Electric wheel type mine dump truck and its unmanned driving system

Abstract

The application discloses an electric wheel type mine self-unloading vehicle and an unmanned system thereof, and relates to the field of electric wheel type mine self-unloading vehicles.The unmanned system of the electric wheel type mine self-unloading vehicle comprises an unmanned hydraulic braking module, and the unmanned hydraulic braking module comprises a front braking accumulator, a rear braking accumulator, a pedal brake valve, a front follow-up valve, a rear follow-up valve, an unmanned front brake valve group and an unmanned rear brake valve group.The unmanned system realizes unmanned braking and manual braking, and realizes switching between the unmanned braking and the manual braking;the modification to the original vehicle is small, the modification cost is reduced, and the unmanned system is convenient to popularize and use.The unmanned system of the electric wheel type mine self-unloading vehicle also realizes control of steering, a vehicle hopper, loading braking, engine starting and stopping, gear shifting, engine acceleration and deceleration, a horn, a vehicle lamp, a warning lamp, AC driving stopping and overcontrol in the unmanned mode and fault collection.

Description

Technical Field

[0001] The present invention relates to the technical field of mining dump trucks, and more particularly to an electric wheeled mining dump truck and an unmanned driving system thereof. Background Art

[0002] Mining dump trucks are widely used for transporting earth and rock in industries such as metallurgy, nonferrous metals, chemicals, coal, building materials, and hydropower, and are currently the primary means of transportation in large open-pit mines. In many mining companies, massive mining machinery operates 24 / 7, forcing operators to endure harsh working environments characterized by noise, dust, and vibration. The high temperatures, humidity, noise, and vibrations in these environments pose significant health risks to operators. Young people in the new century are reluctant to take on these jobs, making it difficult for companies to recruit these workers. Against this backdrop, autonomous mining transportation technology has gradually emerged as a key technology for the automation of mining equipment.

[0003] Electric wheeled mining dump trucks are a common type of mining dump truck, such as the Komatsu 830E / 930E. However, how to modify these trucks to switch between manual and unmanned braking, thus satisfying both manual and unmanned driving requirements, remains a pressing challenge for those skilled in the art. Summary of the Invention

[0004] The present invention aims to provide an unmanned driving system for an electric wheeled mining dump truck, which enables switching between manual and unmanned braking, thus meeting the requirements of both manual and unmanned driving. Another object of the present invention is to provide an electric wheeled mining dump truck including the above-mentioned unmanned driving system.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] An unmanned driving system for an electric wheeled mining dump truck includes an unmanned driving hydraulic brake module, wherein the unmanned driving hydraulic brake module includes: a front brake accumulator, a rear brake accumulator, a pedal brake valve, a front relay valve, a rear relay valve, an unmanned driving front brake valve group, and an unmanned driving rear brake valve group;

[0007] The first valve inlet port of the pedal brake valve and the first valve inlet port of the front relay valve are both connected to the valve outlet port of the front brake accumulator, and the second valve inlet port of the pedal brake valve and the first valve inlet port of the rear relay valve are both connected to the valve outlet port of the rear brake accumulator.

[0008] The unmanned front brake valve group has a front brake first valve port, a front brake second valve port and a front brake third valve port, the front brake first valve port is communicated with an oil outlet of the front brake accumulator, the front brake second valve port is communicated with a front brake outlet valve port of the pedal brake valve, and the front brake third valve port is communicated with a second inlet valve port of the front follow-up valve;

[0009] The unmanned rear brake valve group has a rear brake first valve port, a rear brake second valve port and a rear brake third valve port, the rear brake first valve port is communicated with an oil outlet of the rear brake accumulator, the rear brake second valve port is communicated with a rear brake outlet valve port of the pedal brake valve, and the rear brake third valve port is communicated with a second inlet valve port of the rear follow-up valve;

[0010] If the electric wheel type mine self-unloading vehicle adopts unmanned driving brake, the front brake first valve port is communicated with the front brake third valve port, and the rear brake first valve port is communicated with the rear brake third valve port;

[0011] If the electric wheel type mine self-unloading vehicle adopts manual driving brake, the front brake second valve port is communicated with the front brake third valve port, and the rear brake second valve port is communicated with the rear brake third valve port.

[0012] Optionally, the unmanned front brake valve group comprises a front proportional valve, a front on-off valve, a front shuttle valve and a front pressure sensor for detecting the pressure in the front proportional valve, and the unmanned rear brake valve group comprises a rear proportional valve, a rear on-off valve, a rear shuttle valve and a rear pressure sensor for detecting the pressure in the rear proportional valve;

[0013] The first valve port of the front proportional valve is the front brake first valve port, the second valve port of the front proportional valve is communicated with the first valve port of the front on-off valve, the second valve port of the front on-off valve is communicated with the first valve port of the front shuttle valve, the second valve port of the front shuttle valve is the front brake second valve port, and the third valve port of the front shuttle valve is the front brake third valve port;

[0014] The first valve port of the rear proportional valve is the rear brake first valve port, the second valve port of the rear proportional valve is communicated with the first valve port of the rear on-off valve, the second valve port of the rear on-off valve is communicated with the first valve port of the rear shuttle valve, the second valve port of the rear shuttle valve is the rear brake second valve port, and the third valve port of the rear shuttle valve is the rear brake third valve port;

[0015] If the electric wheel type mine self-unloading vehicle adopts unmanned driving brake, the first valve port of the front shuttle valve is communicated with the third valve port of the front shuttle valve, and the first valve port of the rear shuttle valve is communicated with the third valve port of the rear shuttle valve;

[0016] If the electric wheeled mining dump truck adopts manual driving brake, the second valve port of the front shuttle valve is connected to the third valve port of the front shuttle valve, and the second valve port of the rear shuttle valve is connected to the third valve port of the rear shuttle valve;

[0017] If the electric wheeled mining dump truck adopts unmanned braking and manual driving braking, the one with higher pressure between the first valve port of the front shuttle valve and the second valve port of the front shuttle valve is connected to the third valve port of the front shuttle valve, and the one with higher pressure between the first valve port of the rear shuttle valve and the second valve port of the rear shuttle valve is connected to the third valve port of the rear shuttle valve.

[0018] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes: a host computer, and an electronic control unit in communication with the host computer; wherein the electronic control unit controls the unmanned front brake valve group and the unmanned rear brake valve group according to instructions from the host computer. Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes an unmanned hydraulic steering module, and the unmanned hydraulic steering module includes: a steering gear, a flow amplifier, and a steering angle sensor;

[0019] Wherein, the steering gear is an electronically controlled hydraulic steering gear, and the angle sensor is used to detect the angle of the steering cylinder;

[0020] The steering gear inputs hydraulic oil to the flow amplifier through a steering pipe assembly, wherein the steering pipe assembly includes a steering shuttle valve, a steering check valve, an R pipe, an L pipe, a T pipe, an LS pipe, a P pipe and an auxiliary pipe;

[0021] The R valve port of the steering gear is connected to the R valve port of the flow amplifier through a steering R pipe, the L valve port of the steering gear is connected to the L valve port of the flow amplifier through an L pipe, the T valve port of the steering gear is connected to the T valve port of the flow amplifier through a T pipe, the LS valve port of the steering gear is connected to the LS valve port of the flow amplifier through an LS pipe, and the P valve port of the steering gear is connected to the P valve port of the flow amplifier through a P pipe;

[0022] The first valve port of the steering shuttle valve is in communication with the R pipe, the second valve port of the steering shuttle valve is in communication with the L pipe, the third valve port of the steering shuttle valve is in communication with the first valve port of the steering check valve, and the second valve port of the steering check valve is in communication with the LS pipe. The steering check valve can only conduct electricity from the steering shuttle valve to the LS pipe.

[0023] The P pipe and the LS pipe are communicated with each other through an auxiliary pipe, and a communication position of the auxiliary pipe on the LS pipe is located between the steering check valve and the flow amplifier.

[0024] Optionally, the unmanned system of the electric wheel type mine dump truck further comprises a host computer and a steering controller in communication connection, the steering controller controls the steering gear to output a set proportion of hydraulic oil to the flow amplifier to control the steering cylinder to rotate a set angle according to the instruction of the host computer.

[0025] Optionally, the unmanned system of the electric wheel type mine dump truck further comprises an unmanned truck body hydraulic control module, the unmanned truck body hydraulic control module comprises a lifting valve, a lifting pilot valve and an unmanned truck body control valve group.

[0026] The unmanned truck body control valve group comprises a first switching valve, a truck body valve group, a second switching valve a and a second switching valve b.

[0027] The first valve port of the first switching valve is used for supplying oil to the pump group, the second valve port of the first switching valve and the first valve port of the lifting pilot valve of the lifting pilot valve are in communication, and the third valve port of the first switching valve and the first valve port of the truck body valve group are in communication.

[0028] The first valve port of the second switching valve a and the first valve port of the lifting valve of the lifting valve are in communication, the second valve port of the second switching valve a and the second valve port of the lifting pilot valve of the lifting pilot valve are in communication, and the third valve port of the second switching valve a and the second valve port of the truck body valve group are in communication.

[0029] The first valve port of the second switching valve b and the second valve port of the lifting valve of the lifting valve are in communication, the second valve port of the second switching valve b and the third valve port of the lifting pilot valve of the lifting pilot valve are in communication, and the third valve port of the second switching valve b and the third valve port of the truck body valve group are in communication.

[0030] If the electric wheel type mine dump truck is in the manual truck body control mode, the first valve port of the first switching valve and the second valve port of the first switching valve are in communication, the first valve port of the second switching valve a and the second valve port of the second switching valve a are in communication, and the first valve port of the second switching valve b and the second valve port of the second switching valve b are in communication.

[0031] If the electric wheel type mine dump truck is in the unmanned truck body control mode, the first valve port of the first switching valve and the third valve port of the first switching valve are in communication, the first valve port of the second switching valve a and the third valve port of the second switching valve a are in communication, and the first valve port of the second switching valve b and the third valve port of the second switching valve b are in communication.

[0032] If the electric wheeled mining dump truck is in an unmanned bucket control mode, when the bucket valve group is in a first state, the first valve port of the second switching valve a outputs hydraulic oil to realize that the bucket is in a power reduction state; when the bucket valve group is in a second state, the first valve port of the second switching valve b outputs hydraulic oil to realize that the bucket is in a power lifting state; when the bucket valve group is in a third state, the first valve port of the second switching valve a and the first valve port of the second switching valve b are connected to realize that the bucket is in a floating state; when the bucket valve group is in a fourth state, the return oil valve port of the bucket valve group outputs hydraulic oil to realize that the bucket is in a holding state.

[0033] Optionally, the bucket valve group of the unmanned driving system of the electric wheeled mining dump truck includes: a third switching valve, a fourth switching valve, a fifth switching valve, and a sixth switching valve;

[0034] The third switching valve has a first valve port, a second valve port, a third valve port, and a fourth valve port. If the third switching valve is in a first state, the first valve port, the second valve port, the third valve port, and the fourth valve port of the third switching valve are all disconnected. If the third switching valve is in a second state, the first valve port of the third switching valve is connected to the third valve port of the third switching valve, and the fourth valve port of the third switching valve is connected to the second valve port of the third switching valve.

[0035] The sixth switching valve has a first valve port, a second valve port, a third valve port, and a fourth valve port; if the sixth switching valve is in a first state, the first valve port, the second valve port, the third valve port, and the fourth valve port of the sixth switching valve are all disconnected; if the sixth switching valve is in a second state, the first valve port of the sixth switching valve is connected to the fourth valve port of the sixth switching valve, and the third valve port of the sixth switching valve is connected to the second valve port of the sixth switching valve;

[0036] The fourth switching valve has a first valve port and a second valve port. When the fourth switching valve is in a first state, the first valve port and the second valve port of the fourth switching valve are connected. When the fourth switching valve is in a second state, the fourth switching valve is disconnected.

[0037] The fifth switching valve has a first valve port and a second valve port. When the fifth switching valve is in a first state, the fifth switching valve is disconnected. When the fifth switching valve is in a second state, the first valve port and the second valve port of the fifth switching valve are connected.

[0038] The first valve port of the third switching valve is connected to the third valve port of the first switching valve through a first pipeline, and the first valve port of the sixth switching valve is connected to the first pipeline through a second pipeline;

[0039] The second valve port of the sixth switching valve is connected to the oil return line via a third pipeline, and the second valve port of the third switching valve is connected to the third pipeline via a fourth pipeline. The fourth switching valve is connected in series to the fifth pipeline, one end of the fifth pipeline is connected to the first pipeline, and the other end of the fifth pipeline is connected to the third pipeline. On the first pipeline, the fifth pipeline is located between the third valve port of the first switching valve and the second pipeline; on the third pipeline, the fifth pipeline is located between the fourth pipeline and the oil return line.

[0040] The third valve port of the sixth switching valve is connected to the third valve port of the second switching valve b through a sixth pipeline, and the fourth valve port of the sixth switching valve is connected to the third valve port of the second switching valve a through a seventh pipeline;

[0041] The second valve port of the fifth switching valve is connected to the third valve port of the third switching valve through the eighth pipeline, the middle part of the eighth pipeline is connected to the sixth pipeline, the first valve port of the fifth switching valve is connected to the seventh pipeline through the ninth pipeline, the fourth valve port of the third switching valve is connected to the sixth pipeline through the tenth pipeline, and on the seventh pipeline, the fourth valve port of the sixth switching valve, the ninth pipeline, the tenth pipeline, and the third valve port of the second switching valve a are distributed in sequence.

[0042] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes: a host computer, and an electronic control unit communicatively connected to the host computer; wherein the electronic control unit controls the unmanned vehicle bucket control valve group according to instructions from the host computer.

[0043] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes an unmanned driving wheel brake locking module, wherein the unmanned driving wheel brake locking module includes: a brake locking solenoid valve, a brake locking switch, a first-hand automatic switch, a first loading brake relay, a second-hand automatic switch, a second loading brake relay, a first wire, a second wire, a third wire, and a fourth wire;

[0044] Wherein, one end of the first wire is electrically connected to the brake lock solenoid valve, and the other end of the first wire is used to be electrically connected to the electric control box; one end of the second wire is used to communicate with the auxiliary box control module, and the other end of the second wire is used to communicate with the electric control box; the brake lock switch is connected in series to the first wire via its first input end and first output end, and the brake lock switch is connected in series to the second wire via its second input end and second output end;

[0045] One end of the third wire is electrically connected with the brake locking electromagnetic valve, and the other end of the third wire is electrically connected with the electric control box; one end of the fourth wire is connected with the auxiliary box control module in communication, and the other end of the fourth wire is connected with the electric control box in communication; the first loading brake relay is connected in series on the third wire, and the second loading brake relay is connected in series on the fourth wire;

[0046] The first hand automatic switcher switches the first wire and the third wire to be connected in series between the electric control box and the brake locking electromagnetic valve, and the second hand automatic switcher switches the second wire and the fourth wire to be connected in series between the auxiliary box control module and the electric control box;

[0047] If the electric wheel type mine dump truck adopts manual brake locking, the first hand automatic switcher is switched to the state that the first wire is connected in series between the electric control box 100 and the brake locking electromagnetic valve, and the second hand automatic switcher is switched to the state that the second wire is connected in series between the auxiliary box control module and the electric control box;

[0048] If the electric wheel type mine dump truck adopts unmanned brake locking, the first hand automatic switcher is switched to the state that the third wire is connected in series between the electric control box and the brake locking electromagnetic valve, and the second hand automatic switcher is switched to the state that the fourth wire is connected in series between the auxiliary box control module and the electric control box;

[0049] The first loading brake relay and the second loading brake relay are in the same state.

[0050] Optionally, the first hand automatic switcher and the second hand automatic switcher are both hand automatic switch relays.

[0051] The input interface of the first hand automatic switcher is electrically connected with the electric control box, the first output interface of the first hand automatic switcher is electrically connected with the first wire, and the second output interface of the first hand automatic switcher is electrically connected with the third wire.

[0052] The third wire is electrically connected with the first wire, and the connection position of the third wire and the first wire is between the brake locking electromagnetic valve and the first output end of the brake locking switch.

[0053] The input interface of the second hand automatic switcher is electrically connected with the auxiliary box controller, the first output interface of the second hand automatic switcher is electrically connected with the second wire, and the second output interface of the second hand automatic switcher is electrically connected with the fourth wire.

[0054] The fourth wire is electrically connected to the second wire, and a connection position between the fourth wire and the second wire is located between the electric control box and the second output end of the brake lock switch.

[0055] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes: a host computer, an electronic control unit communicatively connected to the host computer;

[0056] Among them, the communication interfaces of the first manual-automatic switch, the second manual-automatic switch, the first loading brake relay and the second loading brake relay are all communicatively connected to the electronic control unit, and the electronic control unit controls the first manual-automatic switch, the second manual-automatic switch, the first loading brake relay and the second loading brake relay according to the instructions of the host.

[0057] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes an unmanned driving engine control module, which includes: a power supply, a key switch, a power relay, an electric control box, an ignition relay, a flameout relay, an ignition circuit, a manual-automatic switching unit, and an electronic control unit;

[0058] The power supply supplies power to the key switch through a first power supply wire, and the flameout relay is connected in series to the first power supply wire and controls the on and off of the first power supply wire;

[0059] The power supply supplies power to the electric control box through a second power supply wire, and the power relay is connected in series to the second power supply wire and controls the on and off of the second power supply wire;

[0060] The communication interface of the power supply relay is communicatively connected to the power supply position of the key switch, and when the key switch is in the power supply position, the power supply relay conducts the second power supply wire;

[0061] The electronic control unit is in communication with the power supply position of the key switch and obtains whether the key switch is in the power supply position;

[0062] The manual-automatic switching unit has an unmanned driving gear position and a manual driving gear position, and the electronic control unit is electrically connected to the manual-automatic switching unit and obtains the gear position of the manual-automatic switching unit;

[0063] The communication interface of the ignition relay and the communication interface of the flameout relay are both communicatively connected to the electronic control unit;

[0064] The ignition relay is connected in series to the automatic ignition circuit, one end of the automatic ignition circuit is electrically connected to the ignition circuit, the other end of the automatic ignition circuit is electrically connected to the power supply position of the key switch, and the ignition circuit is electrically connected to the ignition position of the key switch;

[0065] If the manual-automatic switching unit is in the unmanned driving gear and the key switch is in the power supply gear, the electronic control unit controls the ignition relay to turn on the automatic ignition circuit.

[0066] Optionally, the unmanned driving engine control module further includes an unmanned driving system power supply, which is used to supply power to the unmanned driving system power supply and the electronic control unit;

[0067] And / or, the unmanned driving system of the electric wheeled mining dump truck further includes a host, the electronic control unit is communicatively connected to the host, and the electronic control unit controls the on and off of the ignition relay and the flameout relay according to instructions from the host;

[0068] And / or, the manual-automatic switching unit includes at least one mode selection switch and / or at least one mode selection button, each of the mode selection switches has an unmanned driving gear and a manual driving gear, and each of the mode selection buttons has an unmanned driving gear and a manual driving gear.

[0069] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes an unmanned driving gear switching module, wherein the unmanned driving gear switching module includes: a direction selection switch, a direction selection relay, an electric control box and an electronic control unit;

[0070] The direction selection switch has a parking communication interface, a reverse communication interface, a neutral communication interface and a forward communication interface, and the electronic control unit has an automatic parking communication interface, an automatic reverse communication interface, an automatic neutral communication interface and an automatic forward communication interface;

[0071] The direction selection relay has a first neutral input interface, a second neutral input interface, a first parking input interface, a second parking input interface, a first reverse input interface, a second reverse input interface, a first forward input interface, a second forward input interface, a first output interface, a second output interface, a third output interface, a fourth output interface and a switching input interface;

[0072] wherein the neutral communication interface is communicatively connected to the first neutral input interface, the parking communication interface is communicatively connected to the first parking input interface, the reverse communication interface is communicatively connected to the first reverse input interface, and the forward communication interface is communicatively connected to the first forward input interface;

[0073] The automatic neutral communication interface and the second neutral input interface are in communication connection, the automatic parking communication interface and the second parking input interface are in communication connection, the automatic reverse communication interface and the second reverse input interface are in communication connection, and the automatic forward communication interface and the second forward input interface are in communication connection; if the direction selection relay is in a first state, the first output interface and the first neutral input interface are in communication connection, the second output interface and the first parking input interface are in communication connection, the third output interface and the first reverse input interface are in communication connection, and the fourth output interface and the first forward input interface are in communication connection;

[0074] If the direction selection relay is in a second state, the first output interface and the second neutral input interface are in communication connection, the second output interface and the second parking input interface are in communication connection, the third output interface and the second reverse input interface are in communication connection, and the fourth output interface and the second forward input interface are in communication connection;

[0075] The electronic control unit and the switching input interface are in communication connection to control the state of the direction selection relay;

[0076] The electronic control unit and the direction selection switch are in communication connection to collect the state of the direction selection switch, and the electronic control unit and the electric control box are in signal connection to collect the gear signal sent by the electric control box.

[0077] Optionally, the unmanned system of the electric wheel type mine dump truck further comprises a host computer, and the electronic control unit and the host computer are in communication connection.

[0078] If the direction selection switch is in the parking gear, the electronic control unit inputs a gear signal to the direction selection relay according to the instruction of the host computer; if the direction selection switch is not in the parking gear, the electronic control unit inputs a gear signal to the direction selection relay according to the gear in which the direction selection switch is located.

[0079] Optionally, the unmanned system of the electric wheel type mine dump truck further comprises an unmanned engine speed control module, and the unmanned engine speed control module comprises a throttle pedal, a brake pedal, a switching relay, an electronic control unit and an electric control box.

[0080] The switching relay has a communication interface, a first acceleration input interface, a second acceleration input interface, a first deceleration input interface, a second deceleration input interface, an acceleration output interface and a deceleration output interface.

[0081] The first acceleration input interface is communicatively connected to the accelerator pedal, and the first deceleration input interface is communicatively connected to the brake pedal; the second acceleration input interface and the second deceleration input interface are both communicatively connected to the electronic control unit; the acceleration outlet and the deceleration outlet are both communicatively connected to the electronic control box;

[0082] If the switching relay is in a first state, the first acceleration input interface and the acceleration output interface are electrically connected, and the first deceleration input interface and the deceleration output interface are electrically connected; if the switching relay is in a second state, the second acceleration input interface and the acceleration output interface are electrically connected, and the second deceleration input interface and the deceleration output interface are electrically connected; the electronic control unit and the communication interface of the switching relay are connected to control the state of the switching relay.

[0083] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes a host, the electronic control unit and the host are connected via a network cable, and the electronic control unit sends a signal to the electric control box according to an instruction of the host; the electronic control unit is connected to the accelerator pedal to collect the state of the accelerator pedal and feed it back to the host, and the electronic control unit is connected to the brake pedal to collect the state of the brake pedal and feed it back to the host;

[0084] And / or, the output end of the brake pedal is communicatively connected to the first deceleration input interface via a deceleration circuit, the electronic control unit is communicatively connected to the deceleration circuit via a voltage dividing circuit, and the voltage dividing circuit is connected in series with a voltage dividing resistor.

[0085] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes an unmanned driving horn control module, wherein the unmanned driving horn control module includes: a horn button, a first horn relay, a second horn relay and an electronic control unit;

[0086] Wherein, the first horn relay and the second horn relay are arranged in parallel, and the branch where the first horn relay is located and the branch where the second horn relay is located are both connected in series with the horn;

[0087] The horn button is connected to the communication interface of the first horn relay to control the on and off of the first horn relay, and the electronic control unit is connected to the communication interface of the second horn relay to control the on and off of the second horn relay.

[0088] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes a host, the electronic control unit is communicatively connected to the host, and the electronic control unit controls the on and off of the second horn relay according to instructions from the host.

[0089] Optionally, the unmanned system of the electric wheel type mine dump truck further comprises an unmanned truck lamp control module, the unmanned truck lamp control module comprising: a low beam relay, a high beam relay, a low-high beam switching switch, a headlamp switch, a turn signal switch and an electronic control unit; wherein the headlamp switch and a communication interface of the low beam relay are connected to control on-off of the low beam relay, the low beam relay is connected in series on a low beam circuit, if the low beam relay is on, the low beam is on, if the low beam relay is off, the low beam is off;

[0090] The headlamp switch is connected to a communication interface of the low-high beam switching switch and the high beam relay to control on-off of the high beam relay, the high beam relay is connected in series on a high beam circuit, if the high beam relay is on, the high beam is on, if the high beam relay is off, the high beam is off;

[0091] The turn signal switch is used to control opening and closing of a left turn signal, a left outline lamp, a right turn signal and a right outline lamp;

[0092] A communication interface of the electronic control unit and the low beam relay is connected to control on-off of the low beam relay, a communication interface of the electronic control unit and the high beam relay is connected to control on-off of the high beam relay, the electronic control unit and the left turn signal are connected to control opening and closing of the left turn signal, the electronic control unit and the left outline lamp are connected to control opening and closing of the left outline lamp, the electronic control unit and the right turn signal are connected to control opening and closing of the right turn signal, and the electronic control unit and the right outline lamp are connected to control opening and closing of the right outline lamp.

[0093] Optionally, the unmanned system of the electric wheel type mine dump truck further comprises a host computer, the electronic control unit and the host computer are in communication connection, the electronic control unit controls on-off of the low beam relay and the high beam relay according to an instruction of the host computer, the electronic control unit controls opening and closing of the left turn signal and the left outline lamp according to the instruction of the host computer, and the electronic control unit controls opening and closing of the right turn signal and the right outline lamp according to the instruction of the host computer.

[0094] Optionally, the unmanned system of the electric wheel type mine dump truck further comprises an unmanned warning light control module, the unmanned warning light control module comprising: three warning light groups, a warning light relay and an electronic control unit;

[0095] Each of the warning light groups includes at least one warning light, the warning light of one of the warning light groups is a red light, the warning light of one of the warning light groups is a yellow light, and the warning light of another of the warning light groups is a blue light, and the warning light relays correspond to the warning light groups in a one-to-one manner;

[0096] The warning light relay is connected in series between the corresponding warning light group and the electronic control unit to control the opening and closing of each light in the warning light group, and the communication interface of the electronic control unit and the warning light relay is connected to control the on and off of the warning light relay;

[0097] If the electric wheeled mining dump truck is in unmanned driving mode, the blue light flashes; if the electric wheeled mining dump truck is in manual driving mode, the yellow light flashes; if the electric wheeled mining dump truck is in fault mode, the red light is on.

[0098] Optionally, the unmanned driving system of the electric wheeled mining dump truck also includes a host, which is communicatively connected to the electronic control unit. The electronic control unit controls the on and off of the corresponding warning light relay according to instructions issued by the host and sends signals to the corresponding warning light relay to control the corresponding warning light group.

[0099] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes: an AC drive stop switch, an override switch, an electric control box, an AC drive stop relay, an override relay, and an electronic control unit;

[0100] The AC drive stop relay and the AC drive stop switch are arranged in parallel, the branch where the AC drive stop relay is located and the branch where the AC drive stop switch is located are both communicatively connected to the electric control box, and the electronic control unit is connected to the communication interface of the AC drive stop relay to control the on and off of the AC drive stop relay;

[0101] The override relay and the override switch are arranged in parallel, the branch where the override relay is located and the branch where the override switch is located are both communicatively connected to the electric control box, and the communication interface of the electronic control unit and the override relay is connected to control the on and off of the override relay.

[0102] Optionally, the unmanned driving system of the electric wheeled mining dump truck further includes a host, the electronic control unit is communicatively connected to the host, and the electronic control unit controls the on and off of the AC drive stop relay and the on and off of the override relay according to instructions from the host.

[0103] Based on the unmanned driving system of the electric wheeled mining dump truck provided above, the present invention also provides an electric wheeled mining dump truck, which includes the unmanned driving system of the electric wheeled mining dump truck described in any one of the above items.

[0104] Optionally, the electric wheeled mining dump truck is a Komatsu electric wheeled mining dump truck, and the Komatsu electric wheeled mining dump truck is a Komatsu 830E electric wheeled mining dump truck or a Komatsu 930E electric wheeled mining dump truck.

[0105] In the unmanned driving system of the electric wheeled mining dump truck provided by the present invention, in the unmanned driving system of the above-mentioned electric wheeled mining dump truck, by adding an unmanned driving front brake valve group and an unmanned driving rear brake valve group, through the cooperation of the unmanned driving front brake valve group, the unmanned driving rear brake valve group, the front brake accumulator, the rear brake accumulator, the pedal brake valve, the front relay valve, and the rear relay valve, both unmanned driving braking and manual driving braking can be realized; by switching the states of the unmanned driving front brake valve group and the unmanned driving rear brake valve group, switching between manual driving braking and unmanned driving braking is realized, meeting the needs of both manual driving and unmanned driving; moreover, it can be achieved by adding the unmanned driving front brake valve group and the unmanned driving rear brake valve group, with relatively little modification to the original vehicle, reducing the modification cost, and facilitating promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0107] Figure 1 A schematic diagram of the hydraulic braking principle of an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0108] Figure 2 A block diagram illustrating the principle of manual driving and braking in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0109] Figure 3 A block diagram of the principle of unmanned braking in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0110] Figure 4 A schematic diagram of the hydraulic steering system of an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0111] Figure 5A block diagram showing the principle of bucket control in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0112] Figure 6 A block diagram showing the principle of manually controlling the bucket in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0113] Figure 7 A schematic diagram of a bucket control valve in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0114] Figure 8 A schematic diagram of an unmanned wheel brake locking module in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0115] Figure 9 A schematic diagram of an unmanned engine control module in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0116] Figure 10 A schematic diagram of an unmanned driving gear shift module in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0117] Figure 11 A schematic diagram of an unmanned engine speed control module in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0118] Figure 12 A schematic diagram of an unmanned driving horn control module in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0119] Figure 13 A schematic diagram of an unmanned driving light control module in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0120] Figure 14 A schematic diagram of an unmanned driving warning light control module in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0121] Figure 15 A control schematic diagram of an AC drive stop switch and an override switch in an unmanned driving system of an electric wheeled mining dump truck provided by an embodiment of the present invention;

[0122] Figure 16 A block diagram of an unmanned driving system for an electric wheeled mining dump truck provided in an embodiment of the present invention.

[0123] Figure 1Middle: front brake accumulator 11, rear brake accumulator 12, front relay valve 13, rear relay valve 14, unmanned front brake valve group 15, unmanned rear brake valve group 16, pedal brake valve 17, oil distribution valve group 18;

[0124] Figure 4 Middle: steering gear 21, flow amplifier 22, steering shuttle valve 23, steering check valve 24, R pipe 25, L pipe 26, T pipe 27, LS pipe a28, P pipe 29, LS pipe b210, auxiliary pipe 211;

[0125] Figure 7 Middle: fifth switching valve E1, sixth switching valve E2, third switching valve E3, fourth switching valve E4, second switching valve a E51, second switching valve b E52, first switching valve E6, one-way valve E7, pressure relief valve E8, first pipeline 31, second pipeline 32, third pipeline 33, fourth pipeline 34, fifth pipeline 35, sixth pipeline 36, seventh pipeline 37, eighth pipeline 38, ninth pipeline 39, tenth pipeline 310, eleventh pipeline 311, oil return pipeline 312, pump group oil inlet pipe 313, first valve port 314 of lifting pilot valve, second valve port 315 of lifting pilot valve, third valve port 316 of lifting pilot valve, first valve port 317 of lifting valve, second valve port 318 of lifting valve;

[0126] Figure 8 Middle: brake lock solenoid valve 41, brake lock switch 42, first wire 43, second wire 44, third wire 45, fourth wire 46, first loading brake relay 47, second loading brake relay 48, first hand automatic switch 49, second hand automatic switch 410;

[0127] Figure 9 Middle: mode selection button 51, first power supply wire 52, key switch 53, off position 53a, power supply position 53b, ignition position 53c, second power supply wire 54, power relay 55, mode selection switch 56, ignition circuit 57, ignition relay 58, flameout relay 59, automatic ignition circuit 510, unmanned driving system power supply 511;

[0128] Figure 10Middle: direction selection switch 61, direction selection relay 62, parking communication interface P, reversing communication interface R, neutral communication interface N, forward communication interface D, automatic parking communication interface P', automatic reversing communication interface R', automatic neutral communication interface N', automatic forward communication interface D', first neutral input interface 621, first parking input interface 622, first reversing input interface 623, first forward input interface 624, second neutral input interface 625, second parking input interface 626, second reversing input interface 627, second forward input interface 628, first output interface 629, second output interface 6210, third output interface 6211, fourth output interface 6212, switching input interface 6213, grounding interface 6214;

[0129] Figure 11 Middle: accelerator pedal 71, brake pedal 72, acceleration circuit 73, switching relay 74, deceleration circuit 75, voltage divider circuit 76, voltage divider resistor 77;

[0130] Figure 12 Middle: horn button 81, first horn relay 82, second horn relay 83, horn 84;

[0131] Figure 13 Middle: headlight switch 91, low beam relay 92, low beam 93, voltage input line 94, low and high beam switch 95, high beam 96, high beam relay 97, left turn signal 98, left outline light 99, right turn signal 910, right outline light 911, turn signal switch 912;

[0132] Figure 14 Middle: Warning light relay 01, red light 02, yellow light 03, blue light 04;

[0133] Figure 15 Middle: AC drive stop switch 001, AC drive stop relay 002, override switch 003, override relay 004;

[0134] Figure 8-15 Middle: electric control box 100, auxiliary box control module 200, electronic control unit 300, power supply 400. DETAILED DESCRIPTION

[0135] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0136] like Figure 1-16As shown, the technical solution provided by this embodiment enables an electric wheeled mining dump truck to have an unmanned driving function by modifying the hydraulic and electrical systems. In particular, it can enable Komatsu electric wheeled mining dump trucks to have an unmanned driving function, such as the Komatsu 830E electric wheeled mining dump truck and the Komatsu 930E electric wheeled mining dump truck. Moreover, the technical solution provided by this embodiment can meet both unmanned and manual driving requirements.

[0137] Komatsu electric wheeled mining dump trucks are all large mining trucks powered by a diesel engine directly connected to an electric drive system and a hydraulic main pump. Electrical energy is converted into mechanical energy via a traction motor and a planetary gear drive system mounted directly on the two rear wheel assemblies. Komatsu electric wheeled mining dump trucks primarily include an electric propulsion system (drive system), steering system, braking system, lifting system, and complete vehicle electrical control system. Mining trucks are also known as off-road mining dump trucks.

[0138] Because each electric wheeled mining dump truck has unique performance parameters, the unmanned driving modification solution should minimize the impact on the original vehicle systems. The technical solution provided in this embodiment mainly provides modifications including: hydraulic brake control, steering control, bucket control, loading brake control, engine start control, engine shutdown control, gear shift control, engine acceleration and deceleration control, horn control, headlight control, warning light control, AC drive stop control, override control, and fault collection.

[0139] Driving decisions, such as autonomous driving path planning, are derived from sensors based on actual road traffic conditions. These signals are electrical, requiring modifications to the original vehicle chassis to accommodate autonomous driving. This process, in which the original vehicle chassis is modified with the relevant hydraulic control valves and corresponding electronic control circuitry to enable control via unmanned driving signals, is known as drive-by-wire modification. The technical solution provided in this embodiment primarily addresses drive-by-wire modification and does not address autonomous driving path planning.

[0140] In the original vehicle system, signals such as gear switching, accelerator pedal 71, and brake pedal 72 directly enter the electronic control box 100. The technical solution provided by this embodiment is: the electronic control unit 300 outputs signals to simulate the signals of gear switching, accelerator pedal 71, and brake pedal 72, and the electronic control box 100 performs corresponding operations.

[0141] The unmanned driving system of an electric wheeled mining dump truck provided in an embodiment of the present invention is designed to provide both hydraulic and electronic control functions by adding a braking system, a steering system, and hydraulic control valve groups related to the vehicle bucket control system, as well as corresponding electronic control circuits, to the original vehicle to meet the requirements of both unmanned and manually operated operations. Specifically, an unmanned front brake valve group 15 and an unmanned rear brake valve group 16 are added to the hydraulic brake-related pipelines, and an unmanned vehicle bucket control valve group 35 is added to the vehicle bucket control hydraulic pipelines. The original steering gear is replaced with an electronically controlled hydraulic steering gear, and an angle sensor is added to the steering cylinder to provide real-time feedback on the steering cylinder's angle. At the same time, corresponding hydraulic valve group control circuits are added to meet the electronic control requirements for braking, the vehicle bucket, and steering.

[0142] To achieve unmanned braking and switch between manual and unmanned braking, meeting the requirements of both manual and unmanned driving, the unmanned driving system of the electric wheeled mining dump truck provided in this embodiment includes an unmanned hydraulic brake module. The unmanned hydraulic brake module is used for working braking.

[0143] Hydraulic brakes are mainly divided into: working brakes, parking brakes, brake locks and low-pressure automatic brakes. The working brakes mentioned above are service brakes, which use full hydraulic wet friction disc brakes and are applied to the front and rear axles simultaneously. They are used when the truck speed is less than 8 miles per hour to stop the truck. They can also be used to assist when the vehicle starts on a slope or in an emergency. When the truck is stopped, the parking brake is used and is in a normally closed state. When driving, the parking brake is opened through the hydraulic system and is located on the rear axle. The brake lock mentioned above is the loading brake, which is used when the truck is loaded, and the braking force is applied through the rear axle service brake disc. The low-pressure automatic brake mentioned above means that when the pressure switch detects that the pressure in the brake accumulator is lower than approximately 127 bar, the system automatically applies the brakes. The low-pressure automatic brake mentioned above means that the braking force is applied through the front and rear axle service brake discs.

[0144] like Figure 1-3 As shown, the unmanned hydraulic brake module includes: a front brake accumulator 11, a rear brake accumulator 12, a pedal brake valve 17, a front relay valve 13, a rear relay valve 14, an unmanned front brake valve group 15, and an unmanned rear brake valve group 16. The unmanned front brake valve group 15 and the unmanned rear brake valve group 16 are valve groups added to the original vehicle, while the front brake accumulator 11, the rear brake accumulator 12, the pedal brake valve 17, the front relay valve 13, and the rear relay valve 14 are all existing in the original vehicle.

[0145] In the unmanned hydraulic brake module, the oil distribution valve group 18 supplies oil to the front brake accumulator 11, the rear brake accumulator 12, and the pedal brake valve 17. Furthermore, the brake pedal valve 17, the front relay valve 13, the rear relay valve 14, the unmanned front brake valve group 15, and the unmanned rear brake valve group 16 all have oil return ports, which are connected to the oil distribution valve group 18 to ensure oil return.

[0146] The first valve inlet port of the pedal brake valve 17 and the first valve inlet port of the front relay valve 13 are both connected to the valve outlet port of the front brake accumulator 11, and the second valve inlet port of the pedal brake valve 17 and the first valve inlet port of the rear relay valve 14 are both connected to the valve outlet port of the rear brake accumulator 12.

[0147] The unmanned front brake valve assembly 15 has a first front brake valve port, a second front brake valve port, and a third front brake valve port. The first front brake valve port communicates with the oil outlet of the front brake accumulator 11, the second front brake valve port communicates with the front brake outlet port of the pedal brake valve 17, and the third front brake valve port communicates with the second inlet port of the front relay valve 13. When the unmanned front brake valve assembly 15 is in a first state, the first front brake valve port communicates with the third front brake valve port; when the unmanned front brake valve assembly 15 is in a second state, the second front brake valve port communicates with the third front brake valve port.

[0148] The unmanned rear brake valve assembly 16 has a first rear brake valve port, a second rear brake valve port, and a third rear brake valve port. The first rear brake valve port is connected to the oil outlet of the rear brake accumulator 12, the second rear brake valve port is connected to the rear brake outlet port of the pedal brake valve 17, and the third rear brake valve port is connected to the second inlet port of the rear relay valve 14. When the unmanned rear brake valve assembly 16 is in a first state, the first rear brake valve port is connected to the third rear brake valve port; when the unmanned rear brake valve assembly 16 is in a second state, the second rear brake valve port is connected to the third rear brake valve port.

[0149] If the electric wheeled mining dump truck adopts unmanned braking, the first front brake valve port and the third front brake valve port are connected, and the first rear brake valve port and the third rear brake valve port are connected. At this time, the unmanned front brake valve group 15 and the unmanned rear brake valve group 16 are both in the first state; if the electric wheeled mining dump truck adopts manual driving braking, the second front brake valve port and the third front brake valve port are connected, and the second rear brake valve port and the third rear brake valve port are connected, and the unmanned front brake valve group 15 and the unmanned rear brake valve group 16 are both in the second state.

[0150] In the unmanned driving system of the above-mentioned electric wheeled mining dump truck, by adding an unmanned front brake valve group 15 and an unmanned rear brake valve group 16, and through the cooperation of the unmanned front brake valve group 15, the unmanned rear brake valve group 16, the front brake accumulator 11, the rear brake accumulator 12, the pedal brake valve 17, the front relay valve 13, and the rear relay valve 14, both unmanned braking and manual braking can be achieved; by switching the states of the unmanned front brake valve group 15 and the unmanned rear brake valve group 16, switching between manual braking and unmanned braking is achieved, meeting the needs of both manual driving and unmanned driving; moreover, it can be achieved by adding the unmanned front brake valve group 15 and the unmanned rear brake valve group 16, with relatively little change to the original vehicle, reducing the modification cost, and facilitating promotion and use.

[0151] The specific structures of the unmanned front brake valve assembly 15 and the unmanned rear brake valve assembly 16 are selected based on actual needs. Optionally, the unmanned front brake valve assembly 15 includes a front proportional valve, a front on / off valve, a front shuttle valve, and a front pressure sensor for detecting pressure within the front proportional valve. The unmanned rear brake valve assembly 16 includes a rear proportional valve, a rear on / off valve, a rear shuttle valve, and a rear pressure sensor for detecting pressure within the rear proportional valve.

[0152] The first valve port of the above-mentioned front proportional valve is the first valve port of the front brake, the second valve port of the front proportional valve is connected to the first valve port of the front switch valve, the second valve port of the front switch valve is connected to the first valve port of the front shuttle valve, the second valve port of the front shuttle valve is the second valve port of the front brake, and the third valve port of the front shuttle valve is the third valve port of the front brake.

[0153] The first valve port of the above-mentioned rear proportional valve is the rear brake first valve port, the second valve port of the rear proportional valve is connected to the first valve port of the rear switch valve, the second valve port of the rear switch valve is connected to the first valve port of the rear shuttle valve, the second valve port of the rear shuttle valve is the rear brake second valve port, and the third valve port of the rear shuttle valve is the rear brake third valve port.

[0154] It can be understood that when the front shuttle valve is in the first state, the first valve port and the third valve port of the front shuttle valve are connected; when the front shuttle valve is in the second state, the second valve port and the third valve port of the front shuttle valve are connected. When the rear shuttle valve is in the first state, the first valve port and the third valve port of the rear shuttle valve are connected; when the rear shuttle valve is in the second state, the second valve port and the third valve port of the rear shuttle valve are connected; and both the front shuttle valve and the rear shuttle valve are in the first state or the second state at the same time.

[0155] If the electric wheel type mine self-unloading vehicle adopts unmanned driving braking, the first valve port of the front shuttle valve is communicated and the third valve port of the front shuttle valve is communicated, and the first valve port of the rear shuttle valve and the third valve port of the rear shuttle valve are communicated; if the electric wheel type mine self-unloading vehicle adopts manual driving braking, the second valve port of the front shuttle valve is communicated and the third valve port of the front shuttle valve is communicated, and the second valve port of the rear shuttle valve and the third valve port of the rear shuttle valve are communicated; if the electric wheel type mine self-unloading vehicle adopts unmanned driving braking and manual driving braking, one of the first valve port of the front shuttle valve and the second valve port of the front shuttle valve with larger pressure is communicated and the third valve port of the front shuttle valve is communicated, and one of the first valve port of the rear shuttle valve and the second valve port of the rear shuttle valve with larger pressure is communicated and the third valve port of the rear shuttle valve is communicated.

[0156] In order to facilitate control, the above-mentioned front proportional valve, front on-off valve, front shuttle valve, rear proportional valve, rear on-off valve and rear shuttle valve are all solenoid valves. Specifically, if each solenoid valve is in a power-off state, the electric wheel type mine self-unloading vehicle is in an unmanned driving braking state, or the electric wheel type mine self-unloading vehicle is in both unmanned driving braking state and manual driving state; if the front on-off valve and the rear on-off valve are both in a power-on state, the electric wheel type mine self-unloading vehicle is only in a manual driving braking state.

[0157] If each solenoid valve is in a power-off state and the electric wheel type mine self-unloading vehicle is in an unmanned driving braking state, the proportional valve is adjusted to the maximum opening, the unmanned driving front brake valve group 15 and the unmanned driving rear brake valve group 16 both output full pressure braking, and the front wheels and the rear wheels are both in a locked state; if the front on-off valve and the rear on-off valve are both in a power-on state, the electric wheel type mine self-unloading vehicle is in a manual driving braking state; if the front on-off valve and the rear on-off valve are both in a power-off state and the electric wheel type mine self-unloading vehicle is in an automatic driving braking state, the front proportional valve and the rear proportional valve are both controlled by the controller and output braking pressure according to the control instruction of the controller.

[0158] Further, the unmanned driving system of the above-mentioned electric wheel type mine self-unloading vehicle further comprises: a host computer, and an electronic control unit 300 in communication connection with the host computer; wherein the electronic control unit 300 controls the unmanned driving front brake valve group 15 and the unmanned driving rear brake valve group 16 according to the instruction of the host computer. Specifically, the host computer issues an unmanned driving braking instruction, and the electronic control unit 300 controls the unmanned driving front brake valve group 15 and the unmanned driving rear brake valve group 16 to be in a first state; the host computer issues a manual driving braking instruction, and the electronic control unit 300 controls the unmanned driving front brake valve group 15 and the unmanned driving rear brake valve group 16 to be in a second state.

[0159] If the above-mentioned unmanned driving front brake valve group 15 comprises a front proportional valve, and the unmanned driving rear brake valve group 16 comprises a rear proportional valve, the electronic control unit 300 controls the braking pressure of the front proportional valve and the rear proportional valve according to the instruction of the host computer. When hydraulic braking is required, 100% electric braking is implemented.

[0160] In order to realize unmanned driving control steering and switch between manual driving control steering and unmanned driving control steering, so as to meet the requirements of both manual driving and unmanned driving, the unmanned driving system of the electric wheeled mining dump truck provided in this embodiment includes an unmanned driving hydraulic steering module. Figure 4 As shown, the unmanned hydraulic steering module includes a steering gear 21, a flow amplifier 22, and a rotation angle sensor. The steering gear 21 is an electronically controlled hydraulic steering gear, and the rotation angle sensor is used to detect the rotation angle of the steering cylinder. The steering gear 21 supplies hydraulic oil to the steering cylinder via the flow amplifier 22. In the unmanned hydraulic steering module, the flow amplifier 22 is the original vehicle flow amplifier.

[0161] The steering gear 21 incorporates an electronically controlled proportional hydraulic system in addition to the existing steering wheel input. This electronically controlled proportional system delivers proportional hydraulic fluid to the flow amplifier 22, while also providing closed-loop steering angle control via a steering angle sensor. The steering wheel input is identical to that of existing vehicles and is used by the driver.

[0162] The electro-hydraulic steering gear can be a Danfoss or other type, selected based on actual needs. The steering angle sensor can be a magnetostrictive displacement sensor, located within the steering cylinder. Alternatively, other types of sensors, such as a cable displacement sensor, can be installed externally within the steering cylinder.

[0163] The steering gear 21 mentioned above does not have a priority valve, and the feedback oil circuit of the steering gear 21 does not generate control pressure. If the feedback oil circuit of the steering gear 21 is directly installed with the flow amplifier 22 of the original vehicle, it will cause mismatch and the feedback control pressure needs to be increased. In addition, the steering gear 21 needs to obtain dynamic feedback oil circuit control pressure. Based on this, if Figure 4 As shown, the steering gear 21 inputs hydraulic oil to the flow amplifier 22 through the steering pipe group. The steering pipe group includes: a steering shuttle valve 23, a steering check valve 24, an R pipe 25, an L pipe 26, a T pipe 27, an LS pipe, a P pipe 29 and an auxiliary pipe 211.

[0164] The R valve port of the above-mentioned steering gear 21 and the R valve port of the flow amplifier 22 are connected through the steering R pipe 25, the L valve port of the steering gear 21 and the L valve port of the flow amplifier 22 are connected through the L pipe 26, the T valve port of the steering gear 21 and the T valve port of the flow amplifier 22 are connected through the T pipe 27, the LS valve port of the steering gear 21 and the LS valve port of the flow amplifier 22 are connected through the LS pipe, and the P valve port of the steering gear 21 and the P valve port of the flow amplifier 22 are connected through the P pipe 29.

[0165] The first valve port of the steering shuttle valve 23 is connected to the R pipe 25, the second valve port of the steering shuttle valve 23 is connected to the L pipe 26, the third valve port of the steering shuttle valve 23 is connected to the first valve port of the steering check valve 24, and the second valve port of the steering check valve 24 is connected to the LS pipe. The steering check valve 24 can only conduct electricity from the steering shuttle valve 23 to the LS pipe.

[0166] The P pipe 29 and the LS pipe are connected via an auxiliary pipe 211 , and the connecting position of the auxiliary pipe 211 on the LS pipe is located between the steering check valve 24 and the flow amplifier 22 .

[0167] It can be understood that when the steering shuttle valve 23 is in the first state, the first valve port and the third valve port of the steering shuttle valve 23 are connected; when the steering shuttle valve 23 is in the second state, the second valve port and the third valve port of the steering shuttle valve 23 are connected.

[0168] For ease of installation, the first valve port of the steering shuttle valve 23 and the R pipe 25 are connected through a three-way valve, and the second valve port of the steering shuttle valve 23 and the L pipe 26 are connected through a three-way valve; the above-mentioned LS pipe includes an LS pipe a28 and an LS pipe b210, one end of the LS pipe a28 is connected to the LS valve port of the steering gear 21, one end of the LS pipe b210 is connected to the LS valve port of the flow amplifier 22, the other end of the LS pipe a28, the other end of the LS pipe b210 and the second valve port of the steering check valve 24 are connected through a three-way valve; one end of the auxiliary pipe 211 is connected to the P pipe 29 through a three-way valve, and the other end of the auxiliary pipe 211 is connected to the LS pipe b210 through a three-way valve.

[0169] In this embodiment, the load pressure is obtained from the R pipe 25, the L pipe 26 and the P pipe 29 for the flow amplifier 22. The control pressure and the relief pressure are generated by the steering shuttle valve 23 and the LS valve port of the steering gear 21.

[0170] Furthermore, the unmanned driving system of the above-mentioned electric wheeled mining dump truck is characterized in that it also includes a host and a steering controller that are communicatively connected. The steering controller controls the steering gear 21 to output a set proportion of hydraulic oil to the flow amplifier 22 according to the instructions of the host to control the steering cylinder to rotate a set angle.

[0171] It is understandable that the steering gear 21, the steering tube assembly and the steering angle sensor are all communicatively connected to the steering controller.

[0172] The unmanned driving system of the above-mentioned electric wheeled mining dump truck is China's, and the steering control is compatible with manual driving operations in unmanned driving mode.

[0173] In order to realize unmanned driving control of the bucket and switch between manual driving control of the bucket and unmanned driving control of the bucket, so as to meet the needs of both manual driving and unmanned driving, the unmanned driving system of the electric wheeled mining dump truck provided in this embodiment also includes an unmanned driving bucket hydraulic control module, such as Figure 5 and Figure 6 As shown in the figure, the unmanned vehicle body hydraulic control module includes a lifting valve, a lifting pilot valve, and an unmanned vehicle body control valve group. The unmanned vehicle body control valve group is a new valve group, while the lifting valve and lifting pilot valve are the original valves.

[0174] like Figure 5-7 As shown, the unmanned vehicle bucket control valve group includes: a first switching valve E6, a vehicle bucket valve group, a second switching valve aE51 and a second switching valve b E52.

[0175] The first valve port of the above-mentioned first switching valve E6 is used to supply oil to the pump group, the second valve port of the first switching valve E6 is connected to the first valve port 314 of the lifting pilot valve, and the third valve port of the first switching valve E6 is connected to the first valve port of the bucket valve group.

[0176] The first valve port of the above-mentioned second switching valve aE51 is connected to the first valve port 317 of the lifting valve, the second valve port of the second switching valve aE51 is connected to the second valve port 315 of the lifting pilot valve, and the third valve port of the second switching valve aE51 is connected to the second valve port of the bucket valve group.

[0177] The first valve port of the above-mentioned second switching valve bE52 is connected to the second valve port 318 of the lifting valve, the second valve port of the second switching valve bE52 is connected to the third valve port 316 of the lifting pilot valve, and the third valve port of the second switching valve bE52 is connected to the third valve port of the bucket valve group.

[0178] If the electric wheeled mining dump truck is in manual driving bucket control mode, the first valve port of the first switching valve E6 is connected to the second valve port of the first switching valve E6, the first valve port of the second switching valve aE51 is connected to the second valve port of the second switching valve aE51, and the first valve port of the second switching valve bE52 is connected to the second valve port of the second switching valve bE52;

[0179] If the electric wheeled mining dump truck is in the unmanned truck bed control mode, the first valve port of the first switching valve E6 is connected to the third valve port of the first switching valve E6, the first valve port of the second switching valve aE51 is connected to the third valve port of the second switching valve aE51, and the first valve port of the second switching valve bE52 is connected to the third valve port of the second switching valve bE52;

[0180] If the electric wheel type mine self-unloading truck is in the unmanned truck hopper control mode, the first valve port of the second switching valve aE51 outputs hydraulic oil to achieve the power descending state of the truck hopper when the truck hopper valve group is in the first state, the first valve port of the second switching valve bE52 outputs hydraulic oil to achieve the power lifting state of the truck hopper when the truck hopper valve group is in the second state, the first valve port of the second switching valve aE51 and the first valve port of the second switching valve bE52 are communicated to achieve the floating state of the truck hopper when the truck hopper valve group is in the third state, and the oil return valve port of the truck hopper valve group outputs hydraulic oil to achieve the holding state of the truck hopper when the truck hopper valve group is in the fourth state.

[0181] It can be understood that the oil return valve port of the truck hopper valve group and the oil return pipeline 312 are communicated. The first valve port of the first switching valve E6 and the pump group oil inlet pipeline 313 are communicated for supplying oil to the pump group.

[0182] In order to facilitate the control of the truck hopper in the required state, the above-mentioned truck hopper valve group can be selected to include: a third switching valve E3, a fourth switching valve E4, a fifth switching valve E1, and a sixth switching valve E2, as shown in Figure 7 .

[0183] The third switching valve E3 has a first valve port, a second valve port, a third valve port, and a fourth valve port; if the third switching valve E3 is in the first state, the first valve port, the second valve port, the third valve port, and the fourth valve port of the third switching valve E3 are all disconnected; if the third switching valve E3 is in the second state, the first valve port of the third switching valve E3 is communicated to the third valve port of the third switching valve E3, and the fourth valve port of the third switching valve E3 is communicated to the second valve port of the third switching valve E3.

[0184] The sixth switching valve E2 has a first valve port, a second valve port, a third valve port, and a fourth valve port; if the sixth switching valve E2 is in the first state, the first valve port, the second valve port, the third valve port, and the fourth valve port of the sixth switching valve E2 are all disconnected; if the sixth switching valve E2 is in the second state, the first valve port of the sixth switching valve E2 is communicated to the fourth valve port of the sixth switching valve E2, and the third valve port of the sixth switching valve E2 is communicated to the second valve port of the sixth switching valve E2.

[0185] The fourth switching valve E4 has a first valve port and a second valve port; if the fourth switching valve E4 is in the first state, the first valve port and the second valve port of the fourth switching valve E4 are communicated; if the fourth switching valve E4 is in the second state, the fourth switching valve E4 is disconnected.

[0186] The fifth switching valve E1 has a first valve port and a second valve port; if the fifth switching valve E1 is in the first state, the fifth switching valve E1 is disconnected; if the fifth switching valve E1 is in the second state, the first valve port and the second valve port of the fifth switching valve E1 are communicated.

[0187] The first valve port of the third switching valve E3 is connected to the third valve port of the first switching valve E6 through the first pipeline 31 , and the first valve port of the sixth switching valve E2 is connected to the first pipeline 31 through the second pipeline 32 .

[0188] The second valve port of the above-mentioned sixth switching valve E2 is connected to the return oil pipeline 312 through the third pipeline 33, the second valve port of the third switching valve E3 is connected to the third pipeline 33 through the fourth pipeline 34, and the fourth switching valve E4 is connected in series to the fifth pipeline 35, one end of the fifth pipeline 35 is connected to the first pipeline 31, and the other end of the fifth pipeline 35 is connected to the third pipeline 33; on the first pipeline 31, the fifth pipeline 35 is located between the third valve port of the first switching valve E6 and the second pipeline 32; on the third pipeline 33, the fifth pipeline 35 is located between the fourth pipeline 34 and the return oil pipeline 312.

[0189] The third valve port of the sixth switching valve E2 is connected to the third valve port of the second switching valve bE52 through the sixth pipeline 36, and the fourth valve port of the sixth switching valve E2 is connected to the third valve port of the second switching valve aE51 through the seventh pipeline.

[0190] The second valve port of the above-mentioned fifth switching valve E1 is connected to the third valve port of the third switching valve E3 through the eighth pipeline 38, the middle part of the eighth pipeline 38 is connected to the sixth pipeline 36, the first valve port of the fifth switching valve E1 is connected to the seventh pipeline 37 through the ninth pipeline 39, and the fourth valve port of the third switching valve E3 is connected to the sixth pipeline 36 through the tenth pipeline 310. On the seventh pipeline 37, the fourth valve port of the sixth switching valve E2, the ninth pipeline 39, the tenth pipeline 310, and the third valve port of the second switching valve aE51 are distributed in sequence.

[0191] In order to avoid backflow, the above-mentioned bucket valve group also includes a one-way valve E7, which is connected in series to the first pipeline 31; on the first pipeline 31, the one-way valve E7 is located between the second pipeline 32 and the fifth pipeline 35.

[0192] To ensure safety, the bucket valve assembly further includes a pressure relief valve E8, which is connected in series to the eleventh pipeline 311. One end of the eleventh pipeline 311 is connected to the seventh pipeline 37, and the other end of the eleventh pipeline 311 is connected to the oil return pipeline 312. When the pressure in the seventh pipeline 37 is greater than a set value, the pressure relief valve E8 is opened to relieve pressure. When the pressure in the seventh pipeline 37 is not greater than the set value, the pressure relief valve E8 is opened. In particular, on the seventh pipeline 37, the eleventh pipeline 311 is located between the tenth pipeline 310 and the third valve port of the second switching valve aE51.

[0193] In order to simplify the structure, the fourth pipeline 34, the fifth pipeline 35 and the eleventh pipeline 311 are communicated with the third pipeline 33 and the oil return pipeline 312, and on the third pipeline 33, the second valve port of the sixth switch valve E2, the fourth pipeline 34, the fifth pipeline 35, the eleventh pipeline 311 and the oil return pipeline 312 are sequentially distributed.

[0194] Optionally, in the unmanned vehicle control valve group, the first switch valve E6, the second switch valve a E51, the second switch valve b E52, the third switch valve E3, the fourth switch valve E4, the fifth switch valve E1 and the sixth switch valve E2 are all solenoid valves, and each solenoid valve realizes each state of the vehicle according to the state shown in the control logic table of the unmanned vehicle control valve group. It should be noted that, Figure 7 The state shown refers to the state of the vehicle in the holding state, that is, each solenoid valve is not powered.

[0195] Control logic table of the unmanned vehicle control valve group

[0196]

[0197] In the above table, E1 represents the fifth switch valve, E2 represents the sixth switch valve, E3 represents the third switch valve, E4 represents the fourth switch valve, E51 represents the second switch valve a, E52 represents the second switch valve b, and E6 represents the first switch valve. In the above table, the driver mode is the manual driving mode, and the power lifting, holding, floating and power descending are all in the unmanned mode.

[0198] In actual application, the vehicle valve group can also be of other structures, and is not limited to the above embodiments.

[0199] Further, the unmanned system of the electric wheel type mine dump truck further comprises a host computer and an electronic control unit 300 in communication with the host computer; wherein the electronic control unit 300 controls the unmanned vehicle control valve group according to the instruction of the host computer. It can be understood that the electronic control unit 300 and each valve in the unmanned vehicle control valve group are connected to realize the control of each valve in the unmanned vehicle control valve group.

[0200] When the electric wheel type mine dump truck stops at the unloading position, the wheel brake locking should be applied, that is, the loading brake is applied, and then the vehicle is lifted by power. In order to realize the unmanned brake locking, the unmanned system of the electric wheel type mine dump truck further comprises an unmanned wheel brake locking module. As shown in Figure 8As shown, the unmanned wheel brake lock module includes: a brake lock solenoid valve 41, a brake lock switch 42, a first-hand automatic switch 49, a first loading brake relay 47, a second-hand automatic switch 410, a second loading brake relay 48, a first wire 43, a second wire 44, a third wire 45, and a fourth wire 46. Among them, the first-hand automatic switch 49, the first loading brake relay 47, the second-hand automatic switch 410, the second loading brake relay 48, the third wire 45, and the fourth wire 46 are newly added components, while the others are original vehicle components.

[0201] One end of the above-mentioned first wire 43 is electrically connected to the brake lock solenoid valve 41, and the other end of the first wire 43 is used to be electrically connected to the electrical control box 100; one end of the second wire 44 is used to communicate with the auxiliary box control module 200, and the other end of the second wire 44 is used to communicate with the electrical control box 100; the brake lock switch 42 is connected in series to the first wire 43 through its first input end and first output end, and the brake lock switch 42 is connected in series to the second wire 44 through its second input end and second output end.

[0202] It can be understood that the auxiliary box control module 200 is used to collect the brake lock signal.

[0203] One end of the third wire 45 is electrically connected to the brake lock solenoid valve 41, and the other end of the third wire 45 is electrically connected to the electrical control box 100. One end of the fourth wire 46 is used for communication with the auxiliary box control module 200, and the other end of the fourth wire 46 is used for communication with the electrical control box 100. A first loading brake relay 47 is connected in series with the third wire 45, and a second loading brake relay 48 is connected in series with the fourth wire 46. It can be understood that the first loading brake relay 47 controls the on / off of the third wire 45, and the second loading brake relay 48 controls the on / off of the fourth wire 46. If the first loading brake relay 47 is in the off state, the third wire 45 is disconnected; if the first loading brake relay 47 is in the closed state, the third wire 45 is connected; if the second loading brake relay 48 is in the off state, the fourth wire 46 is disconnected; if the second loading brake relay 48 is in the closed state, the fourth wire 46 is connected.

[0204] The first manual automatic switch 49 switches the first wire 43 and the third wire 45 for serial connection between the electric control box 100 and the brake lock solenoid valve 41, and the second manual automatic switch 410 switches the second wire 44 and the fourth wire 46 for serial connection between the auxiliary box control module 200 and the electric control box 100.

[0205] If the electric wheeled mining dump truck adopts manual brake locking, the first-hand automatic switch 49 switches to the state where the first wire 43 is connected in series between the electric control box 100 and the brake locking solenoid valve 41, and the second-hand automatic switch 410 switches to the state where the second wire 44 is connected in series between the auxiliary box control module 200 and the electric control box 100; if the electric wheeled mining dump truck adopts unmanned brake locking, the first-hand automatic switch 49 switches to the state where the third wire 45 is connected in series between the electric control box 100 and the brake locking solenoid valve 41, and the second-hand automatic switch 410 switches to the state where the fourth wire 46 is connected in series between the auxiliary box control module 200 and the electric control box 100.

[0206] It can be understood that the first loading brake relay 47 and the second loading brake relay 48 are in the same state.

[0207] Specifically, in the manual brake lock mode, the electric control box 100 supplies power to the brake lock solenoid valve 41 via the first wire 43 and the brake lock switch 42, and transmits a signal to the auxiliary box control module 200 via the second wire 44 and the brake lock switch 42. In the unmanned brake lock mode, the electric control box 100 supplies power to the brake lock solenoid valve 41 via the third wire 45 and the first loading brake relay 47, and transmits a signal to the auxiliary box control module 200 via the fourth wire 46 and the second loading brake relay 48.

[0208] For the convenience of control, if the electric wheeled mining dump truck adopts manual brake locking, the first-hand automatic switch 49, the first loading brake relay 47, the second-hand automatic switch 410 and the second loading brake relay 48 are all powered off; if the electric wheeled mining dump truck adopts unmanned brake locking, the first-hand automatic switch 49, the first loading brake relay 47, the second-hand automatic switch 410 and the second loading brake relay 48 are all powered on.

[0209] It can be understood that when the first loading brake relay 47 loses power and is disconnected, the third wire 45 is disconnected; when the first loading brake relay 47 is powered on and closed, the third wire 45 is connected; when the second loading brake relay 48 loses power and is disconnected, the fourth wire 46 is disconnected; when the second loading brake relay 48 is powered on and closed, the fourth wire 46 is connected.

[0210] Optionally, the first hand automatic switch 49 and the second hand automatic switch 410 are both hand automatic switch relays; the input interface of the first hand automatic switch 49 is electrically connected with the electric control box 100, the first output interface of the first hand automatic switch 49 is electrically connected with the first wire 43, the second output interface of the first hand automatic switch 49 is electrically connected with the third wire 45; the third wire 45 is electrically connected with the first wire 43, and the connection position of the third wire 45 and the first wire 43 is between the brake locking electromagnetic valve 41 and the first output end of the brake locking switch 42; the input interface of the second hand automatic switch 410 is electrically connected with the auxiliary box controller 200, the first output interface of the second hand automatic switch 410 is electrically connected with the second wire 44, the second output interface of the second hand automatic switch 410 is electrically connected with the fourth wire 46; the fourth wire 46 is electrically connected with the second wire 44, and the connection position of the fourth wire 46 and the second wire 44 is between the electric control box 100 and the second output end of the brake locking switch 42.

[0211] It can be understood that, if the first hand automatic switch 49 is in the first state, the input interface and the first output interface of the first hand automatic switch 49 are conductive; if the first hand automatic switch 49 is in the second state, the input interface and the second output interface of the first hand automatic switch 49 are conductive; if the second hand automatic switch 410 is in the first state, the input interface and the first output interface of the second hand automatic switch 410 are conductive; if the second hand automatic switch 410 is in the second state, the input interface and the second output interface of the second hand automatic switch 410 are conductive.

[0212] Further, the unmanned system of the electric wheel type mine dump truck further comprises: a host computer, and an electronic control unit 300 in communication connection with the host computer; wherein the communication interfaces of the first hand automatic switch 49, the second hand automatic switch 410, the first loading brake relay 47 and the second loading brake relay 48 are in communication connection with the electronic control unit 300, and the electronic control unit 300 controls the first hand automatic switch 49, the second hand automatic switch 410, the first loading brake relay 47 and the second loading brake relay 48 according to the instructions of the host computer.

[0213] It should be noted that, Figure 8 not shown in the figure: the electronic control unit 300, and the communication interfaces of the first hand automatic switch 49, the second hand automatic switch 410, the first loading brake relay 47 and the second loading brake relay 48 are in communication connection with the electronic control unit 300.

[0214] In order to realize the ignition and extinction of the engine under the unmanned control, the unmanned system of the electric wheel type mine dump truck further comprises an unmanned engine control module, such as Figure 9As shown, the unmanned engine control module includes: power supply 400, key switch 53, power relay 55, electronic control box 100, ignition relay 58, flameout relay 59, ignition circuit 57, manual-automatic switching unit, and electronic control unit 300. Among them, ignition relay 58, flameout relay 59, manual-automatic switching unit, and electronic control unit 300 are newly added components, while power supply 400, key switch 53, power relay 55, electronic control box 100, and ignition circuit 57 are all original vehicle parts.

[0215] The power supply 400 supplies power to the key switch 53 via the first power supply wire 52 . The flameout relay 59 is connected in series to the first power supply wire 52 and controls the on / off of the first power supply wire 52 .

[0216] The power supply 400 supplies power to the electric control box 100 via the second power supply wire 54 . The power relay 55 is connected in series to the second power supply wire 54 and controls the on / off of the second power supply wire 54 .

[0217] The communication interface of the power relay 55 is communicatively connected to the power supply position 53 b of the key switch 53 , and when the key switch 53 is in the power supply position 53 b , the power relay 55 turns on the second power supply wire 54 .

[0218] The electronic control unit 300 is in communication with the power supply position 53 b of the key switch 53 and obtains whether the key switch 53 is in the power supply position 53 b.

[0219] The manual-automatic switching unit has an unmanned driving gear position and a manual driving gear position. The electronic control unit 300 is electrically connected to the manual-automatic switching unit and obtains the gear position of the manual-automatic switching unit.

[0220] The communication interface of the ignition relay 58 and the communication interface of the flameout relay 59 are both connected to the electronic control unit 300 for communication.

[0221] The ignition relay 58 is connected in series to the automatic ignition circuit 510. One end of the automatic ignition circuit 510 is electrically connected to the ignition circuit 57. The other end of the automatic ignition circuit 510 is electrically connected to the power supply position 53b of the key switch 53. The ignition circuit 57 is electrically connected to the ignition position 53c of the key switch 53.

[0222] If the manual-automatic switching unit is in the unmanned driving position and the key switch 53 is in the power supply position 53 b , the electronic control unit 300 controls the ignition relay 58 to turn on the automatic ignition circuit 510 .

[0223] It is understood that the key switch 53 has an off position 53a, a power supply position 53b, and an ignition position 53c. When the key switch 53 is in the power supply position 53b, the power relay 55 is energized, and the electric control box 100 is energized.

[0224] Furthermore, the unmanned driving engine control module further includes an unmanned driving system power supply 511 , and the power supply 400 is used to supply power to the unmanned driving system power supply 511 and the electronic control unit 300 .

[0225] Furthermore, the unmanned driving system of the electric wheeled mining dump truck further includes a host computer. The electronic control unit 300 is in communication with the host computer, and the electronic control unit 300 controls the on and off of the ignition relay 58 and the flameout relay 59 according to the instructions of the host computer.

[0226] Specifically, the host computer sends an ignition command to the electronic control unit 300, which energizes the ignition relay 58 and starts the engine. The host computer sends a shutdown command to the electronic control unit 300, which energizes the shutdown relay 59 and shuts down the engine. After a preset time, the shutdown relay 59 de-energizes. This preset time can be 5 minutes or other time periods, depending on actual needs and is not limited in this embodiment.

[0227] The structure of the manual-automatic switching unit is selected based on actual needs. To improve safety, the manual-automatic switching unit includes at least one mode selection switch 56 and / or at least one mode selection button 51. Each mode selection switch 56 has an unmanned driving position and a manual driving position, and each mode selection button 51 has an unmanned driving position and a manual driving position.

[0228] Specifically, if the manual-automatic switching unit only includes at least one mode selection switch 56, when each mode selection switch 56 is in the unmanned driving gear, the manual-automatic switching unit is in the unmanned driving gear; if the manual-automatic switching unit only includes at least one mode selection button 51, when each mode selection button 51 is in the unmanned driving gear, the manual-automatic switching unit is in the unmanned driving gear; if the manual-automatic switching unit includes at least one mode selection switch 56 and at least one mode selection button 51, when each mode selection button 51 and each mode selection switch 56 are in the unmanned driving gear, the manual-automatic switching unit is in the unmanned driving gear.

[0229] In order to realize unmanned driving gear switching, the unmanned driving system of the electric wheeled mining dump truck further includes an unmanned driving gear switching module, such as Figure 10 As shown, the unmanned driving gear shift module includes: a direction selection switch 61, a direction selection relay 62, an electric control box 100 and an electronic control unit 300. Among them, the direction selection relay 62 and the electronic control unit 300 are additional components, while the direction selection switch 61 and the electric control box 100 are original vehicle components.

[0230] The direction selection switch 61 has a parking communication interface P, a reverse communication interface R, a neutral communication interface N, and a forward communication interface D.

[0231] The electronic control unit 300 includes an automatic parking communication interface P', an automatic reverse communication interface R', an automatic neutral communication interface N', and an automatic forward communication interface D'.

[0232] The direction selection relay 62 has a first neutral input interface 621, a second neutral input interface 625, a first parking input interface 622, a second parking input interface 626, a first reverse input interface 623, a second reverse input interface 627, a first forward input interface 624, a second forward input interface 628, a first output interface 629, a second output interface 6210, a third output interface 6211, a fourth output interface 6212, and a switching input interface 6213. It is understood that the direction selection relay 62 has a grounding interface 6214, which is used for grounding.

[0233] The above-mentioned neutral communication interface N is communicatively connected to the first neutral input interface 621, the parking communication interface P is communicatively connected to the first parking input interface 622, the reversing communication interface R is communicatively connected to the first reversing input interface 623, and the forward communication interface D is communicatively connected to the first forward input interface 624; the above-mentioned automatic neutral communication interface N' is communicatively connected to the second neutral input interface 625, the automatic parking communication interface P' is communicatively connected to the second parking input interface 626, the automatic reversing communication interface R' is communicatively connected to the second reversing input interface 627, and the automatic forward communication interface D' is communicatively connected to the second forward input interface 628.

[0234] If the direction selection relay 62 is in the first state, the first output interface 629 is communicated with the first neutral input interface 621, the second output interface 6210 is communicated with the first parking input interface 622, the third output interface 6211 is communicated with the first reversing input interface 623, and the fourth output interface 6212 is communicated with the first forward input interface 624; if the direction selection relay 62 is in the second state, the first output interface 629 is communicated with the second neutral input interface 625, the second output interface 6210 is communicated with the second parking input interface 626, the third output interface 6211 is communicated with the second reversing input interface 627, and the fourth output interface 6212 is communicated with the second forward input interface 628.

[0235] The above-mentioned electronic control unit 300 is communicatively connected to the switching input interface 6213 to control the state of the direction selection relay 62; the electronic control unit 300 is communicatively connected to the direction selection switch 61 to collect the state of the direction selection switch 61, and the electronic control unit 300 is signal-connected to the electric control box 100 to collect the gear signal issued by the electric control box 100.

[0236] Furthermore, the unmanned driving system of the above-mentioned electric wheeled mining dump truck also includes a host, and the electronic control unit 300 is communicatively connected to the host; wherein, if the direction selection switch 61 is in the parking gear, the electronic control unit 300 inputs a gear signal to the selection relay 62 according to the instruction of the host; if the direction selection switch 61 is not in the parking gear, the electronic control unit 300 inputs a gear signal to the direction selection relay 62 according to the gear position of the direction selection switch 61.

[0237] Specifically, if the direction selection switch 61 is in the reverse gear, the electronic control unit 300 inputs a reverse gear signal to the above-mentioned direction selection relay 62 to achieve reverse gear; if the direction selection switch 61 is in the neutral gear, the electronic control unit 300 inputs a neutral gear signal to the above-mentioned direction selection relay 62 to achieve neutral gear; if the direction selection switch 61 is in the forward gear, the electronic control unit 300 inputs a forward gear signal to the above-mentioned direction selection relay 62 to achieve forward gear.

[0238] It should be noted that before starting the engine, the electric wheeled mining dump truck must be placed in the parking gear, otherwise the start will fail. When switching gears, the vehicle speed must be 0 and the truck bed must be placed in the "floating gear", otherwise the switch will fail.

[0239] In order to realize unmanned driving engine speed control, the unmanned driving system of the electric wheeled mining dump truck further includes an unmanned driving engine speed control module, such as Figure 11 As shown, the unmanned driving engine speed control module includes: accelerator pedal 71, brake pedal 72, switching relay 74, electronic control unit 300, and electronic control box 100. Among them, accelerator pedal 71, brake pedal 72 and electronic control box 100 are original vehicle parts, while switching relay 74 and electronic control unit 300 are newly added components.

[0240] The switching relay 74 has a communication interface, a first acceleration input interface, a second acceleration input interface, a first deceleration input interface, a second deceleration input interface, an acceleration output interface, and a deceleration output interface. The first acceleration input interface is communicatively connected to the accelerator pedal 71, and the first deceleration input interface is communicatively connected to the brake pedal 72. The second acceleration input interface and the second deceleration input interface are both communicatively connected to the electronic control unit 300. The acceleration output and the deceleration output are both communicatively connected to the electronic control box 100.

[0241] If the switching relay 74 is in the first state, the first acceleration input interface and the acceleration output interface are electrically connected, and the first deceleration input interface and the deceleration output interface are electrically connected; if the switching relay 74 is in the second state, the second acceleration input interface and the acceleration output interface are electrically connected, and the second deceleration input interface and the deceleration output interface are electrically connected; the electronic control unit 300 and the communication interface of the switching relay 74 are connected to control the state of the switching relay 74.

[0242] Furthermore, the unmanned driving system of the electric wheeled mining dump truck further includes a host computer. The electronic control unit 300 is connected to the host computer via a network cable. The electronic control unit 300 sends signals to the electronic control box 100 according to the host computer's instructions. The electronic control unit 300 is connected to the accelerator pedal 71 to collect the state of the accelerator pedal 71 and feedback it to the host computer. The electronic control unit 300 is also connected to the brake pedal 72 to collect the state of the brake pedal 72 and feedback it to the host computer. It is understood that the signals sent by the electronic control unit 300 are transmitted to the electronic control box 100 via the switching relay 74.

[0243] In the above system, in the manual driving engine speed control mode, the signals of the accelerator pedal 71 and the brake pedal 72 enter the electronic control box 100; in the unmanned driving engine speed control mode, the electronic control unit 300 sends signals to the electronic control box 100 according to the instructions of the host.

[0244] In order to reduce the impact on the original system, the output end of the above-mentioned brake pedal 72 is communicatively connected to the first deceleration input interface through the deceleration circuit 75, and the electronic control unit 300 is communicatively connected to the deceleration circuit 75 through the voltage divider circuit 76, and the voltage divider circuit 76 is connected in series with a voltage divider resistor 77.

[0245] The resistance value of the voltage divider resistor 77 is selected according to actual needs. For example, the resistance of the voltage divider resistor 77 is 200KΩ, which is not limited in this embodiment.

[0246] The output end of the accelerator pedal 71 is communicatively connected to the first acceleration input interface via an acceleration line 73 .

[0247] In order to realize unmanned driving horn control, the unmanned driving system of the electric wheeled mining dump truck further includes an unmanned driving horn control module, such as Figure 12 As shown, the unmanned driving horn control module includes: a horn button 81, a first horn relay 82, a second horn relay 83 and an electronic control unit 300. Among them, the horn button 81 and the first horn relay 82 are existing components of the original vehicle, while the second horn relay 83 and the electronic control unit 300 are newly added components.

[0248] The first horn relay 82 and the second horn relay 83 are arranged in parallel, and the branch where the first horn relay 82 is located and the branch where the second horn relay 83 is located are both connected in series with the horn 84; the horn button 81 is connected to the communication interface of the first horn relay 82 to control the on and off of the first horn relay 82, and the electronic control unit 300 is connected to the communication interface of the second horn relay 83 to control the on and off of the second horn relay 83.

[0249] Further, the unmanned system of the electric wheel type mine dump truck further comprises a host computer, the electronic control unit 300 is in communication connection with the host computer, and the electronic control unit 300 controls the on-off of the second horn relay 83 according to an instruction of the host computer.

[0250] Specifically, if in the manual driving mode, the second horn relay 83 is in the power-off state; if in the unmanned driving mode, the host computer sends an instruction to the electronic control unit 300, and the electronic control unit 300 controls the second horn relay 83 to be powered on according to the instruction, the branch in which the second horn relay 83 is located is turned on, and the horn 84 is powered on.

[0251] In order to realize the control of the unmanned truck lamp, the unmanned system of the electric wheel type mine dump truck further comprises an unmanned truck lamp control module, as shown in the figure. Figure 13 As shown in the figure, the unmanned truck lamp control module comprises a low beam relay 92, a high beam relay 97, a low-high beam switching switch 95, a headlight switch 91, a turn signal switch 912 and an electronic control unit 300. Among them, the electronic control unit 300 is a newly added component, and the low beam relay 92, the high beam relay 97, the low-high beam switching switch 95, the headlight switch 91 and the turn signal switch 912 are all original vehicle components.

[0252] The communication interface of the headlight switch 91 and the low beam relay 92 is connected to control the on-off of the low beam relay 92, and the low beam relay 92 is connected in series on the low beam circuit. If the low beam relay 92 is turned on, the low beam 93 is turned on, and if the low beam relay 92 is turned off, the low beam 93 is turned off.

[0253] The communication interface of the headlight switch 91 and the low-high beam switching switch 95 and the high beam relay 97 is connected to control the on-off of the high beam relay 97, and the high beam relay 97 is connected in series on the high beam circuit. If the high beam relay 97 is turned on, the high beam 96 is turned on, and if the high beam relay 97 is turned off, the high beam 96 is turned off.

[0254] It can be understood that when the low-high beam switching switch 95 is in the first state, the communication interface of the high beam relay 97 and the headlight switch 91 is disconnected; when the low-high beam switching switch 95 is in the second state, the communication interface of the high beam relay 97 and the headlight switch 91 is connected, at this time, the headlight switch 91 can realize the control of the high beam relay 97.

[0255] The turn signal switch 912 is used to control the opening and closing of the left turn signal lamp 98, the left contour lamp 99, the right turn signal lamp 910 and the right contour lamp 911.

[0256] The above-mentioned electronic control unit 300 is connected to the communication interface of the low beam relay 92 to control the on and off of the low beam relay 92, the electronic control unit 300 is connected to the communication interface of the high beam relay 97 to control the on and off of the high beam relay 97, the electronic control unit 300 is connected to the left turn light 98 to control the opening and closing of the left turn light 98, the electronic control unit 300 is connected to the left contour light 99 to control the opening and closing of the left contour light 99, the electronic control unit 300 is connected to the right turn light 910 to control the opening and closing of the right turn light 910, and the electronic control unit 300 is connected to the right contour light 911 to control the opening and closing of the right contour light 911.

[0257] Furthermore, the unmanned driving system of the above-mentioned electric wheeled mining dump truck also includes a host, and the electronic control unit 300 is communicatively connected to the host. The electronic control unit 300 controls the on and off of the low beam relay 92 and the on and off of the high beam relay 97 according to the instructions of the host, the electronic control unit 300 controls the opening and closing of the left turn signal 98 and the left contour light 99 according to the instructions of the host, and the electronic control unit 300 controls the opening and closing of the right turn signal 910 and the right contour light 911 according to the instructions of the host.

[0258] Specifically, if the electric wheeled mining dump truck is in manual driving mode, the headlight switch 91 is used to control the on and off of the low beam relay 92 and the on and off of the high beam relay 97, and the turn signal switch 912 is used to control the on and off of the left turn signal 98 and the left outline light 99, as well as the turn signal switch 912 is used to control the on and off of the right turn signal 910 and the right outline light 911; if the electric wheeled mining dump truck is in unmanned driving mode, the electronic control unit 300 is used to control the on and off of the low beam relay 92 and the on and off of the high beam relay 97 according to the instructions of the host, and the electronic control unit 300 sends a signal according to the instructions of the host to control the on and off of the left turn signal 98 and the left outline light 99, as well as the electronic control unit 300 sends a signal according to the instructions of the host to control the on and off of the right turn signal 910 and the right outline light 911.

[0259] It should be noted that the voltage input line 94 is used to provide voltage. The voltage input line 94 has two voltage input branches. The low beam relay 92 is connected in series to one voltage input branch, and the low beam 93 is set on the voltage input branch; the high beam relay 97 is connected in series to one voltage input branch, and the high beam 96 is set on the voltage input branch.

[0260] In order to provide warning information in the unmanned driving mode, the unmanned driving system of the electric wheeled mining dump truck further includes an unmanned driving warning light control module, such as Figure 14 As shown, the unmanned driving warning light control module includes: three warning light groups, a warning light relay 01 and an electronic control unit 300. It can be understood that the unmanned driving warning light control module is a newly added module.

[0261] Each of the above-mentioned warning light groups includes at least one warning light. The warning light of one warning light group is a red light 02, the warning light of one warning light group is a yellow light 03, and the warning light of another warning light group is a blue light 04. The warning light relays 01 correspond to the warning light groups one by one.

[0262] The warning light relay 01 is connected in series between the corresponding warning light group and the electronic control unit 300 to control the opening and closing of each light in the warning light group, and the communication interface of the electronic control unit 300 and the warning light relay 01 is connected to control the on and off of the warning light relay 01.

[0263] If the electric wheeled mining dump truck is in unmanned driving mode, the blue light 04 flashes; if the electric wheeled mining dump truck is in manual driving mode, the yellow light 03 flashes; if the electric wheeled mining dump truck is in fault mode, the red light 02 is on.

[0264] In order to improve reliability, each warning light group may include at least two warning lights. Specifically, each warning light group may include three warning lights.

[0265] Furthermore, the unmanned driving system of the above-mentioned electric wheeled mining dump truck also includes a host, which is communicatively connected to the electronic control unit 300. The electronic control unit 300 controls the on and off of the warning light relay 01 according to the instructions issued by the host and sends a signal to the warning light relay 01 to control the corresponding warning light group.

[0266] Specifically, if the electric wheeled mining dump truck is in unmanned driving mode, the main engine issues a blue light flashing command, the electronic control unit 300 controls the warning light relay 01 corresponding to the blue light to be energized and turned on, and the electronic control unit 300 sends a signal to the warning light relay 01 corresponding to the blue light to make the blue light 04 flash; if the electric wheeled mining dump truck is in manual driving mode, the main engine issues a yellow light flashing command, the electronic control unit 300 controls the warning light relay 01 corresponding to the yellow light to be energized and turned on, and the electronic control unit 300 sends a signal to the warning light relay 01 corresponding to the yellow light to make the yellow light 02 flash; if the electric wheeled mining dump truck is in fault mode, the main engine issues a red light on command, the electronic control unit 300 controls the warning light relay 01 corresponding to the red light to be energized and turned on, and the electronic control unit 300 sends a signal to the warning light relay 01 corresponding to the red light to make the red light 02 light up.

[0267] In order to realize unmanned AC drive stop control and unmanned override control, such as Figure 15As shown, the unmanned driving system of the electric wheeled mining dump truck further includes: an AC drive stop switch 001, an override switch 003, an electric control box 100, an AC drive stop relay 002, an override relay 004, and an electronic control unit 300. The AC drive stop relay 002, the override relay 004, and the electronic control unit 300 are newly added components, while the AC drive stop switch 001, the override switch 003, and the electric control box 100 are original vehicle components.

[0268] The above-mentioned AC drive stop relay 002 and AC drive stop switch 001 are arranged in parallel, and the branch where the AC drive stop relay 002 is located and the branch where the AC drive stop switch 001 is located are both communicated with the electric control box 100, and the electronic control unit 300 is connected to the communication interface of the AC drive stop relay 002 to control the on and off of the AC drive stop relay 002.

[0269] The above-mentioned override relay 004 and override switch 003 are arranged in parallel, and the branch where the override relay 004 is located and the branch where the override switch 003 is located are both communicated with the electric control box 100, and the electronic control unit 300 is connected to the communication interface of the override relay 004 to control the on and off of the override relay 004.

[0270] It should be noted that the AC drive stop switch 001 is used when the engine is ignited and the electric wheeled mining dump truck is not moving. The vehicle's electric drive system is disabled, which helps save energy. The override switch 003 is used when loading cargo. The loading brake locks the rear wheels, preventing the vehicle from moving forward. Pressing the override switch 003 allows the electric wheeled mining dump truck to move forward.

[0271] Furthermore, the unmanned driving system of the electric wheeled mining dump truck further includes a host, the electronic control unit 300 is in communication with the host, and the electronic control unit 300 controls the on and off of the AC drive stop relay 002 and the on and off of the override relay 004 according to the instructions of the host.

[0272] Specifically, if the electric wheeled mining dump truck is in manual driving mode, a signal is sent to the electric control box 100 through the AC drive stop switch 001, and a signal is sent to the electric control box 100 through the override switch 003; if the electric wheeled mining dump truck is in unmanned driving mode, the AC drive stop relay 002 is controlled to be turned on according to the instruction of the host to send a signal to the electric control box 100, and the override relay 004 is controlled to be turned on according to the instruction of the host to send a signal to the electric control box 100.

[0273] To explain the host and the electronic control unit 300 in more detail, Figure 16As shown, the host computer is connected to sensors such as radar and cameras via a controller area network (CAN) or a direct network cable. The host computer, steering controller, and electronic control unit (ECU) 300 communicate via the CAN. The ECU 300 collects engine data via the CAN bus, collects manual-automatic switching signals, and displays fault information in the cab. The ECU 300 controls the truck bed, hydraulic braking, engine start, engine shutdown, engine acceleration and deceleration, gear shifting, warning lights, horn 84, headlights, loading brake, override switch 003, and AC drive stop switch 001 based on the host computer's instructions. The collected cab manual operation status information primarily includes gear shifting, starting, shutting off, loading brake, accelerator pedal 71, and brake pedal 72.

[0274] The engine data collected by the electronic control unit 300 include: engine speed, oil pressure, water temperature, water level, battery voltage, intake air temperature, atmospheric pressure, and working hours.

[0275] The vehicle status collected by the electronic control unit 300 includes: vehicle speed, hydraulic oil temperature, fuel level, status of the upper limit switch of the vehicle bucket, status of the lower limit switch of the vehicle bucket. In addition, the electronic control unit 300 can also collect the load weight of the electric wheeled mining dump truck.

[0276] The vehicle fault alarm data collected by the electronic control unit 300 include: high hydraulic oil temperature, low hydraulic oil level, no propulsion / no deceleration of the system, low steering pressure, low accumulator pressure, low brake pressure, engine shutdown and battery charging system failure. If the electronic control unit 300 collects any of the above fault alarms, the electric wheeled mining dump truck will stop with 100% electric braking force.

[0277] Based on the unmanned driving system of the electric wheeled mining dump truck provided in the above embodiment, this embodiment further provides an electric wheeled mining dump truck, which includes the unmanned driving system of the electric wheeled mining dump truck described in the above embodiment.

[0278] Since the unmanned driving system of the above-mentioned electric wheeled mining dump truck has the above-mentioned technical effects, the above-mentioned electric wheeled mining dump truck includes the unmanned driving system of the above-mentioned electric wheeled mining dump truck, and the above-mentioned electric wheeled mining dump truck also has the corresponding technical effects, which will not be repeated in this article.

[0279] Optionally, the electric wheeled mining dump truck is a Komatsu electric wheeled mining dump truck. Specifically, the Komatsu electric wheeled mining dump truck is a Komatsu 830E electric wheeled mining dump truck or a Komatsu 930E electric wheeled mining dump truck. Of course, the electric wheeled mining dump truck may also be other types, and this embodiment does not limit this.

[0280] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. An unmanned driving system for an electric wheeled mining dump truck, characterized in that: The invention comprises an unmanned driving hydraulic brake module, wherein the unmanned driving hydraulic brake module comprises: a front brake accumulator (11), a rear brake accumulator (12), a pedal brake valve (17), a front relay valve (13), a rear relay valve (14), an unmanned driving front brake valve group (15), and an unmanned driving rear brake valve group (16); The first valve inlet of the pedal brake valve (17) and the first valve inlet of the front relay valve (13) are both in communication with the valve outlet of the front brake accumulator (11); the second valve inlet of the pedal brake valve (17) and the first valve inlet of the rear relay valve (14) are both in communication with the valve outlet of the rear brake accumulator (12); The unmanned front brake valve group (15) has a front brake first valve port, a front brake second valve port, and a front brake third valve port, wherein the front brake first valve port is connected to the oil outlet of the front brake accumulator (11), the front brake second valve port is connected to the front brake outlet valve port of the pedal brake valve (17), and the front brake third valve port is connected to the second inlet valve port of the front relay valve (13); The unmanned rear brake valve group (16) has a first rear brake valve port, a second rear brake valve port, and a third rear brake valve port; the first rear brake valve port is connected to the oil outlet of the rear brake accumulator (12); the second rear brake valve port is connected to the rear brake outlet valve port of the pedal brake valve (17); and the third rear brake valve port is connected to the second inlet valve port of the rear relay valve (14); If the electric wheeled mining dump truck adopts unmanned braking, the front brake first valve port is connected to the front brake third valve port, and the rear brake first valve port is connected to the rear brake third valve port; If the electric wheeled mining dump truck adopts manual driving brake, the second front brake valve port is connected to the third front brake valve port, and the second rear brake valve port is connected to the third rear brake valve port; Also included is an unmanned wheel brake locking module, the unmanned wheel brake locking module comprising: a brake locking solenoid valve (41), a brake locking switch (42), a first hand automatic switch (49), a first loaded brake relay (47), a second hand automatic switch (410), a second loaded brake relay (48), a first wire (43), a second wire (44), a third wire (45) and a fourth wire (46); Wherein, one end of the first wire (43) is electrically connected to the brake lock solenoid valve (41), and the other end of the first wire (43) is used to be electrically connected to the electric control box (100); one end of the second wire (44) is used to communicate with the auxiliary box control module (200), and the other end of the second wire (44) is used to communicate with the electric control box (100); the brake lock switch (42) is connected in series to the first wire (43) through its first input end and first output end, and the brake lock switch (42) is connected in series to the second wire (44) through its second input end and second output end; One end of the third wire (45) is electrically connected to the brake lock solenoid valve (41), and the other end of the third wire (45) is used to be electrically connected to the electric control box (100); one end of the fourth wire (46) is used to communicate with the auxiliary box control module (200), and the other end of the fourth wire (46) is used to communicate with the electric control box (100); the first loading brake relay (47) is connected in series to the third wire (45), and the second loading brake relay (48) is connected in series to the fourth wire (46); The first manual automatic switch (49) switches the first wire (43) and the third wire (45) for serial connection between the electric control box (100) and the brake lock solenoid valve (41), and the second manual automatic switch (410) switches the second wire (44) and the fourth wire (46) for serial connection between the auxiliary box control module (200) and the electric control box (100); If the electric wheeled mining dump truck adopts manual brake locking, the first manual automatic switch (49) is switched to a state in which the first wire (43) is connected in series between the electric control box (100) and the brake locking solenoid valve (41), and the second manual automatic switch (410) is switched to a state in which the second wire (44) is connected in series between the auxiliary box control module (200) and the electric control box (100); If the electric wheeled mining dump truck adopts unmanned brake locking, the first-hand automatic switch (49) is switched to a state in which the third wire (45) is connected in series between the electric control box (100) and the brake locking solenoid valve (41), and the second-hand automatic switch (410) is switched to a state in which the fourth wire (46) is connected in series between the auxiliary box control module (200) and the electric control box (100); When the first loading brake relay (47) is in an open state, the second loading brake relay (48) is in an open state; when the first loading brake relay (47) is in a closed state, the second loading brake relay (48) is in a closed state; Also included is an unmanned driving horn control module, the unmanned driving horn control module comprising: a horn button (81), a first horn relay (82), a second horn relay (83) and an electronic control unit (300); The first horn relay (82) and the second horn relay (83) are arranged in parallel, and the branch where the first horn relay (82) is located and the branch where the second horn relay (83) is located are both connected in series with the horn (84); The horn button (81) is connected to the communication interface of the first horn relay (82) to control the on / off of the first horn relay (82), and the electronic control unit (300) is connected to the communication interface of the second horn relay (83) to control the on / off of the second horn relay (83).

2. The unmanned driving system according to claim 1, characterized in that: The unmanned front brake valve group (15) includes: a front proportional valve, a front switch valve, a front shuttle valve, and a front pressure sensor for detecting the pressure in the front proportional valve; the unmanned rear brake valve group (16) includes: a rear proportional valve, a rear switch valve, a rear shuttle valve, and a rear pressure sensor for detecting the pressure in the rear proportional valve; Wherein, the first valve port of the front proportional valve is the first valve port of the front brake, the second valve port of the front proportional valve is connected to the first valve port of the front switch valve, the second valve port of the front switch valve is connected to the first valve port of the front shuttle valve, the second valve port of the front shuttle valve is the second valve port of the front brake, and the third valve port of the front shuttle valve is the third valve port of the front brake; The first valve port of the rear proportional valve is the first valve port of the rear brake, the second valve port of the rear proportional valve is connected to the first valve port of the rear switch valve, the second valve port of the rear switch valve is connected to the first valve port of the rear shuttle valve, the second valve port of the rear shuttle valve is the second valve port of the rear brake, and the third valve port of the rear shuttle valve is the third valve port of the rear brake; If the electric wheeled mining dump truck adopts unmanned braking, the first valve port of the front shuttle valve is connected to the third valve port of the front shuttle valve, and the first valve port of the rear shuttle valve is connected to the third valve port of the rear shuttle valve; If the electric wheeled mining dump truck adopts manual driving brake, the second valve port of the front shuttle valve is connected to the third valve port of the front shuttle valve, and the second valve port of the rear shuttle valve is connected to the third valve port of the rear shuttle valve; If the electric wheeled mining dump truck adopts unmanned braking and manual driving braking, the one with higher pressure between the first valve port of the front shuttle valve and the second valve port of the front shuttle valve is connected to the third valve port of the front shuttle valve, and the one with higher pressure between the first valve port of the rear shuttle valve and the second valve port of the rear shuttle valve is connected to the third valve port of the rear shuttle valve.

3. The unmanned driving system according to claim 2, characterized in that: Also includes: A host, and an electronic control unit (300) communicatively connected to the host; wherein the electronic control unit (300) controls the unmanned front brake valve group (15) and the unmanned rear brake valve group (16) according to instructions from the host.

4. The unmanned driving system according to claim 1, characterized in that: It also includes an unmanned driving hydraulic steering module, which includes: a steering gear (21), a flow amplifier (22), and a rotation angle sensor; Wherein, the steering gear (21) is an electronically controlled hydraulic steering gear, and the rotation angle sensor is used to detect the rotation angle of the steering cylinder; The steering gear (21) inputs hydraulic oil to the flow amplifier (22) through a steering pipe assembly, wherein the steering pipe assembly includes a steering shuttle valve (23), a steering check valve (24), an R pipe (25), an L pipe (26), a T pipe (27), an LS pipe, a P pipe (29), and an auxiliary pipe (211); The R valve port of the steering gear (21) and the R valve port of the flow amplifier (22) are communicated through a steering R pipe (25), the L valve port of the steering gear (21) and the L valve port of the flow amplifier (22) are communicated through an L pipe (26), the T valve port of the steering gear (21) and the T valve port of the flow amplifier (22) are communicated through a T pipe (27), the LS valve port of the steering gear (21) and the LS valve port of the flow amplifier (22) are communicated through an LS pipe, and the P valve port of the steering gear (21) and the P valve port of the flow amplifier (22) are communicated through a P pipe (29); The first valve port of the steering shuttle valve (23) is in communication with the R pipe (25), the second valve port of the steering shuttle valve (23) is in communication with the L pipe (26), the third valve port of the steering shuttle valve (23) is in communication with the first valve port of the steering check valve (24), the second valve port of the steering check valve (24) is in communication with the LS pipe, and the steering check valve (24) can only conduct from the steering shuttle valve (23) to the LS pipe; The P pipe (29) and the LS pipe are connected via an auxiliary pipe (211), and the connecting position of the auxiliary pipe (211) on the LS pipe is located between the steering check valve (24) and the flow amplifier (22).

5. The unmanned driving system according to claim 4, characterized in that: It also includes a host computer and a steering controller that are communicatively connected. The steering controller controls the steering gear (21) to output a set proportion of hydraulic oil to the flow amplifier (22) according to instructions from the host computer to control the steering cylinder to rotate at a set angle.

6. The unmanned driving system according to claim 1, characterized in that: It also includes an unmanned vehicle bucket hydraulic control module, which includes: a lifting valve, a lifting pilot valve and an unmanned vehicle bucket control valve group; The unmanned vehicle bucket control valve group includes: a first switching valve (E6), a vehicle bucket valve group, a second switching valve a (E51) and a second switching valve b (E52); The first valve port of the first switching valve (E6) is used to supply oil to the pump group, the second valve port of the first switching valve (E6) is connected to the first valve port (314) of the lifting pilot valve, and the third valve port of the first switching valve (E6) is connected to the first valve port of the bucket valve group; The first valve port of the second switching valve a (E51) is connected to the first valve port (317) of the lifting valve, the second valve port of the second switching valve a (E51) is connected to the second valve port (315) of the lifting pilot valve, and the third valve port of the second switching valve a (E51) is connected to the second valve port of the bucket valve group; The first valve port of the second switching valve b (E52) is in communication with the second valve port (318) of the lifting valve, the second valve port of the second switching valve b (E52) is in communication with the third valve port (316) of the lifting pilot valve, and the third valve port of the second switching valve b (E52) is in communication with the third valve port of the bucket valve group; If the electric wheeled mining dump truck is in a manual driving bucket control mode, the first valve port of the first switching valve (E6) is connected to the second valve port of the first switching valve (E6), the first valve port of the second switching valve a (E51) is connected to the second valve port of the second switching valve a (E51), and the first valve port of the second switching valve b (E52) is connected to the second valve port of the second switching valve b (E52); If the electric wheeled mining dump truck is in the unmanned vehicle bucket control mode, the first valve port of the first switching valve (E6) is connected to the third valve port of the first switching valve (E6), the first valve port of the second switching valve a (E51) is connected to the third valve port of the second switching valve a (E51), and the first valve port of the second switching valve b (E52) is connected to the third valve port of the second switching valve b (E52); If the electric wheeled mining dump truck is in an unmanned bucket control mode, when the bucket valve group is in the first state, the first valve port of the second switching valve a (E51) outputs hydraulic oil to realize that the bucket is in a power-down state; when the bucket valve group is in the second state, the first valve port of the second switching valve b (E52) outputs hydraulic oil to realize that the bucket is in a power-lifting state; when the bucket valve group is in the third state, the first valve port of the second switching valve a (E51) and the first valve port of the second switching valve b (E52) are connected to realize that the bucket is in a floating state; when the bucket valve group is in the fourth state, the return oil valve port of the bucket valve group outputs hydraulic oil to realize that the bucket is in a holding state.

7. The unmanned driving system according to claim 6, characterized in that: The bucket valve group includes: a third switching valve (E3), a fourth switching valve (E4), a fifth switching valve (E1), and a sixth switching valve (E2); The third switching valve (E3) has a first valve port, a second valve port, a third valve port and a fourth valve port; if the third switching valve (E3) is in a first state, the first valve port, the second valve port, the third valve port and the fourth valve port of the third switching valve (E3) are all disconnected; if the third switching valve (E3) is in a second state, the first valve port of the third switching valve (E3) is connected to the third valve port of the third switching valve (E3), and the fourth valve port of the third switching valve (E3) is connected to the second valve port of the third switching valve (E3); The sixth switching valve (E2) has a first valve port, a second valve port, a third valve port and a fourth valve port; if the sixth switching valve (E2) is in a first state, the first valve port, the second valve port, the third valve port and the fourth valve port of the sixth switching valve (E2) are all disconnected; if the sixth switching valve (E2) is in a second state, the first valve port of the sixth switching valve (E2) is connected to the fourth valve port of the sixth switching valve (E2), and the third valve port of the sixth switching valve (E2) is connected to the second valve port of the sixth switching valve (E2); The fourth switching valve (E4) has a first valve port and a second valve port. When the fourth switching valve (E4) is in a first state, the first valve port and the second valve port of the fourth switching valve (E4) are connected. When the fourth switching valve (E4) is in a second state, the fourth switching valve (E4) is disconnected. The fifth switching valve (E1) has a first valve port and a second valve port. If the fifth switching valve (E1) is in a first state, the fifth switching valve (E1) is disconnected. If the fifth switching valve (E1) is in a second state, the first valve port and the second valve port of the fifth switching valve (E1) are connected. The first valve port of the third switching valve (E3) is connected to the third valve port of the first switching valve (E6) via a first pipeline (31), and the first valve port of the sixth switching valve (E2) is connected to the first pipeline (31) via a second pipeline (32); The second valve port of the sixth switching valve (E2) is connected to the return oil pipeline (312) via the third pipeline (33), the second valve port of the third switching valve (E3) is connected to the third pipeline (33) via the fourth pipeline (34), the fourth switching valve (E4) is connected in series to the fifth pipeline (35), one end of the fifth pipeline (35) is connected to the first pipeline (31), and the other end of the fifth pipeline (35) is connected to the third pipeline (33); on the first pipeline (31), the fifth pipeline (35) is located between the third valve port of the first switching valve (E6) and the second pipeline (32); on the third pipeline (33), the fifth pipeline (35) is located between the fourth pipeline (34) and the return oil pipeline (312); The third valve port of the sixth switching valve (E2) is connected to the third valve port of the second switching valve b (E52) through a sixth pipeline (36), and the fourth valve port of the sixth switching valve (E2) is connected to the third valve port of the second switching valve a (E51) through a seventh pipeline; The second valve port of the fifth switching valve (E1) is connected to the third valve port of the third switching valve (E3) through the eighth pipeline (38), the middle part of the eighth pipeline (38) is connected to the sixth pipeline (36), the first valve port of the fifth switching valve (E1) is connected to the seventh pipeline (37) through the ninth pipeline (39), the fourth valve port of the third switching valve (E3) is connected to the sixth pipeline (36) through the tenth pipeline (310), and on the seventh pipeline (37), the fourth valve port of the sixth switching valve (E2), the ninth pipeline (39), the tenth pipeline (310), and the third valve port of the second switching valve a (E51) are distributed in sequence.

8. The unmanned driving system according to claim 6, characterized in that: Also includes: A host computer, and an electronic control unit (300) communicatively connected to the host computer; wherein the electronic control unit (300) controls the unmanned vehicle bucket control valve group according to instructions from the host computer.

9. The unmanned driving system according to claim 1, characterized in that: The first manual automatic switch (49) and the second manual automatic switch (410) are both manual automatic switching relays; The input interface of the first manual automatic switch (49) is used to be electrically connected to the electric control box (100), the first output interface of the first manual automatic switch (49) is electrically connected to the first wire (43), and the second output interface of the first manual automatic switch (49) is electrically connected to the third wire (45); The third wire (45) is electrically connected to the first wire (43), and the connection position of the third wire (45) and the first wire (43) is located between the brake lock solenoid valve (41) and the first output end of the brake lock switch (42); The input interface of the second-hand automatic switch (410) is used to be electrically connected to the auxiliary box control module (200), the first output interface of the second-hand automatic switch (410) is electrically connected to the second wire (44), and the second output interface of the second-hand automatic switch (410) is electrically connected to the fourth wire (46); The fourth wire (46) and the second wire (44) are electrically connected, and the connection position of the fourth wire (46) and the second wire (44) is located between the electric control box (100) and the second output end of the brake lock switch (42).

10. The unmanned driving system according to claim 1, characterized in that: Also includes: A host, an electronic control unit (300) communicatively connected to the host; The communication interfaces of the first manual automatic switch (49), the second manual automatic switch (410), the first loading brake relay (47) and the second loading brake relay (48) are all connected to the electronic control unit (300), and the electronic control unit (300) controls the first manual automatic switch (49), the second manual automatic switch (410), the first loading brake relay (47) and the second loading brake relay (48) according to the instructions of the host.

11. The unmanned driving system according to claim 1, characterized in that: The unmanned engine control module is also included, and the unmanned engine control module includes: a power supply (400), a key switch (53), a power relay (55), an electric control box (100), an ignition relay (58), a flameout relay (59), an ignition circuit (57), a manual-automatic switching unit, and an electronic control unit (300); The power supply (400) supplies power to the key switch (53) via a first power supply wire (52), and the flameout relay (59) is connected in series to the first power supply wire (52) and controls the on / off of the first power supply wire (52); The power supply (400) supplies power to the electric control box (100) via a second power supply wire (54); the power supply relay (55) is connected in series to the second power supply wire (54) and controls the on / off of the second power supply wire (54); The communication interface of the power supply relay (55) is communicatively connected to the power supply position (53b) of the key switch (53), and when the key switch (53) is in the power supply position (53b), the power supply relay (55) conducts the second power supply wire (54); The electronic control unit (300) is in communication with the power supply position (53b) of the key switch (53) and obtains whether the key switch (53) is in the power supply position (53b); The manual-automatic switching unit has an unmanned driving gear position and a manual driving gear position, and the electronic control unit (300) is electrically connected to the manual-automatic switching unit and obtains the gear position of the manual-automatic switching unit; The communication interface of the ignition relay (58) and the communication interface of the flameout relay (59) are both communicatively connected to the electronic control unit (300); The ignition relay (58) is connected in series to the automatic ignition circuit (510), one end of the automatic ignition circuit (510) is electrically connected to the ignition circuit (57), the other end of the automatic ignition circuit (510) is electrically connected to the power supply position (53b) of the key switch (53), and the ignition circuit (57) is electrically connected to the ignition position (53c) of the key switch (53); If the manual-automatic switching unit is in the unmanned gear and the key switch (53) is in the power supply gear (53b), the electronic control unit (300) controls the ignition relay (58) to turn on the automatic ignition circuit (510).

12. The unmanned driving system according to claim 11, characterized in that: The unmanned driving engine control module further comprises an unmanned driving system power supply (511), wherein the power supply (400) is used to supply power to the unmanned driving system power supply (511) and the electronic control unit (300); And / or, the unmanned driving system of the electric wheeled mining dump truck further comprises a host, the electronic control unit (300) is communicatively connected to the host, and the electronic control unit (300) controls the on / off of the ignition relay (58) and the flameout relay (59) according to instructions from the host; And / or, the manual-automatic switching unit includes at least one mode selection switch (56) and / or at least one mode selection button (51), each of the mode selection switches (56) has an unmanned driving gear and a manual driving gear, and each of the mode selection buttons (51) has an unmanned driving gear and a manual driving gear.

13. The unmanned driving system according to claim 1, characterized in that: It also includes an unmanned driving gear switching module, the unmanned driving gear switching module including: a direction selection switch (61), a direction selection relay (62), an electric control box (100) and an electronic control unit (300); The direction selection switch (61) has a parking communication interface (P), a reversing communication interface (R), a neutral communication interface (N), and a forward communication interface (D); and the electronic control unit (300) has an automatic parking communication interface (P'), an automatic reversing communication interface (R'), an automatic neutral communication interface (N'), and an automatic forward communication interface (D'); The direction selection relay (62) has a first neutral input interface (621), a second neutral input interface (625), a first parking input interface (622), a second parking input interface (626), a first reverse input interface (623), a second reverse input interface (627), a first forward input interface (624), a second forward input interface (628), a first output interface (629), a second output interface (6210), a third output interface (6211), a fourth output interface (6212), and a switching input interface (6213); The neutral communication interface (N) is in communication connection with the first neutral input interface (621), the parking communication interface (P) is in communication connection with the first parking input interface (622), the reversing communication interface (R) is in communication connection with the first reversing input interface (623), and the forward communication interface (D) is in communication connection with the first forward input interface (624); The automatic neutral communication interface (N') is communicatively connected to the second neutral input interface (625), the automatic parking communication interface (P') is communicatively connected to the second parking input interface (626), the automatic reverse communication interface (R') is communicatively connected to the second reverse input interface (627), and the automatic forward communication interface (D') is communicatively connected to the second forward input interface (628); If the direction selection relay (62) is in the first state, the first output interface (629) is in communication connection with the first neutral input interface (621), the second output interface (6210) is in communication connection with the first parking input interface (622), the third output interface (6211) is in communication connection with the first reverse input interface (623), and the fourth output interface (6212) is in communication connection with the first forward input interface (624); If the direction selection relay (62) is in the second state, the first output interface (629) is in communication connection with the second neutral input interface (625), the second output interface (6210) is in communication connection with the second parking input interface (626), the third output interface (6211) is in communication connection with the second reverse input interface (627), and the fourth output interface (6212) is in communication connection with the second forward input interface (628); The electronic control unit (300) is communicatively connected to the switching input interface (6213) to control the state of the direction selection relay (62); The electronic control unit (300) is communicatively connected to the direction selection switch (61) to collect the state of the direction selection switch (61), and the electronic control unit (300) is signal-connected to the electric control box (100) to collect the gear position signal emitted by the electric control box (100).

14. The unmanned driving system according to claim 13, characterized in that: Also included is a host, the electronic control unit (300) being communicatively connected to the host; Wherein, if the direction selection switch (61) is in the parking gear, the electronic control unit (300) inputs a gear position signal to the direction selection relay (62) according to the instruction of the host; if the direction selection switch (61) is not in the parking gear, the electronic control unit (300) inputs a gear position signal to the direction selection relay (62) according to the gear position of the direction selection switch (61).

15. The unmanned driving system according to claim 1, characterized in that: It also includes an unmanned driving engine speed control module, the unmanned driving engine speed control module including: an accelerator pedal (71), a brake pedal (72), a switching relay (74), an electronic control unit (300), and an electric control box (100); The switching relay (74) has a communication interface, a first acceleration input interface, a second acceleration input interface, a first deceleration input interface, a second deceleration input interface, an acceleration output interface, and a deceleration output interface; The first acceleration input interface is in communication connection with the accelerator pedal (71), and the first deceleration input interface is in communication connection with the brake pedal (72); the second acceleration input interface and the second deceleration input interface are both in communication connection with the electronic control unit (300); the acceleration output interface and the deceleration output interface are both in communication connection with the electric control box (100); If the switching relay (74) is in a first state, the first acceleration input interface and the acceleration output interface are electrically connected, and the first deceleration input interface and the deceleration output interface are electrically connected; if the switching relay (74) is in a second state, the second acceleration input interface and the acceleration output interface are electrically connected, and the second deceleration input interface and the deceleration output interface are electrically connected; The electronic control unit (300) is connected to a communication interface of the switching relay (74) to control the state of the switching relay (74).

16. The unmanned driving system according to claim 15, characterized in that: The electronic control unit (300) is communicatively connected to the host, and the electronic control unit (300) sends a signal to the electric control box (100) according to the instruction of the host; the electronic control unit (300) is communicatively connected to the accelerator pedal (71) to collect the state of the accelerator pedal (71) and feed it back to the host, and the electronic control unit (300) is communicatively connected to the brake pedal (72) to collect the state of the brake pedal (72) and feed it back to the host; And / or, the output end of the brake pedal (72) is communicatively connected to the first deceleration input interface via a deceleration circuit (75), and the electronic control unit (73) is communicatively connected to the deceleration circuit (75) via a voltage divider circuit (76), and the voltage divider circuit (76) is connected in series with a voltage divider resistor (77).

17. The unmanned driving system according to claim 1, characterized in that: A host is also included, the electronic control unit (300) is in communication connection with the host, and the electronic control unit (300) controls the on and off of the second horn relay (83) according to instructions from the host.

18. The unmanned driving system according to claim 1, characterized in that: The vehicle further comprises an unmanned vehicle light control module, the unmanned vehicle light control module comprising: a low beam relay (92), a high beam relay (97), a low and high beam switching switch (95), a headlight switch (91), a turn signal switch (912), and an electronic control unit (300); Wherein, the communication interface of the headlight switch (91) and the low beam relay (92) is connected to control the on and off of the low beam relay (92); the low beam relay (92) is connected in series to the low beam circuit; if the low beam relay (92) is on, the low beam (93) is turned on; if the low beam relay (92) is off, the low beam (93) is turned off; The headlight switch (91) is connected to the communication interface of the high-beam light relay (97) via the low-beam light switching switch (95) to control the on / off of the high-beam light relay (97). The high-beam light relay (97) is connected in series to the high-beam light circuit. If the high-beam light relay (97) is on, the high-beam light (96) is on. If the high-beam light relay (97) is off, the high-beam light (96) is off. The turn signal switch (912) is used to control the opening and closing of the left turn signal light (98), the left outline light (99), the right turn signal light (910) and the right outline light (911); The electronic control unit (300) is connected to the communication interface of the low beam relay (92) to control the on / off of the low beam relay (92), the electronic control unit (300) is connected to the communication interface of the high beam relay (97) to control the on / off of the high beam relay (97), the electronic control unit (300) is connected to the left turn signal (98) to control the on / off of the left turn signal (98), the electronic control unit (300) is connected to the left outline signal (99) to control the on / off of the left outline signal (99), the electronic control unit (300) is connected to the right turn signal (910) to control the on / off of the right turn signal (910), and the electronic control unit (300) is connected to the right outline signal (911) to control the on / off of the right outline signal (911).

19. The unmanned driving system according to claim 18, characterized in that: The electronic control unit (300) is communicatively connected to the host, and the electronic control unit (300) controls the on / off of the low beam relay (92) and the on / off of the high beam relay (97) according to the instructions of the host, controls the on / off of the left turn signal (98) and the left outline signal (99) according to the instructions of the host, and controls the on / off of the right turn signal (910) and the right outline signal (911) according to the instructions of the host.

20. The unmanned driving system according to claim 1, characterized in that: It also includes an unmanned driving warning light control module, the unmanned driving warning light control module including: three warning light groups, a warning light relay (01) and an electronic control unit (300); Each of the warning light groups includes at least one warning light, the warning light of one of the warning light groups is a red light (02), the warning light of one of the warning light groups is a yellow light (03), and the warning light of another of the warning light groups is a blue light (04), and the warning light relays (01) correspond to the warning light groups in a one-to-one manner; The warning light relay (01) is connected in series between the corresponding warning light group and the electronic control unit (300) to control the opening and closing of each light in the warning light group, and the communication interface of the electronic control unit (300) and the warning light relay (01) is connected to control the on and off of the warning light relay (01); If the electric wheeled mining dump truck is in an unmanned driving mode, the blue light (04) flashes; if the electric wheeled mining dump truck is in a manual driving mode, the yellow light (03) flashes; if the electric wheeled mining dump truck is in a fault mode, the red light (02) lights up.

21. The unmanned driving system according to claim 20, characterized in that: The system further comprises a host computer, wherein the host computer is in communication with the electronic control unit (300), and the electronic control unit (300) controls the on and off of the corresponding warning light relay (01) according to instructions issued by the host computer, and sends a signal to the corresponding warning light relay (01) to control the corresponding warning light group.

22. The unmanned driving system according to claim 1, characterized in that: Also includes: AC drive stop switch (001), override switch (003), electric control box (100), AC drive stop relay (002), override relay (004), and electronic control unit (300); The AC drive stop relay (002) and the AC drive stop switch (001) are arranged in parallel, the branch where the AC drive stop relay (002) is located and the branch where the AC drive stop switch (001) is located are both communicatively connected to the electric control box (100), and the electronic control unit (300) is connected to the communication interface of the AC drive stop relay (002) to control the on and off of the AC drive stop relay (002); The override relay (004) and the override switch (003) are arranged in parallel, the branch where the override relay (004) is located and the branch where the override switch (003) is located are both communicatively connected to the electric control box (100), and the communication interface of the electronic control unit (300) and the override relay (004) are connected to control the on and off of the override relay (004).

23. The unmanned driving system according to claim 22, characterized in that: The system further comprises a host, wherein the electronic control unit (300) is in communication with the host, and the electronic control unit (300) controls the on / off of the AC drive stop relay (002) and the on / off of the override relay (004) according to instructions from the host.

24. An electric wheeled mining dump truck, characterized in that: Comprising an unmanned driving system as described in any one of claims 1-23.

25. The electric wheeled mining dump truck according to claim 24, characterized in that: The electric wheeled mining dump truck is a Komatsu electric wheeled mining dump truck, and the Komatsu electric wheeled mining dump truck is a Komatsu 830E electric wheeled mining dump truck or a Komatsu 930E electric wheeled mining dump truck.

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