A system for transporting spoil between a shield machine and a crane

Abstract

The application discloses a system for transporting muck between a shield machine and a crane, which comprises an unmanned vehicle, including a vehicle head, a plurality of vehicle compartments connected with the vehicle head to load muck, a laser radar installed at the highest position in front of the vehicle head and working when the vehicle is running at a high speed to detect objects within 30 m in the direction directly in front of the vehicle, an infrared radar installed at a position 30 cm higher than the bottom of the vehicle head and working when the vehicle is running at a low speed to detect objects within 3 m in the direction directly in front of the vehicle, a camera installed in front of the vehicle head, a site sensor installed on the side of the vehicle head, a shield machine parking label installed at a discharge port in the shield machine, a deceleration label installed at a position away from a crane point, a crane parking label installed at the crane point and a remote controller capable of adjusting the position of the vehicle compartments. The system can transport muck in an unmanned manner, and the risk of construction is reduced to ensure safe production.

Description

TECHNICAL FIELD

[0001] The present application relates generally to the technical field of subway tunnel construction, and in particular to a system for transporting spoil between a shield machine and a crane. BACKGROUND

[0002] With the development of China's economy, in order to solve the problem of travel, many subway projects are planned and constructed in large and medium-sized cities. A large amount of spoil is generated during the process of using a shield machine to excavate a subway track, and a gantry crane is used to discharge a large amount of spoil. The construction environment of using a shield machine to excavate a subway track is usually harsh, and the construction risk is high. How to ensure safety in production, reduce the number of people entering the hole, effectively improve work efficiency, and reduce construction cost is a problem that every subway tunnel construction enterprise must consider. In addition, in the existing subway tunnel construction, for example, the transportation of spoil and other shield machine construction is often operated by a manned vehicle, however, a manned vehicle is very prone to accidents due to brake failure, driver operation error or fatigue driving, and battery replacement not in time. SUMMARY

[0003] In view of the above technical problems, the present disclosure proposes a system for transporting muck between a shield tunneling machine and a crane, which comprises an unmanned vehicle, comprising: a vehicle head; a plurality of vehicle compartments connected with the vehicle head for loading muck; a laser radar installed at the highest position in front of the vehicle head, which looks straight ahead and works when the vehicle is running at high speed to detect objects within 30 m in the direction straight ahead of the vehicle; an infrared radar installed at a position 30 cm higher than the vehicle bottom in front of the vehicle head, which looks straight ahead and works when the vehicle is running at low speed to detect objects within 3 m in the direction straight ahead of the vehicle; a camera installed in front of the vehicle head for shooting instant videos and transmitting the shot instant videos to a central control room; a site sensor installed on the side of the vehicle head; a shield tunneling machine parking label installed at the discharge port of the shield tunneling machine, the vehicle stops when the site sensor reads the shield tunneling machine parking label; a deceleration label installed at a position away from the crane point, the vehicle slows down to a low-speed running state when the site sensor reads the deceleration label; a crane parking label installed at the crane point, the vehicle stops when the site sensor reads the crane parking label; a remote controller capable of adjusting the positions of the plurality of vehicle compartments; wherein the vehicle is configured to perform the following steps, which comprise: S1, sequentially detecting the laser radar, the infrared radar, the camera, and the site sensor, and displaying the results of the detection; S2, in the case that the results of the detection are normal, the vehicle runs towards the shield tunneling machine; S3, when the vehicle reaches the vicinity of the shield tunneling machine, the camera identifies the shield tunneling machine door and slows down to enter the inside of the shield tunneling machine at low speed, and moves forward until the site sensor detects the shield tunneling machine parking label, the vehicle immediately stops to wait for the muck loading operation; S4, adjusting the positions of the plurality of vehicle compartments to align with the discharge port of the shield tunneling machine by the remote controller, the conveyor belt of the shield tunneling machine transports muck to the discharge port to load the muck into the plurality of vehicle compartments to complete the muck loading operation; S5, after the muck loading operation is completed, the vehicle runs towards the crane; S6, when the site sensor detects the deceleration label, the vehicle starts to run at a low speed; S7, when the site sensor detects the crane parking label, the vehicle stops to wait for the muck unloading operation; and S8, adjusting the positions of the plurality of vehicle compartments to align with the discharge port by the remote controller, the crane hoists the muck loaded in the plurality of vehicle compartments to complete the muck unloading operation.

[0004] In a preferred embodiment, the vehicle is an electric battery car, which is powered by an electric battery in the vehicle head to carry the plurality of vehicle compartments for running.

[0005] In a preferred embodiment, the infrared radar is a Sick safety radar.

[0006] In a preferred embodiment, whether the vehicle is derailed is determined according to the real-time video taken by the camera.

[0007] In a preferred embodiment, the track information within 10m in front of the vehicle is automatically identified using a curve detection algorithm based on Hough transform according to the real-time video taken by the camera.

[0008] In a preferred embodiment, the curve curvature of the track is calculated according to the identified track information, and then the detection range of the laser radar is adjusted based on the curve curvature of the track.

[0009] In a preferred embodiment, the obstacles in front of the vehicle are detected using a deep learning algorithm according to the real-time video taken by the camera.

[0010] In another preferred embodiment, a pair of logo patterns are further included, which are pasted on the shield tunneling machine and 1m apart between the centers of the logo patterns, the pair of logo patterns are identified using an image detection algorithm to determine the opening of the shield tunneling machine and calculate the distance between the vehicle and the shield tunneling machine.

[0011] In a preferred embodiment, a mass sensor is further included, which is placed at the bottom of each carriage to obtain the mass of each carriage, and the brake determines the braking force required for braking based on the obtained mass to adjust the braking deceleration.

[0012] In a preferred embodiment, a crane limiting label and a shield tunneling machine limiting label are further included, the crane limiting label is installed at the farthest distance allowed by the crane point for the vehicle to be located, the vehicle is prohibited from continuing to move when the station sensor reads the crane limiting label, and the shield tunneling machine limiting label is installed at the bottom of the shield tunneling machine, the vehicle is prohibited from continuing to move when the station sensor reads the shield tunneling machine limiting label.

[0013] Compared with the prior art, the beneficial effects of the present disclosure are that the transportation of muck can be realized in an unmanned manner, the risk of construction is reduced to ensure safe production, and the environmental perception capability is also provided, which can identify obstacles and specific objects in real time, and perform autonomous acceleration and deceleration and safe parking, the automatic start and parking of the vehicle can be controlled through remote control, the driving video and driving state of the vehicle can be monitored in real time, and the running position of the vehicle and the working information of related equipment can be displayed. BRIEF DESCRIPTION OF DRAWINGS

[0014] The novel features of the application are set forth with particularity in the claims that follow. A better understanding of the features and advantages of the present application will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the application are utilized, and the accompanying drawings of which:

[0015] Figure 1 A schematic diagram of a system for transporting spoil between a shield machine and a crane is shown, according to an example embodiment of the disclosure;

[0016] Figure 2 A schematic diagram of an unmanned vehicle is shown, according to an example embodiment of the disclosure;

[0017] Figure 3 A schematic diagram of a mounting position of a tag of a system is shown, according to an example embodiment of the disclosure;

[0018] Figure 4 A schematic diagram of a remote control of a vehicle is shown, according to an example embodiment of the disclosure; and

[0019] Figure 5 A flowchart of a method of using a vehicle is shown, according to an example embodiment of the disclosure.

[0020] BRIEF DESCRIPTION OF DRAWINGS: 1 unmanned vehicle, 2 vehicle head, 3 vehicle cabin, 4 laser radar, 5 infrared radar, 6 camera, 7 site sensor, 8 shield machine limit tag, 9 shield machine parking tag, 10 deceleration tag, 11 crane parking tag, 12 crane limit tag, 13 remote control. DETAILED DESCRIPTION

[0021] Example embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. While example embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the present disclosure to those skilled in the art. No aspect of the disclosure is intended to be dedicated to the public regardless of whether it is uniquely described. In the following detailed description, no portion is intended to be construed as a limitation on the scope of the present disclosure. Those skilled in the art will understand that various configurations of the features or steps can be substituted for one another or combined without departing from the scope of the present disclosure.

[0022] Figure 1A schematic view of a system for transporting spoil between a shield machine and a crane is shown, in accordance with an example embodiment of the present disclosure. The present disclosure proposes a system for transporting spoil between a shield machine and a crane, which can comprise an unmanned vehicle 1. Figure 2A schematic diagram of an unmanned vehicle 1 is shown according to an exemplary embodiment of the present disclosure. The unmanned vehicle 1 can include a vehicle head 2, a plurality of vehicle compartments 3 (e.g., 3 compartments), a laser radar 4, an infrared radar 5, a camera 6, and a station sensor 7. The plurality of vehicle compartments 3 are connected to the vehicle head 2 for loading of spoil. In a preferred embodiment, the vehicle can be a battery car powered by a battery in the vehicle head for carrying the plurality of vehicle compartments 3 for travel. In other embodiments, the vehicle can also be a track vehicle. The vehicle can also be any other type of vehicle deemed appropriate by those skilled in the art. The laser radar 4 can be installed at the highest point in front of the vehicle head 2, looking straight ahead, and working when the vehicle is traveling at a high speed to detect objects within a certain distance (e.g., 30 m) in the direction straight ahead of the vehicle. The certain distance can be any distance deemed appropriate by those skilled in the art. In a preferred embodiment, the laser radar 4 can be a VLP-16 laser radar. The laser radar 4 can also be any other laser radar deemed appropriate by those skilled in the art. The infrared radar 5, for example, can be a Sick safety radar installed in front of the vehicle head 2 and 30 cm above the vehicle bottom, looking straight ahead, and working when the vehicle is traveling at a low speed to detect objects within 3 m in the direction straight ahead of the vehicle. In a preferred embodiment, the infrared radar 5 can be a PBS-03JN obstacle detection sensor. The infrared radar 5 can also be any other infrared radar deemed appropriate by those skilled in the art. The camera 6, for example, can be a single / dual camera installed in front of the vehicle head 2 for taking real-time videos and transmitting the taken real-time videos to a smart driving central controller of the vehicle, which is then forwarded to a central monitoring room, for example, which can obtain track information within 10 m ahead and obstacle information within 50 m ahead. The camera 6 can preferably be an HDCVI high-definition coaxial camera. The camera 6 can also be any other camera deemed appropriate by those skilled in the art. In some cases, the station sensor 7 can be installed on the side of the vehicle head 2. The station sensor 7 can preferably be a CCF-34K-4M station sensor. The station sensor 7 can also be any other sensor deemed appropriate by those skilled in the art. In some cases, a plurality of smart monitoring boxes can be provided on the side of a tunnel between a shield tunneling machine and a crane, with transceivers therein capable of communicating with a smart driving central controller of the vehicle using a vehicle communication protocol to obtain data signals. The smart monitoring boxes can then analyze the data signals and forward the analyzed signals to the central monitoring room, so that a vehicle operator in the central monitoring room can obtain various parameters of the vehicle and thus monitor and operate the unmanned vehicle.In the preferred embodiment, the signals sent by the intelligent driving central controller to the intelligent monitoring box can include, for example, vehicle speed, vehicle position, vehicle derailment, and alarm signals. As shown in Table 1 below, the data format of a complete data packet can include 24 bytes, in which FA can be a fixed frame header, 15 (hexadecimal) can be a fixed data length (21 in decimal), the middle 21 bytes can be information corresponding to the subframe, and FD can be a fixed frame tail. Table 2 shows the specific meanings of the data and codes of the vehicle communication protocol.

[0023]

[0024] Table 1: Data format of vehicle communication protocol

[0025]

[0026]

[0027] Table 2: Specific meanings of data and codes of vehicle communication protocol

[0028] For example, the following data packet is obtained: FA 15 0A 09 01 00 00 00 01 00 00 00 0000 00 00 0000 00 00 00 00 00 FD. FA, 15, and FD can be fixed contents for determining whether it is a data packet to avoid interference from other signals. The third byte can be known from Table 2 to mean vehicle speed, 0A is hexadecimal, which is converted to decimal as 10, i.e., the vehicle speed is 10 km / h. The fourth byte can be known from Table 2 to mean the real-time position of the vehicle, the total track of the rail is divided into 255 parts, 09 is hexadecimal, which is converted to decimal as 9, i.e., the vehicle is at the 9th part of the total track at this time, if it is FF, it is converted to decimal as 255, i.e., it has reached the end point, and the specific position of the vehicle on the rail can be represented by an image on the display. The fifth byte can be known from Table 2 to mean the vehicle derailment signal, 01 is derailment, and an audible and visual alarm can be given according to this signal to prompt the operator to stop the vehicle immediately. The sixth to seventeenth bytes can be sensor status signals, which are known from Table 2 to mean that the tail infrared radar represented by code 03 is working abnormally, and the other sensors are working normally. The eighteenth to twenty-third bytes can be reserved values for future expansion. Those skilled in the art can also use any other vehicle communication protocol deemed appropriate according to actual use to enable the intelligent monitoring box to communicate with the intelligent driving central controller of the vehicle to obtain data signals.

[0029] Figure 3A schematic diagram showing the installation position of the tags of the system according to an exemplary embodiment of the present disclosure is shown. The system can also include a shield machine limit tag 8, a shield machine stop tag 9, a deceleration tag 10, a crane stop tag 11, and a crane limit tag 12. The shield machine stop tag 9 can be installed at the discharge port within the shield machine, and the vehicle stops when the shield machine stop tag 9 is read by the site sensor 7. The shield machine limit tag 8 can be installed at the bottom of the shield machine, and the vehicle is prohibited from continuing to advance when the shield machine limit tag 8 is read by the site sensor 7. That is, the vehicle cannot continue to advance and cannot exceed the shield machine limit tag 8, for example, the vehicle stops at the shield machine stop tag 9 and completes the earth loading operation, and when the operator makes a mistake and controls the vehicle to travel in the wrong direction (for example, the operator operates the vehicle to travel to the crane stop tag 11 according to the normal process, but if the operator makes a mistake, the vehicle can travel to the shield machine limit tag 8), the vehicle is prevented from colliding with the side wall of the shield machine by prohibiting the vehicle from continuing to advance and not being able to exceed the shield machine limit tag 8, thereby further ensuring the safe production of the shield machine. The vehicle can be prohibited from continuing to advance when the shield machine limit tag 8 is read by the site sensor 7, regardless of whether the operator is operating the vehicle to travel. The deceleration tag 10 can be installed at a position away from the crane, and the vehicle decelerates to a low-speed travel state when the deceleration tag 10 is read by the site sensor 7. The crane stop tag 11 can be installed at the crane, and the vehicle stops when the crane stop tag 11 is read by the site sensor 7. The crane limit tag 12 can be installed at the farthest distance at which the crane point allows the vehicle to be located, and the vehicle is prohibited from continuing to advance when the crane limit tag 12 is read by the site sensor 7. That is, the vehicle cannot continue to advance and cannot exceed the crane limit tag 12, for example, the vehicle can stop at the crane stop tag 11 and complete the muck hoisting operation, and when the operator makes a mistake and controls the vehicle to travel in the wrong direction (for example, the operator operates the vehicle to travel to the shield machine stop tag 9 according to the normal process, but if the operator makes a mistake, the vehicle can travel to the crane limit tag 12), the vehicle is prevented from colliding with the crane by prohibiting the vehicle from continuing to advance and not being able to exceed the crane limit tag 12, thereby further ensuring the safe production of the crane.

[0030] Figure 4A schematic diagram of a remote controller of a vehicle according to an exemplary embodiment of the present disclosure is shown. In a preferred embodiment, the vehicle can also have a remote controller 13. In a preferred embodiment, the remote controller 13 can be an A41-17040890 remote controller. The remote controller 13 can also be any other remote controller deemed appropriate by a person skilled in the art. The remote controller 13 can for example be provided with 8 control buttons to control the vehicle, such as a stop button, a horn button, left and right start buttons, left coarse and fine adjustment buttons, and right coarse and fine adjustment buttons. The remote controller can also include any other buttons deemed appropriate by a person skilled in the art. The stop button can cause the vehicle to emergency brake in any situation when the vehicle is travelling in the unmanned automatic driving mode. The horn button can be used to alert workers in front during driving. In addition, the horn button can also be pressed by the operator when the vehicle is starting to sound the horn to alert, the left and right start buttons can control the driving direction of the vehicle after starting. The left coarse and fine adjustment buttons, and the right coarse and fine adjustment buttons can control the vehicle to move left and right by large and small amounts respectively. Specifically, when the vehicle is inside the shield machine, the vehicle can be controlled to move left and right so that the multiple carriages of the vehicle are aligned with the muck discharge openings inside the shield machine in turn. The muck conveyor belt of the shield machine can convey muck to the muck discharge openings, so that the muck is discharged from the muck discharge openings into the multiple carriages of the vehicle in turn to complete the muck loading operation. When the vehicle is below the crane (i.e. the gantry crane), the vehicle can be controlled to move left and right so that the multiple carriages of the vehicle are aligned with the automatic hoisting system of the gantry crane in turn. The automatic hoisting system of the gantry crane can automatically hoist the multiple carriages of the vehicle respectively and unload the muck in the carriages to the designated area smoothly to complete the muck unloading operation.

[0031] Figure 5A flow chart of a method of using a vehicle according to an example embodiment of the present disclosure is shown. The vehicle can be configured to perform the following method, which comprises: S1, the laser radar 4, the infrared radar 5, the camera 6, and the site sensor 7 can be detected in turn, and the results of the detection are displayed. Specifically, detecting the laser radar 4 can determine whether it is working normally by whether point cloud data packets can be received within a period of time. Detecting the infrared radar 5 can determine whether it is working normally by the trouble output switch output by the sensor. Detecting the site sensor 7 can determine whether it is working normally by whether tag information can be received within a period of time. Detecting the camera 6 can determine whether it is working normally by whether image data can be received within a period of time. S2, in the case where the results of the detection are normal, the vehicle can travel towards the direction of the shield machine. S3, when the vehicle reaches the vicinity of the shield machine, the camera 6 can identify the shield machine door and slow down to enter the inside of the shield machine at a low speed, and move forward until the site sensor 7 detects the shield machine parking tag 9, and once the shield machine parking tag 9 is detected, the vehicle immediately stops to wait for the loading operation. In addition, the shield machine limiting tag 8 or the crane limiting tag 12 can be a signal prohibiting running to the left or to the right, and once the corresponding signal is detected, the relevant control buttons to the left (i.e. towards the direction of the shield machine) or to the right (i.e. towards the direction of the crane) are all disabled to prevent the vehicle from colliding with the shield machine. During the construction operation such as transportation of the spoil, various misoperations are usually caused due to fatigue of the operator caused by long time operation, for example, the operator misoperates the vehicle to continue to travel towards the shield machine limiting tag 8 after the vehicle stops at the shield machine parking tag 9 and completes the loading operation, or the operator misoperates the vehicle to continue to travel towards the crane limiting tag 12 after the vehicle stops at the crane parking tag 11 and completes the spoil hoisting operation, therefore, it is necessary to further ensure safety in production by preventing the vehicle from colliding with the side wall of the shield machine or the crane through the shield machine limiting tag 8 or the crane limiting tag 12. S4, the positions of the multiple carriages can be adjusted by the remote controller 13 to align with the discharge port of the shield machine, the conveyor belt of the shield machine transports the spoil to the discharge port to load the spoil into the multiple carriages to complete the loading operation. S5, after the loading operation is completed, the vehicle can travel towards the direction of the crane. S6, when the site sensor 7 detects the deceleration tag 10, the vehicle can start to travel at a reduced speed. S7, when the site sensor 7 detects the crane parking tag 11, the vehicle can stop to wait for the unloading operation. S8, the positions of the multiple carriages can be adjusted by the remote controller 13 to align with the unloading port, and the crane can hoist the spoil loaded in the multiple carriages to complete the unloading operation.In addition, during the operation of the vehicle, the position of the vehicle can be displayed in real time on the display device for the operator to view. If a derailment occurs, the alarm machine can alarm to prompt the operator to use the camera 6 to verify the derailment. Once the derailment is confirmed, the operator can immediately press the stop button on the remote control 13 to stop the vehicle immediately, thereby ensuring the safety of the vehicle.

[0032] In a preferred embodiment, according to the real-time video taken by the camera 6, the operator in the central control room can determine whether the vehicle is derailed. In addition, according to the real-time video taken by the camera, a curve detection algorithm based on Hough transform can be used to automatically identify the track information within 10m in front of the vehicle. For example, the curve curvature of the track can be calculated according to the identified track information, and then the detection range of the laser radar can be adjusted based on the curve curvature of the track. For example, according to the real-time video taken by the camera 6, a deep learning algorithm can be used to detect obstacles in front of the vehicle. In addition, those skilled in the art can also use other algorithms deemed appropriate to detect obstacles in front of the vehicle. With the video taken by the camera 6 and in combination with the laser radar 4, obstacles in front of the vehicle can be detected when driving at high speed, thereby improving the accuracy of detection and reducing the false detection rate.

[0033] In yet another preferred embodiment, a pair of logo patterns can be pasted on the shield machine and the center of the pair of logo patterns is 1m apart. The pair of logo patterns can be identified using an image detection algorithm to identify the opening of the shield machine and calculate the distance from the shield machine. Specifically, the pair of logo patterns can be a pair of logo mark patterns that are easy to identify and are usually pasted on the shield machine, such as above the door of the shield machine. Based on the pair of logo patterns, the opening of the shield machine can be determined and the distance of the vehicle from the shield machine can be calculated. For example, when the vehicle is 50m away from the shield machine, the vehicle can slow down to low speed.

[0034] In a preferred embodiment, the vehicle can also include a mass sensor placed at the bottom of each carriage for obtaining the mass of each carriage, and the brake determines the braking force required for braking based on the obtained mass to adjust the braking deceleration. The mass sensor can be installed, for example, at the bottom of each carriage of the vehicle to weigh the mass loaded in each carriage and transmit the data to the brake to determine the braking force required for braking to adjust the braking deceleration; when the loaded mass exceeds a set value, an alarm prompt can be given.

[0035] The technical scheme of the present application adopts the above system, can realize the transportation of the muck in the unmanned manner, reduces the risk of construction to ensure the safety production, has the environmental perception ability, can identify the obstacles and specific objects in real time, and carries out the autonomous acceleration and deceleration and safe parking, controls the automatic starting and parking of the vehicle through remote control, can monitor the driving video and driving state of the vehicle in real time, and displays the running position of the vehicle and the working information of the related equipment. The technical scheme of the present application can realize the construction operation such as the transportation of the muck in the construction of the subway tunnel through the unmanned vehicle, thereby avoiding various accidents caused by brake failure, driver misoperation or fatigue driving, and untimely battery replacement.

[0036] In the specification provided herein, a large number of specific details are explained. However, it should be understood that the embodiments of the present disclosure can be practiced without these specific details. In some embodiments, well-known methods, structures and techniques are not shown in detail in order not to obscure the understanding of the present specification.

[0037] It should be understood that the systems and / or methods in each of the embodiments provided in the present application can be combined, modified and / or altered to form new technical solutions. These technical solutions should also be included in the scope of protection required by the present application without creative labor.

[0038] A large number of specific examples are provided in the embodiments provided herein, and it should be understood that these examples are only for detailed description of the embodiments of the present application and are not a limitation of the present application. The embodiments in the present application can be practiced without these specific examples. In some embodiments, methods, structures and / or techniques well known to those skilled in the art are not shown in detail in order not to obscure the understanding of the present application.

[0039] Although the preferred embodiments of the present application have been shown and described herein, it will be apparent to those skilled in the art that these embodiments are provided only in an exemplary manner. Those skilled in the art will now think of various changes, alterations and substitutions without departing from the present application. It should be understood that various alternatives described herein for the embodiments of the present application are optionally used to implement the present application. It is intended to limit the scope of the present application by the claims, and thus to cover the methods and structures within the scope of these claims and their equivalents.

Claims

1. A system for transporting muck between a shield machine and a crane, comprising: an unmanned vehicle, the vehicle comprising: a vehicle head; a plurality of vehicle compartments connected to the vehicle head for loading muck; a laser radar installed at the highest point in front of the vehicle head, the laser radar looking straight ahead, working when the vehicle is driving at high speed, to detect objects within 30 m in the direction straight ahead of the vehicle; an infrared radar installed at a point 30 cm higher than the bottom of the vehicle head, the infrared radar looking straight ahead, working when the vehicle is driving at low speed, to detect objects within 3 m in the direction straight ahead of the vehicle; a camera installed in front of the vehicle head for shooting instant videos and transmitting the shot instant videos to a central control room; a site sensor installed on the side of the vehicle head; a shield machine parking label installed at the discharge port of the shield machine, the vehicle stopping when the site sensor reads the shield machine parking label; a deceleration label installed at a position away from the crane point, the vehicle decelerating to low-speed driving state when the site sensor reads the deceleration label; a crane parking label installed at the crane point, the vehicle stopping when the site sensor reads the crane parking label; a remote controller capable of adjusting the position of the plurality of vehicle compartments; wherein the vehicle is configured to perform the following steps, the steps comprising: S1, sequentially detecting the laser radar, the infrared radar, the camera, and the site sensor, and displaying the results of the detection; S2, in the case that the results of the detection are normal, the vehicle drives towards the shield machine; S3, when the vehicle reaches the vicinity of the shield machine, the camera identifies the shield machine door and decelerates to enter the inside of the shield machine at low speed, moving forward until the site sensor detects the shield machine parking label, the vehicle immediately stops to wait for the muck loading operation; S4, adjusting the position of the plurality of vehicle compartments by the remote controller to align with the discharge port of the shield machine, the conveyor belt of the shield machine transporting muck to the discharge port to load the muck into the plurality of vehicle compartments to complete the muck loading operation; S5, after the muck loading operation is completed, the vehicle drives towards the crane; S6, when the site sensor detects the deceleration label, the vehicle starts to drive at a deceleration; S7, when the site sensor detects the crane parking label, the vehicle stops to wait for the muck unloading operation; and S8, adjusting the position of the plurality of vehicle compartments by the remote controller to align with the unloading port, the crane hoisting the muck loaded in the plurality of vehicle compartments to complete the muck unloading operation; the system further comprises a mass sensor placed at the bottom of each vehicle compartment for obtaining the mass of each vehicle compartment, and a brake determining the braking force required for braking based on the obtained mass to adjust the braking deceleration; the remote controller comprises a stop button, a whistle button, left and right start buttons, left coarse adjustment buttons, left fine adjustment buttons, right coarse adjustment buttons, and right fine adjustment buttons; The system further comprises a plurality of intelligent monitoring boxes arranged on the side of the tunnel between the shield machine and the crane and having a transceiver capable of communicating with the intelligent driving central controller of the vehicle using a vehicle communication protocol to obtain a data signal, and parsing the obtained data signal and forwarding the parsed signal to the central monitoring room, so that the vehicle operator in the central monitoring room obtains various parameters of the vehicle to monitor and operate the unmanned vehicle, wherein the data signal includes vehicle speed, vehicle position, vehicle derailment and alarm signal.

2. The system of claim 1, wherein the vehicle is a battery car powered by a battery in the car head to carry the plurality of carriages for travel.

3. The system of claim 1, wherein the infrared radar is a Sick safety radar.

4. The system of claim 1, wherein whether the vehicle derails is determined according to the real-time video taken by the camera.

5. The system of claim 1, wherein the track information within 10m in front of the vehicle is automatically identified using a curve detection algorithm based on Hough transform according to the real-time video taken by the camera.

6. The system of claim 5, wherein the curve curvature of the track is calculated according to the identified track information, and then the detection range of the laser radar is adjusted based on the curve curvature of the track.

7. The system of claim 1, wherein the obstacles in front of the vehicle are detected using a deep learning algorithm according to the real-time video taken by the camera.

8. The system of claim 1, further comprising a pair of logo patterns pasted on the shield machine and 1m apart between the centers of the pair of logo patterns, the pair of logo patterns are identified using an image detection algorithm to determine the opening of the shield machine and calculate the distance between the vehicle and the shield machine.

9. The system of claim 1, further comprising a crane limiting label and a shield machine limiting label, the crane limiting label is installed at the farthest distance allowed by the crane point for the vehicle to be located, the vehicle is prohibited to continue to advance when the station sensor reads the crane limiting label, the shield machine limiting label is installed at the bottom of the shield machine, the vehicle is prohibited to continue to advance when the station sensor reads the shield machine limiting label.

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