An open-pit mine vehicle fleet safety communication system

Abstract

The present invention discloses a vehicle fleet safety communication system for an open-pit mine, comprising a fleet center, unmanned vehicles, and an anomaly detection module. The fleet center is equipped with a fleet safety communication module, which groups unmanned vehicles and synchronizes vehicle IP addresses to a fleet routing table and a vehicle-side routing table in the form of a routing table. The system also receives data sent by unmanned vehicles, encodes and decodes the received data, encrypts and decrypts the received data, and updates the vehicle status based on the processing results. The unmanned vehicles are equipped with a vehicle-side safety communication module, which receives instructions from the fleet center and data from other vehicles, encodes and decodes the received data, encrypts and decrypts the received data, and sends the processing results to the fleet center. The anomaly detection module monitors the communication data between the fleet safety communication module and the vehicle-side safety communication module in real time. The present invention prevents the vehicle's communication data from being monitored, tampered with, or subjected to network attacks, thereby ensuring the communication security between the vehicle-side fleet.

Description

Technical Field

[0001] The present invention belongs to the technical field of open-pit mine vehicle communication, and in particular relates to a safety communication system for an open-pit mine vehicle fleet. Background Art

[0002] With the development of unmanned technology and the widespread adoption of connected vehicles and 4G / 5G networks, autonomous vehicles are becoming an increasingly important option for specialized work scenarios. For example, open-pit mines are often located in remote locations with harsh living environments. The high cost of human drivers and the increasing aging of the workforce make communication security for unmanned equipment in open-pit mines a critical concern. Currently, most unmanned vehicles are equipped with 4G / 5G and Wi-Fi modules, enabling local area networking within a specific range. Furthermore, unmanned vehicles can complete actions or tasks based on commands received from a central location. However, this approach also presents significant security risks. If malicious software were to infiltrate the local area network and issue erroneous commands to the unmanned vehicle, it could pose a significant threat to the operational safety of the unmanned system. Summary of the Invention

[0003] The present invention aims to provide a vehicle fleet communication system for open-pit mines, which improves vehicle communication security in open-pit mines by designing a packet filtering strategy, formulating a private communication protocol, and adopting an anomaly detection mechanism.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] The present invention provides a vehicle fleet safety communication system for an open-pit mine, comprising a fleet center, unmanned vehicles and an anomaly detection module;

[0006] The swarm center includes a swarm security communication module, which is used to group unmanned vehicles and synchronize the vehicle groups and the correspondence between vehicle ID and vehicle IP in the form of a routing table to the swarm routing table and the vehicle-side routing table; receive data sent by unmanned vehicles, encode and decode the received data, encrypt and decrypt the received data, and update the vehicle status based on the processing results;

[0007] The unmanned vehicle includes a vehicle-side safety communication module, which is used to receive instructions from the cluster center and receive data from other vehicles in the same group, encode and decode the received data, encrypt and decrypt it, and send the processing results to the cluster center;

[0008] The anomaly detection module is used to monitor the communication data between the cluster safety communication module and the vehicle-side safety communication module in real time.

[0009] Furthermore, the cluster security communication module is specifically used to:

[0010] Unmanned vehicles are divided into different transport groups according to their location and transport capabilities.

[0011] Furthermore, the cluster safety communication module and the vehicle-side safety communication module communicate with each other via a private protocol;

[0012] The private protocol format at least includes a message header, a message body and a check digit.

[0013] Furthermore, the cluster center also includes a cluster communication scheduler.

[0014] The cluster communication scheduler is used for receiving whitelist data in the cluster routing table and shielding blacklist data in the cluster routing table at the cluster center.

[0015] Furthermore, the cluster center also includes a cluster codec,

[0016] The cluster codec is used to decode the whitelist data filtered by the cluster communication scheduler;

[0017] Determine whether the data format complies with the private protocol and whether the check digit is correct;

[0018] And, decrypt the message body using the key.

[0019] Furthermore, the cluster security communication module is also used to:

[0020] Output the data that complies with the private protocol and passes verification to the message middleware for business processing;

[0021] as well as,

[0022] Perform cluster security control processing or update cluster routing tables based on data that does not conform to private protocols or data that cannot be processed after parsing;

[0023] The cluster safety control process includes blocking abnormal communication, re-establishing connection with the vehicle end, or issuing control instructions to related vehicles;

[0024] The control instructions include any one or more of horn, flashing lights, deceleration and parking instructions;

[0025] The updating of the cluster routing table refers to removing abnormal vehicles in the cluster routing table.

[0026] Furthermore, the unmanned vehicle also includes a vehicle-side communication dispatcher,

[0027] The vehicle-side communication dispatcher is used to receive whitelist data in the vehicle-side routing table and shield blacklist data in the vehicle-side routing table at the unmanned vehicle side.

[0028] Furthermore, the unmanned vehicle also includes a vehicle-side encoder / decoder.

[0029] The vehicle-side codec is used to decode the whitelist data filtered by the vehicle-side communication scheduler;

[0030] Determine whether the data format complies with the private protocol and whether the check digit is correct;

[0031] And, decrypt the message body using the key.

[0032] Furthermore, the vehicle-side safety communication module is also used to:

[0033] Output the data that complies with the private protocol and passes verification to the message middleware for business processing;

[0034] as well as,

[0035] Execute vehicle-side security control processing based on data that does not conform to private protocols or data that cannot be processed after parsing;

[0036] The vehicle-side safety control processing includes any one or more of honking the horn, flashing the lights, slowing down and stopping.

[0037] Furthermore, the anomaly detection module is specifically used to:

[0038] Verify whether the data format complies with the private protocol and whether the check digit is correct;

[0039] Monitor the data traffic of unmanned vehicles within a fixed time period;

[0040] Also, detect whether there are frequent malicious disconnections and reconnections on the vehicle side.

[0041] Furthermore, the cluster security communication module is also used to:

[0042] When an unmanned vehicle breaks down, temporary adjustments are made to the grouped vehicles while updating the fleet routing table, and all unmanned vehicles in the group are notified to update the vehicle-side dispatcher routing table.

[0043] Furthermore, the anomaly detection module is connected to the vehicle-side safety communication module and the cluster safety communication module via Ethernet.

[0044] The beneficial effects achieved by the present invention are:

[0045] The present invention provides a safe communication system for open-pit mine vehicle clusters. A safe communication module and an anomaly detection module are respectively set at the cluster center and vehicle-side communication to filter vehicle data in groups. In addition, the data source, data flow and abnormal network connection port conditions of each transmission process are detected, thereby achieving full protection of communication security of the vehicle cluster system, preventing the vehicle's communication data from being monitored and tampered with, and network attacks, and ensuring the communication security between vehicle-side clusters. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 An open-pit mine vehicle fleet communication system architecture provided by an embodiment of the present invention;

[0047] Figure 2 A schematic diagram of a communication process for a vehicle group in an open-pit mine provided by an embodiment of the present invention;

[0048] Figure 3 A proprietary protocol structure provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described below. The following examples are only used to more clearly illustrate the technical solution of the present invention and are not intended to limit the scope of protection of the present invention.

[0050] The present invention provides a vehicle group safety communication system for open-pit mines, including a vehicle-side safety communication module, a group safety communication module, and an anomaly detection module. Specifically,

[0051] The vehicle-side safety communication module is used to ensure the safe and reliable reception and transmission of vehicle data; the vehicle-side safety communication module is used to receive instructions from the cluster center and other vehicle data, encode and decode the received data, encrypt and decrypt it, and send the processing results to the cluster center; if an abnormality occurs, the abnormal data is blocked or safety control processing is performed on the vehicle side and the abnormal situation is sent to the cluster center.

[0052] The swarm security communication module ensures the security and stability of server-side functions. It synchronizes vehicle IP addresses to the swarm routing table and vehicle-side routing table based on vehicle grouping. It also receives and transmits vehicle communication data, encodes and decodes the received data, encrypts and decrypts it, and updates vehicle status or other business processes based on the results. If an exception occurs or an exception is received from the vehicle, the server executes security control processing or updates the vehicle routing table and sends it to all vehicles in the group. The routing table specifically includes the correspondence between vehicle IDs and vehicle IP addresses.

[0053] The anomaly detection module is used to perform data format verification, traffic anomaly monitoring and malicious connection detection.

[0054] Data format verification refers to verifying whether the data format complies with the private protocol and whether the check digit is correct;

[0055] Traffic anomaly monitoring refers to monitoring the data traffic of vehicles within a fixed time period;

[0056] Malicious connection detection refers to detecting whether there are frequent malicious disconnections and reconnections on the vehicle side.

[0057] The anomaly detection module is connected to the vehicle-side safety communication module and the cluster safety communication module via Ethernet.

[0058] Furthermore, the vehicle-side safety communication module and the swarm safety communication module communicate using a routing table filtering method. Both the vehicle-side safety communication module and the swarm safety communication module are configured with routing tables, in which data in the routing table whitelist is allowed to pass, while data in the routing table blacklist is blocked. The anomaly detection module is used to add the IP address of the vehicle detected to be abnormal to the routing blacklist.

[0059] Furthermore, the vehicle-side safety communication module and the cluster safety communication module use a private protocol for communication. The private protocol format is described in Figure 3 , including at least a message header, a message body, and a check digit. The message body can be encrypted or not.

[0060] An embodiment of the present invention provides a vehicle group communication system for an open-pit mine, such as Figure 1 Shown, including:

[0061] The swarm center groups unmanned vehicles based on their location and transport capacity, synchronizing their IP addresses to the swarm routing table and the vehicle-side routing table. It receives communication data from unmanned vehicles, encodes and decodes it, encrypts and decrypts it, and updates vehicle status or other business processes based on the processing results. Any abnormal data is sent to the anomaly detection module for analysis, and the routing table is updated if necessary based on the processing results.

[0062] as well as,

[0063] Unmanned vehicles receive commands from the swarm center and data from other vehicles in the same group. They encode and decode the data, encrypt and decrypt it, and send the processed results to the swarm center. If the received data does not comply with the communication protocol or the data content cannot be processed, the anomaly detection module is notified for further processing.

[0064] It should be noted that the communication data sent by the unmanned vehicle can be login authentication data, parameter and map synchronization data, traffic control data, etc.

[0065] It should be noted that the vehicle status includes online and offline. If a login instruction is obtained according to the data processing result, the vehicle status is updated to online; if a logout instruction is obtained or the vehicle is offline due to timeout according to the data processing result, the vehicle status is updated to offline.

[0066] It should be noted that the abnormal data received by the cluster center is divided into two types: 1. Abnormal data structure, that is, the data does not comply with the communication protocol; 2. Abnormal data content, that is, the parsed data cannot complete business processing.

[0067] In some embodiments, the cluster center includes a cluster security communication module;

[0068] The swarm security communication module is specifically used to divide unmanned vehicles into different transport groups based on their location and transport capacity. The vehicle-side IP addresses are stored in routing tables in the swarm communication dispatcher and the vehicle-side communication dispatcher, respectively. In swarm center communications, vehicle data is filtered based on the routing tables, and data is encoded, decoded, encrypted, and decrypted according to proprietary protocols. In the event of an anomaly, security control measures are executed or the routing table is updated to remove the anomalous vehicle from the routing table.

[0069] Furthermore, a swarm communication dispatcher is configured at the swarm center, and is used to receive whitelist data in the routing table and block blacklist data in the routing table at the swarm center. A vehicle-side communication dispatcher is configured at the unmanned vehicle, and is used to receive whitelist data in the routing table and block blacklist data in the routing table during vehicle-side communication.

[0070] Furthermore, executing safety control processing in the fleet includes blocking abnormal communication, re-establishing connection with the vehicle end, or issuing control instructions to related vehicles; wherein the control instructions include any one or more of horn, flashing lights, deceleration and parking instructions.

[0071] In some embodiments, the unmanned vehicle includes a vehicle-side safety communication module;

[0072] The vehicle-side safety communication module is specifically used to: filter vehicle data according to the routing table during the communication process, decode and decrypt, and encrypt encoded data according to the private communication protocol; execute safety control processing or send the abnormal situation to the cluster center in the event of an abnormality.

[0073] Furthermore, the safety control processing performed on the vehicle side specifically includes any one or more of honking the horn, flashing the lights, slowing down and stopping.

[0074] like Figure 2 As shown, in one embodiment of the present invention, a communication process between an open-pit mine unmanned vehicle and a cluster center is as follows:

[0075] Step S101: The swarm safety communication module divides the vehicles into different transport groups according to their locations and transport capabilities, and the grouping information is stored in the form of routing tables in the swarm communication scheduler and the vehicle-side communication scheduler.

[0076] The routing table information specifically includes the correspondence between the vehicle ID and the vehicle IP and the group to which the vehicle belongs.

[0077] In some embodiments, after the swarm security communication module receives the data, the swarm communication scheduler is used to extract the vehicle ID and vehicle IP of the sender from the received data. If the vehicle IP exists in the routing table, the data is released to the next link.

[0078] Step S102: The cluster codec encodes and decodes according to a proprietary protocol, encrypting and decrypting the data.

[0079] In some embodiments, after receiving the data, the cluster encoder / decoder first decodes it to determine whether the data format complies with the private protocol and whether the check bit is correct. Then, it uses the key to decrypt the message body, and finally releases the parsed data to the next link.

[0080] Step S103: The cluster center outputs the data that complies with the private protocol and passes verification to the message middleware for logical judgment and business processing.

[0081] Step S104: In some embodiments, if an abnormality occurs during steps S101-S103, the cluster center performs safety control operations on the cluster, specifically issuing one or more commands such as honking the horn, flashing the lights, slowing down, or stopping the vehicle; or updating the vehicle routing table and sending it to all vehicles in the group. Abnormalities include data processing errors or network outages.

[0082] Step S105: When the vehicle status of the cluster center is updated, the cluster center updates the cluster scheduler routing table and the vehicle-side scheduler routing table.

[0083] In some embodiments, cluster center task scheduling specifically includes:

[0084] At the beginning of the mission, different tasks are assigned to different groups. During the mission, due to vehicle or equipment failure, temporary adjustments to the group vehicles are required. For groups with early progress, some vehicles are appropriately removed, and for groups with delayed progress, vehicles are added in a timely manner. The specific communication process is as follows:

[0085] Step S201: Notify all vehicles in the group to update the vehicle-side dispatcher routing table.

[0086] Step S202: The vehicle-side encoder / decoder encrypts the data to be sent and decodes the received data.

[0087] Step S203: The vehicle-side safety communication module outputs the data that complies with the protocol and passes verification to the message middleware for business logic processing.

[0088] Step S204: When an abnormal situation occurs during the above steps S201-S203, safety control processing is performed on the vehicle side, where the safety control processing includes any one or more of honking, flashing lights, slowing down and stopping.

[0089] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0090] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0091] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A safety communication system for open-pit mine vehicle fleet, characterized in that: Includes swarm center, unmanned vehicle and anomaly detection modules; The swarm center includes a swarm security communication module, which is used to divide the unmanned vehicles into different transportation groups according to their locations and transportation capabilities, synchronize the vehicle groups and the correspondence between vehicle IDs and vehicle IP addresses in the form of a routing table to the swarm routing table and the vehicle-side routing table; and receive data sent by the unmanned vehicles, encode and decode the received data, and encrypt and decrypt it, and update the vehicle status based on the processing results. The unmanned vehicle includes a vehicle-side safety communication module, which is used to receive instructions from the cluster center and receive data from other vehicles in the same group, encode and decode the received data, encrypt and decrypt it, and send the processing results to the cluster center; The cluster center also includes a cluster communication scheduler, The cluster communication scheduler is used to receive whitelist data in the cluster routing table and shield blacklist data in the cluster routing table at the cluster center; The unmanned vehicle also includes a vehicle-side communication dispatcher, The vehicle-side communication dispatcher is used to receive whitelist data in the vehicle-side routing table and shield blacklist data in the vehicle-side routing table at the unmanned vehicle side; The anomaly detection module is used to monitor the communication data between the cluster safety communication module and the vehicle-side safety communication module in real time, including: verifying whether the data format complies with the private protocol and checking whether the check bit is correct; monitoring the data flow of the unmanned vehicle within a fixed time; and detecting whether there is frequent malicious disconnection and reconnection on the vehicle side.

2. A vehicle fleet safety communication system for open-pit mines according to claim 1, characterized in that: The cluster safety communication module and the vehicle-side safety communication module communicate via a private protocol; The private protocol format at least includes a message header, a message body and a check digit.

3. A vehicle fleet safety communication system for open-pit mines according to claim 2, characterized in that: The cluster center also includes a cluster codec, The cluster codec is used to decode the whitelist data filtered by the cluster communication scheduler; Determine whether the data format complies with the private protocol and whether the check digit is correct; And, decrypt the message body using the key.

4. A safety communication system for open-pit mine vehicles according to claim 3, characterized in that: The cluster security communication module is also used to: Output the data that complies with the private protocol and passes verification to the message middleware for business processing; as well as, Perform cluster security control processing or update cluster routing tables based on data that does not conform to private protocols or data that cannot be processed after parsing; The cluster safety control process includes blocking abnormal communication, re-establishing connection with the vehicle end, or issuing control instructions to related vehicles; The control instructions include any one or more of horn, flashing lights, deceleration and parking instructions; The updating of the cluster routing table refers to removing abnormal vehicles in the cluster routing table.

5. The open-pit mine vehicle fleet safety communication system according to claim 1, characterized in that: The unmanned vehicle also includes a vehicle-side encoder / decoder, The vehicle-side codec is used to decode the whitelist data filtered by the vehicle-side communication scheduler; Determine whether the data format complies with the private protocol and whether the check digit is correct; And, decrypt the message body using the key.

6. A vehicle fleet safety communication system for open-pit mines according to claim 5, characterized in that: The vehicle-side safety communication module is also used to: Output the data that complies with the private protocol and passes verification to the message middleware for business processing; as well as, Execute vehicle-side security control processing based on data that does not conform to private protocols or data that cannot be processed after parsing; The vehicle-side safety control processing includes any one or more of honking the horn, flashing the lights, slowing down and stopping.

7. The open-pit mine vehicle fleet safety communication system according to claim 1, characterized in that: The cluster security communication module is also used to: When an unmanned vehicle breaks down, temporary adjustments are made to the grouped vehicles while updating the fleet routing table, and all unmanned vehicles in the group are notified to update the vehicle-side dispatcher routing table.

8. The open-pit mine vehicle fleet safety communication system according to claim 1, characterized in that: The anomaly detection module is connected to the vehicle-side safety communication module and the cluster safety communication module via Ethernet.

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