Unmanned driving control system for mining area

Abstract

The invention discloses an unmanned control system for a mining area, and relates to the technical field of unmanned driving, and the system comprises a dispatching control platform, at least one unmanned transport vehicle, and at least one excavator. The scheduling control platform is used for determining the transport route information of the unmanned transport vehicle and sending the transport route information to the main control device of the unmanned transport vehicle. The main control device of the unmanned transport vehicle is used for controlling the unmanned transport vehicle to run from the target soil collecting point to the target soil discharging point and controlling the unloading of the mine soil based on the sensing information collected by the sensing device and the transportation line indicated by the transportation line information under the condition that the unmanned transport vehicle completes the loading of the mine soil at the target soil collecting point; and when it is confirmed that the excavator completes ore soil unloading of the unmanned transport vehicle, the unmanned transport vehicle is controlled to run to the target soil collecting point. The system can reduce manpower resources consumed by transporting the mine soil in the mining area.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving control technology, and in particular to an unmanned driving control system for a mining area. Background Art

[0002] In mining areas such as coal mines, mineral soil containing various wastes is produced. The mineral soil is first piled up in the mining area and then transported from the mining area to the waste dump by transport vehicles.

[0003] Since there is a lot of ore in the mining area, more vehicles are needed to transport the ore, which naturally requires more drivers to drive the transport vehicles, resulting in more human resources consumption. Based on this, how to reduce the human resources consumed in transporting ore in the mining area is a technical problem that technicians in this field need to solve. Summary of the invention

[0004] In order to solve the above problems, the present application provides an unmanned driving control system for a mining area to reduce the human resources consumed in transporting ore and soil within the mining area.

[0005] On the one hand, the present application provides an unmanned driving control system for a mining area, comprising: a dispatching control platform, at least one unmanned driving transport vehicle, and at least one excavator located at different mining points in a mining area;

[0006] Wherein, the unmanned transport vehicle is provided with a main control device and at least one sensing device;

[0007] The excavator has a first control device;

[0008] There is a communication connection between the first control device of the excavator, the main control device of the unmanned transport vehicle and the dispatching control platform;

[0009] The dispatching control platform is used to determine the transportation route information of the unmanned transport vehicle in the mining area, and send the transportation route information corresponding to the unmanned transport vehicle to the main control device of the unmanned transport vehicle, wherein the transportation route information is used to indicate the target soil mining point of the unmanned transport vehicle in the soil mining field of the mining area, the target soil dumping point in the soil dump of the mining area, and the transportation route between the target soil mining point and the target soil dumping point;

[0010] The main control device of the unmanned transport vehicle is used to control the unmanned transport vehicle to travel from the target soil mining point to the target soil discharge point based on the sensing information collected by the sensing device and the transportation route indicated by the transportation route information when it is confirmed that the unmanned transport vehicle has completed the loading of ore and soil at the target soil mining point, and control the unmanned transport vehicle to unload the ore and soil at the target soil discharge point; after confirming that the unmanned transport vehicle has completed the unloading of ore and soil, control the unmanned transport vehicle to travel to the target soil mining point based on the sensing information collected by the sensing device and the transportation route indicated by the transportation route information;

[0011] The first control device of the excavator is used to obtain a loading completion instruction input by a user, wherein the loading completion instruction is used to indicate that the excavator has completed the operation of loading the ore soil to a target unmanned transport vehicle, wherein the target unmanned transport vehicle is an unmanned transport vehicle currently located at the soil mining point where the excavator is located; and send the loading completion instruction to the target unmanned transport vehicle;

[0012] The unmanned transport vehicle is further used to confirm that the unmanned transport vehicle has completed the loading of ore and soil at the target mining point upon receiving a loading completion instruction sent by the excavator at the target mining point.

[0013] In a possible implementation, the mine unmanned driving control system further includes: at least one bulldozer located at different dumping points in the dumping yard of the mine, the bulldozer having a second control device, and a communication connection between the second control device of the bulldozer and the dispatching control platform;

[0014] The second control device of the bulldozer is used to determine the vehicle status information of the bulldozer and send the vehicle status information of the bulldozer to the dispatch control platform;

[0015] The first control device of the excavator is further used to determine the vehicle status information of the excavator and send the vehicle status information of the excavator to the dispatch control platform;

[0016] The main control device of the unmanned transport vehicle is further used to determine the vehicle status information of the unmanned transport vehicle based on the sensing information collected by the sensing device, and send the vehicle status information of the unmanned transport vehicle to the dispatching control platform;

[0017] The dispatching control platform is also used to adjust the transportation route information of the unmanned transport vehicle corresponding to the abnormal transportation route if it is determined that there is an abnormal transportation route based on at least one of the vehicle status information of the bulldozer, the vehicle status information of the excavator and the vehicle status information of the unmanned transport vehicle.

[0018] In yet another possible implementation, the vehicle status information of the unmanned transport vehicle includes at least location information of the unmanned transport vehicle;

[0019] The dispatching control platform specifically performs at least one of the following when determining an abnormal transportation route:

[0020] If the vehicle status information of the bulldozer indicates that the bulldozer has an abnormal bulldozing operation, determining that a transportation route including a dumping point where the bulldozer is located is an abnormal transportation route;

[0021] If the vehicle status information of the excavator indicates that the excavator has an abnormal earth-mining operation, determining that a transportation route including the earth-mining point where the excavator is located is an abnormal transportation route;

[0022] If it is determined based on the position information of the unmanned transport vehicle that there is a congested soil discharge point or a congested soil mining point, the transportation route including at least one of the congested soil discharge point and the congested soil mining point is determined to be an abnormal transportation route, and the congested soil discharge point is a soil discharge point where the number of unmanned transport vehicles exceeds the set number within a set distance; the congested soil mining point is a soil mining point where the number of unmanned transport vehicles exceeds the set number within a set distance.

[0023] In another possible implementation, the dispatching control platform is further used to, if it is determined based on the position information of the unmanned transport vehicle that the unmanned transport vehicle has traveled outside the set working area of ​​the mining area, send a first alarm message to a terminal device of a first manager associated with the unmanned transport vehicle, wherein the first alarm message is used to indicate that the unmanned transport vehicle has traveled outside the working area of ​​the mining area;

[0024] Alternatively, the dispatching control platform is further used to send a second alarm message to a terminal device of a second manager associated with the excavator if it is determined that the excavator has an abnormal earth-mining operation and the abnormality type of the abnormal earth-mining operation belongs to a set high-risk abnormality type, wherein the second alarm message is used to indicate that the excavator has an abnormal earth-mining operation with a risk;

[0025] Alternatively, the dispatching control platform is also used to send a third alarm message to the terminal device of a third manager associated with the bulldozer if it is determined that the bulldozer has a bulldozing work abnormality and the abnormality type of the bulldozing work abnormality belongs to a set high-risk abnormality type, and the third alarm message is used to indicate that the bulldozer has a risky bulldozing work abnormality.

[0026] In another possible implementation, the mine area unmanned driving control system further includes: at least two communication base stations arranged in the mine area, different communication base stations support different types of network communications, and the number of each type of communication base stations is at least two;

[0027] At least two communication links are established between the main control device of the unmanned transport vehicle, the first control device of the excavator, the second control device of the bulldozer and the dispatching control platform through at least two communication base stations.

[0028] In another possible implementation, the number of each type of sensing device in the unmanned transport vehicle is not less than two;

[0029] The unmanned transport vehicle is also provided with a switching control module and at least one backup control device;

[0030] The switching control module is used to select a target backup control device from the at least one backup control device and switch the target backup control device to the main control device when it is confirmed that the main control device fails.

[0031] In yet another possible implementation, the dispatch control platform includes a switching module, a main dispatch control device, and at least one backup dispatch control device;

[0032] The main dispatching control device is used to determine the transportation route information of the unmanned transport vehicle in the mining area, and send the transportation route information corresponding to the unmanned transport vehicle to the main control device of the unmanned transport vehicle;

[0033] The switching module is used to select a backup scheduling control device from the at least one backup scheduling control device and switch the selected backup scheduling control device to the main scheduling control device when the main scheduling control device fails.

[0034] In another possible implementation, the dispatching control platform is used to determine the transportation route information of the unmanned transport vehicle in the mining area when the unmanned transport vehicle is in the unmanned driving mode, and send the transportation route information corresponding to the unmanned transport vehicle to the main control device of the unmanned transport vehicle;

[0035] The dispatching control platform is also used to, when the unmanned transport vehicle is in the unmanned driving mode and the switching conditions of the remote driving mode are met, send a first mode switching instruction to the main control device of the unmanned transport vehicle, the first mode switching instruction is used to instruct the unmanned transport vehicle to switch to the remote driving mode; when the unmanned transport vehicle is in the remote driving mode, control the driving of the unmanned transport vehicle; and when the unmanned transport vehicle is in the unmanned driving mode or the remote driving mode and the switching conditions of the manned driving mode are met, send a second mode switching instruction to the unmanned transport vehicle, the second mode switching instruction is used to instruct the unmanned transport vehicle to switch to the manned driving mode.

[0036] In another possible implementation, the main control device of the unmanned transport vehicle is also used to, when it is determined that the unmanned transport vehicle has a fault based on the perception information collected by the perception device, send fault alarm information to the dispatching control platform; and when it is confirmed that the fault level of the unmanned transport vehicle exceeds a set level, control the unmanned transport vehicle to enter a parking state.

[0037] In another possible implementation, the main control device of the unmanned transport vehicle is also used to control the unmanned transport vehicle to enter a parking state upon receiving an emergency stop command sent by the dispatching control platform, the target device of the patrol personnel, the first control device of the excavator or the second control device of the bulldozer.

[0038] From the above content, it can be seen that in this application, there is at least one unmanned transport vehicle in the mining area, and the transportation route information of each unmanned transport vehicle in the mining area can be determined by the dispatching control platform, and sent to the corresponding unmanned transport vehicle. On this basis, the unmanned transport vehicle can load ore and soil at the target mining point based on the target mining point and target bulldozing point indicated in the transportation route information sent by the dispatching control platform, and after the excavator at the target mining point completes loading the ore and soil to the unmanned transport vehicle, it drives to the target bulldozing point in combination with the sensing information collected by the sensing sensor, and unloads the ore and soil at the target bulldozing point, thereby realizing the transportation of ore and soil in the mining field of the mining area to the dumping field with the help of unmanned transport vehicles, which can naturally reduce the human resources consumed by transporting ore and soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0040] Figure 1 A schematic diagram of the structure of a mine unmanned driving control system provided in this application;

[0041] Figure 2 A schematic diagram of another structure of the unmanned driving control system for a mine provided in this application;

[0042] Figure 3 This is a schematic diagram of the dispatching control platform managing and controlling each vehicle in the mining area. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation mode of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. It is known to those skilled in the art that with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0044] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0045] like Figure 1 , showing a schematic diagram of the composition architecture of an unmanned driving control system for a mining area provided in an embodiment of the present application.

[0046] Depend on Figure 1 It can be seen that the system may include: a dispatching control platform 11, at least one unmanned transport vehicle 12, and at least one excavator 13 located at different mining points in a mining area.

[0047] It is understandable that there are mines and dumps in mining areas such as coal mines. The mine may include multiple mine points, which are locations for loading ore containing various wastes. Therefore, at least one excavator needs to be set up at each mine point in the mine to dig the ore and load it into the unmanned transport vehicle. The ore produced in the mine needs to be transported to the dump, which also has multiple dump points, which are locations where the ore can be unloaded.

[0048] In the present application, a main control device 121 and at least one sensing device 122 are provided in the unmanned transport vehicle 12 .

[0049] Among them, the main control device may include at least a vehicle-mounted controller, and may also include a communication module and other components or modules required to achieve unmanned driving, without limitation.

[0050] The sensing device installed in the unmanned transport vehicle may include a sensing device for sensing the vehicle's own driving characteristics and road conditions, such as a laser radar, a millimeter wave radar, and a speed sensor. The sensing device also includes various sensors or devices required for positioning the unmanned transport vehicle, such as a differential positioning device, a wheel speed meter, an inertial navigation device, and a global positioning system (GPS), etc., without limitation.

[0051] In the present application, the excavator 13 has a first control device 131, which may include a vehicle-mounted controller and a communication module, etc. Of course, the excavator may also include an input device and a display device, etc., which are not limited.

[0052] In the present application, there is a communication connection between the first control device 131 of each excavator 13 , the main control device 121 of each unmanned transport vehicle 12 and the dispatching control platform 11 .

[0053] For example, the vehicle to everything (V2X) technology can be used to build a communication network architecture between the first control device of each excavator, the main control device of each unmanned transport vehicle and the dispatching control platform, so as to realize all-round network communication connection between vehicle and vehicle (V2V), vehicle and road (V2I), vehicle and person (V2P), and vehicle and network (V2N).

[0054] The dispatching control platform 11 is used to determine the transportation route information of each unmanned transport vehicle in the mining area, and send the transportation route information corresponding to the unmanned transport vehicle to the main control device of the unmanned transport vehicle. The transportation route information is used to indicate the target soil mining point of the unmanned transport vehicle in the mining area, the target soil dumping point in the soil dump of the mining area, and the transportation route between the target soil mining point and the target soil dumping point.

[0055] In the present application, for the sake of easy distinction, the soil collection point and soil discharge point in the transportation route corresponding to the unmanned transport vehicle are respectively referred to as the target soil collection point and the target soil discharge point.

[0056] On the basis of the above, the main control device 121 of the unmanned transport vehicle 12 is used to control the unmanned transport vehicle to travel from the target soil mining point to the target soil discharge point based on the sensing information collected by various sensing devices and the transportation route indicated by the transportation route information sent by the scheduling control platform, and control the unmanned transport vehicle to unload the ore and soil at the target soil discharge point, after confirming that the unmanned transport vehicle has completed the loading of ore and soil at the target soil mining point; and, after confirming that the unmanned transport vehicle has completed the unloading of ore and soil, control the unmanned transport vehicle to travel to the target soil mining point based on the sensing information collected by various sensing devices and the transportation route indicated by the transportation route information.

[0057] It is understandable that the main control device of the unmanned transport vehicle can reasonably control the driving speed, route and distance from other vehicles of the unmanned transport vehicle with the help of the sensing information collected by the sensing device to ensure the reliable driving of the unmanned vehicle. On this basis, according to the transportation route information issued by the dispatching control platform, the main control device of the unmanned transport vehicle can accurately control the unmanned transport vehicle to continuously travel back and forth on the transportation route between the target soil collection point and the target soil discharge point.

[0058] It is understandable that when the unmanned transport vehicle does not receive a stop command issued by the dispatching control platform or other terminal equipment, the unmanned transport vehicle can continue to transport between the target mining point and the target dumping point, so that the ore from the mining site can be continuously transported to the dumping site, avoiding the situation where the ore cannot be transported for a long time due to driver fatigue, which is conducive to more efficient transportation of ore in the mining area.

[0059] Among them, the first control device 131 of the excavator 13 is used to obtain the loading completion instruction input by the user, and the loading completion instruction is used to indicate that the excavator has completed the operation of loading ore and soil onto the target unmanned transport vehicle. The target unmanned transport vehicle is the unmanned transport vehicle currently at the mining point where the excavator is located; the loading completion instruction is sent to the target unmanned transport vehicle.

[0060] Correspondingly, the unmanned transport vehicle is also used to confirm that the unmanned transport vehicle has completed the loading of ore and soil at the target mining point upon receiving the loading completion instruction sent by the excavator at the target mining point.

[0061] In the present application, the excavator can perform mining and loading under the control of a driver or other user. On this basis, the user can confirm that the target unmanned transport vehicle at the mining point where the excavator is located is full of ore and soil, and then input a loading completion instruction to the first control device of the excavator by clicking a button or other specific operations.

[0062] From the above content, it can be seen that in this application, there is at least one unmanned transport vehicle in the mining area, and the transportation route information of each unmanned transport vehicle in the mining area can be determined by the dispatching control platform, and sent to the corresponding unmanned transport vehicle. On this basis, the unmanned transport vehicle can load ore and soil at the target mining point based on the target mining point and target bulldozing point indicated in the transportation route information sent by the dispatching control platform, and after the excavator at the target mining point completes loading the ore and soil to the unmanned transport vehicle, it drives to the target bulldozing point in combination with the sensing information collected by the sensing sensor, and unloads the ore and soil at the target bulldozing point, thereby realizing the transportation of ore and soil in the mining field of the mining area to the dumping field with the help of unmanned transport vehicles, which can naturally reduce the human resources consumed by transporting ore and soil.

[0063] It is understandable that at least one bulldozer may be deployed at each dumping point of the dump in the mining area, and the bulldozer may clean up the ore soil unloaded at the dumping point.

[0064] like Figure 2 , showing another schematic diagram of the composition architecture of the unmanned driving control system for a mining area provided in an embodiment of the present application. Figure 1 It can be seen that, in addition to the dispatching control platform 11, the unmanned transport vehicle 12 and the excavator 13, the present application also includes: at least one bulldozer 14 located at different dumping points in the dumping yard of the mining area.

[0065] In the present application, the bulldozer 14 has a second control device 141, which is similar to the first control device in the aforementioned excavator. The second control device may include a vehicle-mounted controller, and may also include a communication module and other auxiliary modules, without limitation.

[0066] The second control device 141 of each bulldozer 14 is in communication connection with the dispatching control platform.

[0067] In the present application, the second control device 141 of the bulldozer 14 is used to determine the vehicle status information of the bulldozer and send the vehicle status information of the bulldozer to the dispatching control platform 11 .

[0068] Among them, the vehicle status information of the bulldozer may include the body angle, speed, position information and working status of various vehicle components of the bulldozer. The vehicle status information of the bulldozer can indicate whether the bulldozer has a vehicle failure, a body tilt angle that is too large during bulldozing, or a body rollover, which leads to abnormal bulldozing work (also known as abnormal soil discharge work).

[0069] Similarly, the first control device 131 of the excavator 13 is also used to determine the vehicle status information of the excavator and send the vehicle status information of the excavator to the dispatch control platform. The vehicle status information of the excavator may include the body angle and position information of the excavator and the status information of vehicle components such as the mechanical arm and the engine. The vehicle status information of the excavator can reflect whether the excavator can carry out earth-cutting work normally, and whether there is an abnormal situation of earth-cutting work due to the fault of the excavator itself or the tilt of the body.

[0070] The main control device 121 of the unmanned transport vehicle 12 is also used to determine the vehicle status information of the unmanned transport vehicle based on the sensing information collected by various sensing devices, and send the vehicle status information of the unmanned transport vehicle to the dispatching control platform. The vehicle status information of the unmanned transport vehicle may include at least the location information of the unmanned transport vehicle, and may also include information such as the driving speed and operating status of the unmanned transport vehicle.

[0071] Correspondingly, the dispatching control platform 11 is also used to determine the existence of an abnormal transportation route based on at least one of the vehicle status information of the bulldozer, the vehicle status information of the excavator and the vehicle status information of the unmanned transport vehicle, and adjust the transportation route information of the unmanned transport vehicle corresponding to the abnormal transportation route.

[0072] Among them, the abnormal transportation route may be a transportation route where there is vehicle congestion, abnormal soil mining operation of an excavator at a soil mining point, and abnormal bulldozer bulldozing operation at a soil discharge point.

[0073] Of course, the above vehicle status information may also include environmental information such as the weather and road conditions in which the vehicle is located. On this basis, an abnormal transportation route may also be a transportation route where the vehicle cannot travel reliably due to weather reasons (such as icy road conditions) or due to bad weather.

[0074] In a possible implementation, the vehicle status information of the unmanned transport vehicle includes at least the location information of the unmanned transport vehicle. On this basis, the dispatch control platform determines at least one of the following when determining an abnormal transport route:

[0075] If the vehicle status information of the bulldozer indicates that the bulldozer has an abnormal bulldozing operation, determining that the transportation route including the dumping point where the bulldozer is located is an abnormal transportation route;

[0076] If the vehicle status information of the excavator indicates that the excavator has an abnormal earth-mining operation, determining that a transportation route including the earth-mining point where the excavator is located is an abnormal transportation route;

[0077] If it is determined based on the position information of the unmanned transport vehicle that there is a congested soil discharge point or a congested soil collection point, a transportation route including at least one of the congested soil discharge point and the congested soil collection point is determined to be an abnormal transportation route.

[0078] The congested soil discharge point is a soil discharge point where the number of unmanned transport vehicles exceeds the set number within the set distance, that is, if the number of unmanned transport vehicles waiting to unload the ore soil at the soil discharge point exceeds the set number, the soil discharge point is determined to be a congested soil discharge point. Similarly, the congested mining point is a mining point where the number of unmanned transport vehicles exceeds the set number within the set distance.

[0079] As described above, the bulldozer may have a bulldozing abnormality due to a bulldozer rollover or other abnormality, or a bulldozer failure that results in the inability to discharge soil, etc. Similarly, the excavation abnormality may be due to an excavator rollover or failure that results in the inability to excavate soil.

[0080] It is understandable that in order to avoid safety accidents and reduce potential safety hazards, the dispatching and control platform can also output alarms when unmanned transport vehicles, excavators or bulldozers have abnormal working conditions.

[0081] For example, in a possible implementation, the dispatching control platform is further used to send a first alarm message to a terminal device of a first manager associated with the unmanned transport vehicle if it is determined based on the position information of the unmanned transport vehicle that the unmanned transport vehicle has traveled outside the set working area of ​​the mine area, wherein the first alarm message is used to indicate that the unmanned transport vehicle has traveled outside the working area of ​​the mine area;

[0082] For example, an electric fence area corresponding to the mining area can be configured in the scheduling control platform. On this basis, if the position of the unmanned transport vehicle is detected outside the electronic fence area, it means that the unmanned transport vehicle has deviated from the set transport route and there may be safety hazards, so the relevant managers need to be notified.

[0083] In another possible implementation, the dispatching control platform is also used to send a second alarm message to the terminal device of the second manager associated with the excavator if it is determined that the excavator has an earth-mining work abnormality and the abnormality type of the earth-mining work abnormality belongs to a set high-risk abnormality type. The second alarm message is used to indicate that the excavator has a risky earth-mining work abnormality.

[0084] In another possible implementation, the dispatch control platform is further configured to send a third alarm message to a terminal device of a third manager associated with the bulldozer if it is determined that the bulldozer has a bulldozing operation abnormality and the abnormality type of the bulldozing operation abnormality belongs to a set high-risk abnormality type. The third alarm message is used to indicate that the bulldozer has a risky bulldozing operation abnormality.

[0085] The high-risk anomaly types corresponding to bulldozers and excavators can be the same or different, and can be set according to actual needs. For example, for a bulldozer, if the bulldozer rolls over, the ore unloaded by the unmanned transport vehicle may bury the bulldozer, which puts the driver of the bulldozer at risk of personal safety. Therefore, the excavation work anomaly caused by the rollover of the bulldozer can be determined as a high-risk anomaly type.

[0086] like Figure 2 In order to ensure reliable communication between various vehicles and the dispatching control platform in the mining area, a communication base station 15 is also set up in the mining area.

[0087] In order to reduce communication failures, at least two communication base stations may be set up in the mining area. Different communication base stations support different types of network communications, and the number of each type of communication base station is at least two.

[0088] For example, communication base stations may include base stations that support 5G communications, base stations that support 4G communications, and communication base stations that support other types of network communications, without any restriction.

[0089] In order to avoid the failure of a certain type of communication base station or special weather conditions, which may cause abnormal network communications supported by the communication base station, in the present application, there can be at least two communication base stations of each type, so that even if one communication base station fails, other communication base stations of the same type can still operate normally and provide corresponding network communication services.

[0090] Correspondingly, at least two communication links are established between the main control device of the unmanned transport vehicle, the first control device of the excavator, the second control device of the bulldozer and the dispatching control platform through at least two communication base stations.

[0091] For example, a 5G-based communication link and a 4G-based communication link can be established between each control device in the vehicle and the dispatching control platform, without any restrictions.

[0092] In this application, the communication link between each control device and the dispatching control platform can be constructed in a variety of ways, without restriction. For example, this application can combine Multi-Access Edge Computing (MEC) technology with Cellular Vehicle to Everything (C-V2X), and use the Uu interface or PC5 interface to support the collaborative interaction of "people-vehicle-road-cloud (the dispatching control platform can be located in the cloud)", which can reduce the end-to-end data transmission delay, alleviate the computing and storage pressure of the terminal or roadside intelligent facilities, and reduce the network load caused by the massive data backhaul. Based on this, the unmanned driving control system of the mine can be regarded as a vehicle-road collaborative perception system, so as to fully realize the effective collaboration of people, vehicles, roads and clouds, ensure traffic safety, and improve the traffic efficiency of unmanned transport vehicles.

[0093] In order to ensure the reliable operation of the unmanned transport vehicle and reduce the inability of the unmanned transport vehicle to reliably drive and transport mineral soil due to failure of some devices, in this application, each device in the unmanned transport vehicle can also be redundantly set. Based on this, the number of each sensing device in the unmanned transport vehicle is not less than two.

[0094] For example, an unmanned transport vehicle can be equipped with at least two GPS systems, at least two lidar sensors, and at least two inertial positioning systems. Based on this, even if a sensing device fails, since there are multiple such sensing devices, the unmanned transport vehicle can still obtain relevant sensing information with the help of other sensing devices of the same type.

[0095] Furthermore, the unmanned transport vehicle is also provided with a switching control module and at least one backup control device. On this basis, the switching control module is used to select a target backup control device from the at least one backup control device when it is confirmed that the main control device of the unmanned transport vehicle has a fault, and switch the target backup control device to the main control device, so that the target backup control device, as the main control device, performs the relevant operations performed by the previous main control device.

[0096] In the present application, in order to reduce the possibility of failure of the dispatching control platform, the control device in the dispatching control platform can also be redundantly configured. For example, the dispatching control platform includes a switching module, a main dispatching control device and at least one backup dispatching control device.

[0097] Among them, the main dispatching control device is used to determine the transportation route information of the unmanned transport vehicle in the mining area, and send the transportation route information corresponding to the unmanned transport vehicle to the main control device of the unmanned transport vehicle.

[0098] Of course, other operations performed by the aforementioned dispatching control platform can be performed by the main dispatching control device, such as adjusting the transportation route information of the unmanned transport vehicle corresponding to the abnormal transportation route, and sending various alarm messages, etc., which are all performed by the main dispatching control device.

[0099] On the basis of the above, the switching module is used to select a backup scheduling control device from at least one backup scheduling control device when a failure occurs in the main scheduling control device, and switch the selected backup scheduling control device to the main scheduling control device, so that the newly switched main scheduling control device performs the scheduling and control operations related to the scheduling control platform.

[0100] In this application, in order to ensure the reliable operation of the unmanned transport vehicle in the mining area, the unmanned transport vehicle has three driving modes: unmanned driving mode, manned driving mode, and remote driving mode. Among them, the manned driving mode that requires manual driving has the highest priority, while the remote driving mode has the lowest priority, that is, the priority relationship of these three driving modes is: the priority of the manned driving mode> the priority of the remote driving mode> the priority of the unmanned driving mode.

[0101] On this basis, the dispatching control platform, specifically when the unmanned transport vehicle is in unmanned driving mode, determines the transportation route information of the unmanned transport vehicle in the mining area, and sends the transportation route information corresponding to the unmanned transport vehicle to the main control device of the unmanned transport vehicle.

[0102] In a possible implementation, the dispatch control platform is further used to send a first mode switching instruction to the main control device of the unmanned transport vehicle when the unmanned transport vehicle is in the unmanned driving mode and the switching condition of the remote driving mode is met. The first mode switching instruction is used to instruct the unmanned transport vehicle to switch to the remote driving mode.

[0103] Correspondingly, the dispatching control platform is also used to control the driving of the unmanned transport vehicle when the unmanned transport vehicle is in remote driving mode.

[0104] Among them, the switching conditions for satisfying the remote driving mode can be set as needed. For example, when an instruction to switch to the remote driving mode input by the user is detected, it is determined that the switching conditions for the remote driving mode are met; for example, the dispatching control platform determines that the unmanned transport vehicle has a fault or cannot travel according to the transport route based on the vehicle status information of the unmanned transport vehicle, then it is determined that the switching conditions for the remote driving mode are met.

[0105] Of course, when the unmanned transport vehicle is in unmanned driving mode, there may be other possibilities for satisfying the switching conditions for the remote driving mode, and there are no restrictions on this.

[0106] In the remote driving mode, the dispatching control platform will take over the driving control of the unmanned transport vehicle. On this basis, the dispatching control platform will control the speed, driving direction and other driving status of the unmanned transport vehicle based on the perception information collected by various perception sensors on the unmanned transport vehicle.

[0107] Furthermore, the dispatching control platform is also used to send a second mode switching instruction to the unmanned transport vehicle when the unmanned transport vehicle is in the unmanned driving mode or the remote driving mode, if the switching conditions for the manned driving mode are met. The second mode switching instruction is used to instruct the unmanned transport vehicle to switch to the manned driving mode.

[0108] Among them, in the manned driving mode, a driver or other personnel is required to drive the unmanned transport vehicle.

[0109] The switching conditions for satisfying the manned driving mode can also be set as needed, for example, the dispatching control platform detects that the user inputs a switching instruction for instructing to switch to the manned driving mode, and determines that the switching conditions for the manned driving mode are satisfied. For another example, the dispatching control platform detects that the main control device of the unmanned transport vehicle has a control anomaly or that the unmanned transport vehicle has a safety risk, and determines that the switching conditions for the manned driving mode are satisfied.

[0110] It can be understood that the mode switching operations performed by the above dispatching control platform can all be executed by the main dispatching control device of the dispatching control platform.

[0111] In any embodiment of the present application, in order to reduce the safety accidents caused by failures of unmanned transport vehicles, in the present application, the main control device of the unmanned transport vehicle is also used to determine that there is a failure in the unmanned transport vehicle based on the perception information collected by the perception device, and send fault alarm information to the dispatching control platform, so that the dispatching control platform can promptly understand the possible safety problems of the unmanned transport vehicle.

[0112] For example, the main control device of the unmanned transport vehicle includes a safety monitoring module, which can determine whether the sensing devices and other components in the unmanned transport vehicle have faults based on the sensing information collected by each sensing device.

[0113] Of course, the main control device of the unmanned transport vehicle can also set a fault level. If the unmanned transport vehicle has a fault and the fault level belongs to the set emergency fault level, a fault alarm message will be sent to the dispatching control platform.

[0114] Furthermore, the main control device of the unmanned transport vehicle is also used to control the unmanned transport vehicle to enter a parking state when it is confirmed that the fault level of the unmanned transport vehicle exceeds a set level. For example, if the unmanned transport vehicle drives out of the electronic fence area in the mining area, the main control device controls the unmanned transport vehicle to enter a parking state, or if a relatively important sensing device such as a laser radar or a millimeter wave radar in the unmanned transport vehicle has an abnormality, the main control device of the unmanned transport vehicle can control the unmanned transport vehicle to stop urgently.

[0115] In another possible implementation, in order to reduce safety accidents caused by malfunctions of unmanned transport vehicles, in the present application, the dispatching control platform can remotely issue an emergency stop command to the unmanned transport vehicle, and the inspection personnel can also issue an emergency stop command to the unmanned transport vehicle through target devices such as handheld terminals; moreover, the drivers of the excavators and bulldozers can also issue emergency stop commands to the unmanned transport vehicles through the control devices on the excavators or bulldozers.

[0116] Correspondingly, the main control device of the unmanned transport vehicle is also used to control the unmanned transport vehicle to enter a parking state upon receiving an emergency stop command sent by the dispatching control platform, the target equipment of the inspection personnel, the first control device of the excavator or the second control device of the bulldozer.

[0117] In the present application, the main control device of the unmanned transport vehicle and the dispatching control platform can also periodically send heartbeat messages. Based on this, if the main control device of the unmanned transport vehicle fails to detect the heartbeat message sent by the dispatching control platform for more than a set period of time, the main control device can also control the unmanned transport vehicle to enter a parking state to avoid safety accidents. Correspondingly, if the dispatching control platform fails to detect the heartbeat message sent by the main control device of the unmanned transport vehicle for more than a set period of time, the dispatching control platform will send a vehicle loss alarm to the first control device of each excavator, the second control device of each bulldozer, and the main control device of other unmanned transport vehicles, so that other unmanned transport vehicles or personnel on other vehicles can pay attention to the unmanned transport vehicle in a timely manner, thereby reducing safety risks.

[0118] From the above introduction, we can see that the dispatching control platform can conduct comprehensive management and control of the system to reduce safety risks and improve the driving safety of unmanned transport vehicles. Figure 3As shown, the dispatching control platform 11 can perform network status assessment and safety monitoring of excavators, bulldozers and unmanned transport vehicles in the mining area through communication networks such as 5G, LTE (Long Term Evolution) or LTE-based vehicle-to-vehicle communication (Long-Term Evolution for Vehicle, LTE-V) technology, and can also remotely control unmanned transport vehicles.

[0119] In this application, this solution can be applied to any mining area with a harsh working environment and a high risk factor to improve the system operation efficiency. Moreover, through the various safety protection measures of the unmanned transport vehicle by the dispatching control platform and the safety protection strategy configured in the unmanned transport vehicle, the safety of vehicles and personnel in the mining area can be effectively guaranteed and the occurrence of safety accidents can be reduced under the premise of using unmanned transport vehicles in the mining area.

[0120] It can be seen that the solution of this application uses unmanned transport vehicles to transport ore and soil, which can effectively solve the safety problems of harsh mining environment, remote and closed locations, and frequent safety accidents, reduce human resource consumption, and improve the efficiency of ore and soil transportation.

[0121] For example, assuming that the current vehicle speed in the mine is 15 km / hour, the daily production time is about 16 hours, and the daily output is about 12,000 tons. Then, the unmanned transport vehicle is calculated based on the driving speed of 15 km / hour. Since the unmanned transport vehicle does not require a driver, there is no need to set aside separate rest and meal time for the driver, so the unmanned transport vehicle can do 3 more hours of work per day, and can transport about 3,000 more tons of ore and soil per day, and the daily production efficiency can be increased by about 25%.

[0122] In the above embodiments of the present application, an unmanned transport simulation system can also be pre-built, and a virtual mining scene model, a virtual mine car model, a virtual sensor model, etc. can be built in the unmanned transport simulation system, so that the various functions of the unmanned transport vehicle can be quickly tested, and the on-site debugging time of the unmanned transport vehicle can be reduced, thereby greatly reducing the impact of on-site debugging on production tasks, improving the safety and reliability of the unmanned transport vehicle during testing and system upgrades, and saving various related costs such as personnel and equipment.

[0123] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0124] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0125] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0126] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A mining area unmanned driving control system, characterized in that: include: A dispatching control platform, at least one unmanned transport vehicle, and at least one excavator located at different mining points in the mining area; Wherein, the unmanned transport vehicle is provided with a main control device and at least one sensing device; The excavator has a first control device; There is a communication connection between the first control device of the excavator, the main control device of the unmanned transport vehicle and the dispatching control platform; The dispatching control platform is used to determine the transportation route information of the unmanned transport vehicle in the mining area, and send the transportation route information corresponding to the unmanned transport vehicle to the main control device of the unmanned transport vehicle, wherein the transportation route information is used to indicate the target soil mining point of the unmanned transport vehicle in the soil mining field of the mining area, the target soil dumping point in the soil dump of the mining area, and the transportation route between the target soil mining point and the target soil dumping point; The main control device of the unmanned transport vehicle is used to control the unmanned transport vehicle to travel from the target soil mining point to the target soil discharge point based on the sensing information collected by the sensing device and the transportation route indicated by the transportation route information when it is confirmed that the unmanned transport vehicle has completed the loading of ore and soil at the target soil mining point, and control the unmanned transport vehicle to unload the ore and soil at the target soil discharge point; after confirming that the unmanned transport vehicle has completed the unloading of ore and soil, control the unmanned transport vehicle to travel to the target soil mining point based on the sensing information collected by the sensing device and the transportation route indicated by the transportation route information; The first control device of the excavator is used to obtain a loading completion instruction input by a user, wherein the loading completion instruction is used to indicate that the excavator has completed the operation of loading the ore soil to a target unmanned transport vehicle, wherein the target unmanned transport vehicle is an unmanned transport vehicle currently located at the soil mining point where the excavator is located; and send the loading completion instruction to the target unmanned transport vehicle; The unmanned transport vehicle is further used to confirm that the unmanned transport vehicle has completed the loading of ore and soil at the target mining point upon receiving a loading completion instruction sent by the excavator at the target mining point.

2. The unmanned driving control system for mining areas according to claim 1 is characterized in that: Also includes: At least one bulldozer located at different dumping points in the dumping yard of the mining area, the bulldozer having a second control device, and the second control device of the bulldozer being in communication connection with the dispatching control platform; The second control device of the bulldozer is used to determine the vehicle status information of the bulldozer and send the vehicle status information of the bulldozer to the dispatch control platform; The first control device of the excavator is further used to determine the vehicle status information of the excavator and send the vehicle status information of the excavator to the dispatch control platform; The main control device of the unmanned transport vehicle is further used to determine the vehicle status information of the unmanned transport vehicle based on the sensing information collected by the sensing device, and send the vehicle status information of the unmanned transport vehicle to the dispatching control platform; The dispatching control platform is also used to adjust the transportation route information of the unmanned transport vehicle corresponding to the abnormal transportation route if it is determined that there is an abnormal transportation route based on at least one of the vehicle status information of the bulldozer, the vehicle status information of the excavator and the vehicle status information of the unmanned transport vehicle.

3. The unmanned driving control system for mining areas according to claim 2 is characterized in that: The vehicle status information of the unmanned transport vehicle at least includes the position information of the unmanned transport vehicle; The dispatching control platform specifically performs at least one of the following when determining an abnormal transportation route: If the vehicle status information of the bulldozer indicates that the bulldozer has an abnormal bulldozing operation, determining that a transportation route including a dumping point where the bulldozer is located is an abnormal transportation route; If the vehicle status information of the excavator indicates that the excavator has an abnormal earth-mining operation, determining that a transportation route including the earth-mining point where the excavator is located is an abnormal transportation route; If it is determined based on the position information of the unmanned transport vehicle that there is a congested soil discharge point or a congested soil mining point, the transportation route including at least one of the congested soil discharge point and the congested soil mining point is determined to be an abnormal transportation route, and the congested soil discharge point is a soil discharge point where the number of unmanned transport vehicles exceeds the set number within a set distance; the congested soil mining point is a soil mining point where the number of unmanned transport vehicles exceeds the set number within a set distance.

4. The unmanned driving control system for mining areas according to claim 3 is characterized in that: The dispatching control platform is also used to, if it is determined based on the position information of the unmanned transport vehicle that the unmanned transport vehicle has traveled outside the set working area of ​​the mining area, send a first alarm message to a terminal device of a first manager associated with the unmanned transport vehicle, wherein the first alarm message is used to indicate that the unmanned transport vehicle has traveled outside the working area of ​​the mining area; Alternatively, the dispatching control platform is further used to send a second alarm message to a terminal device of a second manager associated with the excavator if it is determined that the excavator has an abnormal earth-mining operation and the abnormality type of the abnormal earth-mining operation belongs to a set high-risk abnormality type, wherein the second alarm message is used to indicate that the excavator has an abnormal earth-mining operation with a risk; Alternatively, the dispatching control platform is also used to send a third alarm message to the terminal device of a third manager associated with the bulldozer if it is determined that the bulldozer has a bulldozing work abnormality and the abnormality type of the bulldozing work abnormality belongs to a set high-risk abnormality type, and the third alarm message is used to indicate that the bulldozer has a risky bulldozing work abnormality.

5. The unmanned driving control system for mining areas according to claim 2 is characterized in that: Also includes: At least two types of communication base stations are arranged in the mining area, different communication base stations support different types of network communications, and the number of each type of communication base station is at least two; At least two communication links are established between the main control device of the unmanned transport vehicle, the first control device of the excavator, the second control device of the bulldozer and the dispatching control platform through at least two communication base stations.

6. The unmanned driving control system for mining areas according to claim 1 is characterized in that: The number of each type of sensing device in the unmanned transport vehicle is not less than two; The unmanned transport vehicle is also provided with a switching control module and at least one backup control device; The switching control module is used to select a target backup control device from the at least one backup control device and switch the target backup control device to the main control device when it is confirmed that the main control device fails.

7. The unmanned driving control system for mining areas according to claim 1 is characterized in that: The dispatch control platform includes a switching module, a main dispatch control device and at least one backup dispatch control device; The main dispatching control device is used to determine the transportation route information of the unmanned transport vehicle in the mining area, and send the transportation route information corresponding to the unmanned transport vehicle to the main control device of the unmanned transport vehicle; The switching module is used to select a backup scheduling control device from the at least one backup scheduling control device and switch the selected backup scheduling control device to the main scheduling control device when the main scheduling control device fails.

8. The unmanned driving control system for mining areas according to claim 1 is characterized in that: The dispatching control platform is used to determine the transportation route information of the unmanned transport vehicle in the mining area when the unmanned transport vehicle is in the unmanned driving mode, and send the transportation route information corresponding to the unmanned transport vehicle to the main control device of the unmanned transport vehicle; The dispatching control platform is also used to, when the unmanned transport vehicle is in the unmanned driving mode and the switching conditions of the remote driving mode are met, send a first mode switching instruction to the main control device of the unmanned transport vehicle, the first mode switching instruction is used to instruct the unmanned transport vehicle to switch to the remote driving mode; when the unmanned transport vehicle is in the remote driving mode, control the driving of the unmanned transport vehicle; and when the unmanned transport vehicle is in the unmanned driving mode or the remote driving mode and the switching conditions of the manned driving mode are met, send a second mode switching instruction to the unmanned transport vehicle, the second mode switching instruction is used to instruct the unmanned transport vehicle to switch to the manned driving mode.

9. The unmanned driving control system for mining areas according to claim 1, characterized in that: The main control device of the unmanned transport vehicle is also used to send fault alarm information to the dispatching control platform when it is determined that the unmanned transport vehicle has a fault based on the sensing information collected by the sensing device; And when it is confirmed that the fault level of the unmanned transport vehicle exceeds a set level, the unmanned transport vehicle is controlled to enter a parking state.

10. The unmanned driving control system for mining areas according to claim 2, characterized in that: The main control device of the unmanned transport vehicle is also used to control the unmanned transport vehicle to enter a parking state upon receiving an emergency stop command sent by the dispatching control platform, the target equipment of the inspection personnel, the first control device of the excavator or the second control device of the bulldozer.

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