CN115123295A - Drive-by-wire chassis control system and method for unmanned mine car - Google Patents
Drive-by-wire chassis control system and method for unmanned mine car Download PDFInfo
- Publication number
- CN115123295A CN115123295A CN202210702232.6A CN202210702232A CN115123295A CN 115123295 A CN115123295 A CN 115123295A CN 202210702232 A CN202210702232 A CN 202210702232A CN 115123295 A CN115123295 A CN 115123295A
- Authority
- CN
- China
- Prior art keywords
- control
- unit
- module
- wire
- unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/035—Bringing the control units into a predefined state, e.g. giving priority to particular actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses drive-by-wire chassis control system for unmanned mine car relates to unmanned technical field, can solve the technical problem that current unmanned mine car control accuracy is low, poor stability and security are low. The system comprises: the system comprises a management control module, a wire control driving module, a main transverse and longitudinal control module and an auxiliary transverse and longitudinal control module; the main transverse and longitudinal control module comprises a main line control movable unit and a main line control steering unit, the management control module is respectively electrically connected with the main transverse and longitudinal control module and the drive-by-wire module and is used for controlling the drive-by-wire module and the main line control movable unit to finish longitudinal control on the unmanned mine car and controlling the main line control steering unit to finish transverse control on the unmanned mine car; the management control module is electrically connected with the auxiliary transverse and longitudinal control module and is used for controlling the auxiliary transverse and longitudinal control module to complete transverse and longitudinal control of the unmanned mine car when the main line control movable unit and/or the main line control steering unit fails.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a wire control chassis control system and method for an unmanned mine car.
Background
With the continuous maturity of automatic driving technology and the higher and more definite requirements of the country on intellectualization and unmanned aspects in the mining process, it becomes necessary to realize unmanned driving of a mine car in a mine scene. The drive-by-wire chassis control system is used for controlling the unmanned mine car, and has positive effects on realizing unmanned driving of mine vehicles and improving the intelligent degree of a mine.
The control logic of the existing wire control chassis control system is unclear, the function division among modules is unclear, and the control precision is low, the stability is poor and the safety is poor.
Disclosure of Invention
In view of the above, the application provides a wire control chassis control system and method for an unmanned mine car, which can solve the technical problems of low control precision, poor stability and low safety of the existing unmanned mine car.
To achieve the above object, the present application provides a steer-by-wire chassis control system for an unmanned mining vehicle, the system comprising: the system comprises a management control module, a drive-by-wire module, a main transverse and longitudinal control module and an auxiliary transverse and longitudinal control module;
the main transverse and longitudinal control module comprises a main line control movable unit and a main line control steering unit, the management control module is respectively and electrically connected with the main transverse and longitudinal control module and the drive-by-wire module and is used for controlling the drive-by-wire module and the main line control movable unit to complete the longitudinal control of the unmanned mine car and controlling the main line control steering unit to complete the transverse control of the unmanned mine car;
and the management control module is electrically connected with the auxiliary transverse and longitudinal control module and is used for controlling the auxiliary transverse and longitudinal control module to complete transverse and longitudinal control on the unmanned mine car when the main line control movable unit and/or the main line control steering unit fails.
Optionally, the auxiliary transverse and longitudinal control module comprises an auxiliary line control moving unit and an auxiliary line control steering unit;
when the main line control movable unit and/or the main line control steering unit fail, the management control module controls the drive-by-wire module and the auxiliary line control movable unit to complete longitudinal control over the unmanned mine car and controls the auxiliary line control steering unit to complete transverse control over the unmanned mine car.
Optionally, the main transverse and longitudinal control module further comprises a first safety connection unit;
the first safety takeover unit is respectively electrically connected with the main line control movable unit and the main line control steering unit and is used for sending a signal to the management control module when detecting that the opening degree of a brake pedal in the main line control movable unit exceeds a first safety limit or detecting that the rotating speed and the rotating angle of a steering wheel in the main line control steering unit exceed a second safety limit, and the management control module automatically controls the unmanned mine car to immediately stop;
the auxiliary transverse and longitudinal control module further comprises: a second safety takeover unit;
the second safety connection pipe unit is respectively electrically connected with the auxiliary line control moving unit and the auxiliary line control steering unit, and is used for sending a signal to the management control module when detecting that the opening degree of a brake pedal in the auxiliary line control moving unit exceeds the first safety limit or when detecting that the rotating speed and the rotating angle of a steering wheel in the auxiliary line control steering unit exceed the second safety limit after the main transverse and longitudinal control module fails and starts the auxiliary transverse and longitudinal control module, and the management control module automatically controls the unmanned mine car to stop immediately.
Optionally, the system further comprises: an environment sensing module;
the environment sensing module is electrically connected with the management control module and is used for sending the constructed running route map of the unmanned mine car to the management control module;
and after receiving the driving route map, the management control module drives according to the driving route map.
Optionally, the environment awareness module comprises: a laser radar unit and a millimeter wave radar unit;
the laser radar unit is used for constructing local path information in a first identification range by using a laser radar;
the millimeter wave radar unit is used for constructing local path information in a second identification range by utilizing a millimeter wave radar;
the environment perception module is used for combining the local path information in the first recognition range and the local path information in the second recognition range to obtain a driving route map of the unmanned mine car, wherein the second recognition range is larger than the first recognition range.
Optionally, the system further comprises: a vehicle body electrical module;
and the vehicle body electrical appliance module is electrically connected with the management control module and is used for receiving the instruction of the management control module and realizing the control of the vehicle body electrical appliance of the unmanned mine car.
Optionally, the body electrical module further comprises: a third safety takeover unit;
and the third safety adapter unit is used for sending a signal to the management control module after detecting that the emergency stop switch of the unmanned mine car is set, and the management control module automatically controls the unmanned mine car to stop immediately.
Optionally, the system further comprises: a wire controlled lifting module;
the wire control lifting module is electrically connected with the management control module and used for receiving the instruction of the management control module when the unmanned tramcar runs to a loading point or an unloading point, so that the lifting control of a container of the unmanned tramcar is realized.
Optionally, the main steering control unit comprises: a first main steering motor and a first auxiliary steering motor;
the main-line control steering unit controls steering by using the first main steering motor;
after the first main steering motor fails, the main-line control steering unit controls steering by using the first auxiliary steering motor;
the sub steer-by-wire unit includes: a second main steering motor and a second auxiliary steering motor;
after the main transverse and longitudinal control module fails and the auxiliary transverse and longitudinal control module works, the auxiliary linear control steering unit controls steering by using the second main steering motor;
and after the second main steering motor fails, the auxiliary steer-by-wire unit controls steering by using the second auxiliary steering motor.
The application provides a drive-by-wire chassis control system for unmanned mine car includes: the system comprises a management control module, a drive-by-wire module, a main transverse and longitudinal control module and an auxiliary transverse and longitudinal control module; the main transverse and longitudinal control module comprises a main line control moving unit and a main line control steering unit, the management control module is respectively and electrically connected with the main transverse and longitudinal control module and the drive-by-wire module, and is used for controlling the drive-by-wire module and the main line control moving unit to complete the longitudinal control of the unmanned mine car and controlling the main line control steering unit to complete the transverse control of the unmanned mine car; the management control module is electrically connected with the auxiliary transverse and longitudinal control module and is used for controlling the auxiliary transverse and longitudinal control module to complete transverse and longitudinal control of the unmanned mine car when the main line control movable unit and/or the main line control steering unit fails. According to the technical scheme, the main transverse and longitudinal control module and the auxiliary transverse and longitudinal control module are disclosed, namely the safety redundancy of the auxiliary wire-controlled steering unit and the auxiliary wire-controlled brake unit is increased, the main wire-controlled steering unit and the auxiliary wire-controlled brake unit are started simultaneously, when the main wire-controlled steering unit and/or the main wire-controlled brake unit have faults, the auxiliary wire-controlled steering unit and the auxiliary wire-controlled brake unit can be immediately involved, the transverse and longitudinal control safety of the vehicle is ensured, and the safety of the vehicle in an unmanned driving state is further ensured. The management control module collects the real-time information and the feedback information, controls driving, braking, steering and the like, completes transverse and longitudinal control of the mine car, and has high reliability, stability and safety in mining areas with severe operation conditions. Safety adapter units are arranged in the main transverse and longitudinal control module, the auxiliary transverse and longitudinal control module and the vehicle body electrical appliance module, so that after the mine car exceeds the safety limit in the unmanned state, a signal is sent to the management control module to control the mine car to stop immediately, and the safety of the mine car in the unmanned state is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a drive-by-wire chassis control system for an unmanned mining vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a drive-by-wire chassis control method for an unmanned mining vehicle according to an embodiment of the present invention;
in the figure:
1-a management control module;
2-a drive-by-wire module;
3-main transverse and longitudinal control module, 31-main line control movable unit, 32-first safety connecting pipe unit, 33-main line control steering unit;
4-auxiliary transverse and longitudinal control module, 41-auxiliary line control moving unit, 42-second safety connecting pipe unit and 43-auxiliary line control steering unit;
5-environment sensing module, 51-laser radar unit, 52-millimeter wave radar unit;
6-body electrical module, 61-third safety take-over unit;
7-lift-by-wire module.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Aiming at the unmanned mine car, before the mine car enters the unmanned state, the management control module determines that the communication among the modules is normal by collecting the information of the modules, the mine car is in a neutral gear and parking state, the container is in a landing state, after the mine car receives an unmanned signal, the management control module sequentially requests the modules to enter the unmanned state, and after all the modules are in the unmanned state, the vehicle enters the unmanned state.
A drive-by-wire chassis control system for unmanned mining vehicles according to some embodiments of the present invention is described below in conjunction with FIG. 1.
The embodiment of the invention provides a wire-controlled chassis control system for an unmanned mine car. As shown in fig. 1, the by-wire chassis control system includes: the system comprises a management control module 1, a drive-by-wire module 2, a main transverse and longitudinal control module 3 and an auxiliary transverse and longitudinal control module 4; the main transverse and longitudinal control module 3 comprises a main line control moving unit 31 and a main line control steering unit 33, the management control module 1 is respectively electrically connected with the main transverse and longitudinal control module 3 and the drive-by-wire module 2, and is used for controlling the drive-by-wire module 2 and the main line control moving unit 31 to complete the longitudinal control of the unmanned mine car and controlling the main line control steering unit 33 to complete the transverse control of the unmanned mine car; the management control module 1 is electrically connected with the auxiliary transverse and longitudinal control module 4 and is used for controlling the auxiliary transverse and longitudinal control module 4 to complete transverse and longitudinal control of the unmanned mine car when the main line control movable unit 31 and/or the main line control steering unit 33 fails.
In this embodiment, the drive-by-wire chassis control system communicates via a CAN bus. The management control module 1 collects the real-time information and the feedback information, and then controls driving, braking, steering and the like to complete the transverse and longitudinal control of the mine car. The drive-by-wire module 2 includes an engine, a transmission and a transmission, the main line control unit 31 and the auxiliary line control unit 41 include an electric control brake device, a parking brake valve and a wheel speed sensor, and the electric devices in the main line control steering unit 33 and the auxiliary line control steering unit 43 mainly include a steering motor and a driver thereof, a steering controller and a sensor thereof.
Accordingly, as shown in fig. 1, the auxiliary lateral-longitudinal control module 4 includes an auxiliary brake-by-wire unit 41 and an auxiliary steer-by-wire unit 43; when the main line control movable unit 21 and/or the main line control steering unit 23 fails, the management control module 1 controls the drive-by-wire module 2 and the auxiliary line control movable unit 41 to complete the longitudinal control of the unmanned mine car, and controls the auxiliary line control steering unit 43 to complete the transverse control of the unmanned mine car.
The main transverse and longitudinal control module 3 and the auxiliary transverse and longitudinal control module 4 are started simultaneously in the unmanned driving process of the mine car, the main line control movable unit 31 and the main line control steering unit 33 have the highest priority level, the auxiliary line control movable unit 41 and the auxiliary line control steering unit 43 are in a preparation state, when the main line control movable unit 31 and/or the main line control steering unit 33 fail, the auxiliary line control movable unit 41 and the auxiliary line control steering unit 43 are immediately involved, the mine car is controlled to drive to a safe area and stop, and the safety of the mine car in the unmanned driving state is guaranteed.
Accordingly, as shown in fig. 1, the main steering unit 33 includes: a first main steering motor and a first auxiliary steering motor; the main-line steering unit 33 controls steering using a first main steering motor; after the first main steering motor fails, the main steering control unit 33 controls steering using the first sub steering motor. The auxiliary steer-by-wire unit 43 includes: a second main steering motor and a second auxiliary steering motor; after the main transverse and longitudinal control module 3 fails and the auxiliary transverse and longitudinal control module 4 is started, the auxiliary steering-by-wire unit 43 controls steering by using a second main steering motor; the sub steer-by-wire unit 43 controls steering using the second sub steer motor after the second main steer motor has failed.
The main steering control unit 33 is correspondingly provided with a first main steering motor and a first auxiliary steering motor, the auxiliary steering control unit 43 is correspondingly provided with a second main steering motor and a second auxiliary steering motor, the first main steering motor is the motor which works at the highest priority level when the main steering control unit 33 works, when the first main steering motor fails, the first auxiliary steering motor works, after the main transverse and longitudinal control module 3 fails and the auxiliary transverse and longitudinal control module 4 works, the second main steering motor is the motor which works at the highest priority level when the auxiliary steering control unit 43 works, when the second main steering motor fails, the second auxiliary steering motor works to serve as safety redundancy, and the safety of the drive-by-wire chassis control system is improved.
Correspondingly, as shown in fig. 1, the main transverse and longitudinal control module 3 further includes a first safety nozzle unit 32; the first safety takeover unit 32 is electrically connected with the main line control movable unit 31 and the main line control steering unit 33 respectively, and is used for sending a signal to the management control module 1 when detecting that the opening degree of a brake pedal in the main line control movable unit 31 exceeds a first safety limit or detecting that the rotating speed and the rotating angle of a steering wheel in the main line control steering unit 33 exceed a second safety limit, and the management control module 1 automatically controls the unmanned mine car to stop immediately; the auxiliary transverse and longitudinal control module 4 further comprises: a second safety nozzle unit 42; the second safety connection pipe unit 42 is electrically connected with the auxiliary line control moving unit 41 and the auxiliary line control steering unit 43 respectively, and is used for sending a signal to the management control module 1 when detecting that the opening degree of a brake pedal in the auxiliary line control moving unit 41 exceeds a first safety limit or detecting that the rotating speed and the rotating angle of a steering wheel in the auxiliary line control steering unit 43 exceed a second safety limit after the main transverse and longitudinal control module 3 fails and the auxiliary transverse and longitudinal control module 4 is started, and the management control module 1 automatically controls the unmanned mine car to stop immediately.
The first safety adapter unit 32 and the second safety adapter unit 42 improve the safety of the mine car in an unmanned state.
In a specific application scenario, in order to automatically identify an obstacle during driving of the unmanned mine car, as shown in fig. 1, the system further includes: an environment sensing module 5; the environment perception module 5 is electrically connected with the management control module 1 and is used for sending the constructed running route map of the unmanned mine car to the management control module 1; after receiving the travel route map, the management control module 1 travels according to the travel route map.
Accordingly, as shown in fig. 1, the environment sensing module 5 includes: a laser radar unit 51 and a millimeter wave radar unit 52; the laser radar unit 51 is used for constructing local path information in a first identification range by using a laser radar; the millimeter wave radar unit 52 is configured to construct local path information in the second identification range by using a millimeter wave radar; the environment sensing module 5 is used for combining the local path information in the first identification range and the local path information in the second identification range to obtain a driving route map of the unmanned mine car, wherein the second identification range is larger than the first identification range.
The millimeter wave radar and the laser radar are used for identifying obstacles in a local path, but the detection distance of the millimeter wave radar is long, the millimeter wave radar is not influenced by weather, and the identification capability is general. The laser radar has short detection distance and is influenced by weather, but can construct local map point cloud information in an identification range, and fuse the data of the two sensors to obtain barrier information under a local path for decision of an unmanned system under the local path, so that a driving route map of the unmanned mine car is obtained.
In a specific application scenario, as shown in fig. 1, the system further includes: a vehicle body electrical module 6; the vehicle body electrical appliance module 6 is electrically connected with the management control module 1 and is used for receiving the instruction of the management control module 1 and realizing the control of the vehicle body electrical appliance of the unmanned tramcar.
Wherein, the automobile body electrical apparatus module realizes the control to automobile body electrical apparatus such as light, loudspeaker.
Correspondingly, as shown in fig. 1, the vehicle body electrical module 6 further includes: a third safety nipple unit 61; the third safety takeover unit 61 is used for sending a signal to the management control module 1 after detecting that the emergency stop switch of the unmanned mine car is set, and the management control module 1 automatically controls the unmanned mine car to stop immediately.
Wherein the third safety adapter unit 61 improves the safety of the mine car in the unmanned state.
In a specific application scenario, as shown in fig. 1, the system further includes: a wire-controlled lifting module 7; the wire-controlled lifting module 7 is electrically connected with the management control module 1 and is used for receiving the instruction of the management control module 1 when the unmanned mine car runs to a loading point or an unloading point, so that the lifting control of a container of the unmanned mine car is realized.
The wire-controlled lifting module 7 comprises a hydraulic oil tank, a lifting cylinder, a lifting valve and the like, lifting control of a container of the unmanned mine car is completed, and specifically, when the mine car reaches a loading point or an unloading point, the management control module controls the mine car to stop at a specified place and then controls the wire-controlled lifting module 7 to lift the container.
The invention provides a drive-by-wire chassis control method applied to the unmanned mine car, and referring to fig. 2, the method can comprise the following steps:
101. the management control module of the unmanned mine car controls the drive-by-wire module and the main wire control moving unit to complete longitudinal control of the unmanned mine car, and controls the main wire control steering unit to complete transverse control of the unmanned mine car.
For the unmanned mine car, before the mine car enters the unmanned state, the management control module of the unmanned mine car determines that the communication among all the modules is normal, the mine car is in a neutral gear state and a parking state, the container is in a landing state and the like, the management control module sequentially requests all the modules to enter the unmanned state, and after all the modules enter the unmanned state, the mine car enters the unmanned state.
According to the embodiment, after the mine car enters the unmanned state, a driving route map is constructed through a laser radar unit and a millimeter wave radar unit of an environment sensing module, the driving route map is sent to a management control module, the management control module can control the unmanned mine car to drive according to the driving route map, specifically, the management control module controls a drive-by-wire module and a main line control unit to complete longitudinal control over the unmanned mine car, controls a main line control steering unit to complete transverse control over the unmanned mine car, so that the unmanned mine car is controlled to drive according to the driving route map, and specifically, after the mine car can drive to a specified position to stop, operations such as unloading, loading and the like are carried out through lifting of a container.
102. When the main line control moving unit and/or the main line control steering unit fail, the drive-by-wire drive module and the auxiliary line control moving unit are controlled to complete longitudinal control over the unmanned mine car, and the auxiliary line control steering unit is controlled to complete transverse control over the unmanned mine car, so that the unmanned mine car runs according to the running route map.
In this embodiment, as an implementation manner, in order to ensure the safety of the unmanned mine car, during the running process of the mine car in the unmanned state, the main line control unit and the main line control steering unit are in action, and the auxiliary line control unit and the auxiliary line control steering unit are prepared, when the main line control unit and/or the main line control steering unit fails, the auxiliary line control unit and the auxiliary line control steering unit will be immediately involved, and the mine car is controlled to continue to run according to the running route map which is not finished or to be stopped after running to a safe area, which is not limited herein, wherein at least two sets, but not limited to two sets, of the number of the brake-by-wire units and the number of the steer-by-wire units are equipped in the chassis-by-wire control system.
As another embodiment, the method further comprises the following steps: when the main line control moving unit and the main line control steering unit work, whether the opening degree of a brake pedal in the main line control moving unit exceeds a first safety limit or not and/or whether the rotating speed and the rotating angle of a steering wheel in the main line control steering unit exceed a second safety limit or not are detected, and if yes, the unmanned mine car is controlled to stop immediately.
When the auxiliary wire control moving unit and the auxiliary wire control steering unit operate, whether the opening degree of a brake pedal in the auxiliary wire control moving unit exceeds a first safety limit or not and/or whether the rotating speed and the rotating angle of a steering wheel in the auxiliary wire control steering unit exceed a second safety limit or not are detected, and if yes, the unmanned mine car is controlled to stop immediately.
After the mine car exceeds the safety limit in the unmanned state, the mine car is ensured to send a signal to the management control module, the mine car is controlled to stop immediately, and the safety of the mine car in the unmanned state is improved.
According to the drive-by-wire chassis control method for the unmanned mine car, firstly, a management control module of the unmanned mine car controls a drive-by-wire module and a main line control movable unit to complete longitudinal control of the unmanned mine car, and controls a main line control steering unit to complete transverse control of the unmanned mine car; and finally, when the main line control movable unit and/or the main line control steering unit fail, controlling the drive-by-wire module and the auxiliary line control movable unit to complete longitudinal control on the unmanned mine car, and controlling the auxiliary line control steering unit to complete transverse control on the unmanned mine car so that the unmanned mine car runs according to the running route map. According to the technical scheme, the safety redundancy of the auxiliary wire-controlled steering unit and the auxiliary wire-controlled braking unit is increased, the main wire-controlled steering unit and the auxiliary wire-controlled braking unit are started simultaneously, and the auxiliary wire-controlled steering unit and the auxiliary wire-controlled braking unit can be immediately involved when the main wire-controlled steering unit and/or the main wire-controlled braking unit have faults, so that the safety of transverse and longitudinal control of the vehicle is ensured, and the safety of the vehicle in an unmanned driving state is further ensured. The management control module collects the real-time information and the feedback information, controls driving, braking, steering and the like, completes transverse and longitudinal control of the mine car, and has higher reliability, stability and safety in mining areas with severe operation conditions. Safety adapter units are arranged in the main transverse and longitudinal control module, the auxiliary transverse and longitudinal control module and the vehicle body electrical appliance module, so that after the mine car exceeds the safety limit in the unmanned state, a signal is sent to the management control module to control the mine car to stop immediately, and the safety of the mine car in the unmanned state is improved.
All articles and references disclosed above, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional.
A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego such subject matter, nor should the applicant consider that such subject matter is not considered part of the disclosed subject matter. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A drive-by-wire chassis control system for an unmanned mining vehicle, the system comprising: the system comprises a management control module, a drive-by-wire module, a main transverse and longitudinal control module and an auxiliary transverse and longitudinal control module;
the management control module is respectively electrically connected with the main transverse and longitudinal control module and the drive-by-wire module, and is used for controlling the drive-by-wire module and the main wire control motion unit to complete longitudinal control over the unmanned tramcar and controlling the main wire control steering unit to complete transverse control over the unmanned tramcar;
and the management control module is electrically connected with the auxiliary transverse and longitudinal control module and is used for controlling the auxiliary transverse and longitudinal control module to complete transverse and longitudinal control on the unmanned tramcar when the main line control movable unit and/or the main line control steering unit fails.
2. The drive-by-wire chassis control system for unmanned mining vehicles of claim 1, wherein the secondary transverse and longitudinal control module comprises a secondary wire control moving unit and a secondary wire control steering unit;
when the main line control movable unit and/or the main line control steering unit fail, the management control module controls the drive-by-wire module and the auxiliary line control movable unit to complete longitudinal control over the unmanned mine car and controls the auxiliary line control steering unit to complete transverse control over the unmanned mine car.
3. The drive-by-wire chassis control system for unmanned mining vehicles of claim 1, wherein the main transverse and longitudinal control module further comprises a first safety nozzle unit;
the first safety takeover unit is respectively electrically connected with the main line control movable unit and the main line control steering unit and is used for sending a signal to the management control module when detecting that the opening degree of a brake pedal in the main line control movable unit exceeds a first safety limit or detecting that the rotating speed and the rotating angle of a steering wheel in the main line control steering unit exceed a second safety limit, and the management control module automatically controls the unmanned mine car to immediately stop;
the auxiliary transverse and longitudinal control module further comprises: a second safety takeover unit;
the second safety connection pipe unit is respectively electrically connected with the auxiliary line control moving unit and the auxiliary line control steering unit, and is used for sending a signal to the management control module when detecting that the opening degree of a brake pedal in the auxiliary line control moving unit exceeds the first safety limit or when detecting that the rotating speed and the rotating angle of a steering wheel in the auxiliary line control steering unit exceed the second safety limit after the main transverse and longitudinal control module fails and starts the auxiliary transverse and longitudinal control module, and the management control module automatically controls the unmanned mine car to stop immediately.
4. The drive-by-wire chassis control system for unmanned mining vehicles of claim 1, further comprising: an environment sensing module;
the environment perception module is electrically connected with the management control module and is used for sending the constructed running route map of the unmanned mine car to the management control module;
and after receiving the driving route map, the management control module drives according to the driving route map.
5. The drive-by-wire chassis control system for unmanned mining vehicles of claim 4, wherein the environmental awareness module comprises: a laser radar unit and a millimeter wave radar unit;
the laser radar unit is used for constructing local path information in a first identification range by using a laser radar;
the millimeter wave radar unit is used for constructing local path information in a second identification range by utilizing a millimeter wave radar;
the environment perception module is used for combining the local path information in the first recognition range and the local path information in the second recognition range to obtain a driving route map of the unmanned mine car, wherein the second recognition range is larger than the first recognition range.
6. The drive-by-wire chassis control system for unmanned mining vehicles of claim 1, further comprising: a vehicle body electrical module;
and the vehicle body electrical appliance module is electrically connected with the management control module and is used for receiving the instruction of the management control module and realizing the control of the vehicle body electrical appliance of the unmanned mine car.
7. The drive-by-wire chassis control system for unmanned mining vehicles of claim 1, wherein the body electronics module further comprises: a third safety nozzle unit;
and the third safety adapter unit is used for sending a signal to the management control module after detecting that the emergency stop switch of the unmanned mine car is set, and the management control module automatically controls the unmanned mine car to stop immediately.
8. The drive-by-wire chassis control system for unmanned mining vehicles of claim 1, further comprising: a wire controlled lifting module;
the wire control lifting module is electrically connected with the management control module and used for receiving the instruction of the management control module when the unmanned mine car runs to a loading point or an unloading point, so that the lifting control of a container of the unmanned mine car is realized.
9. The steer-by-wire chassis control system for unmanned mining vehicles according to claim 1, wherein the master steer-by-wire unit comprises: a first main steering motor and a first auxiliary steering motor;
the main-line control steering unit controls steering by using the first main steering motor;
after the first main steering motor fails, the main-wire control steering unit controls steering by using the first auxiliary steering motor;
the sub steer-by-wire unit includes: a second main steering motor and a second auxiliary steering motor;
after the main transverse and longitudinal control module fails and the auxiliary transverse and longitudinal control module works, the auxiliary linear control steering unit controls steering by using the second main steering motor;
and after the second main steering motor fails, the auxiliary steer-by-wire unit controls steering by using the second auxiliary steering motor.
10. A drive-by-wire chassis control method for an unmanned mining vehicle, characterized in that the method is applied to the drive-by-wire chassis control system according to any one of claims 1 to 9, comprising:
the management control module of the unmanned mine car completes longitudinal control on the unmanned mine car through controlling the drive-by-wire module and the main wire control moving unit, and completes transverse control on the unmanned mine car through controlling the main wire control steering unit;
and when the main line control movable unit and/or the main line control steering unit fails, controlling the drive-by-wire module and the auxiliary line control movable unit to complete longitudinal control on the unmanned tramcar and controlling the auxiliary line control steering unit to complete transverse control on the unmanned tramcar so as to enable the unmanned tramcar to run according to a running route map.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210702232.6A CN115123295A (en) | 2022-06-21 | 2022-06-21 | Drive-by-wire chassis control system and method for unmanned mine car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210702232.6A CN115123295A (en) | 2022-06-21 | 2022-06-21 | Drive-by-wire chassis control system and method for unmanned mine car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115123295A true CN115123295A (en) | 2022-09-30 |
Family
ID=83380439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210702232.6A Pending CN115123295A (en) | 2022-06-21 | 2022-06-21 | Drive-by-wire chassis control system and method for unmanned mine car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115123295A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115438430A (en) * | 2022-11-08 | 2022-12-06 | 上海伯镭智能科技有限公司 | Mining area vehicle driving stability prediction method and device |
-
2022
- 2022-06-21 CN CN202210702232.6A patent/CN115123295A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115438430A (en) * | 2022-11-08 | 2022-12-06 | 上海伯镭智能科技有限公司 | Mining area vehicle driving stability prediction method and device |
| CN115438430B (en) * | 2022-11-08 | 2023-01-24 | 上海伯镭智能科技有限公司 | Mining area vehicle driving stability prediction method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109795487B (en) | Device and method for controlling train travel of vehicles | |
| CN106774291B (en) | Electric control system for automatically driving electric automobile | |
| CN111492419B (en) | Vehicle, and control system and control method thereof | |
| CN109515430B (en) | Travel control system and vehicle control method | |
| CN110290999B (en) | Vehicle control system and control method | |
| CN109032132B (en) | Vehicle driving system and method | |
| CN110300691B (en) | Vehicle control system | |
| CN113291317B (en) | Vehicle control device and vehicle control method | |
| CN111758125B (en) | Travel control device, travel control method, and program | |
| CN110740915A (en) | Travel control system and vehicle control method | |
| CN111480188B (en) | Vehicle, and control system and control method thereof | |
| CN113264063B (en) | Vehicle control device, vehicle control method, and computer-readable storage medium | |
| US20200324789A1 (en) | Vehicle control interface and vehicle system | |
| CN113183955B (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN111966104A (en) | Fusion navigation vehicle automatic driving system and method based on magnetic nail | |
| CN113173178A (en) | Automatic driving control method and system for vehicle | |
| CN115123295A (en) | Drive-by-wire chassis control system and method for unmanned mine car | |
| CN113859258A (en) | Method and apparatus for controlling automatic driving | |
| CN110893881B (en) | Vehicle control system and vehicle control method | |
| CN108657268A (en) | Experiment porch vehicle and its control system | |
| US11364921B2 (en) | Object recognition apparatus, object recognition method, and vehicle | |
| US20210284194A1 (en) | Autonomous vehicle | |
| CN217484744U (en) | Intelligent driving mine card redundant CAN bus system | |
| US11535272B2 (en) | Vehicle system for autonomous control in response to abnormality | |
| CN113696902A (en) | Vehicle control system, vehicle control method, computer device, medium, and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |