CN220064689U - Remote control driving system suitable for mining unmanned vehicle - Google Patents
Remote control driving system suitable for mining unmanned vehicle Download PDFInfo
- Publication number
- CN220064689U CN220064689U CN202320996953.2U CN202320996953U CN220064689U CN 220064689 U CN220064689 U CN 220064689U CN 202320996953 U CN202320996953 U CN 202320996953U CN 220064689 U CN220064689 U CN 220064689U
- Authority
- CN
- China
- Prior art keywords
- communication connection
- vehicle
- remote control
- mining
- unmanned vehicle
- 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.)
- Active
Links
- 238000005065 mining Methods 0.000 title claims abstract description 99
- 238000004891 communication Methods 0.000 claims abstract description 38
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 238000012423 maintenance Methods 0.000 claims description 25
- 230000002159 abnormal effect Effects 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 5
- 230000010485 coping Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Abstract
The utility model discloses a remote control driving system suitable for a mining unmanned vehicle, and belongs to the technical field of mining unmanned vehicles. The remote control driving system comprises a mining unmanned vehicle, a cockpit and a server. The mining unmanned vehicle comprises a vehicle control unit, a plug flow controller in communication connection with the vehicle control unit, a visual camera in communication connection with the plug flow controller and a radar detector in communication connection with the vehicle control unit. The cockpit comprises an industrial personal computer, a display device in communication connection with the industrial personal computer and a simulated driving controller in communication connection with the industrial personal computer. The server is respectively in communication connection with the mining unmanned vehicle and the cockpit. The server comprises a cloud platform which is respectively in communication connection with the industrial personal computer and the vehicle control unit and a streaming media server which is respectively in communication connection with the industrial personal computer and the push flow controller. The remote control driving system can solve the problem of how to realize operation safety and work continuation when the pure unmanned operation is realized.
Description
Technical Field
The utility model relates to the technical field of unmanned vehicles for mines, in particular to a remote control driving system suitable for unmanned vehicles for mines.
Background
With the rapid development of unmanned technology, the field of application of the technology is increased, and the characteristics of the surface mine, such as closed scene, relatively fixed action mode, severe working environment, large manpower gap and the like, are taken as the field of developing the floor unmanned technology, and are always seen by the industry.
However, in practical engineering applications, unmanned surface mines still have a number of technical difficulties. As a complete system capable of supporting practical application of mines, the unmanned system of the unmanned mining vehicle must have good fault tolerance and fault handling mechanism, and when the unmanned system of the unmanned mining vehicle is abnormal, the unmanned system of the unmanned mining vehicle should have perfect coping mechanism for solving the problems, ensuring safe and efficient continuous operation of the operation and reducing economic loss as much as possible.
Disclosure of Invention
In order to solve at least one aspect of the above-mentioned problems and disadvantages in the prior art, embodiments of the present utility model provide a remote control driving system for a mine unmanned vehicle, which is capable of remotely controlling the mine unmanned vehicle when the mine unmanned vehicle fails, so as to ensure operation safety and operation continuation.
According to one aspect of the present utility model, there is provided a remote control driving system suitable for a mining unmanned vehicle, the remote control driving system comprising:
the mining unmanned vehicle comprises a vehicle control unit, a plug flow controller in communication connection with the vehicle control unit, a visual camera in communication connection with the plug flow controller and a radar detector in communication connection with the vehicle control unit;
the cockpit comprises an industrial personal computer, a display device in communication connection with the industrial personal computer and a simulated driving controller in communication connection with the industrial personal computer;
the server is respectively in communication connection with the mining unmanned vehicle and the cockpit, and comprises a cloud platform respectively in communication connection with the industrial personal computer and the vehicle control unit and a streaming media server respectively in communication connection with the industrial personal computer and the plug flow controller.
In some embodiments, the cloud platform is configured to mate with a mining unmanned vehicle and a cockpit upon receiving a remotely piloted request from the mining unmanned vehicle or from the cockpit,
the cloud platform is further configured to send a push command to the vehicle control unit after confirming that the mining unmanned vehicle and the cockpit are successfully paired,
the vehicle control unit is configured to transmit the video stream to the streaming server via the push controller after receiving the push command,
the industrial personal computer is configured to receive a video stream of the paired mining unmanned vehicle from the streaming media server after successful pairing with the mining unmanned vehicle.
In some embodiments, the mining unmanned vehicle and cockpit are in paired communication by a one-to-one match.
In some embodiments, the analog driving controller includes a driving enabling switch communicatively coupled to the industrial personal computer,
the simulated driving controller is configured to send vehicle control instructions to the mining unmanned vehicle by turning on a driving enabling switch and sequentially passing through the industrial personal computer, the streaming media server, the plug flow controller and the vehicle control unit.
In some embodiments, the analog driving controller further includes a first scram switch,
the cockpit is configured to activate the first scram switch for parking the mining unmanned vehicle after the mining unmanned vehicle and cockpit are successfully paired.
In some embodiments, the remote control driving system further comprises an operation and maintenance control device in communication connection with the cloud platform.
In some embodiments, the operation and maintenance control device comprises any one of a smart phone, a tablet computer, a notebook computer and a desktop computer,
the operation and maintenance control device is in communication connection with the cloud platform through a wireless network.
In some embodiments, the operation and maintenance control device is provided with a second scram switch.
In some embodiments, the mining unmanned vehicle further comprises a drive-by-wire system communicatively coupled to the control unit,
the radar detector comprises a laser radar and a millimeter wave radar.
In some embodiments, the mining unmanned vehicle further includes CPE network equipment communicatively coupled to the vehicle control unit,
and the vehicle control unit is in communication connection with the cloud platform through CPE network equipment.
The remote control driving system suitable for the unmanned vehicle for the mine has at least one of the following advantages:
(1) The remote control driving system allows multiple ends (such as a vehicle end, a cabin end, a cloud end and an operation and maintenance end) to initiate a request, so that the flexibility of fault coping is improved;
(2) The remote control driving system can cope with complex fault scenes of the mining unmanned vehicle, ensure safety and continuous operation tasks to the maximum extent, and greatly improve the working efficiency and fault tolerance of the unmanned system;
(3) The remote control driving system provided by the utility model allows multiple cabs to be intelligently matched with multiple mining unmanned vehicles, and improves the working efficiency of the system, so that the unmanned system can fall to the ground more quickly.
Drawings
These and/or other aspects and advantages of the present utility model will become apparent and readily appreciated from the following description of the preferred embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a remote control steering system according to one embodiment of the utility model;
FIG. 2 illustrates an operational flow of the remote control driving system shown in FIG. 1;
fig. 3 shows an operation flow of the operation and maintenance control device of the remote control driving system shown in fig. 1.
Detailed Description
The technical scheme of the utility model is further specifically described below through examples and with reference to the accompanying drawings. In the specification, the same or similar reference numerals denote the same or similar components. The following description of embodiments of the present utility model with reference to the accompanying drawings is intended to illustrate the general inventive concept and should not be taken as limiting the utility model.
The unmanned system of the surface mine can efficiently and safely continue work tasks when faults occur, and it is particularly important to ensure engineering progress. The remote control driving system applied to the mine unmanned driving system is developed and developed, when the unmanned program is abnormal, the operation vehicle can be taken over manually and remotely, the operation in a short time is continuously executed by using a remote control driving mode, and after the fault diagnosis of the unmanned driving system is finished, the system can continue the operation of unmanned driving and driving to a safe area and the like according to the given fault solution.
According to an embodiment of the utility model, a remote control driving system suitable for a mining unmanned vehicle is provided. The remote control driving system needs the cooperation of multiple terminals such as a vehicle end, a cloud platform, a cockpit, and possibly on-site operation and maintenance, is developed and designed based on the special scene of the surface mine, and is used for solving the problems of operation safety and work connection when a pure unmanned operation is performed.
As shown in fig. 1, the remote control steering system 100 includes a mining unmanned vehicle 10, a cockpit 20, and a server 30.
The mining unmanned vehicle 10 comprises a vehicle control unit 11, a plug flow controller 12, a visual camera 13 and a radar detector 14.
The vehicle control unit 11 is a main control unit of the vehicle, and similar to the brain of the mining unmanned vehicle 10, transmits specific operation instructions to each component of the mining unmanned vehicle 10 by analyzing the received task instructions, so that each component of the vehicle cooperatively completes the functional tasks of the vehicle.
The plug flow controller 12 is used for transmitting video streams collected by the mining unmanned vehicle 10 to the cockpit 20. The push controller 12 is communicatively connected to the vehicle control unit 11 to allow the vehicle control unit 11 to send instructions to the push controller 12 or the push controller 12 to send information to the vehicle control unit 11. For example, the vehicle control unit 11 sends an instruction to the push controller 12 to transmit a video stream to the cockpit 20.
The vision camera 13 is used for collecting video information of the driving environment of the mining unmanned vehicle 10. The vision camera 13 is communicatively connected to the push controller 12 to allow the vision camera 13 to send the collected video stream data to the push controller 12 or the push controller 12 to send instructions to the vision camera 13 to collect the video stream data. Further, the mining unmanned vehicle 10 may include one, two, three, four, or more vision cameras 13. For example, the mining unmanned vehicle 10 may be provided with four vision cameras 13 on the front, rear, left and right sides of the vehicle body. The vision camera may include any one of a monocular camera, a binocular camera, a tricular camera, and a pan-around camera, or any combination thereof.
The radar detector 14 is used to sense driving environment information of the mining unmanned vehicle 10. The radar detector 14 is communicatively connected to the vehicle control unit 11 to allow the vehicle control unit 11 to send instructions to the radar detector 14 to collect the perceived information, or the radar detector 14 transmits the perceived information to the vehicle control unit 11. Further, the radar detector 14 includes a laser radar and a millimeter wave radar. Optionally, the radar detector 14 may also include an ultrasonic radar.
In one example, the mining unmanned vehicle 10 also includes a drive-by-wire system 15. The drive-by-wire system 15 controls (e.g., steers, brakes, etc.) the mining unmanned vehicle 10 via electrical signals. The drive-by-wire system 15 is communicatively connected to the control unit 11 to allow the control unit 11 to send control instructions to the drive-by-wire system 15 or the drive-by-wire system 15 to send status data to the control unit 11. The vehicle control unit 11 may send a control command to the line control system 15 according to the sensing devices such as the radar detector 14 and the positioning device through calculation of a decision planning and control algorithm, and meanwhile, receive the state data of the line control system 15 and feed back to a cloud platform 32 (which will be described later) of the server 30.
In an example, the mining unmanned vehicle 10 further includes CPE network equipment 16, specifically 5G capable CPE network equipment. CPE network equipment 16 is communicatively coupled to the vehicle control unit 11. In this way, the vehicle control unit 11 communicates with the cloud platform 32 via the 5G wireless network by means of the CPE network device 16, receives scheduling operations and the like issued by the cloud platform 32, and feeds back information such as the vehicle state in real time.
The cockpit 20 serves as a cockpit end and comprises an industrial personal computer 22, a display device 24 and a simulated driving controller 26. The cockpit 20 simulates a vehicle cab and issues control commands for the vehicle by operating steering wheels, brake and accelerator components, and the like.
The display device 24 is used to display information for use by the staff. The information includes travel information of all mining unmanned vehicles 10 in the mining area, information or instructions from the cloud platform 32, the upper line of the mining unmanned vehicles 10, and the like. The display device 24 may be a display, tablet, notebook, desktop, or the like. The display device 24 is communicatively coupled to the industrial personal computer 22 to receive information from the industrial personal computer 22 and to transmit information to the industrial personal computer 22.
The simulated driving controller 26 is a component that simulates a real driving operation. The simulated driving controller 26 includes steering wheel, brake, throttle, virtual dashboard, gear, other keys, etc. to enable corresponding control of the vehicle, e.g., steering, parking, etc.
The server 30 is a management system of the entire mining area as a central control portion of the remote control driving system 100 of the embodiment of the present utility model. The server 30 may be provided in a dispatch center, for example. The server 30 is communicatively coupled to the mining unmanned vehicle 10 and the cockpit 20, respectively, to receive information from the mining unmanned vehicle 10 and the cockpit 20, and to send instructions to the mining unmanned vehicle 10 and the cockpit 20.
The server 30 includes a cloud platform 32. The cloud platform 32 is in communication connection with the vehicle control unit 11 (for example, through a 5G wireless network communication connection) so as to monitor the states of all the mining unmanned vehicles 10 and issue control instructions and operation tasks to the mining unmanned vehicles 10. The cloud deck 32 is communicatively coupled to the industrial personal computer 22 to issue control commands to the cockpit 20 and to receive information from the cockpit 20. The cloud platform 32 can also dispatch the mining unmanned vehicle 10 to match with the cockpit 20 through an algorithm, and issue a remote control instruction to control the mining unmanned vehicle 10 to switch to a remote control driving mode.
The server 30 also includes a streaming server 34. The streaming media server 34 is communicatively coupled to the push controller 12 and the industrial personal computer 22, respectively. The cockpit 20 and the mining unmanned vehicle 10 interact with control commands through the streaming media server 34 when the mining unmanned vehicle 10 is in the remote control mode. The streaming media server 34 focuses on the data interaction between the vehicle end and the cabin end in the remote control driving mode, for example, through a special 5G channel, so as to ensure the data throughput and low-delay data transmission in the remote control driving mode.
In one example, the cloud platform 32 pairs the mining unmanned vehicle 10 and the cockpit 20 upon receiving a remote take over request from the mining unmanned vehicle 10 or a remote drive request from the cockpit 20; the cloud platform 32 sends a push flow command to the vehicle control unit 11 after confirming that the mining unmanned vehicle 10 and the cockpit 20 are successfully paired; the car control unit 11 transmits the video stream to the streaming media server 34 via the push controller 12 after receiving the push command; the industrial personal computer 22 receives a video stream of the paired mining unmanned vehicle 10 from the streaming media server 34 after successful pairing with the mining unmanned vehicle 10.
Specifically, the mining unmanned vehicle 10 and the cockpit 20 are in paired communication by one-to-one matching. That is, in the actual remote control driving mode, one mining unmanned vehicle 10 and one cockpit 20 are paired, there is no occurrence that two or more mining unmanned vehicles 10 are paired with one cockpit 20 at the same time, nor that one mining unmanned vehicle 10 is paired with two or more cabs 20 at the same time. However, each mining unmanned vehicle 10 need not be paired with a particular one of the cabs 20, but may be paired with any one of the cabs 20 within the mine; each cockpit 20 need not be paired with a particular one of the mine unmanned vehicles 10, but may be paired with any one of the mine unmanned vehicles 10 in the mine.
In one example, the analog driving controller 26 further includes a driving enabling switch 262, the driving enabling switch 262 being communicatively coupled to the industrial personal computer 22. After the cockpit 20 is successfully paired with the mining unmanned vehicle 10, the simulated driving controller 26 sends vehicle control instructions to the mining unmanned vehicle 10 by turning on the driving enabling switch 262, sequentially via the industrial personal computer 22, the streaming media server 34, the plug flow controller 12 and the vehicle control unit 11.
Specifically, when the failure level is low (the unmanned system can still ensure safety, and part of the operation is performed) or the specialized driver is insufficient, the cockpit 20 can prohibit the simulated driving controller 26 from issuing the vehicle control command, and only receive the video stream of the mining unmanned vehicle 10 to monitor the vehicle state. However, when remote control driving is required, the driving enabling switch 262 is turned on, so that not only video monitoring can be performed, but also a vehicle control command can be issued through the simulated driving controller 26, the vehicle control command is transmitted to the industrial personal computer 22 through the simulated driving controller 26, then transmitted to the streaming media server 34 through the industrial personal computer 22, then transmitted to the plug flow controller 12 through the streaming media server 34, and finally transmitted to the vehicle control unit 11 through the plug flow controller 12, and the mining unmanned vehicle 10 is remotely controlled.
In addition, in the remote control driving mode, the sensing sensors such as the radar detector 14 of the vehicle end (i.e. the mining unmanned vehicle 10) all keep working normally, and in the visual field blind area of video monitoring, the sensing parts (such as a laser radar and a millimeter wave radar) can assist in monitoring, so that the vehicle is stopped, and the operation safety of remote control driving is ensured.
In one example, the simulated driving controller 26 also includes a first scram switch 264. The cockpit 20 activates the first scram switch 264 to park the mining unmanned vehicle 10 after the mining unmanned vehicle 10 and cockpit 20 are successfully paired. For example, upon determining that the mining unmanned vehicle 10 is at risk, the first scram switch 264 is activated to park the mining unmanned vehicle 10.
In an embodiment of the present utility model, the remote control driving system 100 further includes an operation and maintenance control device 40 for use by on-site operation and maintenance personnel. The operation and maintenance control device 40 includes any one of a smart phone, a tablet computer, a notebook computer, and a desktop computer. The operation and maintenance control device 40 is communicatively connected to the cloud platform 32, for example, may be connected through a wireless network, so as to acquire status information of each mining unmanned vehicle 10, and send operations such as starting, stopping, reporting a fault, initiating a remote control driving application of a specified vehicle, and the like to the cloud platform 32 according to the acquired status information. Specifically, the operation and maintenance control device 40 is provided with a second scram switch 42. When the service personnel consider that the vehicle malfunction is serious and stopping is required, the second scram switch 42 may be activated to effect stopping of the vehicle.
The working modes of the whole system are divided into an unmanned driving mode and a remote control driving mode. In the unmanned mode, the mining unmanned vehicle 10 receives tasks issued by the cloud platform 32, and performs unmanned operation by means of modules such as self-perception, decision-making planning, control algorithm and the like. The remote control driving system 100 of the present utility model may be applied to: the mining unmanned vehicle 10, the cloud platform 32, the operation and maintenance control device 40 and the cockpit 20 perform intelligent matching when multi-terminal remote control driving application is initiated, and enter a remote control driving mode; the main workflow acts on the cockpit 20 as shown in fig. 2 and 3.
The operation flow of the remote control driving system 100 of the present utility model will be described below with reference to fig. 2 and 3.
When the cockpit 20 is started, the in-cabin program automatically checks hardware equipment of the simulated driving controller 26 to ensure that equipment such as a steering wheel, a brake, an accelerator and the like work normally, and meanwhile, the cockpit 20 provides a visual self-checking program, data of each operation part of the simulated driving controller 26 is displayed on an interface of the display device 24 to generate a visual vehicle control instruction, so that manual calibration of staff (such as a driver) in the cockpit 20 is facilitated; if the operator finds that the simulated driving controller 26 is generating an instruction exception that can report a fault in the cockpit 20 to the cloud platform 32 (or cloud), the cloud platform 32 will not match the vehicle for that cockpit 20.
After the self-checking is successful, the staff logs in to the cloud platform 32 through the account number and the password; the successful login indicates that the cockpit 20 is successfully on line, and after the cockpit 20 is successfully on line, the cloud platform 32 can perform cabin matching through a dispatching algorithm when the unmanned mining vehicle 10 (namely, a vehicle end) reports a fault request remote control takeover; if the account number is wrong and the login is unsuccessful, returning to a login interface to realize re-login; if the password is wrong, the cabin login step is returned. The cockpit 20 enters the display interface of the display device 24 after successful login, and displays all mining unmanned vehicles 10 successfully on line on the display interface and displays the working state. When displaying the interface of whether to take over on the display interface, the cockpit 20 will choose according to the situation. When the cockpit 20 determines to take over, the cockpit 20 is communicatively coupled to the streaming server 34 via the industrial personal computer 22 and controlled vehicle information is displayed on a display interface. The mining unmanned vehicle 10 video-streamers and displays the screen to the cockpit 20 via the streamers controller 12 and the streaming media server 34. When the cockpit 20 determines not to take over, the information of not taking over is transferred to the cloud platform 32.
If the unmanned mining vehicle 10 deviates from the predetermined track, does not normally execute the operation task and does not report the fault to the cloud platform 32, the cockpit 20 can also actively apply for remote control driving of the specified vehicle to the cloud platform 32 in an active take-over mode, and control the vehicle to enter the correct track to continue the operation task.
As shown in fig. 2, both the vehicle end and the cockpit 20 have the function of applying remote control driving to the cloud platform 32, so that various complex fault scenes can be effectively dealt with, and the task continuous efficiency is improved.
Specifically, after the dispatching matching of the cloud platform 32 is completed, that is, the video push-sink flow process between the cabins is initiated, the cockpit 20 can determine whether to issue the vehicle control command through the driving enabling switch 262; real-time video monitoring of the mining unmanned vehicle 10 is required whether or not the drive enable switch 262 is turned on. The cloud platform 32 performs pairing of the mining unmanned vehicle 10 and the cockpit 20 through the configuration page, sends a stream pushing command to the mining unmanned vehicle 10, and pushes the video stream to the streaming media server 34 through the stream pushing controller 12 after the mining unmanned vehicle 10 receives the stream pushing command; after the matching is successful, the cockpit 20 receives video data of the corresponding mining unmanned vehicle 10 from the streaming media server 34, and displays four paths of real-time videos of front, rear, left and right of the vehicle on the display device 24; the driver in the cockpit 20 will determine whether to turn on the driving enabling switch 262 according to the video display condition and in combination with the hardware status of the cockpit 20 (whether the hardware such as steering wheel and throttle is normal).
The first scram switch 264 of the cockpit 20 is a scram operation initiated by a driver in the cockpit 20, and when the vehicle cabin is not successfully matched, the driver can look through the display device 24 of the cockpit 20 for real-time status information of each mining unmanned vehicle 10 that is successfully line-of-sight, including: the operation state, speed, general area where the mine car is located, and the like, when the driver does not receive the dispatching matching of the cloud platform 32, the driver can actively apply for remote control to specify the mine unmanned vehicle 10 to the cloud platform 32 for active matching, and when the mine unmanned vehicle 10 is judged to be dangerous according to the state information of the mine unmanned vehicle 10, the first scram switch 264 is started to stop the mine unmanned vehicle 10.
The operation and maintenance control device 40 (e.g., a tablet computer) may be used by a dispatcher at the job site. As shown in fig. 3, when the operation and maintenance control device 40 is used, a login operation is performed first. After successful login, the operational status of each mining unmanned vehicle 10 may be obtained (e.g., viewed) by operation and maintenance control device 40. The condition of each mining unmanned vehicle 10 may also be observed by visual inspection. The operation and maintenance control device 40 determines (e.g., agrees or refuses) whether to remotely control driving according to the popup window and the site environment. For example, when the operation and maintenance control device 40 can manually determine that the operation of the mining unmanned vehicle 10 is abnormal, the remote control cab switching for the specified vehicle is uploaded to the cloud platform 32, the cloud platform 32 matches the available cab 20 after receiving the report instruction, remote control driving starts to be performed, and abnormal operation of the mining unmanned vehicle 10 is corrected by remote control of a driver in the cab 20, so that the operation task continues to be performed correctly. The operation and maintenance control device 40 parks the specified vehicle by the field environment. For example, when the dispatcher finds a dangerous situation, the dispatcher presses a second scram switch 42 on the operation and maintenance control device 40, the scram command is uploaded to the cloud platform 32 first, and the cloud platform 32 issues the scram command to the mining unmanned vehicle 10 to stop the mining unmanned vehicle 10. After the work is finished, the login can be exited.
Upon completion of the remote control task or reaching the safe area, the driver can exit the remote control driving by operating the driving enabling switch 264.
The remote driving mode is effective safety guarantee when the mine unmanned vehicle 10 is abnormal, can be initiated by the cockpit 20, the cloud platform 30, the operation and maintenance control device 40 and the like, is intelligently matched through the cloud platform 32, and is used for assisting a driver in remote operation by means of a monitoring video, manual correction is carried out when the unmanned mode is abnormal, a continuous task is carried out, and when the mine car works normally, the cockpit 20 can initiate an application for continuing unmanned operation to the cloud platform 32, so that the mine car continuously enters the unmanned mode; if the task cannot be continued, remotely controlling the driver to enter a safe area for parking; after the cockpit 20 completes the continuous task or the parking in the safety zone, the remote control driving can be applied to the cloud platform 32 to release the matching relation with the mine car, and the cloud platform 32 can continuously match other abnormal mining unmanned vehicles 10 for the cockpit 20 through a dispatching algorithm, so that the working efficiency of the cockpit 20 is greatly improved.
Through the remote control driving matching of the vehicle cabin of the multi-channel multi-mechanism, the safety of the vehicle in the unmanned operation process can be ensured, the task can be efficiently continued, and the economic loss is reduced, so that the unmanned system can fall to the ground more quickly.
The remote control driving system suitable for the unmanned vehicle for the mine has at least one of the following advantages:
(1) The remote control driving system allows multiple ends (such as a vehicle end, a cabin end, a cloud end and an operation and maintenance end) to initiate a request, so that the flexibility of fault coping is improved;
(2) The remote control driving system can cope with complex fault scenes of the mining unmanned vehicle, ensure safety and continuous operation tasks to the maximum extent, and greatly improve the working efficiency and fault tolerance of the unmanned system;
(3) The remote control driving system provided by the utility model allows multiple cabs to be intelligently matched with multiple mining unmanned vehicles, and improves the working efficiency of the system, so that the unmanned system can fall to the ground more quickly.
Although a few embodiments of the present general inventive concept have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the claims and their equivalents.
Claims (8)
1. A remote control driving system suitable for unmanned vehicles for mines is characterized in that,
the remote control driving system includes:
the mining unmanned vehicle comprises a vehicle control unit, a plug flow controller in communication connection with the vehicle control unit, a visual camera in communication connection with the plug flow controller and a radar detector in communication connection with the vehicle control unit;
the driving cabin comprises an industrial personal computer, a display device in communication connection with the industrial personal computer and a simulated driving controller in communication connection with the industrial personal computer, wherein the simulated driving controller comprises a driving enabling switch in communication connection with the industrial personal computer and a first emergency stop switch for stopping the mining unmanned vehicle;
the server is respectively in communication connection with the mining unmanned vehicle and the cockpit, and comprises a cloud platform respectively in communication connection with the industrial personal computer and the vehicle control unit and a streaming media server respectively in communication connection with the industrial personal computer and the push flow controller;
and the operation and maintenance control device is in communication connection with the cloud platform and is provided with a second scram switch.
2. The remote control driving system as claimed in claim 1, wherein,
the mining unmanned vehicle and the cockpit are in paired communication in a one-to-one matching mode.
3. The remote control driving system according to claim 1 or 2, characterized in that,
the operation and maintenance control device comprises any one of a smart phone, a tablet personal computer, a notebook computer and a desktop computer.
4. The remote control driving system as claimed in claim 3, wherein,
the operation and maintenance control device is in communication connection with the cloud platform through a wireless network.
5. The remote control driving system as claimed in claim 4, wherein,
the mining unmanned vehicle further comprises a drive-by-wire system in communication connection with the vehicle control unit.
6. The remote control driving system as claimed in claim 5, wherein,
the radar detector comprises a laser radar and a millimeter wave radar.
7. The remote control driving system as claimed in claim 6, wherein,
the mining unmanned vehicle further comprises CPE network equipment in communication connection with the vehicle control unit.
8. The remote control driving system as claimed in claim 7, wherein,
and the vehicle control unit is in communication connection with the cloud platform through CPE network equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320996953.2U CN220064689U (en) | 2023-04-27 | 2023-04-27 | Remote control driving system suitable for mining unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320996953.2U CN220064689U (en) | 2023-04-27 | 2023-04-27 | Remote control driving system suitable for mining unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220064689U true CN220064689U (en) | 2023-11-21 |
Family
ID=88785424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320996953.2U Active CN220064689U (en) | 2023-04-27 | 2023-04-27 | Remote control driving system suitable for mining unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220064689U (en) |
-
2023
- 2023-04-27 CN CN202320996953.2U patent/CN220064689U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210134154A1 (en) | Parallel remote control driving system for intelligent network vehicle | |
| EP3509917B1 (en) | System for driverless operation of utility vehicles | |
| CN110758485B (en) | Method, onboard controller, TIAS, device and medium for automatic train driving | |
| EP3903160B1 (en) | Method for the at least partly automated guidance of a motor vehicle | |
| CN114348020B (en) | 5G remote and automatic driving safety redundancy system and control method | |
| CN105501261A (en) | Full-automatic driving method, apparatus and system upon severe weather | |
| CN109572526B (en) | Intelligent sharing bicycle transfer trolley | |
| CN113267992B (en) | Mine card unmanned control system based on redundancy design | |
| CN111123739A (en) | Network control system semi-physical simulation experiment platform used in full-automatic unmanned driving mode | |
| CN113805509A (en) | Remote driving system and method based on V2X | |
| EP3882733A1 (en) | Method and system for autonomous driving of a vehicle | |
| CN114666382A (en) | Parallel driving system for automatic driving semi-mounted collecting card | |
| CN109334653A (en) | A kind of pilotless automobile chassis braking system backup method | |
| CN113703447A (en) | Unmanned driving method, unmanned driving device, unmanned driving system, driving management terminal and storage medium | |
| CN220064689U (en) | Remote control driving system suitable for mining unmanned vehicle | |
| CN116495018A (en) | Locomotive remote driving control system and control method | |
| WO2024055439A1 (en) | Train obstacle information display method and device | |
| CN114387802B (en) | Remote take-over system and method for unmanned mining truck of surface mine | |
| CN115782981A (en) | Remote emergency driving system under fault scene of rail transit unmanned train control system | |
| CN114115206A (en) | Safe remote driving system | |
| CN113485336A (en) | Unmanned domain controller suitable for off-highway mining dump truck | |
| CN113821010A (en) | Monitoring method for automatic driving vehicle drive test | |
| CN215954138U (en) | Unmanned mine card driving system | |
| CN219320678U (en) | Monitoring system for surface mine | |
| WO2023133738A1 (en) | Vehicle control method and control apparatus, and processor and vehicle system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |