CN116424355A - Fault post-processing method and system for unmanned mine car and storage medium - Google Patents
Fault post-processing method and system for unmanned mine car and storage medium Download PDFInfo
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Abstract
The application discloses a fault post-processing method and system for an unmanned mine car, a storage medium and computer equipment, wherein the method comprises the following steps: when fault data reported by any functional system of the unmanned mine car is received, the fault diagnosis system determines corresponding target fault treatment measures from preset fault treatment measures according to the fault data, and issues the target fault treatment measures to the unmanned system; the unmanned system receives a plurality of target fault handling measures, generates a to-be-executed measure list according to the plurality of target fault handling measures, and sequentially executes the to-be-executed measures based on the processing priority of the to-be-executed measures in the to-be-executed measure list. According to the method and the device, on one hand, the timeliness of fault treatment after the unmanned mine car breaks down is guaranteed, and on the other hand, the accuracy of fault treatment is guaranteed, so that the safety of the unmanned mine car is greatly improved.
Description
Technical Field
The application relates to the technical field of fault post-processing, in particular to a fault post-processing method and system for an unmanned mine car, a storage medium and computer equipment.
Background
At present, the automatic driving technology is continuously developed, and meanwhile, the requirements of the nation on the aspects of intellectualization and unmanned in the mining process are higher and higher, so that the unmanned mine car becomes a necessary development trend in the mining process. In future intelligent mines, the whole mine operation scene is gradually required to be free from manual intervention, so that higher requirements are put forward on the safety of the unmanned mine car, and the fault post-processing function after the unmanned mine car breaks down is one of key factors for guaranteeing the safety of the unmanned mine car.
In the prior art, after the unmanned mine car breaks down, the control and diagnosis after the fault is usually carried out manually, and the method cannot ensure timely treatment after the unmanned mine car breaks down, and in addition, the treatment effect is also influenced by manual experience. Therefore, the safety of the unmanned mine car after the fault is often not guaranteed.
Disclosure of Invention
In view of the above, the present application provides a method and a system for post-fault processing of an unmanned mine car, a storage medium, and a computer device, which on one hand ensure the timeliness of fault processing after the unmanned mine car fails, and on the other hand ensure the accuracy of fault processing, thereby greatly improving the safety of the unmanned mine car.
According to one aspect of the present application, there is provided a fault post-treatment method for an unmanned mine car, comprising:
when fault data reported by any functional system of the unmanned mine car is received, the fault diagnosis system determines corresponding target fault treatment measures from preset fault treatment measures according to the fault data, and issues the target fault treatment measures to the unmanned system;
the unmanned system receives a plurality of target fault handling measures, generates a to-be-executed measure list according to the plurality of target fault handling measures, and sequentially executes the to-be-executed measures based on the processing priority of the to-be-executed measures in the to-be-executed measure list.
According to another aspect of the present application, there is provided a fault aftertreatment system for an unmanned mine car, including a fault diagnosis system and an unmanned system;
the fault diagnosis system is used for determining corresponding target fault treatment measures from preset fault treatment measures according to the fault data when fault data reported by any functional system of the unmanned mine car are received, and issuing the target fault treatment measures to the unmanned system;
the unmanned system is used for receiving a plurality of target fault handling measures, generating a to-be-executed measure list according to the plurality of target fault handling measures, and sequentially executing the to-be-executed measures based on the processing priority of the to-be-executed measures in the to-be-executed measure list.
According to a further aspect of the present application, there is provided a storage medium having stored thereon a computer program which when executed by a processor implements the method of fault post-treatment for an unmanned mining vehicle described above.
According to a further aspect of the present application, there is provided a computer device comprising a storage medium, a processor and a computer program stored on the storage medium and executable on the processor, the processor implementing the method for post-fault treatment of an unmanned mining vehicle as described above when executing the program.
By means of the technical scheme, the fault post-processing method and system for the unmanned mine car, the storage medium and the computer equipment provided by the application are characterized in that after fault diagnosis systems receive fault data reported by any functional system, corresponding target fault processing measures are directly found according to the fault data, and the target fault processing measures are issued to the unmanned system, so that the unmanned system generates a to-be-executed measure list according to the target fault processing measures, and executes the to-be-executed measures according to the processing priority of the to-be-executed measures in the to-be-executed measure list, the technical effect of automatically carrying out fault post-processing on the unmanned mine car is achieved, on one hand, the fault processing timeliness after the fault of the unmanned mine car is guaranteed, on the other hand, the accuracy of fault processing is guaranteed, and the safety of the unmanned mine car is greatly improved.
The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic flow chart of a method for fault post-treatment of an unmanned mining vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of various functional systems in an unmanned mining vehicle provided in an embodiment of the present application;
fig. 3 is a schematic diagram of the types of preset fault handling measures provided in the embodiment of the present application;
FIG. 4 is a flow chart illustrating another method for post-fault treatment of an unmanned mining vehicle according to an embodiment of the present application;
FIG. 5 shows a schematic diagram of a fault aftertreatment system for an unmanned mining vehicle, provided in an embodiment of the present application.
Detailed Description
The present application will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
In this embodiment, there is provided a fault post-processing method for an unmanned mine car, as shown in fig. 1, the method including:
The fault post-processing method for the unmanned mine car can be realized based on a fault post-processing system, the fault post-processing system can be applied to the unmanned mine car, and the fault post-processing system can comprise two systems, namely a fault diagnosis system and an unmanned system. In addition to the fault aftertreatment system, the unmanned mining vehicle may include other functional systems thereon, such as, for example, a battery system, a vehicle power system, a vehicle steering system, a vehicle body system, and the like, as shown in FIG. 2. Wherein each functional system can diagnose the faults occurring to the corresponding function, and can generate fault data after diagnosing the faults. Each functional system is connected with a fault diagnosis system in the fault post-processing system, and particularly, communication connection between the functional system and the fault diagnosis system CAN be realized through a CAN bus. After each functional system generates fault data, the fault data can be reported to a fault diagnosis system, and after the fault diagnosis system receives the fault data reported by any functional system, a target fault treatment measure corresponding to the fault data can be found out from a plurality of preset fault treatment measures according to the fault data. Here, the fault data may be a fault code in a fault code format prescribed by the american Society of Automotive Engineers (SAE), and the preset fault handling measure may be corresponding to the fault code. After the fault diagnosis system determines the target fault handling measures, the target fault handling measures may be issued to the unmanned system. It should be noted that the fault diagnosis system may simultaneously receive fault data reported by multiple functional systems, and find a corresponding target fault handling measure for each piece of fault data. As shown in fig. 3, the preset fault handling measures may be a deceleration type measure, a parking type measure, a self-repairing type measure, a scheduling type measure, and the like.
After the fault diagnosis system receives fault data reported by each functional system, the fault diagnosis system can also clean each piece of fault data, specifically, the received fault data can be compared with preset data, when the comparison result shows that the received fault data belongs to the preset data, the step of determining target fault treatment measures is executed, otherwise, the fault diagnosis system can directly carry out fault diagnosis treatment, and the generated fault diagnosis information can also be sent to a preset management terminal corresponding to staff, so that the staff can carry out subsequent treatment in time. The preset data may be the data of a fault that is currently known and has preset fault handling measures.
After the unmanned system receives the target fault handling measures, a to-be-executed measure list can be generated according to the received target fault handling measures, and the to-be-executed measure list can comprise multiple target fault handling measures. The to-be-performed measures may then be performed separately according to the processing priorities of the to-be-performed measures included in the to-be-performed measure list. When any of the measures to be executed is finished, the measures to be executed can be removed from the list of the measures to be executed.
By applying the technical scheme of the embodiment, after the fault diagnosis system receives fault data reported by any functional system, corresponding target fault treatment measures are directly found according to the fault data, and the target fault treatment measures are issued to the unmanned system, so that the unmanned system generates a to-be-executed measure list according to the target fault treatment measures, and executes the to-be-executed measures according to the processing priority of the to-be-executed measures in the to-be-executed measure list, thereby realizing the technical effect of automatically carrying out fault post-treatment on the unmanned mine car, ensuring the fault treatment timeliness of the unmanned mine car after the fault occurs, and ensuring the fault treatment accuracy, and greatly improving the safety of the unmanned mine car.
In an embodiment of the present application, optionally, after generating the to-be-executed measure list according to the plurality of target fault handling measures, the method further includes: when the unmanned system receives a new target fault handling measure, updating a measure list to be executed based on the new target fault handling measure, determining the processing priority of the measures to be executed included in the updated measure list to be executed, and executing the measures to be executed in the updated measure list to be executed in sequence according to the processing priority.
In this embodiment, if, during the process of executing the to-be-executed measure by the unmanned system, the unmanned mine car has other faults, then the unmanned system may receive a new target fault handling measure newly sent by the fault diagnosis system, and add the new target fault handling measure to the to-be-executed measure list, so as to update the to-be-executed measure list, where the execution sequence of each to-be-executed measure in the updated to-be-executed measure list is still determined according to the processing priority of each to-be-executed measure. For example, the processing priority of a new target failure handling measure newly added to the to-be-executed measure list is higher than the processing priority of all the to-be-executed measures before in the to-be-executed measure list, and then the new target failure handling measure may be executed first after the new target failure handling measure is added to the to-be-executed measure list. According to the method and the device for processing the information, the processing priority is set, so that when a plurality of measures to be executed exist, each measure to be executed can be executed according to the priority order, and omission of the measures to be executed is avoided.
In this embodiment of the present application, optionally, the preset fault handling measures include a deceleration measure, a parking measure, a self-repairing measure, and a scheduling measure, where each preset fault handling measure is marked with an emergency level tag, and the processing priority is determined based on the emergency level tag.
In this embodiment, as shown in fig. 3, the preset fault handling measures may include a deceleration type measure, a parking type measure, a self-repairing type measure, a scheduling type measure, and the like. In order to be able to identify the processing priority of each preset fault handling means, each preset fault handling means may be marked with an urgency tag, which may be determined according to the urgency of each type of preset fault handling means. For example, the urgency level label of the parking measure is 1, which indicates that the urgency level is highest; the emergency label of the deceleration measure is 2, which indicates the emergency degree; the emergency label of the self-repairing measure is 3, the emergency label of the scheduling measure is 4, and the larger the number of the emergency label is, the lower the emergency is.
In the embodiment of the application, optionally, when the to-be-executed measure list includes a plurality of deceleration measures and does not include a parking measure, acquiring a minimum accelerator value and a minimum expected speed value corresponding to the plurality of deceleration measures and a maximum brake speed value, and controlling the unmanned mine car based on the minimum accelerator value, the minimum expected speed value and the maximum brake speed value; when the to-be-executed measure list comprises a parking measure, controlling the unmanned mine car based on the parking measure, and resetting the throttle of the unmanned mine car.
In this embodiment, a plurality of measures to be performed may be included in the list of measures to be performed, and the same kind of measures may be included therein. For example, a plurality of deceleration-like measures may be included simultaneously. It should be noted that each type of preset fault handling measures may include a plurality of fault handling measures with different requirements, for example, for deceleration measures, gradual deceleration measures, immediate deceleration measures, etc., and for parking measures, for example, side parking measures, immediate parking measures, etc. When the to-be-executed measure list comprises a plurality of deceleration measures, but does not comprise a parking measure, the deceleration requirements corresponding to different deceleration measures may be different, but the processing priorities corresponding to the deceleration measures are the same, so that when the deceleration measures are processed, a required minimum accelerator value, a required minimum expected speed value and a required maximum brake speed value can be determined from the plurality of deceleration measures, and then the unmanned mine car is controlled according to the minimum accelerator value, the required minimum speed value and the maximum brake speed value, so that the execution of the deceleration measures is realized. When the to-be-executed measure list comprises the parking measure, the parking measure can be executed first and the zero clearing of the throttle of the unmanned mine car can be controlled because the processing priority of the parking measure is higher.
In an embodiment of the present application, optionally, the method further includes: when the to-be-executed measure is a self-repairing measure, the unmanned system identifies the action control data and the self-repairing code from the self-repairing measure, and carries out self-repairing treatment on the unmanned mine car based on the action control data and the self-repairing code.
In this embodiment, if the action to be performed is a self-repairing type action, it is explained that self-repairing can be performed after the unmanned mine car is stopped, in addition to controlling the traveling state of the unmanned mine car. At this time, the unmanned system can identify the action control data and the self-repairing code from the self-repairing measures, and the action control data can be used for indicating how the unmanned mine car specifically acts, such as how much speed is reduced to, how much gear is changed to, and the like; the self-healing code may be used to instruct the unmanned mine car how to perform the self-healing in particular. Different self-repairing codes can correspond to different self-repairing tools, and the self-repairing tools can perform self-repairing treatment on corresponding faults of the unmanned mining vehicle. After the action control data and the self-repairing code are identified from the self-repairing measures, on one hand, the action control data can be utilized to conduct action control on the unmanned mine car; on the other hand, after the unmanned mine car is stopped, the self-repairing tool can be called by using the self-repairing code, and then the self-repairing tool is used for carrying out self-repairing treatment on the unmanned mine car. The unmanned mine car is subjected to action control and self-repairing treatment, so that the fault post-treatment of the unmanned mine car is realized. According to the method and the device, when the to-be-executed measure is a self-repairing measure, the self-repairing treatment can be automatically carried out on the unmanned mine car, the method and the device are simple and convenient, and meanwhile the treatment timeliness is good.
In an embodiment of the present application, optionally, the method further includes: when the to-be-executed measure is a scheduling measure, the unmanned system sends the scheduling measure to the cloud platform so that the cloud platform establishes a scheduling task based on the scheduling measure.
In this embodiment, the to-be-executed measure may further include a scheduling policy measure, and when the to-be-executed measure is the scheduling policy measure, the unmanned system may send the scheduling policy measure to the cloud platform, and after the cloud platform receives the scheduling policy measure, the cloud platform may correspondingly establish a scheduling task, where the scheduling task may be a task of scheduling the vehicle to repair or charge the unmanned mine car. In this way, the unmanned system can accept subsequent services provided by the dispatching vehicle according to the dispatch-type measure. According to the method and the device, when the unmanned mine car has a fault which cannot be self-repaired, the cloud platform is timely informed of establishing a dispatching task, and then the unmanned mine car is subjected to fault repair, so that the safety of the unmanned mine car can be greatly improved.
In an embodiment of the present application, optionally, the method further includes: the unmanned system acquires the current operation state of the unmanned mine car, judges the task type of the current operation task based on the current operation state, updates the latest operation state into the operation stopping state when the task type is the safety operation task, and executes the steps of executing the to-be-executed measures in sequence based on the processing priority of the to-be-executed measures in the to-be-executed measure list.
In this embodiment, the unmanned system may further acquire a current operation state of the unmanned mine car in real time, and may further determine a current operation task according to the current operation state. Each job task can be preset with one task category, and the task security corresponding to different task categories is different. In particular, the task categories may include security-type job tasks, non-security-type job tasks, and the like. The safety operation task refers to that when the current operation state of the current operation task is switched to the operation stopping state, the unmanned mine car is safe; an unsafe task refers to an unmanned mine car that may present a safety risk when switching from a current operating state of the current task to an out-of-service state. The unmanned system can also judge the task category corresponding to the current operation task. The latest operating status of the unmanned mine car may then be determined based on the task category. When the task type of the current operation task is a safe operation task, the fact that the current operation task is stopped does not cause the safety risk of the unmanned mine car, at the moment, the latest operation state can be updated to be the operation stopping state, and then all the measures to be executed in the measure to be executed list can be executed; when the task class of the current operation task is the non-safety operation task, the fact that the current operation task is stopped is indicated to possibly cause the safety risk of the unmanned mine car, and at the moment, the unmanned mine car can wait for executing all the measures to be executed in the measure to be executed list after completing the current operation task. For example, the operations box task may be an unsafe class job task. If the current operation task is the operation container task, in order to ensure the unloading safety, after the unloading is finished, namely after the operation container task is finished, executing each to-be-executed measure in the to-be-executed measure list.
In an embodiment of the present application, optionally, the unmanned system includes a sensing layer, a planning layer, a decision layer, and a control layer; the sensing layer acquires surrounding environment data of the unmanned mine car in real time; the planning layer performs path planning based on the measures to be executed and surrounding environment data to obtain target planning path data; the decision-making layer obtains the current operation state of the unmanned mine car and determines the latest operation state of the unmanned mine car based on the current operation state; the control layer identifies action control data from the measures to be executed, and performs fault post-processing on the unmanned mine car based on the action control data, the latest operation state and the target planning path data.
In this embodiment, the unmanned system may include a perception layer, a planning layer, a decision layer, and a control layer. The sensing layer can acquire surrounding environment data of the unmanned mine car in real time, specifically, millimeter wave radar, laser radar and the like can be installed on the unmanned mine car, the sensing layer acquires the surrounding environment data of the unmanned mine car in real time through the millimeter wave radar, the laser radar and the like, and then the surrounding environment data can be sent to the planning layer. Then, the planning layer can carry out path planning based on the measures to be executed and the surrounding environment data, so as to obtain target planning path data. Here, the target planned path data may be data corresponding to the global path plan or data corresponding to the local path plan. For example, when the measure to be performed is a parking measure, then the target planned path data may be path data corresponding to the unmanned mine car from the current position to the parking position; when the measure to be performed is a self-repairing measure, then the target planned path data may be path data corresponding to the unmanned mine car from the current location to the self-repairing destination location. The decision-making layer can acquire the current operation state of the unmanned mine car, can also determine the latest operation state of the unmanned mine car based on the current operation state, and needs to be noted that the latest operation state can be the current operation state of the unmanned mine car, can also be a brand new operation state, and can be determined according to the current operation state. Finally, the control layer can identify the action control data from the measures to be executed, and carry out fault post-processing on the unmanned mine car through the action control data, the latest operating state and the target planning path data. Here, the action control data may be data for controlling a traveling speed, a deceleration speed, a braking gear, etc. of the unmanned mine car to control a traveling state of the unmanned mine car. The control layer can control the running state of the unmanned mine car according to the action control data; whether the unmanned mine car needs to change the current working state or not can be determined according to the latest working state; and determining a corresponding driving path when the unmanned mine car executes the measure to be executed according to the target planning path data.
In an embodiment of the present application, optionally, as shown in fig. 4, the unmanned system is further configured to: when the target fault handling measure is received, if the target fault handling measure is one, the target fault handling measure can be directly executed according to the content of the target fault handling measure, and then a DDS (English full name: data Distribution Service; chinese name: data distribution service) message is issued to the fault handling state to inform the fault diagnosis system of the specific fault handling state. If the target fault handling measures are multiple, then the newly added target fault handling measures can be inserted into the map queue, and at the same time, the target fault handling measures which have been executed can be removed from the map queue, so that the target fault handling measures which have not been executed are in the map queue. Thereafter, the map queue may be traversed and the pre-control measures extracted therefrom, and specifically, the extraction strategy of the pre-control measures may include: the accelerator is processed according to the minimum value, and if the brake and the parking exist, the accelerator is directly cleared; braking is processed according to the maximum value; when a parking request exists, processing according to the parking request; when a neutral gear request, a container landing request or a person driving instruction exits, the vehicle can be processed after stopping. And then issuing a pre-control instruction according to the extracted pre-control measure to pre-control the unmanned mine car, then sequentially executing each target fault treatment measure, and issuing a DDS message corresponding to the fault treatment state, so that the specific fault treatment state of the fault diagnosis system can be notified.
Further, as a specific implementation of the method of fig. 1, the embodiment of the application provides a fault post-processing system for an unmanned mine car, as shown in fig. 5, including a fault diagnosis system and an unmanned system;
the fault diagnosis system is used for determining corresponding target fault treatment measures from preset fault treatment measures according to the fault data when the fault data reported by any functional system of the unmanned mine car are received, and issuing the target fault treatment measures to the unmanned system;
and the unmanned system is used for receiving the plurality of target fault handling measures, generating a to-be-executed measure list according to the plurality of target fault handling measures, and sequentially executing the to-be-executed measures based on the processing priority of the to-be-executed measures in the to-be-executed measure list.
Optionally, the unmanned system is further configured to update the to-be-executed measure list based on the new target fault handling measure when the new target fault handling measure is received, determine a processing priority of the to-be-executed measure included in the updated to-be-executed measure list, and sequentially execute the to-be-executed measures in the updated to-be-executed measure list according to the processing priority.
Optionally, the preset fault handling measures include a deceleration measure, a parking measure, a self-repairing measure, and a scheduling measure, wherein each preset fault handling measure is marked with an urgency tag, and the handling priority is determined based on the urgency tag.
Optionally, the unmanned system is further configured to obtain a minimum accelerator value and a minimum expected speed value, and a maximum brake speed value corresponding to the plurality of deceleration measures when the to-be-executed measure list includes the plurality of deceleration measures and does not include the parking measure, and control the unmanned mine car based on the minimum accelerator value, the minimum expected speed value, and the maximum brake speed value;
and the unmanned system is also used for controlling the unmanned mine car based on the parking measures and clearing the throttle of the unmanned mine car when the parking measures are included in the to-be-executed measure list.
Optionally, the unmanned system is further configured to identify the action control data and the self-repairing code from the self-repairing measure when the measure to be executed is the self-repairing measure, and perform self-repairing processing on the unmanned mine car based on the action control data and the self-repairing code.
Optionally, the unmanned system is further configured to send the scheduling measure to the cloud platform when the measure to be executed is the scheduling measure, so that the cloud platform establishes the scheduling task based on the scheduling measure.
Optionally, the unmanned system is further configured to obtain a current operation state of the unmanned mine car, determine a task class of the current operation task based on the current operation state, update the latest operation state to an operation suspension state when the task class is a safety operation task, and execute steps of sequentially executing the to-be-executed measures based on a processing priority of the to-be-executed measure in the to-be-executed measure list.
It should be noted that, other corresponding descriptions of each functional unit related to the fault post-processing system for an unmanned mine car provided in the embodiment of the present application may refer to corresponding descriptions in the methods of fig. 1 to 4, and are not repeated herein.
Based on the above-mentioned method shown in fig. 1 to 4, correspondingly, the embodiment of the application also provides a storage medium, on which a computer program is stored, which when being executed by a processor, implements the above-mentioned fault post-treatment method for the unmanned mine car shown in fig. 1 to 4.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.), and includes several instructions for causing a computer device (may be a personal computer, a server, or a network device, etc.) to perform the method of each implementation scenario of the present application.
In order to achieve the above object, based on the method shown in fig. 1 to fig. 4 and the system shown in fig. 5, an embodiment of the present application further provides a computer device, which may specifically be a personal computer, a server, a network device, etc., where the computer device includes a storage medium and a processor; a storage medium storing a computer program; a processor for executing a computer program to implement the method of post-fault treatment for an unmanned mining vehicle as described above and illustrated in fig. 1 to 4.
Optionally, the computer device may also include a user interface, a network interface, a camera, radio Frequency (RF) circuitry, sensors, audio circuitry, WI-FI modules, and the like. The user interface may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., bluetooth interface, WI-FI interface), etc.
It will be appreciated by those skilled in the art that the architecture of a computer device provided in the present embodiment is not limited to the computer device, and may include more or fewer components, or may combine certain components, or may be arranged in different components.
The storage medium may also include an operating system, a network communication module. An operating system is a program that manages and saves computer device hardware and software resources, supporting the execution of information handling programs and other software and/or programs. The network communication module is used for realizing communication among all components in the storage medium and communication with other hardware and software in the entity equipment.
From the above description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented by means of software plus necessary general hardware platforms, or may be implemented by hardware. After fault diagnosis system receives fault data reported by any functional system, corresponding target fault treatment measures are directly found according to the fault data, and the target fault treatment measures are issued to the unmanned system, so that the unmanned system generates a to-be-executed measure list according to the target fault treatment measures, and executes the to-be-executed measures according to the processing priority of the to-be-executed measures in the to-be-executed measure list, thereby realizing the technical effect of automatically carrying out fault post-treatment on the unmanned mine car, ensuring the fault treatment timeliness of the unmanned mine car after fault occurrence, and ensuring the fault treatment accuracy, and greatly improving the safety of the unmanned mine car.
Those skilled in the art will appreciate that the drawings are merely schematic illustrations of one preferred implementation scenario, and that the modules or flows in the drawings are not necessarily required to practice the present application. Those skilled in the art will appreciate that modules in an apparatus in an implementation scenario may be distributed in an apparatus in an implementation scenario according to an implementation scenario description, or that corresponding changes may be located in one or more apparatuses different from the implementation scenario. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The foregoing application serial numbers are merely for description, and do not represent advantages or disadvantages of the implementation scenario. The foregoing disclosure is merely a few specific implementations of the present application, but the present application is not limited thereto and any variations that can be considered by a person skilled in the art shall fall within the protection scope of the present application.
Claims (10)
1. A method of fault post-treatment for an unmanned mining vehicle, comprising:
when fault data reported by any functional system of the unmanned mine car is received, the fault diagnosis system determines corresponding target fault treatment measures from preset fault treatment measures according to the fault data, and issues the target fault treatment measures to the unmanned system;
the unmanned system receives a plurality of target fault handling measures, generates a to-be-executed measure list according to the plurality of target fault handling measures, and sequentially executes the to-be-executed measures based on the processing priority of the to-be-executed measures in the to-be-executed measure list.
2. The method of claim 1, wherein after generating the list of actions to be performed in accordance with a plurality of the target fault handling actions, the method further comprises:
when the unmanned system receives the new target fault handling measures, updating the to-be-executed measure list based on the new target fault handling measures, determining the processing priority of the to-be-executed measures included in the updated to-be-executed measure list, and sequentially executing the to-be-executed measures in the updated to-be-executed measure list according to the processing priority.
3. The method of claim 1, wherein the preset fault handling actions include a deceleration class action, a parking class action, a self-repair class action, and a dispatch class action, wherein each of the preset fault handling actions is tagged with an urgency tag, and wherein the processing priority is determined based on the urgency tag.
4. A method according to claim 3, wherein when the list of measures to be performed includes a plurality of deceleration measures and does not include a stopping measure, a minimum throttle value and a minimum desired speed value and a maximum braking speed value corresponding to the plurality of deceleration measures are obtained, and the unmanned mine car is controlled based on the minimum throttle value, the minimum desired speed value and the maximum braking speed value;
when the to-be-executed measure list comprises a parking measure, controlling the unmanned mine car based on the parking measure, and resetting the throttle of the unmanned mine car.
5. A method according to claim 3, characterized in that the method further comprises:
when the to-be-executed measure is a self-repairing measure, the unmanned aerial vehicle system identifies action control data and a self-repairing code from the self-repairing measure, and carries out self-repairing treatment on the unmanned aerial vehicle based on the action control data and the self-repairing code.
6. A method according to claim 3, characterized in that the method further comprises:
and when the to-be-executed measure is a scheduling measure, the unmanned system sends the scheduling measure to a cloud platform so that the cloud platform establishes a scheduling task based on the scheduling measure.
7. The method according to claim 1, wherein the method further comprises:
the unmanned system acquires the current operation state of the unmanned mine car, judges the task type of the current operation task based on the current operation state, updates the latest operation state into the operation stopping state when the task type is a safety operation task, and executes the steps of executing the measures to be executed in sequence based on the processing priority of the measures to be executed in the measure to be executed list.
8. A fault aftertreatment system for an unmanned mine car, comprising a fault diagnosis system and an unmanned system;
the fault diagnosis system is used for determining corresponding target fault treatment measures from preset fault treatment measures according to the fault data when fault data reported by any functional system of the unmanned mine car are received, and issuing the target fault treatment measures to the unmanned system;
the unmanned system is used for receiving a plurality of target fault handling measures, generating a to-be-executed measure list according to the plurality of target fault handling measures, and sequentially executing the to-be-executed measures based on the processing priority of the to-be-executed measures in the to-be-executed measure list.
9. The system of claim 8, wherein the system further comprises a controller configured to control the controller,
the unmanned system is further configured to update the to-be-executed measure list based on the new target fault handling measure when receiving the new target fault handling measure, determine a processing priority of to-be-executed measures included in the updated to-be-executed measure list, and sequentially execute the to-be-executed measures in the updated to-be-executed measure list according to the processing priority.
10. A storage medium having stored thereon a computer program, which when executed by a processor, implements the method of any of claims 1 to 7.
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| CN202310342586.9A CN116424355A (en) | 2023-04-03 | 2023-04-03 | Fault post-processing method and system for unmanned mine car and storage medium |
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| CN202310342586.9A CN116424355A (en) | 2023-04-03 | 2023-04-03 | Fault post-processing method and system for unmanned mine car and storage medium |
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