An unmanned mine car action monitoring function safety system

Abstract

The application discloses an unmanned mine truck action monitoring function safety system, comprising: a sensing and positioning module for obtaining information of an unmanned mine truck; a vehicle body state information feedback module for obtaining information related to the unmanned mine truck; an action monitoring module comprising a database unit and an action abnormality determination unit; the database unit is used for screening the information of the unmanned mine truck and the information related to the unmanned mine truck, and obtaining state information of the vehicle body; the database is screened based on the state information of the vehicle body, a response time of a current control instruction and an execution error of the current control instruction, and a response time threshold of the current control instruction and an execution error threshold of the current control instruction are dynamically fitted; the action abnormality determination unit is used for determining the action abnormality of the unmanned mine truck based on the state information of the vehicle body, the fitted response time threshold of the current control instruction and the fitted execution error threshold of the current control instruction.

Description

Technical Field

[0001] This invention relates to a safety system for monitoring the movement of unmanned mining trucks, belonging to the field of intelligent driving technology for engineering machinery. Background Technology

[0002] ODD stands for Operational Design Domain, which refers to the external conditions that enable autonomous vehicles to operate safely and normally, such as road type, driving area, speed, and environment (weather, day / night, etc.).

[0003] PLC stands for Programmable Logic Controller, a digital computing controller with a microprocessor used for automation control. It can load control instructions into memory for storage and execution at any time.

[0004] With the rapid development of autonomous driving technology in the construction machinery field, the commercialization of autonomous mining trucks is accelerating. Ensuring the safety of these trucks has become a research hotspot. As the core of autonomous mining truck safety, ensuring vehicle safety during operation and taking appropriate measures to guarantee safety in the event of abnormal movements is a key research focus.

[0005] The operation site of driverless mining trucks, such as Figure 1 As shown in the diagram. Area 1 is the loading area, where excavators guide unmanned mining trucks to loading points. Area 2 is a structured road; the roads are generally fixed, and the unmanned mining trucks transport goods along given routes. Area 3 is the unloading area, where unmanned mining trucks, guided by graders, unload at designated locations. Area 4 is the exchange area, where unmanned mining trucks, after maintenance, switch to unmanned mode and enter the structured road for further tasks. Area 5 is the dispatch center, where task scheduling for all areas is initiated.

[0006] Currently, the abnormal behavior of unmanned mining trucks is mainly monitored by listing items to be monitored based on experience, and then setting action monitoring thresholds based on experience. Another method is to identify abnormal actions by matching driving actions with a database of abnormal driving behavior patterns. While both methods can monitor abnormal actions, they are prone to false positives and false negatives, and their monitoring methods are relatively limited, posing significant safety risks.

[0007] Currently, abnormal behavior monitoring identifies abnormal or similar behaviors by matching vehicle behavior with abnormal behaviors in a database or through fuzzy matching. This method is prone to missed or false positives, impacting the operational efficiency of unmanned mining trucks, and lacks detailed handling measures for abnormal behaviors. Existing fault handling methods are based on a pre-defined mapping relationship between the intelligent driving system's fault states and the established system degradation strategies. These methods determine the degradation strategy in real time to guide the malfunctioning system to a safe state. Summary of the Invention

[0008] The technical problem to be solved by this invention is to overcome the defects of false detection and missed detection of abnormal actions in the existing technology, and to provide a safety system for monitoring the actions of unmanned mining trucks. The purpose is to solve the problems of poor safety, false detection and missed detection of abnormal actions in the existing action monitoring system, and to solve the problem of frequent abnormal actions caused by unreasonable setting of abnormal action monitoring threshold, which affects the efficiency of operation.

[0009] To achieve the above objectives, the present invention provides a safety system for monitoring the actions of unmanned mining trucks, comprising:

[0010] The perception and positioning module is used to acquire information about unmanned mining trucks;

[0011] The vehicle status information feedback module is used to obtain information related to unmanned mining trucks.

[0012] The motion monitoring module includes a database unit and a motion anomaly detection unit;

[0013] The database unit is used to filter information on unmanned mining trucks and related information to obtain the status information of the vehicle itself; it is also used to filter the database based on the status information of the vehicle itself to obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command.

[0014] The motion anomaly determination unit is used to determine motion anomalies of unmanned mining trucks based on the vehicle's status information, the response time threshold of the fitted current control command, and the execution error threshold of the fitted current control command.

[0015] Prioritizes the database unit for filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0016] The information obtained by the perception and positioning module for the unmanned mining truck includes the rear axle center speed of the unmanned mining truck and the road gradient where the unmanned mining truck is currently located.

[0017] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the rear wheel speed, front wheel speed, hydraulic oil temperature, hydraulic oil pressure, hydraulic oil viscosity, and cargo box weight.

[0018] The vehicle's status information includes parameters that affect hydraulic braking;

[0019] The parameters affecting hydraulic braking include the hydraulic oil temperature, hydraulic oil pressure, cargo box weight, fusion speed, and road gradient of the unmanned mining truck.

[0020] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0021] Current control commands include hydraulic braking commands;

[0022] The response time threshold for the current control command includes the hydraulic braking response time threshold for the hydraulic braking command;

[0023] The current control command execution error threshold includes the hydraulic braking execution error threshold for the hydraulic braking command;

[0024] Based on the vehicle's status information, the response time and execution error of hydraulic braking commands are filtered from the database.

[0025] The average response time of the hydraulic braking command is taken to obtain the hydraulic braking response time threshold of the hydraulic braking command.

[0026] The average value of the execution error of the hydraulic braking command is taken to obtain the hydraulic braking execution error threshold of the hydraulic braking command;

[0027] The abnormal action determination unit is used to determine that the unmanned mining truck is abnormal if the response time of the hydraulic brake exceeds the hydraulic brake response time threshold and the execution error of the hydraulic brake exceeds the hydraulic brake execution error threshold. The abnormal action is a hydraulic brake abnormality, and the unmanned mining truck will automatically take fault handling measures.

[0028] Prioritize obtaining the fusion speed of unmanned mining trucks, achieved through the following steps:

[0029] The current control command execution error threshold includes the speed error threshold;

[0030] The speed difference is obtained by subtracting the rear axle center speed of the unmanned mining truck obtained by the perception and positioning module and the rear wheel speed of the unmanned mining truck obtained by the vehicle body state information feedback module. If the speed difference is within the speed error threshold, it is determined that the unmanned mining truck has not experienced any slippage. The rear wheel speed of the unmanned mining truck obtained by the perception and positioning module and the rear wheel speed of the unmanned mining truck obtained by the vehicle body state information feedback module are averaged to obtain the fused speed of the unmanned mining truck.

[0031] If the speed difference is not within the speed error threshold, it is determined that the unmanned mining truck has an abnormal movement. The abnormal movement is slippage, and the unmanned mining truck will automatically take fault handling measures.

[0032] Prioritizes the database unit for filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0033] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the unmanned mining truck drive motor current and the unmanned mining truck drive motor voltage.

[0034] The vehicle's status information includes parameters that affect electric braking;

[0035] The parameters affecting electric braking include the current and voltage of the drive motor of the unmanned mining truck.

[0036] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0037] Current control commands include electric braking commands;

[0038] The response time threshold for the current control command includes the electric braking response time threshold for the electric braking command;

[0039] The current control command execution error threshold includes the electric braking command execution error threshold;

[0040] Based on the vehicle's status information, the response time and execution error of the electric braking command are filtered from the database.

[0041] The average response time of the electric braking command is taken to obtain the electric braking response time threshold of the electric braking command;

[0042] The average value of the execution error of the electric braking command is taken to obtain the electric braking execution error threshold of the electric braking command;

[0043] The action anomaly determination unit is used to determine that the unmanned mining truck's action is abnormal if the current electric braking execution error exceeds the fitted electric braking execution error threshold and the electric braking response time exceeds the electric braking response time threshold. The action anomaly is an electric braking anomaly, and the unmanned mining truck will automatically take fault handling measures.

[0044] Prioritizes the database unit for filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0045] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the hydraulic oil temperature, hydraulic oil pressure, and steering angle of the unmanned mining truck.

[0046] The vehicle's status information includes parameters that affect steering;

[0047] The parameters affecting steering include the hydraulic oil temperature, hydraulic oil pressure, and steering angle of the unmanned mining truck.

[0048] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0049] Current control commands include target turning angle commands;

[0050] The response time threshold for the current control command includes the cornering response time threshold for the target cornering command;

[0051] The current control command execution error threshold includes the target cornering command cornering execution error threshold;

[0052] Based on the vehicle's status information, the response time and execution error of the target turning command are filtered from the database.

[0053] The average response time of the target cornering command is taken to obtain the cornering response time threshold of the target cornering command;

[0054] The average value of the execution error of the target cornering command is taken to obtain the cornering execution error threshold of the target cornering command;

[0055] The motion anomaly determination unit is used to determine that the unmanned mining truck is in motion anomaly if the response time of the target turning command exceeds the turning response time threshold of the target turning command and the execution error of the target turning command exceeds the turning execution error threshold of the target turning command. The motion anomaly is a steering anomaly, and the unmanned mining truck will automatically take fault handling measures.

[0056] Prioritizes the database unit for filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0057] The information about the unmanned mining truck acquired by the perception and positioning module includes the road gradient where the unmanned mining truck is currently located;

[0058] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the lifting cylinder pressure and hydraulic oil temperature of the unmanned mining truck.

[0059] The vehicle's status information includes parameters that affect the cargo box;

[0060] The parameters affecting the cargo box include the lifting cylinder pressure of the unmanned mining truck, the hydraulic oil temperature of the unmanned mining truck, and the current road gradient of the unmanned mining truck.

[0061] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0062] Current control commands include cargo box commands;

[0063] The response time threshold for the current control command includes the cargo box response time threshold for the cargo box command;

[0064] The current control command execution error threshold includes the cargo box execution error threshold for cargo box commands;

[0065] Based on the vehicle's status information, the database is filtered to obtain the response time and execution error of the cargo box command; the average response time of the cargo box command is taken to obtain the threshold of the cargo box response time.

[0066] The average value of the execution error of the cargo box instruction is taken to obtain the cargo box execution error threshold of the cargo box instruction;

[0067] The action anomaly determination unit is used to determine that the unmanned mining truck is in action anomaly if the current cargo box's instruction response time exceeds the cargo box response time threshold and the cargo box instruction execution error exceeds the cargo box execution error threshold. The action anomaly is a cargo box anomaly, and the unmanned mining truck will automatically take fault handling measures.

[0068] Prioritizes the database unit for filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0069] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the current gear position.

[0070] The vehicle's status information includes the current gear;

[0071] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0072] The current control command includes the target gear command;

[0073] The response time threshold for the current control command includes the gear response time threshold for the target gear command;

[0074] Based on the vehicle's status information, the response time of the target gear command is selected from the database;

[0075] The average response time of the target gear command is taken to obtain the gear response time threshold of the target gear command;

[0076] The action abnormality determination unit is used to determine that the unmanned mining truck is abnormal if the response time of the target gear command exceeds the gear response time threshold. The action abnormality is a gear abnormality, and the unmanned mining truck will automatically take fault handling measures.

[0077] Prior to this, the control execution module is used to verify the received control commands.

[0078] Priority troubleshooting measures include warnings about unmanned systems, warnings about reasons for stopping, slowing down, pulling over, emergency stop, and stopping the engine after the emergency stop.

[0079] Prior to this, the fault handling module includes a fault preprocessing unit, a fault screening unit, and an arbitration unit;

[0080] The fault preprocessing unit is used to analyze and determine the safety level corresponding to the abnormal operation based on functional safety standards.

[0081] The fault screening unit is used to filter out the highest safety level based on all currently occurring abnormal actions;

[0082] The arbitration unit is used to determine the corresponding fault handling measures based on functional safety standards and the highest safety level.

[0083] Set the safety level for electric braking malfunction, hydraulic braking malfunction, steering malfunction, and gear malfunction to Err_L1;

[0084] Set the safety level for cargo box malfunctions, slippage, skidding, and vehicle position changes to Err_L2.

[0085] Prior to this, if the safety level is Err_L1, the fault handling measures to be implemented are to stop the unmanned mining truck immediately and then stop the engine of the unmanned mining truck after stopping.

[0086] If the safety level is Err_L2, the fault handling measure to be performed is to pull over to the side of the road.

[0087] Prior to this, the received control commands are verified to include data range verification;

[0088] Data range validation is achieved through the following steps:

[0089] If the hydraulic braking command is within the normal range of the preset hydraulic braking command, the verification is deemed qualified and the hydraulic braking command is executed; otherwise, the hydraulic control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0090] If the electric braking command is within the normal range of the preset electric braking command, the verification is deemed qualified and the electric braking command is executed; otherwise, the electric braking control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0091] If the cargo box command is within the normal range of the preset cargo box command, the verification is deemed successful and the cargo box command is executed; otherwise, the cargo box control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0092] If the target gear command is within the specific value of the preset gear, the verification is deemed successful and the target gear command is executed; otherwise, the gear control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0093] If the turning command is within the preset normal range, the verification is deemed successful and the turning command is executed; otherwise, the turning control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0094] Prioritize that the normal ranges for hydraulic braking commands, electric braking commands, and cargo box commands are all preset to 0-100.

[0095] Pre-set the specific corresponding value for each gear;

[0096] The normal range for the cornering command is preset to -NN, where N is a constant.

[0097] Emergency stop buttons are provided as a priority for both the dispatch center and on-site service personnel;

[0098] If an emergency stop is required, an emergency stop command for the unmanned mining truck is sent through the transmitter.

[0099] When on-site service personnel detect abnormal movements or receive an emergency stop command for the unmanned mining truck, they can press the emergency stop button on the sending end to bring the unmanned mining truck to an emergency stop.

[0100] Prioritizes the perception and positioning module, which is used to acquire environmental level information;

[0101] The environmental classification includes unmanned operation environment classification and non-unmanned operation environment classification;

[0102] If the environmental level is a non-unmanned operation environment level, then unmanned mining truck operations are prohibited.

[0103] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of any of the methods described above.

[0104] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0105] The beneficial effects achieved by this invention are as follows:

[0106] This system ensures the accuracy of abnormal action detection by collecting information from unmanned mining trucks and mapping it to monitoring parameters, and uses a database to calculate current monitoring thresholds in real time, thus resolving the problem of low operational efficiency caused by false detections. By enumerating control commands and feedback information from the mining trucks, and using combination and filtering methods, the system exhaustively lists the monitored actions, ensuring the completeness of the monitoring items. Utilizing a pre-defined functional safety analysis process, the system analyzes how corresponding abnormal actions lead to a safe state, ensuring the rationality of fault handling measures, reducing the number of known and unknown hazardous scenarios, and improving system safety. Attached Figure Description

[0107] Figure 1 These are operational diagrams of loading, unloading, and transportation using mining trucks in the mining area.

[0108] Figure 2 This is a schematic diagram of the principle of the present invention;

[0109] Figure 3 This is a flowchart of the process of this invention;

[0110] Figure 4 This is a flowchart of the fault-oriented safety analysis of the present invention;

[0111] Figure 5 This is a flowchart of the fault handling module of the present invention. Detailed Implementation

[0112] The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, and should not be used to limit the scope of protection of the present invention.

[0113] A safety system for monitoring the motion of unmanned mining trucks aims to solve the problems of poor safety, false detection and missed detection of motion anomalies in existing motion monitoring systems, and to solve the problem of frequent motion anomalies caused by unreasonable setting of motion anomaly monitoring thresholds, which affects the efficiency of operation.

[0114] This invention provides a safety system for monitoring the actions of unmanned mining trucks, comprising:

[0115] The perception and positioning module is used to acquire information about unmanned mining trucks;

[0116] The vehicle status information feedback module is used to obtain information related to unmanned mining trucks.

[0117] The motion monitoring module includes a database unit and a motion anomaly detection unit;

[0118] The database unit is used to filter information on unmanned mining trucks and related information to obtain the status information of the vehicle itself; it is also used to filter the database based on the status information of the vehicle itself to obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command.

[0119] The motion anomaly determination unit is used to determine motion anomalies of unmanned mining trucks based on the vehicle's status information, the response time threshold of the fitted current control command, and the execution error threshold of the fitted current control command.

[0120] Furthermore, in this embodiment, the database unit is used to filter information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0121] The information obtained by the perception and positioning module for the unmanned mining truck includes the rear axle center speed of the unmanned mining truck and the road gradient where the unmanned mining truck is currently located.

[0122] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the rear wheel speed, front wheel speed, hydraulic oil temperature, hydraulic oil pressure, hydraulic oil viscosity, and cargo box weight.

[0123] The vehicle's status information includes parameters that affect hydraulic braking;

[0124] The parameters affecting hydraulic braking include the hydraulic oil temperature, hydraulic oil pressure, cargo box weight, fusion speed, and road gradient of the unmanned mining truck.

[0125] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0126] Current control commands include hydraulic braking commands;

[0127] The response time threshold for the current control command includes the hydraulic braking response time threshold for the hydraulic braking command;

[0128] The current control command execution error threshold includes the hydraulic braking execution error threshold for the hydraulic braking command;

[0129] Based on the vehicle's status information, the response time and execution error of hydraulic braking commands are filtered from the database.

[0130] The average response time of the hydraulic braking command is taken to obtain the hydraulic braking response time threshold of the hydraulic braking command.

[0131] The average value of the execution error of the hydraulic braking command is taken to obtain the hydraulic braking execution error threshold of the hydraulic braking command;

[0132] The abnormal action determination unit is used to determine that the unmanned mining truck is abnormal if the response time of the hydraulic brake exceeds the hydraulic brake response time threshold and the execution error of the hydraulic brake exceeds the hydraulic brake execution error threshold. The abnormal action is a hydraulic brake abnormality, and the unmanned mining truck will automatically take fault handling measures.

[0133] Furthermore, in this embodiment, the fusion speed of the unmanned mining truck is obtained through the following steps:

[0134] The current control command execution error threshold includes the speed error threshold;

[0135] The speed difference is obtained by subtracting the rear axle center speed of the unmanned mining truck obtained by the perception and positioning module and the rear wheel speed of the unmanned mining truck obtained by the vehicle body state information feedback module. If the speed difference is within the speed error threshold, it is determined that the unmanned mining truck has not experienced any slippage. The rear wheel speed of the unmanned mining truck obtained by the perception and positioning module and the rear wheel speed of the unmanned mining truck obtained by the vehicle body state information feedback module are averaged to obtain the fused speed of the unmanned mining truck.

[0136] If the speed difference is not within the speed error threshold, it is determined that the unmanned mining truck has an abnormal movement. The abnormal movement is slippage, and the unmanned mining truck will automatically take fault handling measures.

[0137] Furthermore, in this embodiment, the database unit is used to filter information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0138] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the unmanned mining truck drive motor current and the unmanned mining truck drive motor voltage.

[0139] The vehicle's status information includes parameters that affect electric braking;

[0140] The parameters affecting electric braking include the current and voltage of the drive motor of the unmanned mining truck.

[0141] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0142] Current control commands include electric braking commands;

[0143] The response time threshold for the current control command includes the electric braking response time threshold for the electric braking command;

[0144] The current control command execution error threshold includes the electric braking command execution error threshold;

[0145] Based on the vehicle's status information, the response time and execution error of the electric braking command are filtered from the database.

[0146] The average response time of the electric braking command is taken to obtain the electric braking response time threshold of the electric braking command;

[0147] The average value of the execution error of the electric braking command is taken to obtain the electric braking execution error threshold of the electric braking command;

[0148] The action anomaly determination unit is used to determine that the unmanned mining truck's action is abnormal if the current electric braking execution error exceeds the fitted electric braking execution error threshold and the electric braking response time exceeds the electric braking response time threshold. The action anomaly is an electric braking anomaly, and the unmanned mining truck will automatically take fault handling measures.

[0149] Furthermore, in this embodiment, the database unit is used to filter information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0150] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the hydraulic oil temperature, hydraulic oil pressure, and steering angle of the unmanned mining truck.

[0151] The vehicle's status information includes parameters that affect steering;

[0152] The parameters affecting steering include the hydraulic oil temperature, hydraulic oil pressure, and steering angle of the unmanned mining truck.

[0153] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0154] Current control commands include target turning angle commands;

[0155] The response time threshold for the current control command includes the cornering response time threshold for the target cornering command;

[0156] The current control command execution error threshold includes the target cornering command cornering execution error threshold;

[0157] Based on the vehicle's status information, the response time and execution error of the target turning command are filtered from the database.

[0158] The average response time of the target cornering command is taken to obtain the cornering response time threshold of the target cornering command;

[0159] The average value of the execution error of the target cornering command is taken to obtain the cornering execution error threshold of the target cornering command;

[0160] The motion anomaly determination unit is used to determine that the unmanned mining truck is in motion anomaly if the response time of the target turning command exceeds the turning response time threshold of the target turning command and the execution error of the target turning command exceeds the turning execution error threshold of the target turning command. The motion anomaly is a steering anomaly, and the unmanned mining truck will automatically take fault handling measures.

[0161] Furthermore, in this embodiment, the database unit is used to filter information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0162] The information about the unmanned mining truck acquired by the perception and positioning module includes the road gradient where the unmanned mining truck is currently located;

[0163] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the lifting cylinder pressure and hydraulic oil temperature of the unmanned mining truck.

[0164] The vehicle's status information includes parameters that affect the cargo box;

[0165] The parameters affecting the cargo box include the lifting cylinder pressure of the unmanned mining truck, the hydraulic oil temperature of the unmanned mining truck, and the current road gradient of the unmanned mining truck.

[0166] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0167] Current control commands include cargo box commands;

[0168] The response time threshold for the current control command includes the cargo box response time threshold for the cargo box command;

[0169] The current control command execution error threshold includes the cargo box execution error threshold for cargo box commands;

[0170] Based on the vehicle's status information, the database is filtered to obtain the response time and execution error of the cargo box command; the average response time of the cargo box command is taken to obtain the threshold of the cargo box response time.

[0171] The average value of the execution error of the cargo box instruction is taken to obtain the cargo box execution error threshold of the cargo box instruction;

[0172] The action anomaly determination unit is used to determine that the unmanned mining truck is in action anomaly if the current cargo box's instruction response time exceeds the cargo box response time threshold and the cargo box instruction execution error exceeds the cargo box execution error threshold. The action anomaly is a cargo box anomaly, and the unmanned mining truck will automatically take fault handling measures.

[0173] Furthermore, in this embodiment, the database unit is used to filter information on unmanned mining trucks and related information to obtain the vehicle's status information, including:

[0174] The vehicle status information feedback module obtains information related to the unmanned mining truck, including the current gear position.

[0175] The vehicle's status information includes the current gear;

[0176] The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including:

[0177] The current control command includes the target gear command;

[0178] The response time threshold for the current control command includes the gear response time threshold for the target gear command;

[0179] Based on the vehicle's status information, the response time of the target gear command is selected from the database;

[0180] The average response time of the target gear command is taken to obtain the gear response time threshold of the target gear command;

[0181] The action abnormality determination unit is used to determine that the unmanned mining truck is abnormal if the response time of the target gear command exceeds the gear response time threshold. The action abnormality is a gear abnormality, and the unmanned mining truck will automatically take fault handling measures.

[0182] Furthermore, in this embodiment, the control execution module is used to verify the received control commands.

[0183] Furthermore, the fault handling measures in this embodiment include unmanned system warning, parking reason warning, deceleration, pulling over to the side of the road, emergency stop, and stopping the engine after emergency stop.

[0184] Furthermore, the fault handling module in this embodiment includes a fault preprocessing unit, a fault screening unit, and an arbitration unit;

[0185] The fault preprocessing unit is used to analyze and determine the safety level corresponding to the abnormal operation based on functional safety standards.

[0186] The fault screening unit is used to filter out the highest safety level based on all currently occurring abnormal actions;

[0187] The arbitration unit is used to determine the corresponding fault handling measures based on functional safety standards and the highest safety level.

[0188] Set the safety level for electric braking malfunction, hydraulic braking malfunction, steering malfunction, and gear malfunction to Err_L1;

[0189] Set the safety level for cargo box malfunctions, slippage, skidding, and vehicle position changes to Err_L2.

[0190] Furthermore, in this embodiment, if the safety level is Err_L1, the fault handling measure is to urgently stop the unmanned mining truck and then stop the engine of the unmanned mining truck after stopping.

[0191] If the safety level is Err_L2, the fault handling measure to be performed is to pull over to the side of the road.

[0192] Furthermore, in this embodiment, the verification of the received control command includes data range verification;

[0193] Data range validation is achieved through the following steps:

[0194] If the hydraulic braking command is within the normal range of the preset hydraulic braking command, the verification is deemed qualified and the hydraulic braking command is executed; otherwise, the hydraulic control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0195] If the electric braking command is within the normal range of the preset electric braking command, the verification is deemed qualified and the electric braking command is executed; otherwise, the electric braking control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0196] If the cargo box command is within the normal range of the preset cargo box command, the verification is deemed successful and the cargo box command is executed; otherwise, the cargo box control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0197] If the target gear command is within the specific value of the preset gear, the verification is deemed successful and the target gear command is executed; otherwise, the gear control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0198] If the turning command is within the preset normal range, the verification is deemed successful and the turning command is executed; otherwise, the turning control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

[0199] Furthermore, in this embodiment, the normal ranges for hydraulic braking commands, electric braking commands, and cargo box commands are all preset to be 0-100.

[0200] Pre-set the specific corresponding value for each gear;

[0201] The normal range for the cornering command is preset to -NN, where N is a constant.

[0202] Furthermore, in this embodiment, both the dispatch center and on-site service personnel are equipped with emergency stop buttons;

[0203] If an emergency stop is required, an emergency stop command for the unmanned mining truck is sent through the transmitter.

[0204] When on-site service personnel detect abnormal movements or receive an emergency stop command for the unmanned mining truck, they can press the emergency stop button on the sending end to bring the unmanned mining truck to an emergency stop.

[0205] Furthermore, in this embodiment, the sensing and positioning module is used to acquire environmental level information;

[0206] The environmental classification includes unmanned operation environment classification and non-unmanned operation environment classification;

[0207] If the environmental level is a non-unmanned operation environment level, then unmanned mining truck operations are prohibited.

[0208] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of any of the methods described above.

[0209] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.

[0210] This system ensures the accuracy of abnormal action detection by collecting information from unmanned mining trucks and mapping it to monitoring parameters, and uses a database to calculate current monitoring thresholds in real time, thus resolving the problem of low operational efficiency caused by false detections. By enumerating control commands and feedback information from the mining trucks, and using combination and filtering methods, the system exhaustively lists the monitored actions, ensuring the completeness of the monitoring items. Utilizing a pre-defined functional safety analysis process, the system analyzes how corresponding abnormal actions lead to a safe state, ensuring the rationality of fault handling measures, reducing the number of known and unknown hazardous scenarios, and improving system safety.

[0211] The database includes historical data on unmanned mining trucks, historical data on unmanned mining truck-related information, response time of corresponding hydraulic braking commands, and execution error of corresponding hydraulic braking commands.

[0212] There are many models of unmanned mining trucks available in the existing technology. Those skilled in the art can select the appropriate model according to actual needs. This embodiment will not list them all.

[0213] Functional safety standards include ISO-26262.

[0214] Fault handling measures include emergency stop, gradual stop, speed reduction, and warnings.

[0215] The method for monitoring the slippage anomaly is as follows: if the mismatch time between the current gear and the motor drive direction of the unmanned mining truck exceeds the fitted threshold for the mismatch time between the gear and the motor, the unmanned mining truck is judged to have slipped.

[0216] The method for monitoring abnormal position jumps is as follows: if the difference between the current position of the unmanned mining truck and the position of the unmanned mining truck at the previous time is greater than the position difference threshold obtained by fitting the two time points, then the vehicle position jump is determined to be abnormal.

[0217] The motion monitoring module and fault handling module are integrated into the industrial control computer (ICC). The ICC and the sensing and positioning hardware are connected via a CAN bus, and the sensing and positioning software is also centralized in the ICC. Vehicle status feedback and control execution are integrated into the PLC. The PLC and the ICC are connected via a CAN bus.

[0218] Specifically, many of the anomaly detection checks in the action anomaly detection module involve speed. This system employs a speed redundancy method, fusing and cross-checking two speeds: the center speed of the unmanned mining truck's rear axle collected by the perception and positioning module and the rear wheel speed collected by the truck's body state feedback module. This ensures the accuracy and safety of speed usage. In the implementation case, anomalies during high-speed gear shifting are determined when the vehicle speed exceeds a threshold. Using the perception and positioning output speed and the vehicle's feedback speed effectively guarantees the accuracy and safety of high-speed gear shift detection.

[0219] The emergency stop module uses a hardware emergency stop device to ensure that even if the fault handling module fails, the dispatch center and on-site service personnel can still stop the vehicle using the hardware emergency stop device.

[0220] The working principle and process of this system are mainly as follows:

[0221] The dispatch center uses the current location and environmental level collected by the mining truck's status feedback module to determine whether it is within the operating ODD (Operating Dispatch Domain). If the mining truck is not within the ODD, the dispatch center prohibits the authorized mining truck from entering automatic mode, and the mining truck can only be manually taken over. At this time, the system only issues an abnormal action prompt, and the database does not collect or record the relevant information and control command data of the unmanned mining truck collected by the mining truck's status feedback module. Specific safety measures are determined by the driver.

[0222] After the mining truck enters automatic mode, the motion monitoring module collects and stores real-time vehicle data, and obtains the response time and execution error of hydraulic braking commands by matching key parameter information with past data in the database. It then dynamically fits the response time threshold and execution error threshold of the current control command.

[0223] Based on the center speed of the rear axle of the unmanned mining truck collected by the perception and positioning module and the rear wheel speed of the unmanned mining truck collected by the truck body status feedback module, speed fusion and mutual verification are performed to ensure the accuracy of speed and the accuracy of monitoring of speed-related action monitoring projects.

[0224] After the motion monitoring module detects a motion failure, it transmits the failure information to the fault handling module. The fault handling module then determines specific handling measures based on the identified hazards. The fault-oriented safety analysis process is as follows: Figure 4 The process is as follows: Anticipated functional safety and functional safety standards and specifications → Integration with a mining truck operation scenario library → Hazard and risk analysis related to abnormal actions → Setting safety objectives → Determining functional safety requirements for motion monitoring → Deriving safety measures and fault handling measures based on functional safety requirements. This process determines specific fault-oriented safety handling measures for specific scenarios.

[0225] According to the workflow of the fault handling module, as follows: Figure 5 As shown. The process involves: analyzing fault levels → filtering for the highest fault level → taking appropriate safety measures based on the highest-level fault. These safety measures are based on... Figure 4 The process analysis shown is derived from this.

[0226] During the automated operation of unmanned mining trucks, in case of other emergencies, dispatchers or on-site service personnel can use the emergency stop module to stop the vehicle and ensure that the vehicle can stop safely.

[0227] The boundaries of the entire operating area need to be collected in advance and entered into the scheduling system. Whenever the operating area boundaries change, they need to be updated. The location of the mining trucks is collected in real time by the sensing and positioning module and compared with the boundaries to determine whether the unmanned mining trucks are within the designated operating area.

[0228] This system ensures the accuracy of abnormal action detection by collecting relevant information and mapping it to monitoring parameters, and uses a database to calculate current monitoring thresholds in real time, thus solving the problem of low operational efficiency caused by false detections. By enumerating control commands and feedback information from mining trucks, and using combination and filtering methods, the system exhaustively lists the monitored actions, ensuring the completeness of the monitoring items. Using a pre-defined functional safety analysis process, the system analyzes how corresponding abnormal actions lead to a safe state, ensuring the rationality of fault handling measures, reducing the number of known and unknown hazardous scenarios, and improving system safety.

[0229] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0230] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0231] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0232] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A functional safety system for monitoring actions of an unmanned mining vehicle, characterized in that, include: The perception and positioning module is used to acquire information about unmanned mining trucks; The vehicle status information feedback module is used to obtain information related to unmanned mining trucks; The motion monitoring module includes a database unit and a motion anomaly detection unit; The database unit is used to filter information on unmanned mining trucks and related information to obtain the status information of the vehicle itself; it is also used to filter the database based on the status information of the vehicle itself to obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command. The motion anomaly determination unit is used to determine motion anomalies of unmanned mining trucks based on the vehicle's status information, the response time threshold of the current control command obtained by fitting, and the execution error threshold of the current control command obtained by fitting. This involves filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including: The vehicle status information feedback module obtains information related to the unmanned mining truck, including the unmanned mining truck drive motor current and the unmanned mining truck drive motor voltage. The vehicle's status information includes parameters that affect electric braking; The parameters affecting electric braking include the current and voltage of the drive motor of the unmanned mining truck. The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including: Current control commands include electric braking commands; The response time threshold for the current control command includes the electric braking response time threshold for the electric braking command; The current control command execution error threshold includes the electric braking command execution error threshold; Based on the vehicle's status information, the response time and execution error of the electric braking command are filtered from the database. The average response time of the electric braking command is taken to obtain the electric braking response time threshold of the electric braking command; The average value of the execution error of the electric braking command is taken to obtain the electric braking execution error threshold of the electric braking command; The action anomaly determination unit is used to determine that the unmanned mining truck's action is abnormal if the current electric braking execution error exceeds the fitted electric braking execution error threshold and the electric braking response time exceeds the electric braking response time threshold. The action anomaly is an electric braking anomaly, and the unmanned mining truck will automatically take fault handling measures.

2. A functional safety system for monitoring actions of an unmanned mine truck according to claim 1, characterized in that, Also includes: The control execution module is used to verify the received control commands.

3. The safety system for monitoring the actions of unmanned mining trucks according to claim 1, characterized in that, The troubleshooting measures include warnings for unmanned systems, warnings about reasons for stopping, slowing down, pulling over, emergency stop, and stopping the engine after the emergency stop.

4. A functional safety system for monitoring actions of an unmanned mine truck according to claim 3, characterized in that, Also includes: The fault handling module includes a fault preprocessing unit, a fault screening unit, and an arbitration unit. The fault preprocessing unit is used to analyze and determine the safety level corresponding to the abnormal operation based on functional safety standards. The fault screening unit is used to filter out the highest safety level based on all currently occurring abnormal actions; The arbitration unit is used to determine the corresponding fault handling measures based on functional safety standards and the highest safety level. Set the safety level for electric braking malfunction, hydraulic braking malfunction, steering malfunction, and gear malfunction to Err_L1; Set the safety level for cargo box malfunctions, slippage, skidding, and vehicle position changes to Err_L2.

5. The safety system for monitoring the actions of unmanned mining trucks according to claim 4, characterized in that, If the safety level is Err_L1, the fault handling measures to be implemented are to stop the unmanned mining truck immediately and then shut down the engine of the unmanned mining truck after stopping. If the safety level is Err_L2, the fault handling measure to be performed is to pull over to the side of the road.

6. The safety system for monitoring the actions of unmanned mining trucks according to claim 2, characterized in that, The received control commands are verified to include data range verification. Data range validation is achieved through the following steps: If the hydraulic braking command is within the normal range of the preset hydraulic braking command, the verification is deemed qualified and the hydraulic braking command is executed; otherwise, the hydraulic control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command. If the electric braking command is within the normal range of the preset electric braking command, the verification is deemed qualified and the electric braking command is executed; otherwise, the electric braking control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command. If the cargo box command is within the normal range of the preset cargo box command, the verification is deemed successful and the cargo box command is executed; otherwise, the cargo box control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command. If the target gear command is within the specific value of the preset gear, the verification is deemed successful and the target gear command is executed; otherwise, the gear control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command. If the turning command is within the preset normal range, the verification is deemed successful and the turning command is executed; otherwise, the turning control command is deemed abnormal, the unmanned mining truck pulls over and waits to receive a new control command.

7. The safety system for monitoring the actions of unmanned mining trucks according to claim 6, characterized in that, The normal ranges for hydraulic braking commands, electric braking commands, and cargo box commands are all preset to 0-100. Pre-set the specific corresponding value for each gear; The normal range for the cornering command is preset to -NN, where N is a constant.

8. A safety system for monitoring the actions of unmanned mining trucks according to claim 6, characterized in that, Both the dispatch center and on-site service personnel are equipped with emergency stop buttons; If an emergency stop is required, an emergency stop command for the unmanned mining truck is sent through the transmitter. When on-site service personnel detect abnormal movements or receive an emergency stop command for the unmanned mining truck, they can press the emergency stop button on the sending end to bring the unmanned mining truck to an emergency stop.

9. The functional safety system for monitoring actions of an unmanned mine truck of claim 6, wherein, Also includes: The sensing and positioning module is used to acquire information about the environmental level. The environmental classification includes unmanned operation environment classification and non-unmanned operation environment classification; If the environmental level is a non-unmanned operation environment level, then unmanned mining truck operations are prohibited.

10. A functional safety system for monitoring actions of an unmanned mining vehicle, characterized in that, include: The perception and positioning module is used to acquire information about unmanned mining trucks; The vehicle status information feedback module is used to obtain information related to unmanned mining trucks. The motion monitoring module includes a database unit and a motion anomaly detection unit; The database unit is used to filter information on unmanned mining trucks and related information to obtain the status information of the vehicle itself; it is also used to filter the database based on the status information of the vehicle itself to obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command. The motion anomaly determination unit is used to determine motion anomalies of unmanned mining trucks based on the vehicle's status information, the response time threshold of the current control command obtained by fitting, and the execution error threshold of the current control command obtained by fitting. This involves filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including: The information obtained by the perception and positioning module for the unmanned mining truck includes the rear axle center speed of the unmanned mining truck and the road gradient where the unmanned mining truck is currently located. The vehicle status information feedback module obtains information related to the unmanned mining truck, including the rear wheel speed, front wheel speed, hydraulic oil temperature, hydraulic oil pressure, hydraulic oil viscosity, and cargo box weight. The vehicle's status information includes parameters that affect hydraulic braking; The parameters affecting hydraulic braking include the hydraulic oil temperature, hydraulic oil pressure, cargo box weight, fusion speed, and road gradient of the unmanned mining truck. The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including: Current control commands include hydraulic braking commands; The response time threshold for the current control command includes the hydraulic braking response time threshold for the hydraulic braking command; The current control command execution error threshold includes the hydraulic braking execution error threshold for the hydraulic braking command; Based on the vehicle's status information, the response time and execution error of hydraulic braking commands are filtered from the database. The average response time of the hydraulic braking command is taken to obtain the hydraulic braking response time threshold of the hydraulic braking command. The average value of the execution error of the hydraulic braking command is taken to obtain the hydraulic braking execution error threshold of the hydraulic braking command; The abnormal action determination unit is used to determine that the unmanned mining truck is abnormal if the response time of the hydraulic brake exceeds the hydraulic brake response time threshold and the execution error of the hydraulic brake exceeds the hydraulic brake execution error threshold. The abnormal action is a hydraulic brake abnormality, and the unmanned mining truck will automatically take fault handling measures.

11. A safety system for monitoring the movement of unmanned mining trucks according to claim 10, characterized in that, The fusion speed of unmanned mining trucks is obtained through the following steps: The current control command execution error threshold includes the speed error threshold; The speed difference is obtained by subtracting the rear axle center speed of the unmanned mining truck obtained by the perception and positioning module and the rear wheel speed of the unmanned mining truck obtained by the vehicle body state information feedback module. If the speed difference is within the speed error threshold, it is determined that the unmanned mining truck has not experienced any slippage. The rear wheel speed of the unmanned mining truck obtained by the perception and positioning module and the rear wheel speed of the unmanned mining truck obtained by the vehicle body state information feedback module are averaged to obtain the fused speed of the unmanned mining truck. If the speed difference is not within the speed error threshold, it is determined that the unmanned mining truck has an abnormal movement. The abnormal movement is slippage, and the unmanned mining truck will automatically take fault handling measures.

12. A functional safety system for monitoring actions of an unmanned mining vehicle, characterized in that, include: The perception and positioning module is used to acquire information about unmanned mining trucks; The vehicle status information feedback module is used to obtain information related to unmanned mining trucks. The motion monitoring module includes a database unit and a motion anomaly detection unit; The database unit is used to filter information on unmanned mining trucks and related information to obtain the status information of the vehicle itself; it is also used to filter the database based on the status information of the vehicle itself to obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command. The motion anomaly determination unit is used to determine motion anomalies of unmanned mining trucks based on the vehicle's status information, the response time threshold of the current control command obtained by fitting, and the execution error threshold of the current control command obtained by fitting. This involves filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including: The vehicle status information feedback module obtains information related to the unmanned mining truck, including the hydraulic oil temperature, hydraulic oil pressure, and steering angle of the unmanned mining truck. The vehicle's status information includes parameters that affect steering; The parameters affecting steering include the hydraulic oil temperature, hydraulic oil pressure, and steering angle of the unmanned mining truck. The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including: Current control commands include target turning angle commands; The response time threshold for the current control command includes the cornering response time threshold for the target cornering command; The current control command execution error threshold includes the target cornering command cornering execution error threshold; Based on the vehicle's status information, the response time and execution error of the target turning command are filtered from the database. The average response time of the target cornering command is taken to obtain the cornering response time threshold of the target cornering command; The average value of the execution error of the target cornering command is taken to obtain the cornering execution error threshold of the target cornering command; The motion anomaly determination unit is used to determine that the unmanned mining truck is in motion anomaly if the response time of the target turning command exceeds the turning response time threshold of the target turning command and the execution error of the target turning command exceeds the turning execution error threshold of the target turning command. The motion anomaly is a steering anomaly, and the unmanned mining truck will automatically take fault handling measures.

13. A functional safety system for monitoring actions of an unmanned mining vehicle, characterized in that, include: The perception and positioning module is used to acquire information about unmanned mining trucks; The vehicle status information feedback module is used to obtain information related to unmanned mining trucks; The motion monitoring module includes a database unit and a motion anomaly detection unit; The database unit is used to filter information on unmanned mining trucks and related information to obtain the status information of the vehicle itself; it is also used to filter the database based on the status information of the vehicle itself to obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command. The motion anomaly determination unit is used to determine motion anomalies of unmanned mining trucks based on the vehicle's status information, the response time threshold of the current control command obtained by fitting, and the execution error threshold of the current control command obtained by fitting. This involves filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including: The information about the unmanned mining truck acquired by the perception and positioning module includes the road gradient where the unmanned mining truck is currently located; The vehicle status information feedback module obtains information related to the unmanned mining truck, including the lifting cylinder pressure and hydraulic oil temperature of the unmanned mining truck. The vehicle's status information includes parameters that affect the cargo box; The parameters affecting the cargo box include the lifting cylinder pressure of the unmanned mining truck, the hydraulic oil temperature of the unmanned mining truck, and the current road gradient of the unmanned mining truck. The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including: Current control commands include cargo box commands; The response time threshold for the current control command includes the cargo box response time threshold for the cargo box command; The current control command execution error threshold includes the cargo box execution error threshold for cargo box commands; Based on the vehicle's status information, the database is filtered to obtain the response time and execution error of the cargo box command; the average response time of the cargo box command is taken to obtain the threshold of the cargo box response time. The average value of the execution error of the cargo box instruction is taken to obtain the cargo box execution error threshold of the cargo box instruction; The action anomaly determination unit is used to determine that the unmanned mining truck is in action anomaly if the current cargo box's instruction response time exceeds the cargo box response time threshold and the cargo box instruction execution error exceeds the cargo box execution error threshold. The action anomaly is a cargo box anomaly, and the unmanned mining truck will automatically take fault handling measures.

14. A functional safety system for monitoring actions of an unmanned mining vehicle, characterized in that, include: The perception and positioning module is used to acquire information about unmanned mining trucks; The vehicle status information feedback module is used to obtain information related to unmanned mining trucks. The motion monitoring module includes a database unit and a motion anomaly detection unit; The database unit is used to filter information on unmanned mining trucks and related information to obtain the status information of the vehicle itself; it is also used to filter the database based on the status information of the vehicle itself to obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command. The motion anomaly determination unit is used to determine motion anomalies of unmanned mining trucks based on the vehicle's status information, the response time threshold of the current control command obtained by fitting, and the execution error threshold of the current control command obtained by fitting. This involves filtering information on unmanned mining trucks and related information to obtain the vehicle's status information, including: The vehicle status information feedback module obtains information related to the unmanned mining truck, including the current gear position. The vehicle's status information includes the current gear; The database unit is used to filter the database based on the vehicle's status information, obtain the response time and execution error of the hydraulic braking command, and dynamically fit the response time threshold and execution error threshold of the current control command, including: The current control command includes the target gear command; The response time threshold for the current control command includes the gear response time threshold for the target gear command; Based on the vehicle's status information, the response time of the target gear command is selected from the database; The average response time of the target gear command is taken to obtain the gear response time threshold of the target gear command; The action abnormality determination unit is used to determine that the unmanned mining truck is abnormal if the response time of the target gear command exceeds the gear response time threshold. If the action abnormality is a gear abnormality, the unmanned mining truck will automatically take fault handling measures.

Images