in the remote take-over process, the network communication fault comprises: communication delay, heartbeat loss and abnormal communication data, executing corresponding measures: if the communication delay fault occurs, actively warning the remote takeover personnel,
if the heartbeat is lost, the control instruction arbitration module actively controls the parking and reports the reason of the parking, and can normally continue to remotely take over the driving after the fault is recovered,
if the communication data is abnormal, the control command arbitration module actively controls the parking and enters a safe state, the fault management module performs fault processing and upgrading, the remote taking over is not allowed, the manual troubleshooting is needed,
if the remote take over system works normally, the dispatching management module of the dispatching system participates in vehicle dispatching according to the position information of the vehicle, the active anti-collision module of the vehicle-mounted system provides the vehicle position information in real time, and when the remote take over vehicle and the unmanned vehicle will meet, the remote take over vehicle is prompted to avoid the unmanned vehicle: when the vehicle advances, the active anti-collision module sends warning information to prompt a remote takeover person to improve the attention when the distance between the obstacles is within the range of r 2-r 3; when the obstacle distance is within the range of r 1-r 2, warning a remote takeover personnel to take deceleration or avoidance measures; when the obstacle distance is smaller than r1, the active anti-collision module issues an emergency stop instruction to the control instruction arbitration module, the control instruction arbitration module controls the vehicle to safely stop, no matter whether the remote taker has a stop instruction or not, wherein r1< r2< r3,
when the vehicle backs up, the control instruction arbitration module limits the highest speed of the vehicle to be not higher than 5km/h, and when the distance between the obstacles is within the range of r 4-r 5, the active anti-collision module sends warning information to warn a remote takeover person to take high attention; when the obstacle distance is smaller than r4, the active anti-collision module sends an emergency stop instruction, wherein r4 is smaller than r5;
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;
the communication safety monitoring module is used for checking whether the emergency stop module is in an online network communication state in real time, and the fault monitoring and processing module is used for sending an emergency stop instruction to the control instruction arbitration module when the emergency stop module is offline, and the control instruction arbitration module is used for controlling the emergency stop and entering a pause state; when the emergency stop device is recovered to be on line, the vehicle can continue taking over the vehicle for running;
and exiting the remote take-over.
3. The method for remotely taking over an unmanned mining truck for an surface mine according to claim 2, wherein the step of uploading the fault and take over flag in real time by the vehicle-mounted system comprises:
the fault monitoring and processing module classifies fault events occurring according to the unmanned mining truck, and the classification comprises: fault-free operation, flow interruption caused by terrain and fault level; wherein the fault class is divided into N level, N+1 level and N+2 level;
the fault monitoring and processing module uploads a flag whether the fault can take over or not to the dispatching system according to the fault level: when the fault event state is one of fault-free operation, flow interruption caused by terrain, fault level N and fault level N+1, enabling the takeover flag, and when the fault event is the highest fault level N+2, uploading the non-takeover flag and entering a safe state.
4. A method for remotely taking over an unmanned mining truck for an open mine according to claim 3, wherein the fault of the fault class n+2 mainly comprises: the vehicle body influences the running fault, the abnormal termination fault of the unmanned system program, the sensing system fault and the positioning system fault;
the fault with the fault level of n+1 comprises the following steps: the horizontal and vertical control precision is low, the behavior is abnormal, the vehicle body does not influence the running fault and the abnormal fault of the program running platform;
the exception corresponding to the fault level N comprises: overtime program running, warning fault of the vehicle system, abnormal loading and unloading states and material clamping of a container.
5. The method for remotely taking over an unmanned mining truck for an surface mine according to claim 3 or 4, wherein the scheduling system automatically generates the processing advice according to the uploading failure of the unmanned mining truck as follows:
when the fault level is n+2, suggesting a manual inspection;
when the fault level is one of N+1 level, flow interruption caused by terrain and fault-free operation, the remote take over is recommended;
when faults with the fault grade of N occur in the manned mode and the unmanned mode, two suggestions of remote take over and waiting for fault recovery are generated.
6. The method for remotely taking over an unmanned mining truck in an open pit mine according to claim 2, wherein the method for issuing a take over request by the remote take over system according to the dispatch system take over proposal comprises:
the remote take-over application module in the remote take-over system sends out a take-over request according to the take-over proposal of the fault management module, and when the remote take-over application module receives the take-over mark, the remote take-over application module sends out a take-over request to the dispatching system according to the state of the remote take-over application module:
if the state of the remote take-over system does not meet the working requirement, sending an alarm that the state of the remote take-over system does not reach the standard and cannot be taken over to a fault management module of the dispatching system, and upgrading fault processing advice by the fault management module for manual inspection;
and if the state of the take-over system meets the requirement, the remote take-over application module sends a take-over request to the dispatching system.
7. The method for remotely taking over an unmanned mining truck in a surface mine according to claim 2, wherein the step of the dispatcher authorizing take over and informing the take over person comprises:
the dispatcher authorizes the remote takeover request through a remote takeover authorization and switching module in the dispatching system, and notifies the remote takeover personnel after the authorization is finished;
the unmanned mining truck is switched into a remote take-over mode through a mode management module of the dispatching system, an emergency stop module in the remote take-over system is paired with the unmanned mining truck taken over, and if the pairing is unsuccessful, a dispatching personnel refuses the remote take-over request.
8. The method for remotely taking over an unmanned mining truck for an open pit mine according to claim 2, wherein 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.
9. The method for remotely taking over an unmanned mining truck for an open mine according to claim 2, wherein the step of exiting the remotely taking over is as follows:
the remote takeover personnel sends out a takeover exit application through the remote takeover application module, the dispatching system confirms and authorizes, and the mode management module controls the remote takeover exit mode and enters the manned mode.
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