Speed limiting method, device and system for mine unmanned vehicle

Abstract

The invention discloses a speed limiting method, device and system for a mine unmanned vehicle, and the method comprises the steps: calculating a global speed limit, a local speed limit and a traction force speed limit based on the obtained current state information, operation path information and weather environment data of the vehicle; and calculating a final speed limit based on the global speed limit, the local speed limit and the traction force speed limit. According to the invention, complex road conditions can be dealt with more effectively, and safe and efficient unmanned operation is realized.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned driving technology, and in particular relates to a speed limiting method, device and system for an unmanned mine vehicle. Background Art

[0002] With the rapid development of unmanned driving technology, the application of unmanned vehicles in various industrial scenarios has gradually become popular. In mining operations, unmanned vehicles have become an important tool in mine transportation and operations due to their advantages such as high efficiency, precision and safety. However, the mining operating environment is usually complex and changeable, such as rugged terrain, large slopes, and poor road conditions. This environment poses a huge challenge to the speed control of unmanned vehicles, and traditional speed limit methods are difficult to balance safety and efficiency.

[0003] In the existing technology, most speed limit solutions for unmanned vehicles mainly rely on a single global speed limit or a fixed speed limit based on specific environmental conditions. This speed limit solution lacks sufficient flexibility and cannot respond to changes in the mine operation site in real time. For example, when a mine unmanned vehicle is driving on a steep slope or slippery road, a fixed speed limit standard may cause the vehicle to lose control and increase the risk of accidents. At the same time, to ensure safety, conventional speed limits are often conservative, which limits the operating efficiency of unmanned vehicles.

[0004] Therefore, in response to the special environmental requirements of mining operations, a multi-level speed limit method that can combine global speed limit, local speed limit and traction speed limit is designed to dynamically adjust the driving speed of the unmanned vehicle, which can not only ensure driving safety but also improve work efficiency. This has become a difficult problem that needs to be solved urgently in the current technical field.

[0005] At present, domestic research in the field of unmanned vehicle speed limit control is mainly concentrated in urban roads and highway environments. There are relatively few studies on unmanned vehicle speed limit methods in special scenarios such as mines, especially in the control of dynamic traction and local speed limit.

[0006] In the Chinese invention patent application with application number CN202311854515.3, a speed limit method for unmanned vehicles is disclosed. The obstacle information around the unmanned vehicle is identified through the perception module. Based on the minimum distance between the obstacle and the edge of the driving track, the speed limit value of the unmanned vehicle at a specific track point is dynamically determined using a preset exponential speed limit model. The speed limit strategy is formulated to enable the unmanned vehicle to pass through the road section where the obstacle is located at a reasonable speed, thereby reducing collisions and sudden braking. In this scheme, the speed limit is dynamically adjusted by sensing the minimum distance between the obstacle and the edge of the driving track. Although it effectively avoids collisions and sudden braking problems, its speed limit model is only based on a single obstacle distance and fails to fully consider the impact of multiple variables in complex working conditions, such as road slope, load, etc.

[0007] In the Chinese invention patent application with application number CN202011191441.6, a speed limit method for unmanned vehicles turning is disclosed. The maximum turning speed of the posture point in the path is calculated, and the driving speed of the unmanned vehicle is controlled with this speed value, so as to ensure its stability and safety when turning. These prior arts have improved the driving safety and traffic efficiency of unmanned vehicles in complex scenes through dynamic speed limit strategies based on environmental and path information. Although this solution solves the stability and safety problems of unmanned vehicles when turning, its speed limit scheme is too limited to specific path posture points and cannot effectively cope with scenes with dynamic traction and complex terrain such as mines, resulting in insufficient speed limit accuracy under different working conditions. The shortcomings of these prior arts limit their application scenarios under complex working conditions to a certain extent.

[0008] In the PCT international application with application number PCT / EP2022 / 081170, A COMPUTER-IMPLEMENTED METHOD FOR CONTROLLING A VEHICLE SPEED OF AN AUTONOMOUS VEHICLE is disclosed, which proposes to detect the inclination of the vehicle's driving surface and then compare it with a preset relatively horizontal inclination interval. If the inclination exceeds the interval, the vehicle speed will be limited to a lower upper limit; when the inclination is within the interval, the vehicle speed will be controlled at a higher upper limit. This can ensure the driving safety and stability of the vehicle under different terrain conditions. This scheme only considers the impact of the inclination angle on the vehicle speed, and does not limit the vehicle speed based on the operating area, single vehicle capacity, or setting traction levels for different road conditions.

[0009] The document "Lateral Control Method of Unmanned Vehicle Based on Model-free Adaptive Control" proposes a lateral control scheme for unmanned vehicles based on model-free adaptive control. The unmanned vehicle tracking control problem is transformed into a preview deviation angle tracking problem. Then, based on the dynamic linearization data model of the unmanned vehicle lateral control system, a model-free adaptive control algorithm, a pseudo-gradient estimation algorithm and a pseudo-gradient reset algorithm are designed to realize the unmanned driving of autonomous vehicles. The scheme introduces the unmanned vehicle tracking control method under different working conditions. However, there is a lack of solutions for speed limits in designated operating areas and according to different vehicle models. Summary of the invention

[0010] In view of the above problems, the present invention proposes a speed limiting method, device and system for an unmanned mining vehicle, which can more effectively cope with complex road conditions and realize safe and efficient unmanned driving operations.

[0011] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0012] In a first aspect, the present invention provides a speed limiting method for an unmanned mining vehicle, comprising:

[0013] Based on the acquired vehicle current status information, operation path information and weather environment data, the global speed limit, local speed limit and traction speed limit are calculated;

[0014] A final speed limit is calculated based on the global speed limit, the local speed limit and the traction speed limit.

[0015] In combination with the first aspect, optionally, the method for calculating the global speed limit includes:

[0016] Obtaining a preset absolute speed limit, where the absolute speed limit refers to the maximum safe driving speed under ideal environmental conditions; the ideal environmental conditions refer to the weather environment and road conditions being in optimal conditions;

[0017] Selecting an appropriate proportional derating factor based on the acquired weather environment data and the mapping relationship between the weather environment data and the proportional derating factor;

[0018] A global speed limit is generated based on the absolute speed limit and the selected proportional derating factor.

[0019] In combination with the first aspect, optionally, the calculation formula of the global speed limit is:

[0020] ;

[0021] in, is the global speed limit, For absolute speed limit, is the proportional derating factor.

[0022] In combination with the first aspect, optionally, the operation path information includes a road slope angle and a turning radius; the vehicle current state information includes a slip coefficient; and the calculation formula of the local speed limit is:

[0023] ;

[0024] in, For local speed limit, is the maximum speed limit of the vehicle, , , They are all weight coefficients, used to adjust the impact of various factors on speed; is the turning radius; is the road slope angle; It is the slip coefficient, ranging from 0 to 1, indicating the severity of slip.

[0025] In combination with the first aspect, optionally, the operation path information includes a road slope angle; the vehicle current state information includes a load of the unmanned vehicle and a road friction coefficient; and the method for calculating the traction speed limit includes:

[0026] Calculate the traction level based on the load of the unmanned vehicle, the road slope angle, the road friction coefficient and the maximum traction level;

[0027] A traction force speed limit is calculated based on the traction force level and the maximum speed limit of the vehicle.

[0028] In combination with the first aspect, optionally, the calculation formula of the traction force level is:

[0029] ;

[0030] in, is the traction level, ranging from 10% to 90%; For the load of the unmanned vehicle, is the road slope angle, is the road friction coefficient, is the acceleration due to gravity, is the maximum traction level;

[0031] The calculation formula of the traction force speed limit is:

[0032] ;

[0033] in, To limit the speed of traction, The maximum speed limit for the vehicle.

[0034] In combination with the first aspect, optionally, the method for calculating the final speed limit includes:

[0035] ;

[0036] in, The final speed limit is is the global speed limit, For local speed limit, Speed ​​limit for traction.

[0037] In a second aspect, the present invention provides a speed limiting device for an unmanned mining vehicle, comprising:

[0038] The speed limit module is used to calculate the global speed limit, local speed limit and traction speed limit based on the acquired vehicle current state information, operation path information and weather environment data;

[0039] The decision module is used to calculate a final speed limit based on the global speed limit, the local speed limit and the traction speed limit.

[0040] In a third aspect, the present invention provides a speed limiting device for an unmanned mining vehicle, comprising: a sensor module, a speed limiting module and a decision module;

[0041] The sensor module collects the vehicle's current status information and weather environment data, and sends them to the speed limit module;

[0042] The speed limit module calculates the global speed limit, the local speed limit and the traction speed limit based on the current state information of the vehicle and the weather environment data, as well as the acquired operation path information;

[0043] The decision module calculates a final speed limit based on the global speed limit, the local speed limit and the traction speed limit sent by the speed limit module.

[0044] In a fourth aspect, the present invention provides a speed limiting system for an unmanned mining vehicle, comprising a storage medium and a processor;

[0045] The storage medium is used to store instructions;

[0046] The processor is configured to operate according to the instructions to execute the method according to any one of the first aspects.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The present invention ensures that the unmanned vehicle can automatically adjust the driving speed according to different working conditions and road conditions through the comprehensive control of global speed limit, local speed limit and traction speed limit, thereby reducing the possibility of accidents in complex mining environments and improving the driving safety of the unmanned vehicle.

[0049] The present invention adopts a dynamically adjusted speed limit mechanism, which is not only applicable to different areas and operating scenarios, but also can be optimized in real time according to the actual operating status of the unmanned vehicle and external environmental conditions (such as weather conditions, road slope angle, slip coefficient, road friction coefficient, etc.), thereby improving the flexibility and adaptability of the speed limit scheme.

[0050] Under the premise of ensuring safety, the speed limiting method of the present invention adjusts the driving speed of the unmanned vehicle according to the real-time working conditions to avoid the decrease in efficiency caused by excessive speed limiting, thereby effectively improving the overall operating efficiency of the unmanned vehicle in the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor, among which:

[0052] Figure 1 A schematic diagram of a flow chart of a speed limiting method for an unmanned mining vehicle according to an embodiment of the present invention;

[0053] Figure 2 The present invention is a block diagram of the principle of a speed limiting device for an unmanned mining vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0056] Example 1

[0057] An embodiment of the present invention provides a speed limiting method for an unmanned mining vehicle, comprising the following steps:

[0058] Step (1) calculating the global speed limit, local speed limit and traction speed limit based on the acquired vehicle current state information, operation path information and weather environment data;

[0059] Step (2) calculates a final speed limit based on the global speed limit, the local speed limit and the traction speed limit.

[0060] A speed limiting method for an unmanned mining vehicle in an embodiment of the present invention ensures that the unmanned vehicle can automatically adjust its driving speed according to different working conditions and road conditions through comprehensive control of global speed limiting, local speed limiting and traction speed limiting, thereby reducing the possibility of accidents in complex mining environments and improving the driving safety of the unmanned vehicle.

[0061] In a specific implementation of the embodiment of the present invention, the method for calculating the global speed limit includes:

[0062] Obtaining a preset absolute speed limit, where the absolute speed limit refers to the maximum safe driving speed under ideal environmental conditions; the ideal environmental conditions refer to the weather environment and road conditions being in optimal conditions;

[0063] Selecting an appropriate proportional derating factor based on the acquired weather environment data and the mapping relationship between the weather environment data and the proportional derating factor;

[0064] A global speed limit is generated based on the absolute speed limit and the selected proportional derating factor.

[0065] In a specific implementation of the embodiment of the present invention, the calculation formula of the global speed limit is:

[0066] ;

[0067] in, is the global speed limit, For absolute speed limit, is the proportional derating factor.

[0068] In a specific implementation of the embodiment of the present invention, the mapping relationship between the proportional derating coefficient and the weather environment data is shown in Table 1.

[0069] Table 1 Mapping relationship between proportional derating factor and weather environment data

[0070] Weather conditions Proportional derating factor (D) sunny 0 Foggy Day 0.2 Strong wind 0.1 light rain 0.15 moderate rain 0.3 heavy rain 0.4 Snowy Days 0.35 Frozen 0.5

[0071] In a specific implementation of the embodiment of the present invention, the operation path information includes a road slope angle and a turning radius; the vehicle current state information includes a slip coefficient; and the calculation formula of the local speed limit is:

[0072] ;

[0073] in, For local speed limit, is the maximum speed limit of the vehicle, , , They are all weight coefficients, used to adjust the impact of various factors on speed; is the turning radius, in meters. The smaller R is, the lower the local speed limit is. is the road slope angle, in radians, a positive number indicates an uphill slope, and a negative number indicates a downhill slope; It is the slip coefficient, ranging from 0 to 1, indicating the severity of slip.

[0074] In a specific implementation of the embodiment of the present invention, the operation path information includes a road slope angle; the vehicle current state information includes a load of the unmanned vehicle and a road friction coefficient; and the method for calculating the traction speed limit includes:

[0075] Calculate the traction level based on the load of the unmanned vehicle, the road slope angle, the road friction coefficient and the maximum traction level;

[0076] A traction force speed limit is calculated based on the traction force level and the maximum speed limit of the vehicle.

[0077] The calculation formula for the traction force level is:

[0078] ;

[0079] in, is the traction level, ranging from 10% to 90%; For the load of the unmanned vehicle, is the road slope angle, is the road friction coefficient, is the acceleration due to gravity, is the maximum traction level, which varies from model to model;

[0080] The calculation formula of the traction force speed limit is:

[0081] ;

[0082] in, To limit the speed of traction, is the maximum speed limit of the vehicle. The maximum speed limit of different vehicle models is different. The traction level The lower the value, the lower the vehicle's speed, and vice versa.

[0083] In a specific implementation of the embodiment of the present invention, the method for calculating the final speed limit includes:

[0084] ;

[0085] in, The final speed limit is is the global speed limit, For local speed limit, This comprehensive calculation ensures that the unmanned vehicle can ensure driving safety and improve operating efficiency in complex environments.

[0086] Combine the following Figure 1 and Figure 2 A speed limiting method for an unmanned mining vehicle in an embodiment of the present invention is described in detail.

[0087] Step S101: obtaining vehicle current status information, operation path information and weather environment data;

[0088] The sensor module is used to obtain the vehicle's current status information in real time, including the slip coefficient, the load of the unmanned vehicle, and the road friction coefficient. At the same time, external weather environment data is obtained. Both the external weather environment data and the vehicle's current status information are collected through sensor data to ensure the accuracy and real-time operation information of the unmanned vehicle. The operation path information includes the road slope angle and turning radius;

[0089] Step S102: Calculate the global speed limit;

[0090] Based on weather environment data and preset global speed limit rules, the global speed limit under the current external weather environment is calculated. The global speed limit applies to all unmanned vehicles and driving areas, including absolute speed limit and proportional speed limit. The absolute speed limit is the maximum safe driving speed under ideal conditions, and the proportional speed limit adjusts the absolute speed based on the proportional derating factor to ensure that the speed of the unmanned vehicle is adapted to the operating environment.

[0091] Step S103: Calculate the local speed limit;

[0092] Based on the operation path information and the vehicle's current status information, the local speed limit is calculated to ensure the safe operation of the unmanned vehicle.

[0093] Step S104: Calculate the traction speed limit;

[0094] The traction speed limit is calculated based on the load of the unmanned vehicle, the road slope angle, the road friction coefficient and the maximum traction level. Through accurate traction level calculation, the traction speed limit of the unmanned vehicle is dynamically adjusted to achieve more precise control of the vehicle speed. The setting of this speed limit ensures that the unmanned vehicle can maintain an appropriate speed according to the traction level under different road conditions, thereby ensuring driving stability and accuracy.

[0095] Step S105: confirm the final speed limit;

[0096] The global speed limit, local speed limit and traction speed limit are compared, and the minimum value among the three is selected as the final speed limit of the unmanned vehicle. This final speed limit will ensure that the unmanned vehicle runs at the safest speed in the current environment. The speed limit instruction is transmitted to the vehicle control system through the decision module to control the actual driving speed of the unmanned vehicle.

[0097] Through the above steps, the unmanned vehicle speed limiting method of the present invention can dynamically adjust the speed of the unmanned vehicle in a complex mine environment, ensuring the safety and operating efficiency of the unmanned vehicle under various conditions.

[0098] Example 2

[0099] An embodiment of the present invention provides a speed limiting device for an unmanned mining vehicle, comprising:

[0100] The speed limit module is used to calculate the global speed limit, local speed limit and traction speed limit based on the acquired vehicle current state information, operation path information and weather environment data;

[0101] The decision module is used to calculate a final speed limit based on the global speed limit, the local speed limit and the traction speed limit.

[0102] The rest are the same as in Example 1.

[0103] Example 3

[0104] In an embodiment of the present invention, a speed limiting device for an unmanned mining vehicle is provided. Figure 2 As shown, it includes: a sensor module, a speed limit module and a decision module;

[0105] The sensor module collects the vehicle's current state information and weather environment data, and sends them to the speed limit module;

[0106] The speed limit module calculates the global speed limit, the local speed limit and the traction speed limit based on the current state information of the vehicle and the weather environment data, as well as the acquired operation path information;

[0107] The decision module calculates a final speed limit based on the global speed limit, the local speed limit and the traction speed limit sent by the speed limit module.

[0108] The rest are the same as in Example 1.

[0109] Example 4

[0110] An embodiment of the present invention provides a speed limiting system for an unmanned mining vehicle, including a storage medium and a processor;

[0111] The storage medium is used to store instructions;

[0112] The processor is configured to operate according to the instructions to execute the method according to any one of the embodiments 1.

[0113] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0114] 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.

[0115] 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.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0117] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

[0118] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A speed limiting method for an unmanned vehicle in a mine, characterized in that: include: Based on the acquired vehicle current status information, operation path information and weather environment data, the global speed limit, local speed limit and traction speed limit are calculated; A final speed limit is calculated based on the global speed limit, the local speed limit and the traction speed limit.

2. A method for limiting the speed of an unmanned mine vehicle according to claim 1, characterized in that: The calculation method of the global speed limit includes: Obtaining a preset absolute speed limit, where the absolute speed limit refers to the maximum safe driving speed under ideal environmental conditions; the ideal environmental conditions refer to the weather environment and road conditions being in optimal conditions; Selecting an appropriate proportional derating factor based on the acquired weather environment data and the mapping relationship between the weather environment data and the proportional derating factor; A global speed limit is generated based on the absolute speed limit and the selected proportional derating factor.

3. A speed limiting method for an unmanned mine vehicle according to claim 2, characterized in that: The calculation formula of the global speed limit is: ； in, is the global speed limit, For absolute speed limit, is the proportional derating factor.

4. The speed limiting method for an unmanned mine vehicle according to claim 1, characterized in that: The operation path information includes the road slope angle and the turning radius; the vehicle current state information includes the slip coefficient; the calculation formula of the local speed limit is: ； in, For local speed limit, is the maximum speed limit of the vehicle, , , They are all weight coefficients, used to adjust the impact of various factors on speed; is the turning radius; is the road slope angle; It is the slip coefficient, ranging from 0 to 1, indicating the severity of slip.

5. The speed limiting method for an unmanned mine vehicle according to claim 1, characterized in that: The operation path information includes the road slope angle; the vehicle current state information includes the load of the unmanned vehicle and the road friction coefficient; The calculation method of the traction force speed limit includes: Calculate the traction level based on the load of the unmanned vehicle, the road slope angle, the road friction coefficient and the maximum traction level; A traction force speed limit is calculated based on the traction force level and the maximum speed limit of the vehicle.

6. A speed limiting method for an unmanned mine vehicle according to claim 5, characterized in that: The calculation formula for the traction force level is: ； in, is the traction level, ranging from 10% to 90%; For the load of the unmanned vehicle, is the road slope angle, is the road friction coefficient, is the acceleration due to gravity, is the maximum traction level; The calculation formula of the traction force speed limit is: ； in, To limit the speed of traction, The maximum speed limit for the vehicle.

7. The speed limiting method for an unmanned mine vehicle according to claim 1, characterized in that: The calculation method of the final speed limit includes: ； in, The final speed limit is is the global speed limit, For local speed limit, Speed ​​limit for traction.

8. A speed limiting device for an unmanned mine vehicle, characterized in that: include: The speed limit module is used to calculate the global speed limit, local speed limit and traction speed limit based on the acquired vehicle current state information, operation path information and weather environment data; The decision module is used to calculate a final speed limit based on the global speed limit, the local speed limit and the traction speed limit.

9. A speed limiting device for an unmanned mine vehicle, characterized in that: include: Sensor module, speed limit module and decision module; The sensor module collects the vehicle's current status information and weather environment data, and sends them to the speed limit module; The speed limit module calculates the global speed limit, the local speed limit and the traction speed limit based on the current state information of the vehicle and the weather environment data, as well as the acquired operation path information; The decision module calculates a final speed limit based on the global speed limit, the local speed limit and the traction speed limit sent by the speed limit module.

10. A speed limit system for an unmanned mine vehicle, characterized in that: including storage media and processors; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the method according to any one of claims 1-7.

Images