Wireless emergency stop system, method and unmanned vehicle

Abstract

The present disclosure provides a wireless emergency stop system, method and unmanned vehicle, and relates to the technical field of engineering machinery. The system comprises: a wireless emergency stop device configured to send an emergency stop signal in response to an emergency stop button being operated, the emergency stop signal comprising a first identity of the wireless emergency stop device; and an unmanned vehicle configured to, in the case that the emergency stop signal is received during travel, acquire position information of the unmanned vehicle; determine whether the unmanned vehicle is in a work area bound by the first identity according to the position information of the unmanned vehicle; and stop travel in the case that the unmanned vehicle is in the work area.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery technology, and in particular to a wireless emergency stop system, method and unmanned vehicle. Background Technology

[0002] With the application of autonomous driving technology in the construction machinery industry, how to achieve emergency stopping of unmanned vehicles has been a research hotspot in order to ensure the safety of workers, service personnel, and vehicles. Among related technologies, emergency stop signals are used to bring multiple unmanned vehicles on the same communication frequency to an abrupt stop. Summary of the Invention

[0003] The inventors noticed that the accuracy of wireless emergency stop in related technologies is relatively low. Through analysis, the inventors discovered that when an emergency stop is required in a certain work area, using an emergency stop signal to bring multiple unmanned vehicles on the same communication frequency in that work area to an emergency stop will cause unmanned vehicles in other nearby work areas to also stop suddenly, thus reducing the accuracy of wireless emergency stop.

[0004] To address the aforementioned problems, the present disclosure proposes the following solutions.

[0005] According to one aspect of the present disclosure, a wireless emergency stop system is provided, including a wireless emergency stop device configured to send an emergency stop signal in response to an emergency stop button being executed, the emergency stop signal including a first identification identifier of the wireless emergency stop device; and an unmanned vehicle configured to, upon receiving the emergency stop signal during operation, acquire the location information of the unmanned vehicle; determine, based on the location information of the unmanned vehicle, whether the unmanned vehicle is within a work area bound to the first identification identifier; and, if the unmanned vehicle is within the work area, stop driving.

[0006] In some embodiments, the wireless emergency stop device is configured to transmit the emergency stop signal in a broadcast manner.

[0007] In some embodiments, the system further includes: a server configured to store a binding relationship between the work area, the first identity identifier of the wireless emergency stop device, and a second identity identifier of a group of unmanned vehicles, the group of unmanned vehicles including the unmanned vehicles; the unmanned vehicles are further configured to receive the binding relationship from the server.

[0008] In some embodiments, the unmanned vehicle is configured to perform communication verification with the wireless emergency stop device when it is in the work area; and to automatically stop driving if the communication verification fails.

[0009] In some embodiments, the wireless emergency stop device is configured to send heartbeat messages at preset time intervals, the heartbeat messages carrying the first identity identifier; wherein, the communication verification includes verifying whether the heartbeat messages have been received.

[0010] In some embodiments, the first identity is the identifier of the transmitter in the wireless emergency stop device.

[0011] In some embodiments, the wireless emergency stop device includes a locking mechanism configured to automatically lock the emergency stop button when the operation is performed, so that the emergency stop button cannot be reset.

[0012] In some embodiments, the work area associated with the first identity of the wireless emergency stop device may be changed.

[0013] According to one aspect of the present disclosure, a wireless emergency stop method is provided, comprising: a wireless emergency stop device sending an emergency stop signal in response to an emergency stop button being executed, the emergency stop signal including a first identification of the wireless emergency stop device; and, when an unmanned vehicle receives the emergency stop signal during operation, acquiring the location information of the unmanned vehicle; the unmanned vehicle determining, based on the location information, whether the unmanned vehicle is within a work area bound to the first identification; and the unmanned vehicle stopping its operation when it is within the work area.

[0014] In some embodiments, the wireless emergency stop device responds to broadcasting the emergency stop signal.

[0015] In some embodiments, the method further includes: a server storing a binding relationship between the working area, the first identity identifier of the wireless emergency stop device, and a second identity identifier of a group of unmanned vehicles, the group of unmanned vehicles including the unmanned vehicles; and the unmanned vehicles receiving the binding relationship from the server.

[0016] In some embodiments, the method further includes: when the unmanned vehicle is in the first working area, performing a communication verification with the wireless emergency stop device; if the communication verification fails, the unmanned vehicle automatically stops driving.

[0017] In some embodiments, the method further includes: the wireless emergency stop device sending a heartbeat message at a preset time interval, the heartbeat message carrying the identity identifier; wherein, the communication verification includes verifying whether the heartbeat message has been received.

[0018] In some embodiments, the first identity is the identifier of the transmitter in the wireless emergency stop device.

[0019] According to another aspect of the embodiments of this disclosure, a wireless emergency stop method is provided, comprising: when an unmanned vehicle receives an emergency stop signal during driving, acquiring the location information of the unmanned vehicle, wherein the emergency stop signal is sent by a wireless emergency stop device in response to an emergency stop button being executed, and the emergency stop signal includes a first identification identifier of the wireless emergency stop device; the unmanned vehicle determining, based on the location information of the unmanned vehicle, whether the unmanned vehicle is within a work area bound to the first identification identifier; and the unmanned vehicle stopping driving if the unmanned vehicle is within the work area.

[0020] According to another aspect of the present disclosure, an unmanned vehicle is provided, comprising: an acquisition module configured to acquire the location information of the unmanned vehicle when an emergency stop signal is received during the unmanned vehicle's operation, the emergency stop signal being sent by a wireless emergency stop device in response to an emergency stop button being executed, the emergency stop signal including a first identification identifier of the wireless emergency stop device; a judgment module configured to determine, based on the location information of the unmanned vehicle, whether the unmanned vehicle is within a work area bound to the first identification identifier; and a stop module configured to stop the unmanned vehicle when it is within the work area.

[0021] According to another aspect of the present disclosure, an unmanned vehicle is provided, including: a memory; and a processor coupled to the memory, the processor being configured to execute the method described in any of the above embodiments based on instructions stored in the memory.

[0022] According to another aspect of the present disclosure, a computer-readable storage medium is provided, including computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method described in any of the above embodiments.

[0023] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein the computer program, when executed by a processor, implements the method described in any of the above embodiments.

[0024] In this embodiment of the present disclosure, the wireless emergency stop device sends an emergency stop signal, which includes a first identification identifier. After receiving the emergency stop signal, the unmanned vehicle determines whether it is in the work area bound to the first identification identifier. If it is in the work area, the unmanned vehicle stops driving, thereby enabling all unmanned vehicles in a specific work area that needs to stop urgently to stop accurately, while unmanned vehicles in other work areas are not affected, thus improving the accuracy of wireless emergency stop.

[0025] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram showing unmanned vehicles working in the mining area;

[0028] Figure 2 This is a schematic diagram of the architecture of a wireless emergency stop system according to some embodiments of the present disclosure;

[0029] Figure 3 This is a schematic diagram of the structure of a wireless emergency stop device according to some embodiments of the present disclosure;

[0030] Figure 4 These are schematic diagrams of the structure of an unmanned vehicle according to some embodiments of the present disclosure;

[0031] Figure 5 This is a schematic diagram of the cluster dispatch center of a wireless emergency stop system according to other embodiments of the present disclosure;

[0032] Figure 6 This is a schematic diagram of the structure of a wireless emergency stop system according to other embodiments of the present disclosure;

[0033] Figure 7 This is a schematic flowchart of a wireless emergency stop method according to some embodiments of the present disclosure;

[0034] Figure 8 These are schematic diagrams of the structure of an unmanned vehicle according to some embodiments of the present disclosure;

[0035] Figure 9 This is a structural schematic diagram of an unmanned vehicle according to other embodiments of the present disclosure. Detailed Implementation

[0036] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0037] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0038] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0039] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0040] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0041] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0042] Figure 1 This is a schematic diagram showing unmanned vehicles working in a mining area.

[0043] like Figure 1 As shown, the mining area includes: a loading area 1, a driving area 4, an unloading area 5, and a service area 9. Vehicles operating in the mining area include manned vehicles and unmanned vehicles. Manned vehicles include, for example, excavators 2 and graders 6; unmanned vehicles include, for example, unmanned mining trucks 8. A wireless communication system 7 is installed within the mining area. In some embodiments, a fleet dispatch center 10 is also built within the mining area.

[0044] Figure 2 This is a schematic diagram of the architecture of a wireless emergency stop system according to some embodiments of the present disclosure.

[0045] like Figure 2 As shown, the wireless emergency stop system includes a wireless emergency stop device 201 and an unmanned vehicle 202.

[0046] The wireless emergency stop device 201 is configured to send an emergency stop signal in response to the activation of an emergency stop button. This emergency stop signal includes a first identifier of the wireless emergency stop device 201. Here, the emergency stop button can be a physical button or a virtual button displayed on an interface. The operation performed by the emergency stop button includes, for example, pressing or sliding.

[0047] In some embodiments, the wireless emergency stop device 201 is configured to respond to transmitting an emergency stop signal in a broadcast manner.

[0048] The unmanned vehicle 202 is configured to acquire its location information upon receiving an emergency stop signal during operation; based on the location information, determine whether the unmanned vehicle 202 is within the work area bound to the first identity identifier; and if the unmanned vehicle 202 is within the work area bound to the first identity identifier, stop driving. It should be understood that if the unmanned vehicle 202 is not within the work area bound to the first identity identifier, the unmanned vehicle 202 will not stop driving and will continue driving.

[0049] For example, the work area bound to the first identity identifier is the unloading area. When the unmanned vehicle 202 is in the unloading area during its journey, it stops driving; when the unmanned vehicle 202 is in other areas outside the unloading area during its journey, it continues driving.

[0050] In the above embodiments, the wireless emergency stop device sends an emergency stop signal, which includes a first identity identifier. After receiving the emergency stop signal, the unmanned vehicle determines whether it is in the work area bound to the first identity identifier. If it is in the work area, the unmanned vehicle stops driving, so that all unmanned vehicles in a specific work area that needs to stop urgently can stop accurately, while unmanned vehicles in other work areas are not affected, thus improving the accuracy of wireless emergency stop.

[0051] In some embodiments, the first identifier is the identifier of the transmitter in the wireless emergency stop device 201. The transmitter's identifier can uniquely identify the wireless emergency stop device 201, eliminating the need to set an additional identifier for the wireless emergency stop device 201.

[0052] In the above embodiments, by setting the first identity identifier as the identifier of the wireless emergency stop device transmitter, the binding between the wireless emergency stop device and the working area can be more accurate, thereby further improving the accuracy of the wireless emergency stop.

[0053] In some embodiments, the wireless emergency stop system further includes one or more servers configured to store binding relationships between a working area, a first identity of the wireless emergency stop device 201, and a set of second identity of unmanned vehicles, including unmanned vehicle 202. Unmanned vehicle 202 is also configured to receive binding relationships from the servers.

[0054] In some embodiments, the server is configured to store the binding relationships between a third identity of another work area, a third wireless emergency stop device 201, and a fourth identity of another group of unmanned vehicles. In other words, the server can store the binding relationships between the identity of different work areas, different wireless emergency stop devices, and different groups of unmanned vehicles. As some implementations, the server also stores a dedicated map for unmanned driving, and the server can send the dedicated map information to the unmanned vehicle 202.

[0055] In the above embodiments, the server stores the binding relationship between the working area, the wireless emergency stop device's identifier, and the unmanned vehicle's identifier, and sends this relationship to the unmanned vehicle. Upon receiving the binding relationship, the unmanned vehicle can verify its own identifier to ensure that the received binding relationship is specifically designed for the vehicle, thereby further improving the accuracy of the wireless emergency stop.

[0056] In some embodiments, there is a one-to-one correspondence between the work area and the wireless emergency stop device 201, meaning that the wireless emergency stop device 201 can only control the emergency stop of the unmanned vehicle 202 in one work area. This reduces the possibility of error in the wireless emergency stop device 201, thereby further improving the accuracy of the wireless emergency stop.

[0057] In some embodiments, the working area bound to the first identity of the wireless emergency stop device 201 can be changed. It is understood that the aforementioned binding relationship and dedicated map can be pre-configured by the user on the server.

[0058] In the above embodiments, by having users pre-configure binding relationships and dedicated maps on the server, users can configure different binding relationships for emergency stop devices according to different needs. Thus, even if there is only one wireless emergency stop device, the emergency stop of unmanned vehicles in different work areas can be controlled by changing the binding relationship, which effectively reduces the number of wireless emergency stop devices in the wireless emergency stop system and saves the cost of the wireless emergency stop system.

[0059] In some embodiments, the unmanned vehicle 202 is configured to perform communication verification with the wireless emergency stop device 201 when it is in a work area bound to a first identity; and to automatically stop driving if the communication verification fails.

[0060] In the above embodiments, the unmanned vehicle performs communication verification with the wireless emergency stop device. If the communication verification fails, the vehicle automatically stops driving, preventing safety accidents caused by the inability to stop the vehicle due to a malfunction of the wireless emergency stop device, and improving the safety of wireless emergency stop.

[0061] In some embodiments, the wireless emergency stop device 201 is configured to send heartbeat messages at preset time intervals (e.g., according to a preset period), the heartbeat messages carrying a first identification identifier. In this case, the communication verification between the unmanned vehicle 202 and the wireless emergency stop device 201 includes verifying whether a heartbeat message sent by the wireless emergency stop device 201 has been received.

[0062] In the above embodiments, the wireless emergency stop device sends heartbeat messages at preset time intervals to perform communication verification with the unmanned vehicle, which more effectively prevents safety accidents caused by the inability to control the unmanned vehicle to stop suddenly due to a malfunction of the wireless emergency stop device, and further improves the safety of wireless emergency stop.

[0063] In some embodiments, the wireless emergency stop device 201 further includes a locking mechanism configured to automatically lock the emergency stop button when it is operated, so that the emergency stop button cannot be reset.

[0064] In the above embodiments, locking the mechanism can effectively prevent misoperation after an emergency stop of the vehicle, thus improving the safety of wireless emergency stop.

[0065] Figure 3 This is a schematic diagram of the structure of a wireless emergency stop device according to some embodiments of the present disclosure.

[0066] In some embodiments, such as Figure 3 As shown, the wireless emergency stop device includes one or more of the following: a locking mechanism 301, an emergency stop and reset button 303, a wireless transceiver module 302, a display module 305, and a status indicator light 304. For example, the emergency stop and reset functions share a single button; pressing the button performs the emergency stop operation, and rotating the button releases it to perform the reset operation. The wireless transceiver module 302 covers the working area and is used to send emergency stop signals to the unmanned vehicle and determine whether communication between the wireless emergency stop device and the unmanned vehicle is normal. The status indicator light 304 provides an alarm by indicating a specific status in case of a malfunction in the wireless emergency stop device; for example, when the wireless emergency stop device malfunctions, the status indicator light will turn red to warn the user.

[0067] The following example illustrates how an unmanned emergency stop device works.

[0068] One implementation involves the user first binding the wireless emergency stop device's identifier to a work area, thus setting access permissions for the device's work area. Then, the user carries the device into the bound work area. Once inside, the device continuously sends heartbeat messages to the unmanned vehicle in the work area for communication verification; these heartbeat messages include the device's identifier. When the user detects a hazard and presses the emergency stop button, the device sends its identifier, heartbeat signal, and emergency stop signal to the unmanned vehicle.

[0069] Figure 4 This is a structural schematic diagram of an unmanned vehicle according to some embodiments of the present disclosure. The unmanned vehicle also includes other components not shown in the figure.

[0070] In some embodiments, the unmanned vehicle includes a wireless emergency stop transceiver module 401, a storage and computing unit 402, a positioning system 403, and a control unit 404. Both the wireless emergency stop transceiver module 401 and the positioning system 403 are wiredly connected to the storage and computing unit 402. The wireless emergency stop transceiver module 401 receives emergency stop signals and transmits them to the storage and computing unit 402, and also transmits the current status of the unmanned vehicle from the storage and computing unit 402, such as the vehicle's speed. The positioning system 403 provides real-time location signals to the unmanned vehicle and transmits these signals to the storage and computing unit 402. The control unit 404 receives control commands from the storage and computing unit 402 to initiate an emergency stop for the unmanned vehicle and transmits the current status of the unmanned vehicle to the storage and computing unit 402 in real time.

[0071] In some implementations, the unmanned vehicle receives the binding information and dedicated map information of the wireless emergency stop device from the cluster dispatch center via the wireless emergency stop transceiver module 401, and stores it in the storage and computing unit 402. The storage and computing unit 402 receives the real-time location signal from the positioning system 403. Once the storage and computing unit 402 of the unmanned vehicle receives an emergency stop signal, it immediately starts a judgment program to determine whether the unmanned vehicle is within the working area bound to the identity identifier of the wireless emergency stop device based on the real-time location and dedicated map information. If it is within the working area, it outputs an emergency stop command to the control unit 404; if it is not within the working area, it ignores the emergency stop signal. Upon receiving the emergency stop command, the control unit 404 immediately stops the unmanned vehicle.

[0072] In some embodiments, the server for the wireless emergency stop system is located in the cluster dispatch center. Figure 5 This is a schematic diagram of the cluster dispatch center of a wireless emergency stop system according to other embodiments of the present disclosure.

[0073] The fleet dispatch center includes a map building terminal 501, a client operation input terminal 502, a fleet system display system 503, a wireless transceiver module 504, a router 505, and a server 507. The receiver of the wireless transceiver module 504 is used to receive information from the unmanned vehicles, and also to transmit the emergency stop signal sent by the wireless emergency stop device 506 to the server 507 for processing via the router 505. The transmitter of the wireless transceiver module 504 is used to wirelessly transmit the dedicated map information and related binding information from the server 507 to the unmanned vehicles.

[0074] As one implementation method, the user creates a dedicated map for unmanned vehicle operation on server 507 via map building terminal 501, and manages the access permissions of wireless emergency stop device 506 using client operation input terminal 502. Access permissions include, for example, permissions for the entire mining area, loading area, unloading area, work area, and service area. Access permission management involves server 507 associating the identity of the wireless emergency stop device with relevant areas on the dedicated map for unmanned vehicle operation, such as binding the loading area to the wireless emergency stop device 506. Simultaneously, the fleet dispatch center sends the relevant binding information and map information to the unmanned vehicle via wireless transceiver module 504.

[0075] In some embodiments, the wireless emergency stop device 506 also performs communication verification with the fleet dispatch center. In some implementations, the signal frequency for this communication verification is different from the signal frequency for the communication verification between the wireless emergency stop device 506 and the unmanned vehicle. When the wireless emergency stop device 506 malfunctions, both the status indicator light of the wireless emergency stop device 506 and the fleet dispatch center will issue an alarm. When either the status indicator light of the wireless emergency stop device 506 or the fleet dispatch center issues an alarm, the wireless emergency stop device 506 is unusable.

[0076] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For method embodiments, since they largely correspond to apparatus embodiments, the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0077] Figure 6 This is a flowchart illustrating a wireless emergency stop method according to some embodiments of the present disclosure.

[0078] In step 602, the wireless emergency stop device sends an emergency stop signal in response to the emergency stop button being activated. The emergency stop signal includes a first identification of the wireless emergency stop device.

[0079] In step 604, if the unmanned vehicle receives an emergency stop signal while driving, the location information of the unmanned vehicle is obtained.

[0080] In step 606, the unmanned vehicle determines whether it is in the work area bound to the first identity identifier based on its location information.

[0081] In step 608, the unmanned vehicle stops moving while it is within the work area.

[0082] In the above embodiments, the wireless emergency stop device sends an emergency stop signal, which includes a first identity identifier. After receiving the emergency stop signal during driving, the unmanned vehicle determines whether it is in the work area bound to the first identity identifier. If it is in the work area, the unmanned vehicle stops driving, so that all unmanned vehicles in a specific work area that needs to stop urgently can stop accurately, while unmanned vehicles in other work areas are not affected, thus improving the accuracy of wireless emergency stop.

[0083] Figure 7 This is a flowchart illustrating a wireless emergency stop method according to other embodiments of the present disclosure.

[0084] In step 702, if the unmanned vehicle receives an emergency stop signal during driving, the location information of the unmanned vehicle is obtained. The emergency stop signal is sent by the wireless emergency stop device in response to the emergency stop button being executed. The emergency stop signal includes the first identification of the wireless emergency stop device.

[0085] In step 704, the unmanned vehicle determines whether it is in the work area bound to the first identity identifier based on its location information.

[0086] In step 706, the unmanned vehicle stops moving while it is within the work area.

[0087] In the above embodiments, after receiving an emergency stop signal during driving, the unmanned vehicle obtains its location information and determines whether it is in the work area bound to the first identity identifier. If it is in the work area, the unmanned vehicle stops driving, thereby enabling all unmanned vehicles in a certain work area that need to stop urgently to stop accurately, improving the accuracy of wireless emergency stop.

[0088] Figure 8 This is a structural schematic diagram of an unmanned vehicle according to some embodiments of the present disclosure.

[0089] like Figure 8 As shown, the unmanned vehicle includes an acquisition module 801, a judgment module 802, and a stop module 803.

[0090] The acquisition module 801 is configured to acquire the location information of the unmanned vehicle when it receives an emergency stop signal during driving. The emergency stop signal is sent by the wireless emergency stop device in response to the emergency stop button being executed. The emergency stop signal includes the first identification of the wireless emergency stop device.

[0091] The judgment module 802 is configured to determine whether the unmanned vehicle is in the work area bound to the first identity identifier based on the location information of the unmanned vehicle.

[0092] The stop module 803 is configured to stop the unmanned vehicle when it is in the work area.

[0093] In some embodiments, the unmanned vehicle may also include other modules to perform the wireless emergency stop method of any of the above embodiments.

[0094] Figure 9 This is a structural schematic diagram of an unmanned vehicle according to some embodiments of the present disclosure.

[0095] like Figure 9 As shown, the unmanned vehicle 900 includes a memory 901 and a processor 902 coupled to the memory 901. The processor 902 is configured to execute the method of any of the foregoing embodiments based on instructions stored in the memory 901.

[0096] The memory 901 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0097] The unmanned vehicle 900 may also include input / output interfaces 903, network interfaces 904, and storage interfaces 905. These interfaces 903, 904, and 905, as well as the memory 901 and processor 59902, can be connected via, for example, a bus 906. Input / output interface 903 provides a connection interface for input / output devices such as displays, mice, keyboards, and touchscreens. Network interface 904 provides a connection interface for various networked devices. Storage interface 905 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0098] This disclosure also provides a computer-readable storage medium including computer program instructions that, when executed by a processor, implement the method of any of the above embodiments.

[0099] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the method of any of the above embodiments.

[0100] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0101] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that the functions specified in one or more flowchart illustrations and / or one or more blocks in a block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate functions for implementing the functions in the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0103] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0105] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A wireless emergency stop system, comprising: A wireless emergency stop device is configured to send an emergency stop signal in response to an emergency stop button being executed, the emergency stop signal including a first identifier of the wireless emergency stop device. and The unmanned vehicle is configured to, upon receiving the emergency stop signal during operation, acquire its location information; determine, based on the location information, whether the unmanned vehicle is within the work area bound to the first identity identifier; and, if the unmanned vehicle is within the work area, stop driving. The working area bound to the first identity identifier of the wireless emergency stop device can be changed. The wireless emergency stop system also includes: The server is configured to store the binding relationship between the work area, the first identity identifier of the wireless emergency stop device, and the second identity identifier of a group of unmanned vehicles, wherein the group of unmanned vehicles includes the unmanned vehicles. The unmanned vehicle is also configured to receive the binding relationship from the server and confirm, based on its own identity, that the received binding relationship is a binding relationship set for the unmanned vehicle.

2. The system according to claim 1, wherein, The wireless emergency stop device is configured to respond to transmitting the emergency stop signal in a broadcast manner.

3. The system according to any one of claims 1-2, wherein, The unmanned vehicle is configured to perform communication verification with the wireless emergency stop device when it is in the work area; and to automatically stop driving if the communication verification fails.

4. The system according to claim 3, wherein, The wireless emergency stop device is configured to send heartbeat messages at preset time intervals, the heartbeat messages carrying the first identity identifier; The communication verification includes verifying whether the heartbeat message has been received.

5. The system according to any one of claims 1-2, wherein, The first identification is the identifier of the transmitter in the wireless emergency stop device.

6. The system according to any one of claims 1-2, wherein, The wireless emergency stop device includes: A locking mechanism is configured to automatically lock the emergency stop button when the operation is performed, so that the emergency stop button cannot be reset.

7. A wireless emergency stop method, comprising: In response to the execution of the emergency stop button, the wireless emergency stop device sends an emergency stop signal, the emergency stop signal including the first identification of the wireless emergency stop device; and If the unmanned vehicle receives the emergency stop signal while driving, the location information of the unmanned vehicle shall be obtained. The unmanned vehicle determines whether it is in the work area bound to the first identity identifier based on its location information. The unmanned vehicle stops moving when it is within the work area. The working area bound to the first identity identifier of the wireless emergency stop device can be changed. The unmanned vehicle also receives a binding relationship from the server and confirms that the received binding relationship is set for the unmanned vehicle based on its own identity. The server is configured to store the binding relationship between the working area, the first identity of the wireless emergency stop device, and the second identity of a group of unmanned vehicles, wherein the group of unmanned vehicles includes the unmanned vehicle.

8. The method according to claim 7, wherein, The wireless emergency stop device responds by broadcasting the emergency stop signal.

9. The method according to claim 7, further comprising: When the unmanned vehicle is in the work area, it performs communication verification with the wireless emergency stop device. If the communication verification fails, the unmanned vehicle will automatically stop driving.

10. The method of claim 9, further comprising: The wireless emergency stop device sends heartbeat messages at preset time intervals, and the heartbeat messages carry the first identity identifier. The communication verification includes verifying whether the heartbeat message has been received.

11. The method according to any one of claims 7-10, wherein, The first identification is the identifier of the transmitter in the wireless emergency stop device.

12. A wireless emergency stop method, comprising: When an unmanned vehicle receives an emergency stop signal while driving, it obtains the location information of the unmanned vehicle. The emergency stop signal is sent by a wireless emergency stop device in response to the emergency stop button being executed. The emergency stop signal includes the first identification of the wireless emergency stop device. The unmanned vehicle determines whether it is in the work area bound to the first identity identifier based on its location information. The unmanned vehicle stops moving when it is within the work area. The working area bound to the first identity identifier of the wireless emergency stop device can be changed. The unmanned vehicle also receives a binding relationship from the server and confirms that the received binding relationship is set for the unmanned vehicle based on its own identity. The server is configured to store the binding relationship between the working area, the first identity of the wireless emergency stop device, and the second identity of a group of unmanned vehicles, wherein the group of unmanned vehicles includes the unmanned vehicle.

13. An unmanned vehicle, comprising: The acquisition module is configured to acquire the location information of the unmanned vehicle when an emergency stop signal is received during the operation of the unmanned vehicle. The emergency stop signal is sent by the wireless emergency stop device in response to the emergency stop button being executed. The emergency stop signal includes the first identification of the wireless emergency stop device. The judgment module is configured to determine whether the unmanned vehicle is in the work area bound to the first identity identifier based on the location information of the unmanned vehicle. The stop module is configured to stop the unmanned vehicle when it is in the work area. The working area bound to the first identity identifier of the wireless emergency stop device can be changed. The unmanned vehicle also receives a binding relationship from the server and confirms that the received binding relationship is set for the unmanned vehicle based on its own identity. The server is configured to store the binding relationship between the working area, the first identity of the wireless emergency stop device, and the second identity of a group of unmanned vehicles, wherein the group of unmanned vehicles includes the unmanned vehicle.

14. An unmanned vehicle, comprising: Memory; as well as A processor coupled to the memory is configured to execute the method of claim 12 based on instructions stored in the memory.

15. A computer-readable storage medium comprising computer program instructions, wherein, When the computer program instructions are executed by the processor, they implement the method of claim 12.

16. A computer program product comprising a computer program, wherein, When the computer program is executed by a processor, it implements the method of claim 12.

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