Vehicle path determination method and device and vehicle control method and system

Abstract

The invention discloses a vehicle path determination method and device and a vehicle control method and system, and relates to the technical field of vehicle control. The vehicle path determination method is applied to an unmanned mining vehicle, the unmanned mining vehicle is provided with a dual-energy system and an adsorption device, and the adsorption device is used for adsorbing an overhead cable, and the vehicle path determination method comprises the steps that under the condition that a refueling instruction is received, target information is obtained, the target information comprises the current positioning, the current fuel remaining amount and the target position of the target gas station; path planning is carried out according to the target information, a preset map and the overhead cable layout position information, and a planned target path is obtained; the driving mode of the target path comprises a fuel oil mode and a wiring mode, and the wiring mode is a mode in which the unmanned mine truck is connected to the overhead cable through the adsorption device so as to provide electric energy for the driving of the unmanned mine truck through the overhead cable. According to the embodiment of the invention, the method can save fuel consumption.

Description

Technical Field

[0001] The present application belongs to the field of vehicle control technology, and specifically relates to a vehicle path determination method and device, and a vehicle control method and system. Background Art

[0002] With the rapid development of technologies such as artificial intelligence and communications, unmanned driving technology has been applied in many production scenarios, especially in mining areas with harsh environments and difficulties in hiring workers. Unmanned vehicles can autonomously load, transport and unload materials such as coal and topsoil, effectively improving the safety and efficiency of mining production.

[0003] Currently, common unmanned mining vehicles include fuel vehicles and electric vehicles. Among them, although electric vehicles have greatly reduced carbon emissions, they need to be charged frequently, which affects operating efficiency. Therefore, fuel vehicles are still widely used. However, although fuel vehicles are convenient to refuel, they have the problem of high fuel consumption in unmanned driving mode. Summary of the invention

[0004] The technical problem to be solved by the present application is to provide a vehicle path determination method and device, a vehicle control method and system in view of the above-mentioned deficiencies in the prior art. By using the vehicle path determination method, compared with the prior art in which the driving mode only includes the fuel mode, the electric energy on the overhead cables can be used to provide electric energy for the driving of the unmanned mining vehicle, so as to save fuel consumption.

[0005] In a first aspect, an embodiment of the present application provides a vehicle path determination method, which is applied to an unmanned mining vehicle, wherein the unmanned mining vehicle has a dual energy system and is provided with an adsorption device to adsorb overhead cables through the adsorption device, and the method comprises:

[0006] When receiving a refueling instruction, obtaining target information, the target information includes current location, current remaining fuel amount and target location of a target refueling station;

[0007] Perform path planning based on target information, preset maps, and overhead cable layout location information to obtain the planned target path;

[0008] The driving modes of the target path include a fuel mode and an overhead cable mode. The overhead cable mode is a mode in which the unmanned mining vehicle is connected to an overhead cable through an adsorption device to provide electrical energy for the driving of the unmanned mining vehicle through the overhead cable.

[0009] In some implementations of the first aspect, before performing path planning according to the target information, the preset map, and the overhead cable layout location information and obtaining the planned target path, the method further includes:

[0010] Predict the target fuel consumption from the current location to the target location based on the target information and the preset map;

[0011] Path planning is performed based on target information, preset maps, and overhead cable layout location information to obtain the planned target path, including:

[0012] When the target fuel consumption is greater than the current remaining fuel, path planning is performed according to the target information, the preset map and the overhead cable layout location information to obtain the planned target path.

[0013] In some implementations of the first aspect, predicting a target fuel consumption from a current location to a target location according to the target information includes:

[0014] Get the target model of unmanned mining vehicles;

[0015] The target deep learning model is used to predict the target vehicle model and target information, and the target fuel consumption from the current location to the target location is obtained.

[0016] Among them, the target deep learning model is trained through historical positioning, historical fuel remaining, historical target location, historical vehicle model and historical fuel consumption.

[0017] In some implementations of the first aspect, path planning is performed according to target information, a preset map, and overhead cable layout location information to obtain a planned target path, including:

[0018] Acquire current information corresponding to different overhead cable areas, the current information including at least one of the current number of vehicles and the current congestion level;

[0019] Path planning is performed based on target information, preset maps, overhead cable layout location information and current information to obtain a planned target path. The overhead cable area corresponding to the target path satisfies at least one of the following: the current number of vehicles is the least, the current congestion level is the lowest, and the distance to the unmanned mining vehicle is the closest.

[0020] In some embodiments of the first aspect, the unmanned mining vehicle is communicatively connected to a target device, the target device comprising at least one of a first sensing device, a roadside device, and a controller of an overhead cable;

[0021] Get current information for each overhead cable area, including:

[0022] Receiving current information corresponding to different overhead cable areas sent from the target device;

[0023] Alternatively, obtain current information for each of the different overhead cable areas, including:

[0024] The current information of different overhead cable areas is obtained one by one through target direct communication.

[0025] In some embodiments of the first aspect, the target path satisfies: when the unmanned mining vehicle is connected to the overhead cable through the adsorption device, the first remaining fuel amount of the unmanned mining vehicle is greater than 0, and when the unmanned mining vehicle is disconnected from the overhead cable through the adsorption device, the second remaining fuel amount of the unmanned mining vehicle can ensure that the unmanned mining vehicle reaches the target position;

[0026] Alternatively, the target path includes a target overhead cable area, and the distance between the target overhead cable area and the target position is less than or equal to a preset distance.

[0027] Based on the same inventive concept, in a second aspect, an embodiment of the present application further provides a vehicle control method, which is applied to an unmanned mining vehicle, wherein the unmanned mining vehicle has a dual energy system and is provided with an adsorption device to adsorb the overhead cable through the adsorption device, and the method comprises:

[0028] Determine a target path of the unmanned mining vehicle according to the vehicle path determination method of any one of the first aspects;

[0029] Control the unmanned mining vehicle to follow the target path.

[0030] In some embodiments of the second aspect, the target path includes a first path and a second path, the first path includes a path in which the driving mode is a wireline mode, and the second path includes a path in which the driving mode is a fuel mode;

[0031] Control the unmanned mining vehicle to follow the target path, including:

[0032] When it is detected that the current distance between the unmanned mining vehicle and the overhead cable is less than or equal to a preset value and the target path adopts the first path, the unmanned mining vehicle is connected to the overhead cable through the adsorption device, so as to control the unmanned mining vehicle to travel along the first path through the electric energy provided to the unmanned mining vehicle by the overhead cable;

[0033] Alternatively, when it is detected that the current distance between the unmanned mining vehicle and the overhead cable is greater than a preset value and the target path adopts the second path, the adsorption device disconnects the connection with the overhead cable to control the unmanned mining vehicle to travel along the second path by consuming the remaining fuel.

[0034] In some embodiments of the second aspect, the method further comprises:

[0035] obtaining a current distance between the unmanned mining vehicle and the overhead cable through a second sensing device, wherein the second sensing device is arranged on the unmanned mining vehicle;

[0036] Alternatively, the current distance between the unmanned mining vehicle and the overhead cables is determined based on a preset map.

[0037] Based on the same inventive concept, in a third aspect, an embodiment of the present application further provides a vehicle path determination device, which is applied to an unmanned mining vehicle. The unmanned mining vehicle has a dual energy system and is provided with an adsorption device to adsorb the overhead cable through the adsorption device. The device includes:

[0038] A first acquisition module is used to acquire target information when receiving a refueling instruction, the target information including a current location, a current remaining amount of fuel, and a target location of a target gas station;

[0039] The first planning module is connected to the first acquisition module and is used to perform path planning based on target information, a preset map and overhead cable layout location information to obtain a planned target path; the driving modes of the target path include a fuel mode and an overhead cable mode, and the overhead cable mode is a mode in which the unmanned mining vehicle is connected to the overhead cable through an adsorption device to provide electrical energy for the driving of the unmanned mining vehicle through the overhead cable.

[0040] In some embodiments of the third aspect, the apparatus further comprises:

[0041] A first prediction module, connected to the first acquisition module and the first planning module, for predicting a target fuel consumption from a current location to a target location based on target information and a preset map;

[0042] The first planning module is specifically used for:

[0043] When the target fuel consumption is greater than the current remaining fuel, path planning is performed according to the target information, the preset map and the overhead cable layout location information to obtain the planned target path.

[0044] In some implementations of the third aspect, the first prediction module is specifically configured to:

[0045] Get the target model of unmanned mining vehicles;

[0046] The target deep learning model is used to predict the target vehicle model and target information, and the target fuel consumption from the current location to the target location is obtained.

[0047] Among them, the target deep learning model is trained through historical positioning, historical fuel remaining, historical target location, historical vehicle model and historical fuel consumption.

[0048] In some implementations of the third aspect, the first planning module is specifically configured to:

[0049] Acquire current information corresponding to different overhead cable areas, the current information including at least one of the current number of vehicles and the current congestion level;

[0050] Path planning is performed based on target information, preset maps, overhead cable layout location information and current information to obtain a planned target path. The overhead cable area corresponding to the target path satisfies at least one of the following: the current number of vehicles is the least, the current congestion level is the lowest, and the distance to the unmanned mining vehicle is the closest.

[0051] Based on the same inventive concept, in a fourth aspect, an embodiment of the present application provides a vehicle control system, which is applied to an unmanned mining vehicle. The unmanned mining vehicle has a dual energy system and is provided with an adsorption device to adsorb overhead cables through the adsorption device. The system includes:

[0052] The vehicle path determination device according to any one of the third aspects is used to determine a target path for an unmanned mining vehicle;

[0053] The vehicle control device is connected to the vehicle path determination device and is used to control the unmanned mining vehicle to travel along the target path.

[0054] In some embodiments of the fourth aspect, the target path includes a first path and a second path, the first path includes a path in which the driving mode is a wireline mode, and the second path includes a path in which the driving mode is a fuel mode;

[0055] Vehicle control device, in particular for:

[0056] When it is detected that the current distance between the unmanned mining vehicle and the overhead cable is less than or equal to a preset value and the target path adopts the first path, the unmanned mining vehicle is connected to the overhead cable through the adsorption device, so as to control the unmanned mining vehicle to travel along the first path through the electric energy provided to the unmanned mining vehicle by the overhead cable;

[0057] Alternatively, when it is detected that the current distance between the unmanned mining vehicle and the overhead cable is greater than a preset value and the target path adopts the second path, the adsorption device disconnects the connection with the overhead cable to control the unmanned mining vehicle to travel along the second path by consuming the remaining fuel.

[0058] In some embodiments of the fourth aspect, the vehicle control device is specifically configured to:

[0059] obtaining a current distance between the unmanned mining vehicle and the overhead cable through a second sensing device, wherein the second sensing device is arranged on the unmanned mining vehicle;

[0060] Alternatively, the current distance between the unmanned mining vehicle and the overhead cables is determined based on a preset map.

[0061] According to the vehicle path determination method and device, and the vehicle control method and system provided in the embodiments of the present application, the unmanned mining vehicle has a dual energy system that can support both fuel power supply and overhead cable power supply; the unmanned mining vehicle is provided with an adsorption device to adsorb the overhead cable through the adsorption device, so that the unmanned mining vehicle can be connected to the overhead cable through the adsorption device, and then the overhead cable can provide electrical energy for the driving of the unmanned mining vehicle; path planning is performed according to target information, a preset map, and overhead cable layout location information to obtain a planned target path, and the driving modes of the target path include a fuel mode and an overhead cable mode. Compared with the prior art in which the driving mode only includes a fuel mode, the electrical energy on the overhead cable can be used to provide electrical energy for the driving of the unmanned mining vehicle to save fuel consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A schematic diagram showing a structure of a vehicle path determination system provided by an embodiment of the present application is shown;

[0063] Figure 2 A schematic diagram showing a flow chart of a vehicle path determination method provided in an embodiment of the present application;

[0064] Figure 3 Another schematic diagram showing a flow chart of a vehicle path determination method provided in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of the structure of a vehicle path determination device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0066] In order to enable those skilled in the art to better understand the technical solution of the present application, the present application is further described in detail below with reference to the accompanying drawings and embodiments.

[0067] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present application and are not configured to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0068] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0069] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0070] Example 1

[0071] The vehicle path determination method provided in the embodiment of the present application can be executed by a controller of an unmanned mining vehicle, a cloud platform, a vehicle path determination device, and an electronic device, etc. The following takes the vehicle path determination method executed by an electronic device as an example for explanation.

[0072] The vehicle path determination method provided in the embodiment of the present application can be applied to unmanned aerial vehicle driving mining vehicles, which are mainly used in underground places such as coal mines. The unmanned mining vehicle has a dual energy system, which can support both fuel supply and overhead cable supply. The unmanned mining vehicle is provided with an adsorption device to adsorb the overhead cable through the adsorption device. More specifically, Figure 1 As shown, an adsorption device 2 is provided on the roof of the unmanned mining vehicle 1, so that the unmanned mining vehicle 1 can be connected to the overhead cable 3 through the adsorption device 2, and then the overhead cable 3 can provide electrical energy for the driving of the unmanned mining vehicle 1.

[0073] like Figure 2 As shown, the vehicle path determination method provided in the embodiment of the present application may include steps S110 to S120.

[0074] S110. When a refueling instruction is received, target information is obtained, where the target information includes a current location, a current remaining amount of fuel, and a target location of a target gas station.

[0075] S120: Perform path planning according to the target information, the preset map and the overhead cable layout location information to obtain a planned target path.

[0076] Among them, the driving modes of the target path include a fuel mode and an overhead cable mode. The overhead cable mode is a mode in which the unmanned mining vehicle is connected to an overhead cable through an adsorption device to provide electrical energy for the driving of the unmanned mining vehicle through the overhead cable.

[0077] According to the vehicle path determination method provided in the embodiment of the present application, the unmanned mining vehicle has a dual energy system, which can support both fuel power supply and overhead cable power supply; the unmanned mining vehicle is provided with an adsorption device to adsorb the overhead cable through the adsorption device, so that the unmanned mining vehicle can be connected to the overhead cable through the adsorption device, and then the overhead cable can provide electric energy for the driving of the unmanned mining vehicle; path planning is performed according to target information, a preset map, and overhead cable layout location information to obtain a planned target path, and the driving modes of the target path include a fuel mode and an overhead cable mode. Compared with the prior art in which the driving mode only includes a fuel mode, the electric energy on the overhead cable can be used to provide electric energy for the driving of the unmanned mining vehicle to save fuel consumption.

[0078] The specific implementation methods of the above steps are introduced below.

[0079] In step S110, the refueling instruction may be an instruction for instructing the unmanned mining vehicle to refuel.

[0080] Exemplarily, a refueling instruction may be sent by a cloud platform to an electronic device.

[0081] For example, the current location may be the location of the unmanned mining vehicle when the refueling instruction is received. For example, the current location may be the longitude and latitude coordinates of the unmanned mining vehicle when the refueling instruction is received.

[0082] For example, the current remaining fuel amount may be the remaining fuel amount when the unmanned mining vehicle receives a refueling instruction.

[0083] For example, the target gas station may be a destination for refueling the unmanned mining vehicle.

[0084] Exemplarily, the target location may be the location of the target gas station. For example, the target location may be the latitude and longitude coordinates of the target gas station.

[0085] Exemplarily, the electronic device may receive the current position obtained by the global positioning system (GPS) of the unmanned mining vehicle.

[0086] For example, the electronic device may receive the current remaining fuel amount collected by a fuel amount sensor provided on the unmanned mining vehicle.

[0087] For example, the electronic device may determine the gas station closest to the unmanned mining vehicle in the preset map as the target gas station, and determine the target position of the target gas station based on the preset map. The preset map may be pre-stored in the electronic device for subsequent direct call. Alternatively, the electronic device may pre-store the target position of the target gas station for subsequent direct call.

[0088] In step S120, when the electronic device receives the refueling instruction and obtains the target information, it can also perform path planning based on the target information, a preset map and the overhead cable layout location information to obtain the planned target path.

[0089] For example, the target path may be a path from the current location to a target location of a target gas station.

[0090] Exemplarily, the overhead cable layout position information may be information used to characterize the layout position of the overhead cable. For example, the overhead cable layout position information may include at least one of the coordinates and geometric shape of the overhead cable.

[0091] For example, the fuel mode may be a mode in which fuel is used to provide energy for the driving of the unmanned mining vehicle.

[0092] For example, before performing path planning based on target information, preset map and overhead cable layout location information and obtaining the planned target path, the preset map and overhead cable layout location information may be obtained. The preset map and overhead cable layout location information may be pre-stored in the electronic device for subsequent direct retrieval.

[0093] In some examples, the target path satisfies: when the unmanned mining vehicle is connected to the overhead cable through the adsorption device, the first remaining fuel amount of the unmanned mining vehicle is greater than 0, and when the unmanned mining vehicle is disconnected from the overhead cable through the adsorption device, the second remaining fuel amount of the unmanned mining vehicle can ensure that the unmanned mining vehicle reaches the target position.

[0094] Exemplarily, the first remaining fuel amount may be the remaining fuel amount when the unmanned mining vehicle is connected to the overhead cable through the adsorption device.

[0095] Exemplarily, the second remaining fuel amount may be the remaining fuel amount when the unmanned mining vehicle is disconnected from the overhead cable through the adsorption device.

[0096] That is, there is fuel remaining before the unmanned mining vehicle is connected to the overhead cable, and the remaining fuel after the unmanned mining vehicle is disconnected (leaves) from the overhead cable can ensure that the unmanned mining vehicle can reach the nearest target gas station.

[0097] In other examples, the target path includes a target overhead cable area, and the distance between the target overhead cable area and the target location is less than or equal to a preset distance.

[0098] Exemplarily, the target overhead cable area may be an overhead cable area whose distance from the target position is less than or equal to a preset distance.

[0099] It should be noted that the preset distance can be set according to actual conditions and is not limited here. For example, the preset distance can be 300 meters, 500 meters, and 1000 meters, etc. It is worth noting that the smaller the preset distance, the closer the target overhead cable area is to the target position, that is, the target overhead cable is opened near the target position, so that when the current remaining fuel of the unmanned mining vehicle is insufficient, the overhead cable can be used to provide additional energy, that is, electrical energy, to improve or solve the problem that the unmanned mining vehicle stops due to energy interruption, thereby affecting the operating efficiency.

[0100] In some examples, path planning can be performed based on target information, preset maps, overhead cable layout location information, and preset algorithms to obtain a planned target path. The preset algorithms may include at least one of an A* algorithm, a Dijkstra algorithm, a rapid random tree (RRT) algorithm, a genetic algorithm, and a particle swarm optimization (PSO) algorithm. The preset algorithms may be pre-stored in the electronic device for subsequent direct invocation.

[0101] In some implementations, before performing path planning based on target information, a preset map, and overhead cable layout location information and obtaining a planned target path, the method further includes:

[0102] Predict the target fuel consumption from the current location to the target location based on the target information and the preset map;

[0103] Path planning is performed based on target information, preset maps, and overhead cable layout location information to obtain the planned target path, including:

[0104] When the target fuel consumption is greater than the current remaining fuel, path planning is performed according to the target information, the preset map and the overhead cable layout location information to obtain the planned target path.

[0105] In this embodiment, when the target fuel consumption is greater than the current remaining fuel, path planning is performed based on target information, preset maps, and overhead cable layout location information to improve or solve the problem of vehicle stopping due to energy interruption, thereby affecting work efficiency.

[0106] The target fuel consumption is greater than the current remaining fuel amount, which may mean that the unmanned mining vehicle cannot travel from the current position to the target position in the fuel mode only.

[0107] In other embodiments, when the target fuel consumption is greater than or equal to the current remaining fuel amount, path planning is performed based on the target information, a preset map, and the overhead cable layout location information to obtain a planned target path, or, path planning is performed based on the target information and a preset map to obtain a planned path, and the driving mode of the planned path only includes a fuel mode.

[0108] In some examples, predicting a target fuel consumption from a current location to a target location based on the target information includes:

[0109] Get the target model of unmanned mining vehicles;

[0110] The target deep learning model is used to predict the target vehicle model and target information, and the target fuel consumption from the current location to the target location is obtained.

[0111] Among them, the target deep learning model is trained through historical positioning, historical fuel remaining, historical target location, historical vehicle model and historical fuel consumption.

[0112] In this example, since the target deep learning model is trained through historical positioning, historical fuel remaining, historical target positions, historical vehicle models and historical fuel consumption, the target deep learning model is used to predict the target vehicle and target information, and the target fuel consumption from the current positioning target position can be accurately obtained.

[0113] Exemplarily, the target vehicle type is an unmanned mining vehicle.

[0114] Exemplarily, the target deep learning model can be a model that can predict the target vehicle and target information to obtain the target fuel consumption from the current location to the target location. The target deep learning model can include at least one of a convolutional neural network (CNN), a recurrent neural network (RNN), a long short-term memory network (LSTM), and a generative adversarial network (GAN). The training method used can be a supervised learning training method or an unsupervised learning training method, which is not limited here. The specific training method is the same as the prior art and will not be repeated here.

[0115] For example, the historical location may be the location of other unmanned mining vehicles when receiving the historical refueling instructions.

[0116] For example, the historical remaining fuel amount may be the remaining fuel amount of other unmanned mining vehicles when receiving the historical refueling instruction.

[0117] For example, the historical target location may be a historical gas station location where other unmanned mining vehicles have been refueled.

[0118] Exemplarily, the historical vehicle model may be a model of other unmanned mining vehicles.

[0119] For example, the historical fuel consumption may be the amount of fuel actually consumed by other unmanned mining vehicles when traveling from a historical location to a historical target location.

[0120] Exemplarily, the electronic device may obtain the target model of the unmanned mining vehicle by scanning a model label set on the unmanned mining vehicle, or the electronic device may obtain the target model of the unmanned mining vehicle by accessing the onboard computer system of the unmanned mining vehicle.

[0121] In some implementations, path planning is performed based on target information, a preset map, and overhead cable layout location information to obtain a planned target path, including:

[0122] Acquire current information corresponding to different overhead cable areas, the current information including at least one of the current number of vehicles and the current congestion level;

[0123] Path planning is performed based on target information, preset maps, overhead cable layout location information and current information to obtain a planned target path. The overhead cable area corresponding to the target path satisfies at least one of the following: the current number of vehicles is the least, the current congestion level is the lowest, and the distance to the unmanned mining vehicle is the closest.

[0124] In this embodiment, by considering the one-to-one corresponding current information of different overhead cable areas when performing path planning, the planning efficiency can be improved, and the power of each overhead cable area can be balanced, resulting in higher charging efficiency.

[0125] For example, the current number of vehicles may be the current number of vehicles on the overhead cable area.

[0126] For example, the current congestion level may be the current congestion level of the overhead cable area. It should be noted that the higher the current congestion level, the greater the number of vehicles currently in the overhead cable area.

[0127] As an example, the current information includes the current number of vehicles; as another example, the current information includes the current congestion level; as yet another example, the current information includes the current number of vehicles and the current congestion level.

[0128] As an example, the overhead cable area corresponding to the target path satisfies: the current number of vehicles is the least; as another example, the overhead cable area corresponding to the target path satisfies: the current congestion level is the lowest and the distance to the unmanned mining vehicle is closest; as another example, the overhead cable area corresponding to the target path satisfies: the current number of vehicles is the least, the current congestion level is the lowest and the distance to the unmanned mining vehicle is closest.

[0129] Exemplarily, path planning may be performed based on target information, a preset map, overhead cable layout location information, current information, and a preset algorithm to obtain a planned target path.

[0130] In other words, multiple areas of overhead cables (i.e., overhead cable areas) can be set up to assist in path planning by obtaining the number of vehicles connected to the overhead cables in different areas (i.e., the current number of vehicles) and the congestion situation (i.e., the current degree of congestion). The constraints are: select the overhead cable with the least number of connected vehicles, or the least congested one, or select the overhead cable closest to the vehicle. This can improve efficiency, and can also balance the power of each overhead cable, resulting in high charging efficiency.

[0131] In some examples, the unmanned mining vehicle is communicatively coupled to a target device, the target device comprising at least one of a first sensing device, a roadside device, and a controller of an overhead cable;

[0132] Get current information for each overhead cable area, including:

[0133] Receive current information corresponding to different overhead cable areas sent from the target device.

[0134] Exemplarily, the first perception device may include at least one of a laser radar and a camera.

[0135] For example, roadside equipment may refer to various equipment and systems installed beside the road or on traffic infrastructure to support functions such as traffic management, monitoring, communication and autonomous driving.

[0136] As an example, the target device includes a first sensing device; as another example, the target device includes a roadside device and a controller of an overhead cable; as yet another example, the target device includes a first sensing device, a roadside device, and a controller of an overhead cable.

[0137] In other examples, current information corresponding to different overhead cable areas is obtained, including:

[0138] The current information of different overhead cable areas is obtained one by one through target direct communication.

[0139] The target direct communication may be vehicle-to-vehicle (V2V) direct communication.

[0140] That is to say, in the embodiment of the present application, the number of vehicles connected to the overhead cables (i.e., the overhead cable area) in different areas (i.e., the current vehicle data) and the congestion situation (i.e., the current congestion level) can be obtained based on V2V or perception (such as laser radar, camera, etc.) equipment, roadside equipment, etc. The number of vehicles connected to the overhead cables and the congestion situation can also be obtained by communicating with a server that communicates with the controller of the overhead cables.

[0141] In order to better understand the vehicle path determination method provided in the embodiment of the present application, a more specific implementation is described below.

[0142] like Figure 3 As shown, the vehicle path determination method provided in the embodiment of the present application may include steps 1 to 3.

[0143] Step 1: The unmanned vehicle (i.e., unmanned mining vehicle) receives a dispatch task from the cloud platform. The dispatch task includes a refueling task (i.e., a refueling instruction) and a target refueling station.

[0144] Step 2: The unmanned vehicle predicts fuel consumption (i.e., target fuel consumption) based on the current positioning (i.e., current positioning), the dispatched task, and the map (i.e., preset map) and the current remaining fuel;

[0145] Step 3: If the fuel consumption (i.e., the target fuel consumption) exceeds the current remaining fuel, path planning is performed based on the current positioning and scheduling tasks in combination with the map, the current remaining fuel, and the layout position of the overhead cables (i.e., the overhead cable layout position information).

[0146] More specifically, the embodiment of the present application proposes an unmanned mining vehicle assisted by overhead wires, which has a dual energy system that can support both fuel energy supply and overhead cable energy supply. An adsorption device with elasticity and adsorption function is set on the roof of the mining vehicle (i.e., the unmanned mining vehicle). One way is that when the mining vehicle is close to the overhead cable (the route of the overhead wire can be marked on the map, and the distance relationship with the overhead wire can be determined based on the map information during the vehicle driving process; or, the sensing device on the mining vehicle (i.e., the second sensing device) can be used to sense information to determine whether it is close), the adsorption device can be automatically triggered and adsorbed to the overhead cable, and then power can be supplied through the overhead cable. At this time, the fuel energy supply state is forced to exit, and only power is transmitted through the overhead cable, and the mining vehicle consumes power to maintain driving. Another way is to detect whether it is close to the overhead cable through the sensing device (i.e., the second sensing device) set on the mining vehicle. In the case of close proximity, the adsorption device is triggered and adsorbed to the overhead cable. The sensing device (ie, the second sensing device) may be a sensor, a camera, a radar, etc., which is arranged on the top of the mine car.

[0147] When the mining vehicle needs to refuel, it will autonomously switch between the fuel mode and the wire mode according to the dispatched dispatch task (refueling task, i.e., refueling instruction), based on the map (i.e., the preset map) and energy consumption prediction, to realize the path planning to the gas station. Specifically, the following steps may be included:

[0148] The unmanned vehicle (i.e., unmanned mining vehicle) receives scheduling tasks from the cloud platform, and the scheduling tasks include refueling tasks (i.e., refueling instructions) and the location of the target refueling station (i.e., the target location).

[0149] The unmanned vehicle predicts the fuel consumption according to the current location (i.e., current location), the dispatch task and combined with the map (i.e., preset map), and the current remaining fuel (i.e., current remaining fuel).

[0150] Fuel consumption can be predicted through a deep learning model (i.e., the target deep learning model). The input is the current location (i.e., current location), destination location (i.e., target location), current remaining fuel (i.e., current remaining fuel), vehicle model (i.e., target vehicle model), etc. The output is the predicted value of fuel consumption (i.e., target fuel consumption).

[0151] If the fuel consumption exceeds the current remaining fuel, the route planning is performed based on the current positioning and scheduling tasks combined with the map, the current remaining fuel, and the layout of the overhead cables (i.e., the layout of the overhead cables), and the fuel mode is switched to the overhead cable mode during the process. The constraints are: there is remaining fuel before the unmanned vehicle is connected to the overhead cable, and the remaining fuel after the unmanned vehicle is disconnected (leaves) from the overhead cable can ensure that the unmanned vehicle can reach the nearest target gas station.

[0152] Preferably, overhead cables can be installed near gas stations (i.e., target overhead cable areas). In this way, when the unmanned mining truck is running low on fuel, the overhead cables can be used to provide additional energy to ensure that the vehicle will not stop due to energy interruption, which would affect operating efficiency.

[0153] Overhead cables in multiple areas can be set up to assist in path planning by obtaining the number of vehicles connected to the overhead cables in different areas (i.e. the current number of vehicles) and the congestion situation (i.e. the current congestion level). The constraints are: select the overhead cable with the least number of connected vehicles, or the least congested one, or select the overhead cable closest to the vehicle. This can improve efficiency and balance the power of each overhead cable, resulting in high charging efficiency.

[0154] Preferably, the number of vehicles connected to overhead cables in different areas and the congestion situation can be obtained based on V2V or perception (such as laser radar, camera, etc.) equipment (i.e., first perception equipment), roadside equipment, etc. The unmanned vehicle can also communicate with the server that communicates with the controller of the overhead cable to obtain the number of vehicles connected to a certain overhead cable and the congestion situation.

[0155] The embodiments of the present application have at least the following beneficial effects:

[0156] (1) The embodiment of the present application proposes an unmanned mining vehicle assisted by overhead cables and a control method thereof (i.e., a vehicle path determination method). The mining vehicle (i.e., an unmanned mining vehicle) can support switching between a fuel mode and an overhead cable mode. In the fuel mode, kinetic energy is provided by consuming fuel. In the overhead cable mode, the vehicle is automatically adsorbed to the overhead cables through its own adsorption device, and energy is provided through the overhead cables, thereby saving fuel consumption.

[0157] (2) When the unmanned mining vehicle is running low on fuel and needs to be refueled, it can autonomously switch between the fuel mode and the wireline mode according to the dispatched scheduling task (refueling task, i.e., refueling instruction) and based on the map (i.e., preset map) and energy consumption forecast, and plan the route to achieve energy saving and improve refueling efficiency.

[0158] (3) Based on V2V information to determine the congestion situation on the road ahead, the system can autonomously switch between fuel mode and wire mode, further improving its intelligence.

[0159] Example 2

[0160] The vehicle control method provided in the embodiment of the present application can be executed by a controller of an unmanned mining vehicle, a cloud platform, a vehicle path determination device, and an electronic device, etc. The following takes the vehicle control method executed by an electronic device as an example for explanation.

[0161] The vehicle control method provided in the embodiment of the present application can be applied to an unmanned mining vehicle, which is mainly used in underground places such as coal mines. The unmanned mining vehicle has a dual energy system and is provided with an adsorption device to adsorb the overhead cables through the adsorption device. The method includes steps S210 to S220.

[0162] S210, determining a target path of the unmanned mining vehicle according to any one of the vehicle path determination methods of Embodiment 1;

[0163] S220, controlling the unmanned mining vehicle to travel along the target path.

[0164] According to the vehicle control method provided in the embodiment of the present application, the unmanned mining vehicle has a dual energy system, which can support both fuel power supply and overhead cable power supply; the unmanned mining vehicle is provided with an adsorption device to adsorb the overhead cable through the adsorption device, so that the unmanned mining vehicle can be connected to the overhead cable through the adsorption device, and then the overhead cable can provide electrical energy for the unmanned mining vehicle to travel; the driving mode of the target path includes a fuel mode and an overhead cable mode. Compared with the prior art in which the driving mode only includes a fuel mode, controlling the unmanned mining vehicle to travel according to the target path can utilize the electrical energy on the overhead cable to provide electrical energy for the unmanned mining vehicle to travel, thereby saving fuel consumption.

[0165] The specific implementation of step S210 can be found in Example 1 and will not be described in detail here.

[0166] In step S220, in some embodiments, the target path includes a first path and a second path, the first path includes a path in which the driving mode is the overhead wire mode, and the second path includes a path in which the driving mode is the fuel mode;

[0167] Control the unmanned mining vehicle to follow the target path, including:

[0168] When it is detected that the current distance between the unmanned mining vehicle and the overhead cable is less than or equal to a preset value and the target path adopts the first path, the unmanned mining vehicle is connected to the overhead cable through the adsorption device, so as to control the unmanned mining vehicle to travel along the first path through the electric energy provided to the unmanned mining vehicle by the overhead cable;

[0169] Alternatively, when it is detected that the current distance between the unmanned mining vehicle and the overhead cable is greater than a preset value and the target path adopts the second path, the adsorption device disconnects the connection with the overhead cable to control the unmanned mining vehicle to travel along the second path by consuming the remaining fuel.

[0170] The preset value can be set according to the actual situation and is not limited here.

[0171] That is to say, when it is detected that the current distance between the unmanned mining vehicle and the overhead cable is less than or equal to the preset value, it can be considered that the unmanned mining vehicle is close to the overhead cable, and when the target path adopts the first path, the adsorption device can be automatically triggered and adsorbed to the overhead cable, and then the unmanned mining vehicle can be powered by the overhead cable. At this time, the fuel supply state (ie, the fuel mode) is forced to exit, and electricity is only transmitted through the overhead cable. The unmanned mining vehicle consumes electricity to maintain driving.

[0172] When it is detected that the current distance between the unmanned mining vehicle and the overhead cable is greater than the preset value, it can be considered that the unmanned mining vehicle is far away from the overhead cable, and the target path adopts the second path. The adsorption device can automatically trigger to disconnect from the overhead cable, and then the unmanned mining vehicle can be powered by fuel. At this time, the overhead cable mode is forced to exit, and driving is maintained only by fuel.

[0173] In some examples, the method further includes:

[0174] obtaining a current distance between the unmanned mining vehicle and the overhead cable through a second sensing device, wherein the second sensing device is arranged on the unmanned mining vehicle;

[0175] Alternatively, the current distance between the unmanned mining vehicle and the overhead cables is determined based on a preset map.

[0176] Exemplarily, the electronic device is communicatively connected to the second sensing device.

[0177] Exemplarily, the second sensing device may include at least one of a sensor, a camera, and a lidar disposed on the top of the unmanned mining vehicle.

[0178] Exemplarily, the first position and geometric shape of the overhead cable are extracted from a preset map, the second position of the unmanned mining vehicle is obtained through the global positioning system, and based on the first position, the geometric shape and the second position, the Euclidean distance formula is used to calculate the current distance between the unmanned mining vehicle and the overhead cable.

[0179] Example 3

[0180] like Figure 4 As shown, the vehicle path determination device provided in the embodiment of the present application is applied to an unmanned mining vehicle, which has a dual energy system and is provided with an adsorption device to adsorb the overhead cable through the adsorption device. The vehicle path determination device may include a first acquisition module 310 and a first planning module 320 connected thereto.

[0181] The first acquisition module 310 is used to acquire target information when receiving a refueling instruction, the target information including the current location, the current remaining fuel amount and the target location of the target gas station;

[0182] The first planning module 320 is used to perform path planning based on target information, a preset map and overhead cable layout location information to obtain a planned target path; the driving modes of the target path include a fuel mode and an overhead cable mode, and the overhead cable mode is a mode in which the unmanned mining vehicle is connected to the overhead cable through an adsorption device to provide power for the driving of the unmanned mining vehicle through the overhead cable.

[0183] In some embodiments, the device further comprises:

[0184] A first prediction module, connected to the first acquisition module and the first planning module, for predicting a target fuel consumption from a current location to a target location based on target information and a preset map;

[0185] The first planning module 320 is specifically used for:

[0186] When the target fuel consumption is greater than the current remaining fuel, path planning is performed according to the target information, the preset map and the overhead cable layout location information to obtain the planned target path.

[0187] In some implementations, the first prediction module is specifically configured to:

[0188] Get the target model of unmanned mining vehicles;

[0189] The target deep learning model is used to predict the target vehicle model and target information, and the target fuel consumption from the current location to the target location is obtained.

[0190] Among them, the target deep learning model is trained through historical positioning, historical fuel remaining, historical target location, historical vehicle model and historical fuel consumption.

[0191] In some implementations, the first planning module 320 is specifically configured to:

[0192] Acquire current information corresponding to different overhead cable areas, the current information including at least one of the current number of vehicles and the current congestion level;

[0193] Path planning is performed based on target information, preset maps, overhead cable layout location information and current information to obtain a planned target path. The overhead cable area corresponding to the target path satisfies at least one of the following: the current number of vehicles is the least, the current congestion level is the lowest, and the distance to the unmanned mining vehicle is the closest.

[0194] In some embodiments, the unmanned mining vehicle is communicatively connected to a target device, the target device comprising at least one of a sensing device, a roadside device, and a controller of an overhead cable;

[0195] The first planning module 320 is specifically used for:

[0196] Receiving current information corresponding to different overhead cable areas sent from the target device;

[0197] Alternatively, the first planning module 320 is specifically configured to:

[0198] The current information of different overhead cable areas is obtained one by one through target direct communication.

[0199] In some embodiments, the target path satisfies: when the unmanned mining vehicle is connected to the overhead cable through the adsorption device, the first remaining fuel amount of the unmanned mining vehicle is greater than 0, and when the unmanned mining vehicle is disconnected from the overhead cable through the adsorption device, the second remaining fuel amount of the unmanned mining vehicle can ensure that the unmanned mining vehicle reaches the target position;

[0200] Alternatively, the target path includes a target overhead cable area, and the distance between the target overhead cable area and the target position is less than or equal to a preset distance.

[0201] The vehicle path determination device provided in the embodiment of the present application can be used to execute the vehicle path determination method, that is, it has the beneficial effects and implementation methods of the vehicle path determination method provided in Example 1 of the present application. For details, please refer to the specific description of the vehicle path determination method in the above Example 1, which will not be repeated in this embodiment.

[0202] Example 4

[0203] The embodiment of the present application also provides a vehicle control system for an unmanned mining vehicle, the unmanned mining vehicle having a dual energy system and provided with an adsorption device to adsorb overhead cables through the adsorption device, the system comprising:

[0204] A vehicle path determination device as in any one of Embodiment 3, used to determine a target path of an unmanned mining vehicle;

[0205] The vehicle control device is connected to the vehicle path determination device and is used to control the unmanned mining vehicle to travel along the target path.

[0206] In some embodiments, the target path includes a first path and a second path, the first path includes a path in which the driving mode is a wireline mode, and the second path includes a path in which the driving mode is a fuel mode;

[0207] Vehicle control device, in particular for:

[0208] When it is detected that the current distance between the unmanned mining vehicle and the overhead cable is less than or equal to a preset value and the target path adopts the first path, the unmanned mining vehicle is connected to the overhead cable through the adsorption device, so as to control the unmanned mining vehicle to travel along the first path through the electric energy provided to the unmanned mining vehicle by the overhead cable;

[0209] Alternatively, when it is detected that the current distance between the unmanned mining vehicle and the overhead cable is greater than a preset value and the target path adopts the second path, the adsorption device disconnects the connection with the overhead cable to control the unmanned mining vehicle to travel along the second path by consuming the remaining fuel.

[0210] In some embodiments, the vehicle control device is specifically configured to:

[0211] The current distance between the unmanned mining vehicle and the overhead cable is obtained by a second sensing device, wherein the sensing device is arranged on the unmanned mining vehicle;

[0212] Alternatively, the current distance between the unmanned mining vehicle and the overhead cables is determined based on a preset map.

[0213] In some embodiments, the vehicle control device further includes:

[0214] A second acquisition module is used to acquire the current distance between the unmanned mining vehicle and the overhead cable through a sensing device, where the sensing device is arranged on the unmanned mining vehicle;

[0215] Alternatively, the first determination module is used to determine the current distance between the unmanned mining vehicle and the overhead cable according to a preset map.

[0216] The vehicle control system provided in the embodiment of the present application can be used to execute the vehicle control method, that is, it has the beneficial effects and implementation methods of the vehicle control method provided in Example 2 of the present application. For details, please refer to the specific description of the vehicle control method in the above Example 2, and this embodiment will not be repeated here.

[0217] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present application, but the present application is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of the present application, and these modifications and improvements are also considered to be within the scope of protection of the present application.

Claims

1. A vehicle path determination method, characterized in that: Applied to an unmanned mining vehicle, the unmanned mining vehicle has a dual energy system and is provided with an adsorption device to adsorb the overhead cable through the adsorption device, the method comprising: When receiving a refueling instruction, obtaining target information, the target information including current location, current remaining fuel amount and target location of a target refueling station; Performing path planning according to the target information, the preset map and the overhead cable layout location information to obtain a planned target path; Among them, the driving mode of the target path includes a fuel mode and an overhead cable mode. The overhead cable mode is a mode in which the unmanned mining vehicle is connected to the overhead cable through the adsorption device to provide electrical energy for the driving of the unmanned mining vehicle through the overhead cable.

2. The method according to claim 1, characterized in that Before performing path planning according to the target information, the preset map and the overhead cable layout location information to obtain the planned target path, the method further includes: Predicting a target fuel consumption from the current location to the target location based on the target information and a preset map; The performing path planning according to the target information, the preset map and the overhead cable layout location information to obtain the planned target path includes: When the target fuel consumption is greater than the current remaining fuel, path planning is performed according to the target information, a preset map and the overhead cable layout location information to obtain a planned target path.

3. The method according to claim 2, characterized in that The step of predicting the target fuel consumption from the current location to the target location according to the target information includes: Obtaining a target model of the unmanned mining vehicle; The target deep learning model is used to predict the target vehicle model and the target information to obtain the target fuel consumption from the current location to the target location. The target deep learning model is trained by historical positioning, historical fuel remaining, historical target location, historical vehicle model and historical fuel consumption.

4. The method according to claim 1 or 2, characterized in that: The performing path planning according to the target information, the preset map and the overhead cable layout location information to obtain the planned target path includes: Acquire current information corresponding to different overhead cable areas, wherein the current information includes at least one of the current number of vehicles and the current congestion level; Path planning is performed based on the target information, the preset map, the overhead cable layout location information and the current information to obtain a planned target path, wherein the overhead cable area corresponding to the target path satisfies at least one of the following: the current number of vehicles is the least, the current congestion level is the lowest and the distance to the unmanned mining vehicle is the closest.

5. The method according to claim 4, characterized in that The unmanned mining vehicle is communicatively connected with a target device, wherein the target device includes at least one of a first sensing device, a roadside device, and a controller of an overhead cable; The obtaining of current information corresponding to different overhead cable areas includes: Receiving current information corresponding to different overhead cable areas sent from the target device; Alternatively, the obtaining of current information corresponding to different overhead cable areas one by one includes: The current information of different overhead cable areas is obtained one by one through target direct communication.

6. The method according to claim 1 or 2, characterized in that: The target path satisfies: when the unmanned mining vehicle is connected to the overhead cable through the adsorption device, the first remaining fuel amount of the unmanned mining vehicle is greater than 0, and when the unmanned mining vehicle is disconnected from the overhead cable through the adsorption device, the second remaining fuel amount of the unmanned mining vehicle can ensure that the unmanned mining vehicle reaches the target position; Alternatively, the target path includes a target overhead cable area, and the distance between the target overhead cable area and the target position is less than or equal to a preset distance.

7. A vehicle control method, characterized in that: Applied to an unmanned mining vehicle, the unmanned mining vehicle has a dual energy system and is provided with an adsorption device to adsorb the overhead cable through the adsorption device, the method comprising: According to the vehicle path determination method according to any one of claims 1 to 6, a target path of the unmanned mining vehicle is determined; The unmanned mining vehicle is controlled to travel along the target path.

8. The method according to claim 7, characterized in that The target path includes a first path and a second path, the first path includes a path in which the driving mode is a wireline mode, and the second path includes a path in which the driving mode is a fuel mode; The controlling the unmanned mining vehicle to travel according to the target path includes: When it is detected that the current distance between the unmanned mining vehicle and the overhead cable is less than or equal to a preset value and the target path adopts a first path, the adsorption device is connected to the overhead cable to control the unmanned mining vehicle to travel along the first path by using the electric energy provided to the unmanned mining vehicle by the overhead cable; Alternatively, when it is detected that the current distance between the unmanned mining vehicle and the overhead cable is greater than a preset value and the target path adopts a second path, the adsorption device disconnects the connection with the overhead cable to control the unmanned mining vehicle to travel along the second path by consuming the remaining fuel.

9. The method according to claim 8, characterized in that The method further comprises: acquiring a current distance between the unmanned mining vehicle and the overhead cable by a second sensing device, wherein the second sensing device is disposed on the unmanned mining vehicle; Alternatively, the current distance between the unmanned mining vehicle and the overhead cable is determined according to a preset map.

10. A vehicle path determination device, characterized in that: Applied to an unmanned mining vehicle, the unmanned mining vehicle has a dual energy system and is provided with an adsorption device to adsorb overhead cables through the adsorption device, the device comprising: A first acquisition module is used to acquire target information when receiving a refueling instruction, wherein the target information includes a current location, a current remaining amount of fuel, and a target location of a target gas station; A first planning module, connected to the first acquisition module, is used to perform path planning according to the target information, the preset map and the overhead cable layout location information to obtain a planned target path; Among them, the driving mode of the target path includes a fuel mode and an overhead cable mode. The overhead cable mode is a mode in which the unmanned mining vehicle is connected to the overhead cable through the adsorption device to provide electrical energy for the driving of the unmanned mining vehicle through the overhead cable.

11. The device according to claim 10, characterized in that The device also includes: a first prediction module, connected to the first acquisition module and the first planning module, for predicting a target fuel consumption from the current location to the target location according to the target information and a preset map; The first planning module is specifically used for: When the target fuel consumption is greater than the current remaining fuel, path planning is performed according to the target information, a preset map and the overhead cable layout location information to obtain a planned target path.

12. The device according to claim 11, characterized in that The first prediction module is specifically used for: Obtaining a target model of the unmanned mining vehicle; The target deep learning model is used to predict the target vehicle model and the target information to obtain the target fuel consumption from the current location to the target location. The target deep learning model is trained by historical positioning, historical fuel remaining, historical target location, historical vehicle model and historical fuel consumption.

13. The device according to claim 11 or 12, characterized in that The first planning module is specifically used for: Acquire current information corresponding to different overhead cable areas, wherein the current information includes at least one of the current number of vehicles and the current congestion level; Path planning is performed based on the target information, the preset map, the overhead cable layout location information and the current information to obtain a planned target path, wherein the overhead cable area corresponding to the target path satisfies at least one of the following: the current number of vehicles is the least, the current congestion level is the lowest and the distance to the unmanned mining vehicle is the closest.

14. A vehicle control system, characterized in that: Applied to an unmanned mining vehicle, the unmanned mining vehicle has a dual energy system and is provided with an adsorption device to adsorb overhead cables through the adsorption device, the system comprising: The vehicle path determination device according to any one of claims 10 to 13, used to determine a target path for an unmanned mining vehicle; The vehicle control device is connected to the vehicle path determination device and is used to control the unmanned mining vehicle to travel along the target path.

15. The system according to claim 14, characterized in that The target path includes a first path and a second path, the first path includes a path in which the driving mode is a wireline mode, and the second path includes a path in which the driving mode is a fuel mode; Vehicle control device, in particular for: When it is detected that the current distance between the unmanned mining vehicle and the overhead cable is less than or equal to a preset value and the target path adopts a first path, the adsorption device is connected to the overhead cable to control the unmanned mining vehicle to travel along the first path by using the electric energy provided to the unmanned mining vehicle by the overhead cable; Alternatively, when it is detected that the current distance between the unmanned mining vehicle and the overhead cable is greater than a preset value and the target path adopts a second path, the adsorption device disconnects the connection with the overhead cable to control the unmanned mining vehicle to travel along the second path by consuming the remaining fuel.

16. The system according to claim 15, characterized in that Vehicle control device, in particular for: acquiring a current distance between the unmanned mining vehicle and the overhead cable by a second sensing device, wherein the second sensing device is disposed on the unmanned mining vehicle; Alternatively, the current distance between the unmanned mining vehicle and the overhead cable is determined according to a preset map.

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