Portable cooperation system for mine unmanned driving area, working method and device, and storage medium

Abstract

The invention discloses a portable cooperative system for a mine unmanned driving area, a working method, a device and a storage medium, and the method comprises the steps: placing the cooperative system on an auxiliary vehicle or carried by a pedestrian, starting up, and detecting whether a network signal is normal or not; working modes of the cooperative system are set, the working modes comprise a large vehicle mode, a medium vehicle mode, a small vehicle mode, a pedestrian mode or a user-defined mode, and protection encirclement rings of different sizes are set according to the different working modes; the cooperative system prompts an operator about the conditions of vehicles nearby according to the state of the unmanned vehicle and the size of the protection encirclement ring set by the cooperative system, and suddenly stops the unmanned vehicle entering the protection encirclement ring according to the size of the protection encirclement ring; and after the vehicle or the pedestrian is assisted to leave the unmanned area, the cooperative system is shut down. The system is free of installation and high in mobility, reduces the demand quantity of a cooperative system, and reduces the economic cost.

Description

Technical Field

[0001] The present invention relates to a portable cooperative system and a working method, a device and a storage medium for an unmanned driving area of ​​a mine, belonging to the technical field of unmanned driving. Background Art

[0002] In the current unmanned driving system of open-pit mines, unmanned vehicles basically work in closed and semi-closed areas, and auxiliary vehicles in the unmanned vehicle operating area must be installed with a collaborative system. The collaborative system includes positioning, display and communication modules. The unmanned driving system can identify the location and status information of the auxiliary vehicles installed with the collaborative system to ensure the safe operation of the auxiliary vehicles in the unmanned driving area.

[0003] The existing collaborative systems are all installed on auxiliary vehicles, and are fixed on the auxiliary vehicles through brackets and other forms. They are suitable for fixed collaborative vehicles that cooperate with unmanned driving systems. Their positioning modules, display modules and communication modules are mostly split, and the vehicle status and location information are sent to the unmanned driving platform through its network signal. At present, there are the following problems: the collaborative system and the auxiliary vehicle are fixedly installed one-to-one, which is inconvenient to move and has a large value. It is suitable for fixed collaborative equipment that cooperates with unmanned driving systems. In the actual production process of the mine, the working area of ​​the unmanned driving system often faces the temporary entry of other vehicles such as maintenance vehicles, blasting vehicles, sprinkler vehicles, shuttle buses, and tour vehicles. These vehicles are temporary and uncertain. If each temporary vehicle is equipped with a collaborative system, its economic and time costs are high, and the utilization rate of the collaborative system is low, and there is a certain amount of damage to the temporary vehicle during the installation process. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a portable collaborative system and working method, device, and storage medium for use in unmanned driving areas of mines, which are easy to install and effectively ensure the safety of auxiliary vehicles and pedestrians.

[0005] In order to achieve the above object, the present invention adopts a working method of a portable collaborative system for an unmanned driving area of ​​a mine, comprising the following steps:

[0006] S1. Place the collaborative system on the auxiliary vehicle or have it carried by pedestrians, turn it on, and check whether the network signal is normal;

[0007] S2. Setting a working mode of the collaborative system, wherein the working mode includes a large vehicle mode, a medium vehicle mode, a small vehicle mode, a pedestrian mode or a custom mode. According to different working modes, protection encirclements of different sizes are set;

[0008] S3. When an auxiliary vehicle or pedestrian carrying the cooperative system is in the unmanned driving area, the cooperative system will inform the operator of the vehicle situation nearby according to the status of the unmanned vehicle and the size of the protective encirclement set by the cooperative system, and will urgently stop the unmanned vehicle entering the protective encirclement according to the size of its protective encirclement;

[0009] S4. If a fault occurs during the operation of the collaborative system, the display will show the fault content and sound and light alarms, and according to the fault content level, the operator will be prompted to drive carefully or leave the unmanned driving area;

[0010] S5. After the auxiliary vehicle or pedestrian leaves the unmanned driving area, shut down the collaborative system.

[0011] In some embodiments, in step S2, the display shows corresponding size parameters according to the set working mode, and the operator confirms whether the size parameters are appropriate.

[0012] In some embodiments, the size parameters include L1, L2, L3, L4, W1, W2 or R;

[0013] Among them, L1 and L2 are the distances between the installation position of the cooperative system on the auxiliary vehicle and the front and rear ends of the vehicle, L3 is the distance between the front end of the auxiliary vehicle and the front side of the protection circle, L4 is the distance between the rear end of the auxiliary vehicle and the rear side of the protection circle, W1 and W2 are the distances between the installation position of the cooperative system on the auxiliary vehicle and the left and right sides of the protection circle; R is the radius of the pedestrian protection circle.

[0014] In some embodiments, the working modes also include following mode, path planning and navigation mode.

[0015] A second aspect of the present invention provides a portable collaborative system for use in an unmanned driving area of ​​a mine, for implementing the working method, comprising:

[0016] A positioning module, used to receive positioning signals and calculate the position of the collaborative system, and send the position signals to the control module;

[0017] The communication module is used to coordinate the communication between multiple modules in the system and to coordinate the interactive communication between the equipment and the autonomous driving cloud and the autonomous driving vehicle.

[0018] Emergency stop module, used to control the vehicle to make an emergency stop;

[0019] Display and sound and light alarm module, used to display the current mode of the collaborative system and the location of nearby unmanned vehicles, and to issue sound and light alarm information;

[0020] The control module is used to analyze the status of nearby unmanned vehicles in real time, calculate and dynamically adjust the size of its own protection encirclement based on its own position and speed; and dynamically plan the driving path, current recommended speed and current recommended vehicle position of the auxiliary vehicle based on the set target point, combined with the current working status and current task of the unmanned vehicle, and display the above information to the driver of the auxiliary vehicle through the display and sound and light alarm module;

[0021] The combined antenna module includes a GNSS antenna, a 5G antenna, a V2V antenna and a radio antenna. The GNSS antenna is used to receive satellite positioning signals combined with RTK signals received by the 5G antenna, and transmit the signals to the positioning module; the 5G antenna is used to communicate with the unmanned driving platform and receive RTK signals; the V2V antenna is used for the collaborative system to communicate with nearby unmanned vehicles, receive the other party's vehicle information and send relevant emergency stop signals; the radio antenna is used to broadcast the emergency stop signal of the collaborative system to nearby unmanned vehicles;

[0022] The power module is used to provide power for the positioning module, control module, communication module, emergency stop module, display and sound and light alarm module.

[0023] In some embodiments, the V2V antenna receives the other party's vehicle information, including vehicle speed, direction, load and slope information.

[0024] In some embodiments, the emergency stop module is triggered by an operator through a button, and the emergency stop signal is sent to nearby vehicles by the radio antenna of the combined antenna module. The emergency stop signal is also sent to the control module through a communication bus, and then sent to nearby vehicles by the control module via the communication module and the combined antenna module.

[0025] In some embodiments, the power module includes a battery and a cigarette lighter connector external power source.

[0026] In some embodiments, when the driving path of the auxiliary vehicle carrying the collaborative system is consistent with that of the unmanned vehicle, the assisted following function is selected, and the platform sends the planned driving path, speed, and heading angle parameters of the unmanned vehicle in front to the collaborative system display interface and sends the recommended speed and recommended position of the current auxiliary vehicle.

[0027] A third aspect of the present invention provides a portable collaborative device for use in an unmanned driving area of ​​a mine, comprising:

[0028] processor;

[0029] And a memory coupled to the processor, used for storing instructions, when the instructions are executed by the processor, the processor executes the working method of the portable cooperative system for the unmanned driving area of ​​the mine as described.

[0030] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the working method of the portable collaborative system for an unmanned driving area of ​​a mine as described above is implemented.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1) No installation required. The equipment of the collaborative system only needs to be placed on the auxiliary vehicle or carried by pedestrians. It has strong mobility, reduces the number of collaborative systems required, and reduces economic costs.

[0033] 2) It has strong adaptability and can adapt to different operating units such as maintenance vehicles, blasting vehicles, sprinkler vehicles, shuttle buses, tour vehicles and pedestrians.

[0034] 3) Emergency stop signals can be sent simultaneously through the network, radio, and V2X to improve the reliability of the remote emergency stop function, and there is a sound alarm function when nearby unmanned vehicles approach, thereby improving the safety of auxiliary vehicles.

[0035] 4) It can not only be used in conjunction with auxiliary vehicles, but can also be carried by personnel entering unmanned driving areas to provide safety protection for personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 It is a schematic diagram of the principle structure of the present invention;

[0038] Figure 2 It is a schematic diagram of the method flow of the present invention;

[0039] Figure 3 It is a schematic diagram of mode selection of the present invention;

[0040] Figure 4 It is a schematic diagram of mode parameters of the present invention;

[0041] Figure 5 It is a schematic diagram of the emergency stop signal transmission of the present invention;

[0042] Figure 6 It is a schematic diagram of the vehicle following mode of the present invention;

[0043] Figure 7 It is a schematic diagram of the path planning and navigation mode of the present invention. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present invention more clear, the technical solutions of the present application are described in detail below with the help of accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0045] Example 1

[0046] like Figure 1-Figure 7 As shown, a working method of a portable collaborative system for an unmanned driving area of ​​a mine comprises the following steps:

[0047] S1. Place the collaborative system on the auxiliary vehicle, such as near the co-pilot seat, or have it carried by a pedestrian, turn it on, and check whether the network signal is normal;

[0048] S2. Setting the working mode of the collaborative system, which includes large vehicle mode, medium vehicle mode, small vehicle mode, pedestrian mode or custom mode, can set different protection mechanisms for large vehicles such as mining trucks and large graders commonly used in mines, medium vehicles such as shuttle buses and sprinkler trucks, small vehicles such as command vehicles and pickup trucks, and pedestrians entering the unmanned driving area to avoid being harmed by unmanned vehicles. According to different working modes, protection encirclements of different sizes are set;

[0049] S3. When an auxiliary vehicle or pedestrian carrying the cooperative system is in the unmanned driving area, the cooperative system will remind the operator (including the driver of the auxiliary vehicle and the pedestrian) of the nearby vehicles according to the status of the unmanned vehicle and the size of the protective encirclement set by the cooperative system, and will urgently stop the unmanned vehicle entering the encirclement according to the size of its protective encirclement;

[0050] S4. If a fault occurs during the operation of the collaborative system, the display will show the fault content and sound and light alarms, and according to the fault content level, the operator will be prompted to drive carefully or leave the unmanned driving area;

[0051] S5. After the auxiliary vehicle or pedestrian leaves the unmanned driving area, shut down the collaborative system.

[0052] In some embodiments, in step S2, the display shows corresponding size parameters according to the set working mode, and the operator confirms whether the size parameters are appropriate.

[0053] In some embodiments, the size parameters include L1, L2, L3, L4, W1, W2 or R;

[0054] Wherein, L1 and L2 are the distances between the installation position of the cooperative system on the auxiliary vehicle and the front and rear ends of the vehicle, L3 is the distance between the front end of the auxiliary vehicle and the front side of the protection enclosure, L4 is the distance between the rear end of the auxiliary vehicle and the rear side of the protection enclosure, W1 and W2 are the distances between the installation position of the cooperative system on the auxiliary vehicle and the left and right sides of the protection enclosure; R is the radius of the pedestrian protection enclosure;

[0055] The L3 and L4 are calculated by the collaborative system based on the speed V1, load M, slope angle α and maximum braking force N of the nearby unmanned vehicle, combined with the current auxiliary vehicle speed V2 and minimum braking distance S;

[0056] Real-time calculation of the real-time braking distance S1 of the current state of the nearby unmanned vehicle, Where g is the gravitational constant. Combined with the auxiliary vehicle's own speed and margin combination installed with the collaborative system, it is calculated that: L3=1.5S1+S, L4=1.5S1. The final protection encirclement parameters will be uploaded to the unmanned driving platform and displayed on the monitor.

[0057] In some embodiments, the working modes also include following mode, path planning and navigation mode.

[0058] Example 2

[0059] like Figure 1-Figure 7 As shown, a portable collaborative system for unmanned driving areas in mines includes a combined antenna module, a positioning module, a communication module, an emergency stop module, a control module, a display and sound and light alarm module, a communication bus and a power module, etc. The positioning module, the communication module, the emergency stop module, the control module, the display and sound and light alarm module are respectively connected to the communication bus, the combined antenna module is respectively connected to the positioning module, the communication module and the emergency stop module, and the power module is respectively connected to the positioning module, the communication module, the emergency stop module, the control module, the display and sound and light alarm module.

[0060] In some embodiments, the combined antenna module includes a GNSS antenna, a 5G antenna, a V2V antenna, a radio antenna, etc. The GNSS antenna is responsible for receiving the satellite positioning signal combined with the RTK signal received by the 5G antenna, and transmitting the signal to the positioning module; the 5G antenna is responsible for communicating with the unmanned driving platform and receiving the RTK signal; the V2V antenna is responsible for the communication between the collaborative system and the nearby unmanned mining vehicles, receiving the other party's vehicle speed, direction, load and slope information, and sending relevant emergency stop signals; the radio antenna is responsible for broadcasting the emergency stop signal of the collaborative system to nearby unmanned mining vehicles.

[0061] In some embodiments, after receiving the satellite positioning signal from the GNSS antenna and the RTK signal from the 5G antenna, the positioning module calculates the position of the collaborative system and sends the position signal to the control module.

[0062] In some embodiments, the emergency stop module can trigger an emergency stop signal by the operator through a button, and the emergency stop signal is sent to nearby vehicles by the radio antenna of the combined antenna module. The emergency stop signal is also sent to the control module through the communication bus, and then sent to the 5G network and V2V by the control module via the communication module and the antenna module. The button can also reset the emergency stop signal. Under the premise of ensuring the safety of coordinated equipment and personnel through the positioning module, the emergency stop button can be used to provide multiple protections for itself in extreme situations.

[0063] In some embodiments, the display and sound and light alarm module includes a touch screen and a buzzer, which displays the current mode of the collaborative system and the position of the nearby unmanned mining car through the display screen. When the unmanned mining car approaches the auxiliary vehicle or pedestrian carrying the collaborative system, it will remind you through voice; the collaborative system mode can be set through the touch screen, and the custom mode can also be set, and the size of the protection range circle can be set independently. The touch screen displays the current recommended speed, recommended position and the status of the preceding vehicle in the following mode, and displays the real-time dynamic path planning of the vehicle in the navigation mode and performs voice navigation. The auxiliary vehicle or pedestrian can travel according to the current recommended speed and position, and while ensuring their own safety, it can also reduce the impact on the efficiency of the unmanned transportation system.

[0064] In some embodiments, the control module can analyze the status of nearby unmanned vehicles in real time, calculate and dynamically adjust the size of its own protection encirclement in combination with its own position and speed. When it detects that a nearby unmanned vehicle has invaded its protection circle or poses a safety risk to an auxiliary vehicle or pedestrian carrying a collaborative system, the control module actively sends an emergency stop signal to the emergency stop module and the communication module to ensure the safety of the vehicle and personnel. The control module can dynamically plan the driving path and current recommended speed of the auxiliary vehicle, as well as the current recommended vehicle position, based on the set target point, combined with the current working status and current task of the unmanned vehicle fleet, and display the above information to the driver of the auxiliary vehicle through the display module. This function can evaluate the safety level of the area near the auxiliary vehicle or pedestrian carrying a collaborative system, and give driving suggestions based on the relevant safety assessment, and autonomously stop the risky unmanned mining car in an emergency, thereby improving the safety of auxiliary vehicles and pedestrians.

[0065] In some embodiments, the power module includes a battery and a cigarette lighter connector external power supply, which can provide power to the control module, communication module, emergency stop module and display and sound and light alarm module. Multiple power modes, convenient operation, strong scene applicability.

[0066] In some embodiments, the communication bus includes Ethernet, CAN bus, and 232 / 485 bus for data communication between systems and with external devices of the system.

[0067] In some embodiments, the communication module is used to coordinate communication between multiple modules within the system, and to coordinate the interactive communication of data between the device and the unmanned driving cloud and the unmanned driving vehicle.

[0068] The present invention requires no installation and has strong mobility, which reduces the number of collaborative system requirements and reduces economic costs. It has strong adaptability and can adapt to different operating units such as maintenance vehicles, blasting vehicles, sprinkler trucks, shuttle buses, tour vehicles and personnel. It can simultaneously send out emergency stop signals through the network, radio and V2X, etc., to improve the reliability of the remote emergency stop function, and has a sound alarm function when nearby unmanned vehicles approach, thereby improving the safety of auxiliary vehicles. It can not only be used in conjunction with auxiliary vehicles, but can also be carried by personnel entering the unmanned driving area to provide safety protection for personnel.

[0069] Example 3

[0070] A portable collaborative device for use in an unmanned driving area of ​​a mine, comprising:

[0071] processor;

[0072] And a memory coupled to the processor, used for storing instructions, when the instructions are executed by the processor, the processor executes the working method of the portable cooperative system for the unmanned driving area of ​​the mine as described.

[0073] In addition, the present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the working method of the portable collaborative system for an unmanned driving area of ​​a mine as described above is implemented.

[0074] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0075] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0076] In addition, those skilled in the art will understand that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments also means being within the scope of protection of the present invention and forming different embodiments. For example, in the above embodiments, those skilled in the art can use them in combination according to the known technical solutions and the technical problems to be solved by this application.

Claims

1. A working method of a portable cooperative system for an unmanned driving area of ​​a mine, characterized in that: The following steps are involved: S1. Place the collaborative system on the auxiliary vehicle or have it carried by pedestrians, turn it on, and check whether the network signal is normal; S2. Setting a working mode of the collaborative system, wherein the working mode includes a large vehicle mode, a medium vehicle mode, a small vehicle mode, a pedestrian mode or a custom mode. According to different working modes, protection encirclements of different sizes are set; S3. When an auxiliary vehicle or pedestrian carrying the cooperative system is in the unmanned driving area, the cooperative system will inform the operator of the vehicle situation nearby according to the status of the unmanned vehicle and the size of the protective encirclement set by the cooperative system, and will urgently stop the unmanned vehicle entering the protective encirclement according to the size of its protective encirclement; S4. If a fault occurs during the operation of the collaborative system, the display will show the fault content and sound and light alarms, and according to the fault content level, the operator will be prompted to drive carefully or leave the unmanned driving area; S5. After the auxiliary vehicle or pedestrian leaves the unmanned driving area, shut down the collaborative system.

2. A working method of a portable collaborative system for an unmanned driving area in a mine according to claim 1, characterized in that: In step S2, the display shows corresponding size parameters according to the set working mode, and the operator confirms whether the size parameters are appropriate.

3. A working method of a portable cooperative system for an unmanned driving area of ​​a mine according to claim 2, characterized in that: The size parameters include L1, L2, L3, L4, W1, W2 or R; Among them, L1 and L2 are the distances between the installation position of the cooperative system on the auxiliary vehicle and the front and rear ends of the vehicle, L3 is the distance between the front end of the auxiliary vehicle and the front side of the protection circle, L4 is the distance between the rear end of the auxiliary vehicle and the rear side of the protection circle, W1 and W2 are the distances between the installation position of the cooperative system on the auxiliary vehicle and the left and right sides of the protection circle; R is the radius of the pedestrian protection circle.

4. The working method of a portable cooperative system for an unmanned driving area of ​​a mine according to claim 1, characterized in that: The working modes also include vehicle following mode, path planning and navigation mode.

5. A portable collaborative system for unmanned areas in mines, characterized in that: The working method for implementing any one of claims 1 to 4 comprises: A positioning module, used to receive the positioning signal and calculate the position of the collaborative system, and send the position signal to the control module; The communication module is used to coordinate the communication between multiple modules in the system and to coordinate the interactive communication between the equipment and the autonomous driving cloud and the autonomous driving vehicle. Emergency stop module, used to control the vehicle to make an emergency stop; Display and sound and light alarm module, used to display the current mode of the collaborative system and the location of nearby unmanned vehicles, and to issue sound and light alarm information; The control module is used to analyze the status of nearby unmanned vehicles in real time, calculate and dynamically adjust the size of its own protection encirclement based on its own position and speed; and dynamically plan the driving path, current recommended speed and current recommended vehicle position of the auxiliary vehicle based on the set target point, combined with the current working status and current task of the unmanned vehicle, and display the above information to the driver of the auxiliary vehicle through the display and sound and light alarm module; The combined antenna module includes a GNSS antenna, a 5G antenna, a V2V antenna and a radio antenna. The GNSS antenna is used to receive satellite positioning signals combined with RTK signals received by the 5G antenna, and transmit the signals to the positioning module; the 5G antenna is used to communicate with the unmanned driving platform and receive RTK signals; the V2V antenna is used for the collaborative system to communicate with nearby unmanned vehicles, receive the other party's vehicle information and send relevant emergency stop signals; the radio antenna is used to broadcast the emergency stop signal of the collaborative system to nearby unmanned vehicles; The power module is used to provide power for the positioning module, control module, communication module, emergency stop module, display and sound and light alarm module.

6. A portable collaborative system for unmanned driving areas in mines according to claim 5, characterized in that: The V2V antenna receives the other party's vehicle information, including vehicle speed, direction, load and slope information.

7. A portable collaborative system for use in unmanned driving areas of mines according to claim 5, characterized in that: The emergency stop module triggers an emergency stop signal by pressing a button, and the emergency stop signal is sent to nearby vehicles by the radio antenna of the combined antenna module. The emergency stop signal is also sent to the control module through the communication bus, and then sent to nearby vehicles by the control module via the communication module and the combined antenna module.

8. A portable collaborative system for use in unmanned driving areas of mines according to claim 5, characterized in that: The power module includes a battery and a cigarette lighter connector external power source.

9. A portable collaborative system for use in unmanned driving areas of mines according to claim 5, characterized in that: When the driving path of the auxiliary vehicle carrying the collaborative system is consistent with that of the unmanned vehicle, select the assisted following function. The platform sends the planned driving path, speed, and heading angle parameters of the unmanned vehicle in front to the collaborative system display interface and sends the recommended speed and recommended position of the current auxiliary vehicle.

10. A portable cooperative device for use in unmanned areas of mines, characterized in that: include: processor; And a memory coupled to the processor, for storing instructions, wherein when the instructions are executed by the processor, the processor executes the working method of the portable collaborative system for an unmanned driving area of ​​a mine as described in any one of claims 1-4.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the working method of the portable cooperative system for an unmanned driving area of ​​a mine as described in any one of claims 1 to 4 is implemented.

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