CN215954138U - Unmanned mine card driving system - Google Patents
Unmanned mine card driving system Download PDFInfo
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- CN215954138U CN215954138U CN202121931447.2U CN202121931447U CN215954138U CN 215954138 U CN215954138 U CN 215954138U CN 202121931447 U CN202121931447 U CN 202121931447U CN 215954138 U CN215954138 U CN 215954138U
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Abstract
The utility model provides an unmanned mine card driving system which at least comprises a driving management platform, at least one video processor and a vehicle associated with the video processor, wherein the driving management terminal is in communication connection with the video processor and is used for sending control signals for controlling the operation and the driving of the vehicle to the vehicle through the video processor; and the video processor is in communication connection with the vehicle and is used for acquiring video data, operation information and driving state information related to the vehicle. The utility model solves the technical problem of single unmanned control strategy in the mine.
Description
Technical Field
The utility model relates to the field of unmanned driving, in particular to an unmanned mine card driving system.
Background
Generally, the working environment of a mine is very severe, workers are inconvenient to drive vehicles under the mine, working efficiency is low, labor cost is low, and even hidden dangers of personal safety, body health and the like exist. To alleviate these drawbacks, unmanned driving has found widespread use in mines. However, the existing unmanned control strategies under mines mechanically control the mine card to run according to a preset control mode, and the field conditions and the requirements of workers are not considered.
In view of the above technical problems in the related art, no effective solution has been proposed at present.
SUMMERY OF THE UTILITY MODEL
In view of the above problems, the utility model provides an unmanned mine card driving system, which at least solves the technical problem that the existing unmanned driving control strategy is single under a mine.
The utility model provides an unmanned mine card driving system which at least comprises a driving management terminal, at least one video processor and a vehicle associated with the video processor, wherein the driving management terminal is in communication connection with the video processor and is used for sending control signals for controlling the operation and the driving of the vehicle to the vehicle through the video processor; the video processor is in communication connection with the vehicle and is used for acquiring video data, operation information and driving state information related to the vehicle.
Optionally, the driving management terminal is disposed on a mobile device, the mobile device is in communication connection with the video processor, and the mobile device is configured to implement interaction between the driving management terminal and the video processor, so as to transmit the control signal, the video data, the operation information, and the driving state information.
Optionally, the driving management terminal is provided with a human-computer interaction interface, and the human-computer interaction interface is used for controlling the driving management terminal to generate the control signal and displaying the video data, the operation information and the driving state information acquired by the driving management terminal.
Optionally, the establishing of the communication connection between the driving management terminal and the video processor includes one of the following: ZigBee, WIFI, 433MHz, UWB, 5G, 4G and 3G.
Optionally, the unmanned mine card driving system further comprises at least one display screen, and the display screen is in communication connection with the driving management terminal and is used for displaying the video data, the operation information and the driving state information acquired by the driving management terminal.
Optionally, the unmanned mine card driving system further comprises a driving simulator, the driving simulator is in communication connection with the driving management terminal, and is provided with function simulation control components corresponding to vehicle operation and vehicle running control, wherein the function simulation control components at least comprise an accelerator pedal, a vehicle-mounted terminal, a brake pedal, a simulation key, a function key, a steering wheel and a gear.
Optionally, a point-to-multipoint communication architecture is arranged between the driving management terminal and the video processor.
Optionally, the unmanned mine card driving system further comprises at least one camera, the camera is in communication connection with the video processor and located around the vehicle, so as to collect the video data and upload the video data to the video processor.
Optionally, the video processor comprises an intelligent video communication box.
The unmanned mine card driving system at least comprises a driving management terminal, at least one video processor and a vehicle associated with the video processor, wherein the video processor sends a control signal for controlling the operation and the driving of the vehicle to the vehicle by establishing communication connection between the driving management terminal and the video processor; the video processor is in communication connection with the vehicle, acquires video data, operation information and driving state information related to the vehicle and feeds the video data, the operation information and the driving state information back to the driving management terminal, so that the technical problem that the existing unmanned driving control strategy is single under a mine is solved, and hidden dangers of personal safety, body health and the like existing in manual driving are avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below.
Fig. 1 is a block diagram of an unmanned mine card driving system provided according to an embodiment of the present invention;
FIG. 2 is a system diagram of an application of an unmanned method according to an embodiment of the utility model;
fig. 3 is a flow chart of information interaction of unmanned driving according to an embodiment of the utility model.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the utility model are shown in the drawings, it should be understood that the utility model can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that such uses are interchangeable under appropriate circumstances such that the embodiments of the utility model described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to".
In order to solve the technical problems of the related art, an unmanned mine card driving system is provided in the present embodiment. The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a block diagram of an unmanned mine card driving system provided according to an embodiment of the present invention, as shown in fig. 1, the system including at least a driving management terminal 10, at least one video processor 12, and a vehicle 14 associated with the video processor, wherein,
the driving management terminal 10 is in communication connection with the video processor 12 and is used for sending control signals for controlling the work and the driving of the vehicle 14 to the vehicle 14 through the video processor 12;
the communication connection established between the driving management terminal 10 and the video processor 12 includes one of the following: ZigBee, WIFI, 433MHz, UWB, 5G, 4G and 3G; but is not limited thereto.
And the video processor 12 is in communication connection with the vehicle 14 and is used for acquiring video data, operation information and driving state information related to the vehicle 14. In an embodiment, the video processor 12 may communicate with the vehicle 14 over a CAN bus, but is not so limited.
In alternative embodiments of the present invention, the driving management terminal 10 may be deployed on a mobile device, which may be a computer terminal or a server, but is not limited thereto; further, the mobile device is in communication connection with the video processor 12, and the mobile device can realize interaction between the driving management terminal 10 and the video processor 12 to transmit control signals, video data, job information and driving state information.
In an alternative embodiment of the present invention, the driving management terminal 10 is provided with a human-computer interaction interface, and the driving management terminal 10 may be controlled by the human-computer interaction interface to generate a control signal and display the video data, the operation information, and the driving state information acquired by the driving management terminal 10. The human-computer interface may also be used to display control signals.
In an optional embodiment of the present invention, the unmanned mine card driving system further includes at least one display screen, the display screen is in communication connection with the driving management terminal 10, and the display screen can display the video data, the operation information and the driving state information acquired by the driving management terminal 10.
In an optional embodiment of the present invention, the unmanned mine card driving system further includes a driving simulator, the driving simulator is in communication connection with the driving management terminal 10, and the driving simulator is provided with various function simulation control components corresponding to vehicle operation and vehicle driving control, wherein the function simulation control components at least include an accelerator pedal, a vehicle-mounted terminal, a brake pedal, a simulation key, a function key, a steering wheel and a gear.
Alternatively, a point-to-multipoint communication architecture is provided between the driving management terminal 10 and the video processor 12.
In an alternative embodiment of the present invention, the unmanned mine card driving system further comprises at least one camera, which is communicatively connected to the video processor 12, is located around the vehicle 14, and is configured to capture video data and upload the video data to the video processor 12.
Optionally, video processor 12 includes an intelligent video communication box.
The utility model is further described below in connection with a particular unmanned system:
fig. 2 is a schematic diagram of a system applied to an unmanned driving method according to an embodiment of the present invention, and as shown in fig. 2, the system includes a remote control cockpit end, an intelligent video communication box (i.e., the video processor), a gateway device, a core base station, a vehicle-mounted camera, an antenna, a mine card, and the like, where the remote control cockpit end is provided with a driving simulator, a rack host, and a display, the driving simulator is provided with a steering wheel, a brake pedal, an accelerator pedal, a gear, and a function key, and realizes all operation points (accelerator, brake, key, combination switch, steering wheel, gear, and the like) of the vehicle end;
the rack host (such as a computer terminal, a server and the like) is provided with a developed smart mine card remote driving management platform, and a special network is used for communicating with the vehicle end. Preferably, communication with the intelligent video communication box can be realized through gateway equipment and a core base station, for example, information transmission is performed based on low delay of video stream and control stream data in a 5G communication mode; in addition, the intelligent video communication box can also realize a network optimization algorithm of video streams;
the smart video communication box may communicate with a vehicle-mounted camera through an antenna, the vehicle-mounted camera is disposed around a mine card associated with the smart video communication box, for example, 4 cameras are disposed around a vehicle, specifically, one camera is disposed right in front of the vehicle, one camera is disposed right behind the vehicle, and one camera is disposed right behind the vehicle.
Optionally, the intelligent video communication boxes transmit signals to the mine cards through a CAN bus, and each intelligent video communication box is associated with one mine card.
The cockpit end uses a point-to-multipoint architecture mode, and real-time remote control of multiple vehicles in one cockpit can be met.
Optionally, the display is 3 large screens and 1 small screen, the large screen is used for displaying video information of the 4-path camera, and the small screen is used for displaying state information, operation information and the like of the vehicle; then, videos (including audio information) collected by the 4 paths of cameras are transmitted back to a screen (namely the at least one display) of the cockpit end through the intelligent video communication box, and the vehicle end feeds back information such as an accelerator, a brake, a key, a combination switch, a steering wheel, gears, faults and the like to a small screen in real time;
in addition, in the embodiment, the video processing technology is utilized to transmit video stream data to the cab end through the network, and audio-containing information in the video data is extracted and fed back to the driving simulator, so that an operator can operate each function simulation control component more practically and realistically, and the operation environment of a real vehicle cab is completely restored.
In another optional embodiment of the scheme, the unmanned system also provides a handheld PAD, a developed intelligent mine card remote driving management platform is deployed on the handheld PAD, and then the short-range remote control of the mine car is realized through short-range communication modes such as 433MHz or WIFI; when the PAD is controlled in real time, the vehicle is remotely controlled through surrounding buttons, and the most basic vehicle control method is met.
Preferably, the short-range communication mode of WIFI and 433MHz in the short-range remote control may select other short-range communication modes, which is not limited herein; different communication protocols may also adopt a point-to-multipoint communication architecture.
The above embodiments are merely illustrative, and do not limit the embodiments of the present invention.
Fig. 3 is a flow chart of unmanned information interaction according to an embodiment of the present invention, and as shown in fig. 3, for example, a smart mine card remote driving management platform developed at an end of a cockpit is deployed, the flow chart includes the following steps:
step S301, the cockpit end keeps a monitoring state, then the vehicle end actively logs in the cockpit end to establish communication connection, if logging fails, whether reconnection is carried out for 3 times is judged after waiting for 3 seconds, and if reconnection is more than 3 times and still fails, the process is ended; if the reconnection is less than or equal to three times, continuing the active login state, and if the login is successful, entering the step S302;
step S302, after the vehicle end successfully logs in the cockpit end, the four modules of the heartbeat function, the real-time reporting (state change), the waiting whether to take over the vehicle and the real-time reporting (high-frequency data) are automatically started. Judging whether the vehicle end is connected with the cockpit end in real time or not by the heartbeat function, returning to the step S401 if the heartbeat is disconnected, and always having heartbeat interaction if the heartbeat is not disconnected; (2) real-time reporting (high frequency data): uploading the current vehicle speed, course angle, wheel rotation angle, accelerator pedal, brake pedal and the like; (3) real-time reporting (status change): when the key, the combination switch, the gear, the fault and the like change, the current corresponding state can be reported in real time; (4) whether to take over the vehicle: if the vehicle is not taken over, the vehicle can be waited, and if the vehicle is taken over, the step S303 is carried out;
step S303, after the vehicle is determined to enter the unmanned driving mode, the real-time reporting (high-frequency data) in the step S302 is cancelled, response data in remote control driving is changed, the vehicle enters a remote control driving state, and the vehicle can run and operate under the control of a cab end;
the following 3 small steps can be performed during remote control driving: (1) and the vehicle end reports (changes the state) the uploaded fault information in real time, the fault information exists in the vehicle end, the vehicle end can select to stop the vehicle according to the fault level and actively log out the vehicle end, the control flow of the whole cockpit end and the vehicle end is finished, and the remote control driving can be continued. And (2) whether the vehicle exits the takeover or not, if so, the vehicle is logged out of the cab end, and if not, the remote control is continued. (3) And when danger occurs, whether emergency stop is performed or not is selected, if the emergency stop is performed, the vehicle end enters an emergency stop state, if the emergency stop is not released, the vehicle end is always in the emergency stop state and waits for processing of a special person, and if the emergency stop is released, the vehicle end continues to return to a remote control driving state, namely step S303.
Based on the unmanned system and the implementation steps, the utility model integrates all the requirements (vehicle end requirements and driver requirements) of remote control, combines the use requirements under long-range (5G) and short-range (no-network state), adopts the technical scheme of combining long-range and short-range, utilizes low-delay video and audio return to combine an adaptive network optimization algorithm, comprehensively and truly operates the vehicle motion and operation state, and realizes all the functions which can be realized at the vehicle end at the long-range cockpit end. The remote cockpit end is completely designed according to the functions of a real vehicle end and comprises all vehicle end functions such as feedback of a steering wheel, a key function, an accelerator brake pedal and gears; and one remote control cabin and the vehicle end adopt a point-to-multipoint communication structure, so that the requirement that one remote control cabin can control a plurality of mine cards non-simultaneously and one short-range end can also control different mine cards non-simultaneously is met, and special requirements under different working conditions are met.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An unmanned mine card driving system is characterized by at least comprising a driving management terminal, at least one video processor and a vehicle associated with the video processor, wherein,
the driving management terminal is in communication connection with the video processor and is used for sending control signals for controlling the operation and the driving of the vehicle to the vehicle through the video processor;
the video processor is in communication connection with the vehicle and is used for acquiring video data, operation information and driving state information related to the vehicle.
2. The unmanned mine card driving system of claim 1, wherein the driving management terminal is disposed on a mobile device, the mobile device is in communication connection with the video processor, and the mobile device is configured to implement interaction between the driving management terminal and the video processor to transmit the control signal, the video data, the operation information and the driving status information.
3. The unmanned mine card driving system according to claim 2, wherein the driving management terminal is provided with a human-computer interaction interface, and the human-computer interaction interface is used for controlling the driving management terminal to generate the control signal and displaying the video data, the operation information and the driving state information acquired by the driving management terminal.
4. The unmanned mine card driving system of claim 2 or 3, wherein the establishment of the communication connection between the driving management terminal and the video processor comprises one of: ZigBee, WIFI, 433MHz, UWB, 5G, 4G and 3G.
5. The unmanned mine card driving system of claim 1, further comprising at least one display screen, wherein the display screen is in communication connection with the driving management terminal and is used for displaying video data, operation information and driving state information acquired by the driving management terminal.
6. The unmanned mine card driving system according to claim 1, further comprising a driving simulator, wherein the driving simulator is in communication connection with the driving management terminal, and is provided with function simulation control components corresponding to vehicle operation and vehicle driving control, wherein the function simulation control components at least comprise an accelerator pedal, a vehicle-mounted terminal, a brake pedal, a simulation button, a function button, a steering wheel and a gear.
7. The unmanned mine card driving system of claim 1, wherein a point-to-multipoint communication architecture is provided between the driving management terminal and the video processor.
8. The unmanned mine card driving system of claim 1, further comprising at least one camera communicatively coupled to the video processor and positioned about the vehicle to capture and upload the video data to the video processor.
9. The unmanned mine card driving system of claim 1, wherein the video processor comprises a smart video communication box.
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| CN113703447A (en) * | 2021-08-17 | 2021-11-26 | 三一智矿科技有限公司 | Unmanned driving method, unmanned driving device, unmanned driving system, driving management terminal and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113703447A (en) * | 2021-08-17 | 2021-11-26 | 三一智矿科技有限公司 | Unmanned driving method, unmanned driving device, unmanned driving system, driving management terminal and storage medium |
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