Reverse control device, unmanned vehicle and reverse control method

Abstract

The application provides a reverse control device, an unmanned vehicle and a reverse control method. The reverse control device comprises a rotating assembly, an angle detection member and a controller. The rotating assembly comprises a connecting member and a rotating member. The connecting member is configured to connect an installation part of a tail of the unmanned vehicle and is fixed relative to the installation part. The rotating member is rotatably arranged on the connecting member and is configured to rotate around the connecting member towards a head of the unmanned vehicle when the rotating member abuts against an obstacle during reverse driving of the unmanned vehicle. The angle detection member is connected between the rotating member and the connecting member and is configured to monitor a rotating angle of the rotating member relative to the connecting member. The controller is configured to determine an actual distance between the unmanned vehicle and the obstacle according to the rotating angle, so as to control the unmanned vehicle to stop when the actual distance is equal to a target distance. The reverse control device provided by the application can realize safe, stable and accurate parking of the unmanned vehicle at the edge of a dump site.

Description

Technical Field

[0001] This application relates to the field of mining machinery and vehicle technology, and in particular to a reversing control device, an unmanned vehicle, and a reversing control method. Background Technology

[0002] Smart mining systems typically include unmanned mining trucks. The challenges of unmanned mining truck operation lie in loading and unloading at both ends, and especially in unloading operations, where the difficulty lies in safely, smoothly, and precisely reversing the unmanned mining truck and parking it at the edge of the waste dump. One related technology provides a reversing control method for unmanned mining trucks, which enables the truck to park at the edge of the waste dump after reversing.

[0003] However, the above control methods are limited by the signal at the spoil heap of open-pit mines. When the signal at the spoil heap is poor, it can easily lead to safety accidents such as unmanned mining cars slipping off. Summary of the Invention

[0004] This application provides a reversing control device, an unmanned vehicle, and a reversing control method, which enables the unmanned vehicle to safely, smoothly, and accurately park at the edge of a spoil heap.

[0005] The first aspect of this application provides a reversing control device, which includes a rotating component, an angle detection component, and a controller. The rotating component includes a connector and a rotating component. The connector is configured to connect to a mounting portion at the rear of an autonomous vehicle and is fixed relative to the mounting portion. The rotating component is rotatably disposed on the connector and is configured to rotate around the connector toward the front of the autonomous vehicle when it abuts against a blocking component during the reversing process of the autonomous vehicle.

[0006] The angle detection element is connected between the rotating element and the connecting element and is configured to monitor the rotation angle of the rotating element relative to the connecting element; the controller is configured to determine the actual distance between the autonomous vehicle and the blocking element by the rotation angle, so as to control the autonomous vehicle to stop when the actual distance is equal to the target distance.

[0007] Furthermore, the mounting part is a rear bumper, the connector is located on the central axis of the rear bumper, and at least a portion of the structure of the connector is exposed on the outside of the rear bumper;

[0008] The rotating component includes a rotating sleeve and a baffle. The rotating sleeve is sleeved on the part of the connecting member exposed on the rear bumper and is rotatably arranged around the connecting member. The baffle is connected to the circumferential outer wall of the rotating sleeve and is configured to abut against the blocking member, and rotates towards the front of the vehicle under the drive of the rotating sleeve.

[0009] Furthermore, the connector is exposed at both ends of the rear bumper along the axial direction, and there are two rotating sleeves, which are sleeved on both ends of the connector at both ends of the rear bumper.

[0010] Furthermore, the rotating assembly also includes at least one limiting unit located between the rotating member and the mounting portion to limit the rotation direction of the rotating member.

[0011] Furthermore, the limiting unit includes a first limiting member and a second limiting member, wherein the first limiting member is located on the side of the rotating member facing the mounting portion and rotates simultaneously with the rotating member;

[0012] The second limiting member is located on the side of the mounting portion facing the first limiting member, and blocks the rotation path of the first limiting member toward the blocking member.

[0013] Furthermore, the rotating assembly also includes an elastic reset member, which is sleeved on the connecting member and abuts against the rotating member and the mounting portion;

[0014] The elastic reset member is configured to drive the rotating member to rotate toward one side of the mounting portion when the rotating member disengages from the blocking member.

[0015] Furthermore, the angle detection element is located on the axis of the connecting element, the first end of the angle detection element is connected to the rotating element and rotates simultaneously with the rotating element, and the second end of the angle detection element is connected to the connecting element and is fixed relative to the connecting element;

[0016] The angle detection element is configured to determine the rotation angle based on the detected rotation angle value of the first end relative to the second end.

[0017] A second aspect of this application provides an unmanned vehicle, including a vehicle body and a reversing control device as described in any of the preceding claims, wherein the rear of the vehicle body has a mounting portion, and the reversing control device is connected to the mounting portion.

[0018] A third aspect of this application provides a reversing control method applied to the unmanned vehicle described above, wherein a reversing control device is connected to the rear of the unmanned vehicle, the reversing control device including a rotating component and a connecting component, and the reversing control method includes:

[0019] Monitor the rotation angle of the rotating component relative to the connecting component during the reversing process of the unmanned vehicle;

[0020] The actual distance between the unmanned vehicle and the blocking component is determined based on the rotation angle.

[0021] Determine the difference between the actual distance and the target distance;

[0022] If the actual distance is greater than the target distance, the driverless vehicle is controlled to continue reversing, and the rotation angle is monitored.

[0023] If the actual distance is equal to the target distance, then control the driverless vehicle to stop.

[0024] Furthermore, if the actual distance is greater than the target distance, the driverless vehicle is controlled to continue reversing, and the rotation angle is continuously monitored, including:

[0025] The actual distance is determined based on the rotation angle;

[0026] If the actual distance decreases to a preset distance, the driverless vehicle is controlled to decelerate at a preset deceleration and continue reversing. The preset distance is greater than the target distance.

[0027] This application provides a reversing control device, an unmanned vehicle, and a reversing control method. The reversing control device incorporates a connecting component to facilitate the assembly of a rotating component and an angle detection component onto the unmanned vehicle. Based on this, the reversing control device, with its rotating component, angle detection component, and controller, allows the controller to determine the actual distance between the unmanned vehicle and the blocking component by monitoring the rotation angle of the rotating component relative to the connecting component. When the actual distance equals the target distance, the unmanned vehicle is controlled to stop. This enables the unmanned vehicle to safely, smoothly, and accurately park at the edge of the spoil heap for spoil disposal operations. Furthermore, it enhances the reliability of the unmanned vehicle's parking position positioning, preventing the risk of the unmanned vehicle sliding down a slope due to excessive proximity to the spoil heap edge. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the reversing process of an unmanned vehicle provided in an embodiment of this application. Figure 1 ;

[0030] Figure 2 yes Figure 1 Structural diagrams of autonomous vehicles from different perspectives;

[0031] Figure 3 This is a schematic diagram of the reversing process of an unmanned vehicle provided in an embodiment of this application. Figure 2 ;

[0032] Figure 4 yes Figure 3 Structural diagrams of autonomous vehicles from different perspectives;

[0033] Figure 5 This is an assembly diagram of the reversing control device provided in the embodiments of this application on an unmanned vehicle;

[0034] Figure 6 yes Figure 5 A schematic diagram of the reversing control device from another perspective;

[0035] Figure 7 This is a partial view of the reversing control device provided in this application embodiment on one side of the rear bumper;

[0036] Figure 8 yes Figure 7 Partial view of the reversing control device in the middle Figure 1 ;

[0037] Figure 9 yes Figure 7 Partial view of the reversing control device in the middle Figure 2 ;

[0038] Figure 10 This is a schematic diagram of the reversing control principle of an unmanned vehicle provided in an embodiment of this application;

[0039] Figure 11 This is a structural diagram of an unmanned vehicle provided in an embodiment of this application;

[0040] Figure 12 This is a flowchart illustrating the reversing control method provided in an embodiment of this application;

[0041] Figure 13 This is a schematic diagram of the reversing process of an unmanned vehicle provided in an embodiment of this application. Figure 3 ;

[0042] Figure 14 This is a schematic diagram of the reversing process of an unmanned vehicle provided in an embodiment of this application. Figure 4 ;

[0043] Figure 15 This is a structural schematic diagram of an unmanned vehicle discharging cargo, as provided in an embodiment of this application.

[0044] Explanation of reference numerals in the attached figures:

[0045] 100 - Reversing control device; 110 - Connector; 111 - Connecting part; 120 - Rotating part; 121 - Rotating sleeve; 1211 - First limiting part; 122 - Baffle; 123 - Connecting column; 124 - Mounting groove; 130 - Elastic reset part;

[0046] 140 - Angle measuring component; 141 - Machine body; 142 - Connecting shaft; 143 - Flange; 150 - Coupling;

[0047] 200 - Driverless vehicle; 210 - Rear end; 220 - Mounting section; 221 - Second limiting component; 222 - Fixing protrusion; 230 - Cargo box;

[0048] 300 - Blocking component; 400 - Waste dumping area; 410 - Working surface; 420 - Waste dumping slope. Detailed Implementation

[0049] The terminology used in the implementation section of this application is for the purpose of explaining specific embodiments of the application only, and is not intended to limit the application.

[0050] Currently, in addition to unmanned mining trucks, smart mining systems also include excavators, which can replace manual labor for 24 / 7 operation. When unmanned mining trucks are used for waste disposal, they first reverse and park at the edge of the waste disposal area. Then, the truck's cargo box is raised, and the cargo inside is dumped onto the waste disposal slope, completing the disposal operation. The cargo can include waste ore or excavated soil. The waste disposal area has a working surface for unmanned mining trucks and other vehicles to travel on. The waste disposal slope is the steeper slope on one side of the working surface, serving as the destination for the cargo after disposal. When the unmanned mining truck is parked at the waste disposal area, the waste disposal slope is located behind its rear. The edge of the waste disposal area can be understood as the outermost edge of the working surface adjacent to the waste disposal slope.

[0051] When unmanned mining trucks park at the edge of a spoil heap, if they are too close to the edge, they will slide down the slope; if they are too far from the edge, the cargo inside the truck will be left on the spoil heap platform, preventing the next unmanned mining truck from successfully dumping spoil. Therefore, the difficulty of unmanned mining trucks in spoil heap operations lies in how to safely, smoothly, and accurately reverse and park at the edge of the spoil heap.

[0052] One related technology provides a method for controlling the reversing of an unmanned mining truck. This method is based on Global Navigation Satellite System (GNSS) positioning for reversing control. This method allows for the preset GNSS coordinates of the edge of the spoil heap and the calculation of the distance between the unmanned mining truck and the edge of the spoil heap based on real-time positioning information, enabling the unmanned mining truck to stop at the edge of the spoil heap after reversing.

[0053] However, this control method is limited by the signal at the spoil heap of open-pit mines. Since most spoil heaps in open-pit mines are located at high altitudes, the real-time kinematic (RTK) signal is poor. Therefore, when the RTK signal at the spoil heap is poor, inaccurate positioning of the unmanned mining car after reversing is likely to occur, which can easily lead to safety accidents such as the unmanned mining car slipping off, making the reliability of this control method poor.

[0054] Related technology 2 provides a method for creating high-precision maps of mining areas. This method is based on Simultaneous Localization and Mapping (SLAM) edge perception technology for spoil heaps. By installing sensors such as LiDAR, cameras, and millimeter-wave radar on unmanned mining vehicles, the spoil heap is mapped, its edges are identified, and the distance from the unmanned mining vehicle to the edge of the spoil heap is measured in real time. However, this method uses a large number of sensors, resulting in high sensor costs, and the stability of each sensor in the harsh working environment of the mining area is difficult to guarantee.

[0055] Therefore, this application provides a reversing control device. By making simple mechanical modifications to the autonomous vehicle, the reversing control device is installed at the rear of the vehicle. This device adds control over the autonomous vehicle's reversing into a waste dump, enabling it to safely, smoothly, and accurately park at the edge of the waste dump. Furthermore, compared to the aforementioned related technologies, the reversing control device of this application also has lower cost and higher reliability.

[0056] The structure of the reversing control device will be further described below with reference to the accompanying drawings and embodiments.

[0057] See Figure 1As shown, the reversing control device 100 includes a rotation component, an angle detection component 140, and a controller. The rotation component includes a connector 110 and a rotating component 120. The connector 110 is configured to connect to the mounting portion 220 of the rear 210 of the autonomous vehicle 200 and is fixed relative to the mounting portion 220 of the autonomous vehicle 200. That is, the relative positions of the connector 110 and the mounting portion 220 will not change.

[0058] The unmanned vehicle 200 can be the aforementioned unmanned mining truck or other unmanned vehicles 200 that require reversing accuracy. Here, no further limitation is made on the type of unmanned vehicle 200. The unmanned mining truck can be an unmanned mining truck.

[0059] The structure of the reversing control device 100 will be further explained below, taking the unmanned mining truck as an example.

[0060] See Figures 1 to 4 As shown, the rotating member 120 is rotatably mounted on the connecting member 110 and is configured to rotate around the connecting member 110 toward the front of the autonomous vehicle 200 when it comes into contact with the blocking member 300 during the reversing process of the autonomous vehicle 200. Since the connecting member 110 and the mounting part 220 are relatively fixed, when the rotating member 120 rotates around the connecting member 110 toward the front of the autonomous vehicle 200, it also rotates relative to the mounting part 220 toward the front of the autonomous vehicle 200, so as to convert the distance between the autonomous vehicle 200 and the blocking member 300 into a change in the rotation angle of the rotating member 120 relative to the connecting member 110.

[0061] An angle detection element 140 is connected between the rotating member 120 and the connecting member 110, and is configured to monitor the rotation angle of the rotating member 120 relative to the connecting member 110. The angle detection element 140 may include an angle sensor or other detection element capable of monitoring the aforementioned rotation angle.

[0062] The structure of the reversing control device 100 will be further explained below, taking the angle sensor as an example.

[0063] The controller is configured to determine the actual distance between the autonomous vehicle 200 and the barrier 300 by rotating an angle, so as to control the autonomous vehicle 200 to stop when the actual distance is equal to the target distance.

[0064] The central axis of the mounting unit 220 and the geometric major axis of the blocking component 300 both have vertical projections on the working surface 410 of the spoil heap 400. The actual distance can be understood as the parallel distance between the two vertical projections during the reversing process of the unmanned vehicle 200 on the working surface 410. The target distance can be understood as the parallel distance between the two vertical projections measured based on the driver's rich driving experience, when the unmanned vehicle 200 is safely and accurately parked at the edge of the spoil heap 400 to ensure the smooth progress of the next spoil heap operation. The target distance can also be understood as an empirical value, which is not further limited here.

[0065] By setting the connector 110 in the reversing control device 100, this application enables the assembly of the rotating component 120 and the angle detection component 140 on the mounting part 220 without affecting the original function of the mounting part 220.

[0066] The barrier 300 is a warning obstacle set up by the mining area management at the edge of the spoil heap 400 to prevent vehicles from sliding off the spoil heap slope 420 during reversing. For example, the barrier 300 may include, but is not limited to, a retaining wall or other obstacle.

[0067] The side of the blocking member 300 facing the spoil heap slope 420 is a sloping surface coplanar with the spoil heap slope 420. The side of the blocking member 300 facing the rotating member 120 can also be a sloping surface, so that the rotating member 120 abuts against the sloping surface of the blocking member 300 and rotates around the connecting member 110 during the reversing of the unmanned vehicle 200 in the spoil heap 400. Alternatively, in some embodiments, the side of the blocking member 300 facing the rotating member 120 can be a plane. In this application, the structure of the blocking member 300 is not further limited.

[0068] By setting up the rotating component 120 and the angle detection component 140 in the reversing control device 100, the controller can determine the actual distance between the unmanned vehicle 200 and the blocking component 300 during the reversing process by monitoring the rotation angle of the rotating component 120 relative to the connecting component 110 through the angle detection component 140. When the actual distance is equal to the target distance, the controller controls the unmanned vehicle 200 to stop. The controller can precisely control the distance between the unmanned vehicle 200 and the edge of the spoil heap 400 after reversing and stopping, so as to achieve safe, smooth and accurate parking of the unmanned vehicle 200 at the edge of the spoil heap 400 for spoil disposal. This prevents the unmanned vehicle 200 from getting too close to the edge of the spoil heap 400 and causing the risk of sliding down the slope. At the same time, it can also ensure that all the goods in the cargo box 230 are discharged into the spoil slope 420 to ensure the smooth progress of the spoil disposal operation of the next vehicle.

[0069] Compared to manually driven vehicles reversing into position at the spoil heap 400, this application, through the setting of a reversing control device 100 on the unmanned vehicle 200, can avoid mine car slippage accidents caused by human operation errors, fatigue driving, and other factors, and can improve the positioning accuracy of parking, so that all the goods in the cargo box 230 are discharged into the spoil heap slope 420.

[0070] Furthermore, compared to the aforementioned related technology, this application, through the installation of a reversing control device 100 on the unmanned vehicle 200, does not rely on a combined navigation and positioning system, resulting in lower costs and avoiding the problems of poor RTK signal and inaccurate positioning in scenarios such as the spoil heap 400. Moreover, because the reversing control device 100 has the characteristics of high mechanical reliability, stable performance, and enhanced safety, it makes the positioning of the unmanned vehicle 200's parking position more reliable, ensuring that the unmanned vehicle 200 can safely, smoothly, and accurately park at the edge of the spoil heap 400.

[0071] In addition, compared with the above-mentioned related technology 2, the present application, by setting the reversing control device 100 on the unmanned vehicle 200, can not only reduce the number of sensors and reduce the hardware cost of the unmanned vehicle 200, but also be unaffected by weather conditions, and the positioning of the parking position of the unmanned vehicle 200 is more reliable, and can achieve higher parking position accuracy, so as to ensure that the unmanned vehicle 200 can safely, smoothly and accurately park at the edge of the spoil heap 400.

[0072] See Figure 2 As shown, when the rotating member 120 does not abut against the blocking member 300, the rotating member 120 remains in its initial state. In the initial state, the rotating member 120 is located on the side of the mounting portion 220 facing the ground, and is perpendicular to the working surface 410 of the spoil heap 400 and the long axis direction of the unmanned vehicle 200. The long axis direction of the unmanned vehicle 200 can be found in [reference needed]. Figure 2 In the X direction. During the process of the unmanned vehicle 200 reversing into position on the working surface 410 of the spoil heap 400 towards the spoil slope 420, the rotating component 120 will touch the blocking component 300 and rotate towards the front of the vehicle under the action of the blocking component 300.

[0073] The connector 110 may include, but is not limited to, a rotating shaft or other rotating component, so that the rotating component 120 is rotatably mounted on the connector 110. For example, the rotating component 120 is sleeved on the circumferential outer wall of the connector 110 and rotates around the connector 110.

[0074] See Figure 1As shown, in some embodiments, the mounting part 220 can be the rear bumper of the rear end 210 of the autonomous vehicle 200. Alternatively, in other embodiments, the mounting part 220 can also be connected to a fixed bracket on the rear bumper or to other structures of the rear end 210. Here, the mounting position of the connector 110 on the rear end 210 of the autonomous vehicle 200 is not further limited.

[0075] The following section uses the installation part 220 as an example of the rear bumper to further explain the reversing control device 100.

[0076] See Figure 5 and Figure 6 As shown, in some embodiments, the connector 110 may be located on the central axis of the rear bumper, and at least a portion of the structure of the connector 110 is exposed outside the rear bumper. This facilitates the connection between the connector 110 and the rotating member 120 while retaining the functionality of the rear bumper itself, and allows the rotating member 120 to rotate around the central axis of the rear bumper simultaneously when rotating around the connector 110.

[0077] The rotating component 120 includes a rotating sleeve 121 and a baffle 122. The rotating sleeve 121 is sleeved on the part of the connecting component 110 exposed on the rear bumper and is rotatably arranged around the connecting component 110 to realize the rotation of the rotating component 120 and the connecting component 110. At this time, the rotating sleeve 121 makes the rotating component 120 and the connecting component 110 a rotating pair connection.

[0078] The baffle 122 is connected to the circumferential outer wall of the rotating sleeve 121 and is configured to abut against the blocking member 300 and drive the rotating sleeve 121 to rotate towards the front of the vehicle at the same time. This is so that when the baffle 122 abuts against the blocking member 300, the rotating member 120 rotates around the connecting member 110 towards the front of the vehicle, and the distance between the rear bumper and the blocking member 300 is converted into a change in the rotation angle of the baffle 122 relative to the rear bumper.

[0079] In some embodiments, the connector 110 is exposed at both ends of the rear bumper along the axial direction. There are two rotating sleeves 121, which are sleeved on the connectors 110 at both ends of the rear bumper. This arrangement enhances the stability of the rotating component 120 during rotation without affecting the function of the rear bumper, thereby improving the parking position accuracy.

[0080] At this time, there can be one connector 110, and the rear bumper can be a hollow structure with openings at both ends. The connector 110 passes through the rear bumper and is exposed at both axial ends of the rear bumper. It is connected to the rear bumper by interference fit, snap-fit, or fasteners, so that while the connector 110 is connected to the two rotating sleeves 121, the connector 110 can be relatively fixed to the rear bumper. Fasteners can include screws, bolts, or other fastening structures.

[0081] Alternatively, in some embodiments, when the rear bumper is a solid structure, there can be two connectors 110. The two connectors 110 can be connected to the end face of the rear bumper along its axial direction and fixed relative to each other. This also allows the connectors 110 to be connected to the two rotating sleeves 121. The axial direction of the rear bumper can be found in [reference needed]. Figure 6 in the Y direction.

[0082] The following section will further elaborate on the reversing control device 100, taking the example of the connector 110 being installed inside the rear bumper.

[0083] After the rotating member 120 disengages from the blocking member 300, the rotating member 120 can rotate around the connecting member 110 to its initial state under its own gravity.

[0084] See Figures 6 to 8 As shown, in some embodiments, the rotating assembly may further include an elastic reset member 130, which is sleeved on the connector 110 and abuts between the rotating member 120 and the mounting portion 220. The elastic reset member 130 is configured to drive the rotating member 120 to rotate toward one side of the mounting portion 220 when the rotating member 120 disengages from the blocking member 300, so that the rotating member 120 rotates to its initial state, thereby resetting the rotating member 120 and constraining its posture.

[0085] Along the Y direction, there is an assembly gap between the end faces of the rotating sleeve 121 and the mounting portion 220 (e.g., the rear bumper). The elastic reset member 130 can be sleeved on the connecting member 110 and located within the assembly gap. Specifically, one end of the elastic reset member 130 abuts against the fixing protrusion 222 on the end face of the rear bumper, and the other end of the elastic reset member 130 abuts against the side of the rotating sleeve 121 facing the rear bumper, so as to achieve the abutment of the elastic reset member 130 between the rotating member 120 and the rear bumper.

[0086] When the baffle 122 rotates toward the front of the vehicle, the elastic reset member 130 can be twisted and compressed in the Y direction. This allows the rotating sleeve 121 to rotate toward the mounting portion 220 under the rebound force of the elastic reset member 130 when the baffle 122 disengages from the blocking member 300. This also causes the baffle 122 to rotate toward the mounting portion 220 at the same time, so that the rotating member 120 rotates to its initial state.

[0087] When there are two rotating sleeves 121, there are also two assembly gaps. In this case, an elastic reset member 130 is provided in each assembly gap to ensure the uniformity of the force on the rotating sleeve 121, so that the rotating member 120 can rotate stably to the initial state.

[0088] The elastic reset member 130 can be a torsion spring or other elastic structure that can reset the rotating member 120. The structure of the elastic reset member 130 is not further limited here.

[0089] See Figure 6 and Figure 7 As shown, in some embodiments, the rotating assembly may further include at least one limiting unit located between the rotating member 120 and the mounting portion 220 to limit the rotation direction of the rotating member 120 so that when the baffle 122 abuts against the blocking member 300, it can rotate around the connecting member 110 toward the front of the vehicle to constrain the rotation direction of the rotating member 120.

[0090] The limiting unit can be one, two, or more. For example, when there is one limiting unit, it can be located within the assembly gap on one side of the mounting portion 220. Or, see [link to documentation]. Figure 6 As shown, a limiting unit can be set within each of the two assembly gaps. Compared to setting a single limiting unit, this can better restrict the rotation direction of the rotating part 120, ensuring that the rotating part 120 is always parallel to the axis of the rear bumper. The number of limiting units is not further limited here.

[0091] See Figure 7 and Figure 9 As shown, the limiting unit includes a first limiting member 1211 and a second limiting member 221. The first limiting member 1211 is located on the side of the rotating member 120 facing the mounting portion 220 and rotates simultaneously with the rotating member 120. The second limiting member 221 is located on the side of the mounting portion 220 facing the first limiting member 1211 and blocks the rotation path of the first limiting member 1211 toward the blocking member 300. This allows the second limiting member 221 to block the first limiting member 1211 and abut against it when the first limiting member 1211 rotates with the rotating member 120 toward the blocking member 300, thereby restricting the rotating member 120 from rotating toward the blocking member 300 and limiting its rotation to only around the connecting member 110 toward the front of the vehicle.

[0092] It should be noted that when the second limiting member 221 abuts against the first limiting member 1211, the rotating member 120 is in the initial state, the baffle 122 is located directly below the mounting part 220, and is perpendicular to the working surface 410 of the waste dump 400.

[0093] Both the first limiting member 1211 and the second limiting member 221 can be elongated structures. The first limiting member 1211 and the second limiting member 221 are located on both sides of the assembly gap and extend in opposite directions within the assembly gap, and overlap along the Y direction, so that the second limiting member 221 can block the first limiting member 1211 while also facilitating the disengagement of the first limiting member 1211 from the second limiting member 221, allowing the rotating member 120 to rotate around the connecting member 110 toward the front of the vehicle.

[0094] Alternatively, without affecting the rotation of the rotating member 120 around the connecting member 110 toward the front of the vehicle, the first limiting member 1211 and the second limiting member 221 can also adopt other structures that can abut against each other. The structures of the first limiting member 1211 and the second limiting member 221 are not further limited here.

[0095] The first limiting member 1211 can be integrally formed or detachably connected to the side of the rotating sleeve 121 facing the rear bumper, and the second limiting member 221 can also be integrally formed or detachably connected to the end face of the rear bumper facing the rotating sleeve 121. The detachable connection method can include, but is not limited to, snap-fit ​​or fastener connection. Here, the fixing method of the first limiting member 1211 and the second limiting member 221 is not further limited.

[0096] See Figures 7 to 9 As shown, the angle detection element 140 is located on the axis of the connecting element 110. The first end of the angle detection element 140 is connected to the rotating element 120 and rotates simultaneously with it. The second end of the angle detection element 140 is connected to the connecting element 110 and is relatively fixed to it. That is, the position of the second end of the angle detection element 140 relative to the connecting element 110 is fixed. The angle detection element 140 is configured to determine the rotation angle based on the monitored rotation angle value of the first end relative to the second end.

[0097] Since the first end rotates simultaneously with the rotating member 120, while the second end is fixed relative to the connecting member 110, when the rotating member 120 rotates around the connecting member 110, the first end also rotates relative to the second end relative to the rotating member 120 around the axis of the connecting member 110. Therefore, the rotation angle value of the first end relative to the second end is the same as the rotation angle. In this way, after the angle detection member 140 detects the rotation angle value, it can determine the rotation angle and transmit the rotation angle to the controller, so that the controller can accurately control the parking of the unmanned vehicle 200 based on the acquired rotation angle.

[0098] It should be noted that when the rotating component 120 is in the initial state, the rotation angle output by the angle detection component 140 is 0°. When the rotating component 120 moves around the connecting component 110 towards the front of the vehicle under the action of torque, the rotation angle output by the angle detection component 140 begins to gradually increase.

[0099] The angle detection element 140 can be an angle sensor with relative rotation at both ends. The angle sensor has a measurement range of 0 to 360°, an angle resolution of 0.022°, and can output the rotation angle via Controller Area Network (CAN) or other means.

[0100] Specifically, the angle sensor includes a body 141 and a connecting shaft 142. The body 141 can be understood as the structure within the angle sensor excluding the connecting shaft 142. Specifically, the body 141 may contain angle detection elements and other structures. The connecting shaft 142 passes through the end of the body 141, and the body 141 can rotate relative to the connecting shaft 142 under the action of an external force. The connecting shaft 142 may be, but is not limited to, a "D"-shaped shaft. A "D"-shaped shaft can be understood as a shaft with an axial cross-section that is "D"-shaped.

[0101] The rotating component 120 also includes a connecting column 123. The connecting column 123 and the rotating sleeve 121 are located on the same side of the baffle 122 and on the axis of the rotating sleeve 121, so that the connecting column 123, the rotating sleeve 121, and the connecting component 110 are coaxially arranged. The connecting column 123 is located on the side of the rotating sleeve 121 away from the mounting part 220, and forms a mounting groove 124 between the rotating sleeve 121 and the baffle 122. The body 141 and the connecting shaft 142 are both located in the mounting groove 124. The body 141 can be fixed to the side of the connecting column 123 facing the rotating sleeve 121 by means of a flange 143 and fasteners, etc. The connecting shaft 142 can be connected to the connecting part 111 on the end face of the connecting component 110 located in the mounting groove 124 by a coupling 150, and fixed relative to it. The connecting part 111 is also a "D" type shaft.

[0102] The coupling 150 may include, but is not limited to, a coupling structure with built-in double diaphragms. With the setting of the coupling 150, when the baffle 122 is subjected to external impact or other external forces, causing the connecting column 123 and the connecting piece 110 to be out of axis, it can protect the machine body 141 from damage while playing the role of transmitting rotation.

[0103] The number of angle detection components 140 can be one or two. When there are two angle detection components 140, there are also two connecting posts 123. The two connecting posts 123 can be located on the side of the two rotating sleeves 121 away from the rear bumper, so that the angle detection components 140 can be fixed on the rotating components 120.

[0104] The controller can be electrically connected to the angle sensor and the drive-by-wire chassis of the unmanned vehicle 200 via CAN or other means. During normal autonomous driving, the controller can control the mine truck's autonomous driving based on the positioning signal and sensor signal of the unmanned vehicle 200.

[0105] See Figure 10 and Figure 11 As shown, during the process of the unmanned vehicle 200 reversing into the spoil heap 400, and as the rotating component 120 rotates towards the front of the vehicle under the torque applied by the blocking component 300, the controller can receive and analyze the rotation angle, and determine the actual distance between the unmanned vehicle 200 and the blocking component 300. When the actual distance is equal to the target distance, the controller outputs a signal to the drive-by-wire chassis, which controls the unmanned vehicle 200 to stop, so that the unmanned vehicle 200 stops at the edge of the spoil heap 400, which can just dump all the cargo it carries onto the spoil slope 420, while ensuring that the unmanned vehicle 200 does not slide down the spoil slope 420 due to excessive reversing, thus ensuring the safety of the reversing spoil dumping process.

[0106] The controller may include a domain controller or other control device capable of performing the above functions. In this application, the type of controller is not further limited.

[0107] See Figure 11 As shown, based on the above, this application embodiment also provides an unmanned vehicle 200. The unmanned vehicle 200 includes a vehicle body and the aforementioned reversing control device 100. The rear 210 of the vehicle body has a mounting part 220, and the reversing control device 100 is connected to the mounting part 220. By setting the reversing control device 100, the unmanned vehicle 200 can be accurately parked at the edge of the spoil heap 400, ensuring the safety of the spoil heap operation while ensuring the smooth progress of the next spoil heap operation.

[0108] It should be noted that the structure of the reversing control device 100 and the mounting part 220 can be found in the relevant description above, and will not be repeated here.

[0109] The vehicle body can be understood as the structure of the unmanned vehicle 200 excluding the reversing control device 100. The structure of the vehicle body will not be further described in this application. The controller can be located on the chassis, rear 210, or other positions of the vehicle body, so that the controller can be electrically connected to the angle detection element 140 and the drive-by-wire chassis at the bottom of the vehicle body.

[0110] See Figure 12As shown, based on the above, this application embodiment also provides a reversing control method applied to the above-mentioned unmanned vehicle 200. A reversing control device 100 is connected to the rear 210 of the unmanned vehicle 200. The reversing control device 100 includes a rotating member 120 and a connecting member 110. The reversing control method includes:

[0111] Step S100: Monitor the rotation angle of the rotating component relative to the connecting component during the reversing process of the unmanned vehicle;

[0112] Step S200: Determine the actual distance between the unmanned vehicle and the blocking component based on the rotation angle;

[0113] Step S300: Determine the difference between the actual distance and the target distance;

[0114] Step S400: If the actual distance is greater than the target distance, control the driverless vehicle to continue reversing and monitor the rotation angle;

[0115] Step S500: If the actual distance is equal to the target distance, then control the autonomous vehicle to stop.

[0116] See Figures 13 to 15 As shown, as the driverless vehicle 200 continues to reverse on the spoil heap 400, the distance between the driverless vehicle 200 and the blocking member 300 continuously decreases. The rotating member 120 will then touch the blocking member 300, and under the action of the torque of the rotating member 120, it will rotate around the connecting member 110 towards the front of the vehicle. As the driverless vehicle 200 continues to reverse, the actual distance becomes smaller and smaller, and the rotation angle gradually increases.

[0117] Therefore, the reversing control method of this application can determine the actual distance between the unmanned vehicle 200 and the blocking member 300 during the reversing process based on the monitored rotation angle. When the actual distance equals the target distance, the unmanned vehicle 200 is controlled to stop. Furthermore, the distance between the unmanned vehicle 200 and the edge of the spoil heap 400 after reversing and stopping can be precisely controlled, enabling the unmanned vehicle 200 to safely, smoothly, and accurately park at the edge of the spoil heap 400. Moreover, compared to the reversing control methods in the related technologies mentioned above, the reversing control method of this application also has lower cost and higher reliability.

[0118] It should be noted that the target distance can be found in the relevant description above, and will not be repeated here.

[0119] Step S100 described above can be implemented by the angle detection element 140. Specifically, the angle detection element 140 can monitor the rotation angle by monitoring the rotation angle value of the first end relative to the second end. Steps S200 to S500 described above can be implemented by a controller. For details, please refer to the relevant descriptions above; further elaboration will not be provided here. See [link / reference] Figure 15 As shown, when the unmanned vehicle 200 stops at the edge of the spoil heap 400, the cargo box 230 of the unmanned vehicle 200 begins to lift, and the cargo is dumped onto the spoil heap slope 420, thus completing the spoil heap operation.

[0120] If the actual distance is greater than the target distance in step S400, the driverless vehicle 200 is controlled to continue reversing, and the rotation angle is continuously monitored, including:

[0121] The actual distance is determined based on the rotation angle;

[0122] If the actual distance drops to the preset distance, the driverless vehicle 200 will be controlled to decelerate at a preset deceleration and continue to reverse, with the preset distance being greater than the target distance.

[0123] By setting a preset distance, the timing of deceleration of the unmanned vehicle 200 during reversing can be determined. After the actual distance drops to the preset distance, the reversing control method of this application can determine the preset deceleration based on the difference between the preset distance and the target distance, and control the unmanned vehicle 200 to decelerate at the preset deceleration.

[0124] In this way, when the actual distance is close to the target distance, the driving speed of the unmanned vehicle 200 can be reduced and controlled to a small range, so that when the actual distance is equal to the target distance, the unmanned vehicle 200 can be controlled to stop, so that the unmanned vehicle 200 can safely, smoothly and accurately stop at the edge of the spoil heap 400.

[0125] The preset deceleration can be calculated using a PID algorithm based on the difference between the preset distance and the target distance. The PID algorithm is a commonly used algorithm in process control that uses the proportional (P), integral (I), and derivative (D) of the deviation for control. The algorithm for the preset deceleration and its corresponding values ​​will not be further elaborated here.

[0126] Through specific practical experiments, under the specific environmental settings of rated working conditions, when the unmanned vehicle 200 starts / operates the above-mentioned reversing control device 100 or the above-mentioned reversing control method at a speed of 5km / h, the experimental data obtained is that after the unmanned vehicle 200 reverses and stops at the spoil heap 400, the positional error between the actual parking position of the unmanned vehicle 200 and the target parking position is less than or equal to 0.15m, and the safe completion rate of the spoil heap operation is 100%.

[0127] It should be noted that when the autonomous vehicle 200 is parked at the edge of the spoil heap 400, and the distance between it and the blocking element 300 is the target distance, the position of the autonomous vehicle 200 on the spoil heap 400 can be called the target parking position. When the autonomous vehicle 200 is parked at the edge of the spoil heap 400, and the distance between it and the blocking element 300 is the actual distance, the position of the autonomous vehicle 200 on the spoil heap 400 can be called the actual parking position. When the actual distance equals the target distance, the positional error between the actual parking position and the target parking position is 0.

[0128] Based on the above, this application also provides an unmanned vehicle 200, which includes a vehicle body, the aforementioned reversing control device 100, a memory, and a processor. The memory stores a computer program. Specifically, the computer program may include program code, which includes computer operation instructions. The memory may include high-speed RAM or non-volatile memory. When the processor executes the computer program, it controls the unmanned vehicle 200 to reverse using the aforementioned reversing control method.

[0129] The processor may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0130] This application provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the reversing control method described above.

[0131] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0132] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, display structure, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or device.

[0133] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A reversing control device, characterized in that, The application relates to a reverse control device for an unmanned vehicle. The reverse control device comprises a rotating assembly, an angle detecting element and a controller. The rotating assembly comprises a connecting piece and a rotating piece. The connecting piece is configured to connect a mounting portion of a vehicle tail of the unmanned vehicle and is fixed relative to the mounting portion. The rotating piece is arranged on the connecting piece and is configured to rotate towards a vehicle head side of the unmanned vehicle when abutting against a blocking piece during reverse driving of the unmanned vehicle. The angle detecting element is connected between the rotating piece and the connecting piece and is configured to monitor a rotating angle of the rotating piece relative to the connecting piece. The controller is configured to determine an actual distance between the unmanned vehicle and the blocking piece according to the rotating angle and to control the unmanned vehicle to stop when the actual distance is equal to a target distance.

2. The reverse control device according to claim 1, characterized by The mounting portion is a rear bumper.

3. The reversing control device according to claim 1 or 2, characterized by The connecting piece is located on a central axis of the rear bumper and at least part of the connecting piece is exposed outside the rear bumper.

4. The reversing control device of claim 3, wherein The rotating piece comprises a rotating sleeve and a baffle. The rotating sleeve is arranged on the exposed part of the connecting piece and rotates around the connecting piece.

5. The reversing control device according to claim 1 or 2, characterized by The baffle is connected to a circumferential outer wall of the rotating sleeve and is configured to abut against the blocking piece and rotate towards the vehicle head side under the driving of the rotating sleeve.

6. An unmanned vehicle, characterized in that The angle detecting element is an angle sensor with two ends capable of relative rotation.

7. A reverse control method characterized by comprising: The angle sensor comprises a body and a connecting shaft. The body is provided with an angle detecting element. The connecting shaft is arranged in the end of the body. The body can rotate relative to the connecting shaft. The rotating piece further comprises a connecting column. The connecting column and the rotating sleeve are located on the same side of the baffle and on the axis of the rotating sleeve. The body is fixed on the side of the connecting column towards the rotating sleeve. The connecting shaft is connected to the connecting piece through a shaft coupling and is fixed relative to the connecting piece. The connecting piece is exposed to the two ends of the axial direction of the rear bumper. The rotating sleeve is two. The rotating sleeve is arranged on the connecting piece at the two ends of the rear bumper. The rotating assembly further comprises at least one limiting unit. The limiting unit is located between the rotating piece and the mounting portion to limit the rotating direction of the rotating piece. The limiting unit comprises a first limiting piece and a second limiting piece. The first limiting piece is located on the side of the rotating piece towards the mounting portion and rotates simultaneously with the rotating piece. The second limiting piece is located on the side of the mounting portion towards the first limiting piece and blocks the rotating path of the first limiting piece towards the blocking piece. The rotating assembly further comprises an elastic reset piece. The elastic reset piece is arranged on the connecting piece and abuts between the rotating piece and the mounting portion. The application relates to a vehicle body and a reverse control device. The vehicle body has a mounting portion at the vehicle tail. The reverse control device is connected to the mounting portion. The application relates to a reverse control method for an unmanned vehicle. The reverse control device comprises a rotating piece and a connecting piece. The reverse control method comprises the following steps. monitoring a rotation angle of the rotating member relative to the connecting member during a reversing process of the unmanned vehicle; determining an actual distance between the unmanned vehicle and an obstacle according to the rotation angle; judging a size of the actual distance and a target distance; if the actual distance is greater than the target distance, controlling the unmanned vehicle to continue reversing and monitoring the rotation angle; if the actual distance is equal to the target distance, controlling the unmanned vehicle to stop.

8. The reverse control method according to claim 7, characterized by the if the actual distance is greater than the target distance, controlling the unmanned vehicle to continue reversing and continuously monitoring the rotation angle, comprising: determining the actual distance according to the rotation angle; if the actual distance decreases to a preset distance, controlling the unmanned vehicle to decelerate at a preset deceleration and continue reversing, the preset distance being greater than the target distance.

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