Mine unmanned vehicle communication system and method

Abstract

The invention discloses a mine unmanned vehicle communication system and method. The mine unmanned vehicle communication system comprises a communication module, and a positioning module and an operation module which are connected with the communication module, the positioning module is used for acquiring position information of a vehicle in real time and sending the position information to the communication module; the communication module comprises a first communication sub-module and a second communication sub-module, the first communication sub-module adopts a vehicle-to-center communication mode, and the second communication sub-module adopts a vehicle-to-vehicle communication mode; the communication module is used for receiving control information from the central control system, reporting state information of the vehicle to the central control system and carrying out data interaction with vehicles around the vehicle; and the operation module is used for acquiring an operation route instruction issued by the central control system from the communication module and guiding a vehicle to execute a specific operation task according to the operation route instruction. According to the invention, the communication continuity and reliability can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned driving, and in particular relates to a mine unmanned vehicle communication system and method. Background Art

[0002] With the rapid development of unmanned driving technology, unmanned vehicles have been gradually applied in mining areas, ports and other specific environments. However, the safety and operating efficiency of unmanned vehicles depend to a large extent on reliable communication systems. The current unmanned vehicle communication system mainly relies on central control and on-board sensors, but in the face of complex and dynamic environments, a single communication method is difficult to ensure the real-time and accuracy of information transmission, resulting in low operating efficiency and even safety accidents. In addition, traditional unmanned vehicle communication systems usually lack effective fault handling mechanisms and cannot respond quickly when communication is interrupted, further increasing safety hazards. Therefore, there is an urgent need for an unmanned vehicle communication system and method that can work efficiently and stably in a changing environment to ensure the safe operation of unmanned vehicles.

[0003] In the Chinese invention patent application with application number CN202210982721.1, a communication system for unmanned vehicles integrating 5G and self-organizing networks is disclosed. The target networking mode for 5G network and self-organizing network is determined based on the working environment information; the 5G network and the self-organizing network are integrated based on the target networking mode; the working status of the unmanned vehicle is monitored in real time based on the work instructions, and the target networking mode is dynamically optimized based on the working status. At the same time, the networking mode is optimized in real time according to the working status of the unmanned vehicle, ensuring the stability and reliability of the unmanned vehicle communication system. The problem with this solution is that it over-relies on the 5G network for communication integration, without fully considering the reliability issues in environments that do not support 5G networks or when the signal is weak. In addition, the patent lacks an effective network detection mechanism to dynamically adjust the communication mode, which may lead to communication interruption or reduced efficiency.

[0004] In the Chinese invention patent application with application number CN202210924639.3, a method and system for centerless wireless broadband self-organizing network of multiple unmanned vehicles is disclosed, including a communication system of an unmanned task vehicle connected to an unmanned vehicle and a communication system of a control command vehicle connected to a control vehicle. Multiple unmanned vehicles are connected to each other through a wireless communication transmission system, and the control vehicle is connected to multiple unmanned vehicles through a wireless communication transmission system. Wireless transmission between unmanned vehicles and control vehicles is established through wireless self-organizing network vehicle-mounted equipment. The wireless self-organizing network vehicle-mounted equipment adopts centerless high-dynamic self-organizing network technology to solve the video return and vehicle control data problems of the front-end unmanned vehicles. The problem with this solution is that in multi-vehicle collaborative operations and complex task scenarios, the lack of a centralized management system may lead to low efficiency in task scheduling and coordination between unmanned vehicles. A single centerless wireless network structure will bring safety risks in the actual operation of unmanned vehicles, especially when encountering complex or harsh environments, the communication link is easily interfered or interrupted, resulting in ineffective coordination between vehicles.

[0005] In the US patent application with patent number US20200077242, a communication system and communication method for an autonomous vehicle are provided. The system includes: multiple application modules and a vehicle-mounted terminal. The vehicle-mounted terminal includes: an external communication module configured to communicate with another autonomous vehicle or a server in a message mode; and an internal communication module configured to communicate with multiple application modules in a service mode. The problem with this solution is that it does not involve a communication method between vehicles, nor does it have a redundant communication function.

[0006] The document "Key Technologies of In-Vehicle Self-Organizing Network Based on End-Pipe-Cloud System" analyzes and studies the Internet of Vehicles from three aspects: end system, pipe system, and cloud system, and focuses on the two communication technologies of V2V (vehicle to vehicle) and V2R (vehicle to roadside) in the pipe system. The problem with this solution is that it only introduces the cutting-edge technologies of vehicle-to-vehicle communication and vehicle-to-road communication, but does not propose specific implementation methods of vehicle-to-cloud communication and vehicle-to-vehicle communication. Summary of the invention

[0007] In view of the above problems, the present invention proposes a mine unmanned vehicle communication system and method, which can improve communication continuity and reliability.

[0008] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions: In a first aspect, the present invention provides a mine unmanned vehicle communication system, comprising: a communication module, and a positioning module and an operation module connected to the communication module; The positioning module is used to obtain the location information of the vehicle in real time and send it to the communication module; The communication module includes a first communication submodule and a second communication submodule, wherein the first communication submodule adopts a vehicle-to-center communication mode, and the second communication submodule adopts a vehicle-to-vehicle communication mode; the communication module is used to receive control information from a central control system, report vehicle status information to the central control system, and perform data exchange with vehicles around the vehicle; The operation module is used to obtain the operation route instruction issued by the central control system from the communication module, and guide the vehicle to perform a specific operation task according to the operation route instruction.

[0009] In combination with the first aspect, optionally, the first communication submodule is used to receive control information from a central control system, the control information including driving instructions, parking instructions, deceleration instructions and work route instructions, and the status information including driving mode, real-time location and work status.

[0010] In combination with the first aspect, optionally, the second communication sub-module in the communication module of this vehicle is connected to the second communication sub-module in the vehicles around this vehicle using self-organizing network technology. When this vehicle enters the communication range of the vehicles around this vehicle, the two automatically establish a communication connection and automatically disconnect after leaving the communication range of the vehicles around this vehicle, thereby ensuring the coordination of unmanned vehicles in a dynamic operating environment.

[0011] In combination with the first aspect, optionally, the communication module further includes a heartbeat detection unit, which is connected to the first communication submodule and the second communication submodule respectively, and is used to monitor the communication stability of the first communication submodule and the second communication submodule in real time.

[0012] In combination with the first aspect, optionally, when the communication of the first communication submodule is interrupted, the second communication submodule is used to send the status information of the vehicle to the second communication submodule of the vehicles around the vehicle, and the first communication submodule of the vehicles around the vehicle is used to send the status information of the vehicle to the central control system; and the first communication submodule of the vehicles around the vehicle is used to receive control information from the central control system, and the second communication submodule of the vehicles around the vehicle is used to send it to the second communication submodule of the vehicle; the control information includes driving instructions, parking instructions, deceleration instructions and operation route instructions, and the status information includes driving mode, real-time position and operation status; When the communication between the first communication submodule and the second communication submodule is interrupted, a preset emergency stop mechanism is triggered.

[0013] In combination with the first aspect, optionally, the second communication sub-module is used to receive the location information of the vehicle sent by the positioning module, and obtain the location information of vehicles around the vehicle from the second communication sub-module of the vehicles around the vehicle, and calculate the straight-line distance between the vehicle and the vehicles around the vehicle based on the location information of the vehicle and the location information of the vehicles around the vehicle.

[0014] In combination with the first aspect, optionally, the first communication submodule is used to sort the vehicles around the vehicle according to the calculated straight-line distance, and send the sorting information to the central control system, so that the central control system optimizes the operation route instruction based on the received sorting information; When the communication of the first communication submodule is interrupted, the second communication submodule is used to send the status information and sorting information of the vehicle to the second communication submodule of the vehicles around the vehicle, and the first communication submodule of the vehicles around the vehicle is used to send the status information and sorting information of the vehicle to the central control system; and the first communication submodule of the vehicles around the vehicle is used to receive control information from the central control system, and the second communication submodule of the vehicles around the vehicle is used to send it to the second communication submodule of the vehicle; the control information includes driving instructions, parking instructions, deceleration instructions and operation route instructions, and the status information includes driving mode, real-time position and operation status.

[0015] In combination with the first aspect, optionally, the operation route instruction includes lane centerline and lane boundary information; the operation module is used to guide the vehicle to travel along the lane centerline, and based on the lane boundary information, to ensure the driving safety of the vehicle during the operation process.

[0016] In combination with the first aspect, optionally, the operation module is also used to calculate and update the operating status of the vehicle in real time, and the operating status includes empty driving, waiting for loading, loading, heavy-load driving and unloading, and the operating status is fed back to the communication module, which is sent to the central control system by the first communication sub-module in the communication module.

[0017] In a second aspect, the present invention provides a mine unmanned vehicle communication method, comprising: Use the positioning module to obtain the vehicle's location information in real time and send it to the communication module; The communication module is used to receive control information from the central control system, report the vehicle status information to the central control system, and exchange data with vehicles around the vehicle; the communication module includes a first communication submodule and a second communication submodule, the first communication submodule adopts a vehicle-to-center communication mode, and the second communication submodule adopts a vehicle-to-vehicle communication mode; The operation module is used to obtain the operation route instruction issued by the central control system from the communication module, and guide the vehicle to perform a specific operation task according to the operation route instruction.

[0018] Compared with the prior art, the present invention has the following beneficial effects: A mine unmanned vehicle communication system in the present invention includes a communication module, a positioning module and an operation module, which work together to achieve efficient and safe operation of the unmanned vehicle in a complex environment.

[0019] Furthermore, the communication module in the present invention includes a first communication submodule, which can select a V2C vehicle and a central communication unit for two-way communication between the unmanned vehicle and the central control system. The V2C vehicle and the central communication unit can receive control information from the central control system, including driving, parking, deceleration, and operation route instructions, and report the status information of the unmanned vehicle to the central control system, and the status information includes driving mode, real-time location, and operation status. The V2C vehicle and the central communication unit can also sort the surrounding vehicles according to the straight-line distance between the vehicle and other vehicles around the vehicle, and transmit the sorting information to the central control system for optimized scheduling.

[0020] Furthermore, the communication module in the present invention also includes a second communication submodule, and the second communication submodule can select a V2V vehicle-to-vehicle communication unit for communication between unmanned vehicles. The V2V vehicle-to-vehicle communication unit can broadcast the status information of the vehicle and receive the status information of other vehicles to achieve information sharing and collaborative operation between vehicles, thereby improving overall operation efficiency and safety. To ensure the continuity of communication, the communication module also includes a heartbeat detection unit for real-time monitoring of the stability of the V2C vehicle-to-center communication unit and the V2V vehicle-to-vehicle communication unit. When the communication between the V2C vehicle-to-center communication unit and the central control system is interrupted, it will automatically switch to the V2V communication mode to continue running; when the communication between the V2V vehicle-to-vehicle communication unit is interrupted, the emergency parking mechanism will be triggered to ensure vehicle safety.

[0021] Furthermore, the positioning module in the present invention is used to obtain the position information of the unmanned vehicle in real time and send it to the communication module. The position information includes longitude and latitude, speed and driving direction. At the same time, the communication module can also calculate the straight-line distance between the vehicle and other surrounding vehicles. The distance information will serve as an important basis for optimizing the vehicle's driving path and job scheduling.

[0022] Furthermore, the operation module described in the present invention guides the unmanned vehicle to perform specific operation tasks according to the operation route instructions issued by the central control system. Specifically, the operation module guides the unmanned vehicle to drive along the center line of the lane, and ensures the driving safety of the vehicle during the operation process according to the lane boundary information. In addition, the operation module will also calculate and update the vehicle's operating status in real time, including empty driving, loading waiting, loading, heavy-load driving, unloading, etc., and feed back these status information to the communication module for dynamic adjustment by the central control system.

[0023] Furthermore, the second communication submodule in the communication module of the present invention adopts self-organizing network technology, which can automatically establish a communication connection after the vehicle enters the communication range, and automatically disconnect after leaving the range, so as to ensure the efficient coordination of the unmanned vehicle in a dynamic working environment. Furthermore, the heartbeat detection unit can immediately send out an alarm signal and execute a preset emergency response procedure (i.e., a preset emergency stop mechanism) when it detects that both the first communication submodule and the second communication submodule are in communication abnormality, so as to minimize the impact of communication interruption on working safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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: Figure 1 This is a principle block diagram of a mine unmanned vehicle communication system according to an embodiment of the present invention; Figure 2 A schematic diagram of data transmission between a mine unmanned vehicle communication system and a central control system according to an embodiment of the present invention; Figure 3 The figure is a flow chart of a mine unmanned vehicle communication method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] 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.

[0026] 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. Example 1

[0027] The present invention provides a mine unmanned vehicle communication system. Figure 1 As shown, it includes: a communication module, and a positioning module and an operation module connected to the communication module; The positioning module is used to obtain the location information of the vehicle in real time and send it to the communication module; The communication module includes a first communication submodule and a second communication submodule, wherein the first communication submodule adopts a vehicle-to-center communication mode, and the second communication submodule adopts a vehicle-to-vehicle communication mode; the communication module is used to receive control information from a central control system, report vehicle status information to the central control system, and perform data exchange with vehicles around the vehicle; in a specific implementation process, the first communication submodule and the second communication submodule are mutually active and standby, and can be in a working state at the same time, or only one of them can be in a working state; The operation module is used to obtain the operation route instruction issued by the central control system from the communication module, and guide the vehicle to perform a specific operation task according to the operation route instruction.

[0028] A mine unmanned vehicle communication system in the present invention includes a communication module, a positioning module and an operation module, which work together to achieve efficient and safe operation of the unmanned vehicle in a complex environment.

[0029] In a specific implementation of an embodiment of the present invention, the first communication submodule is used to receive control information from a central control system, the control information includes driving instructions, parking instructions, deceleration instructions and operating route instructions, and the status information includes driving mode, real-time position and operating status. In the specific implementation process, the first communication submodule can use a V2C vehicle and a central communication unit. The first communication submodule can use a V2C vehicle and a central communication unit for two-way communication between an unmanned vehicle and a central control system. The V2C vehicle and the central communication unit can receive control information from the central control system, including driving, parking, deceleration, operating route instructions, etc., and report the status information of the unmanned vehicle to the central control system, the status information including driving mode, real-time position and operating status. The V2C vehicle and the central communication unit can also sort the surrounding vehicles according to the straight-line distance between the vehicle and other vehicles around the vehicle, and transmit the sorting information to the central control system for optimized scheduling.

[0030] In a specific implementation of an embodiment of the present invention, the second communication submodule in the communication module of the vehicle is connected to the second communication submodule in the vehicles around the vehicle using self-organizing network technology. When the vehicle enters the communication range of the vehicles around the vehicle, the two automatically establish a communication connection, and automatically disconnect after leaving the communication range of the vehicles around the vehicle, to ensure the collaboration of unmanned vehicles in a dynamic operating environment. The second communication submodule can use a V2V vehicle-to-vehicle communication unit for communication between unmanned vehicles. The V2V vehicle-to-vehicle communication unit can broadcast the status information of the vehicle and receive the status information of other vehicles, realize information sharing and collaborative operation between vehicles, thereby improving overall operating efficiency and safety.

[0031] In a specific implementation of an embodiment of the present invention, in order to ensure the continuity of communication, the communication module also includes a heartbeat detection unit, which is connected to the first communication submodule and the second communication submodule respectively, and is used to monitor the communication stability of the first communication submodule and the second communication submodule in real time. Specifically, when the communication of the first communication submodule is interrupted, the second communication submodule is used to send the status information of the vehicle to the second communication submodule of the vehicle around the vehicle, and the first communication submodule of the vehicle around the vehicle is used to send the status information of the vehicle to the central control system; and the first communication submodule of the vehicle around the vehicle is used to receive control information from the central control system, and the second communication submodule of the vehicle around the vehicle is used to send it to the second communication submodule of the vehicle; the control information includes driving instructions, parking instructions, deceleration instructions and operation route instructions, and the status information includes driving mode, real-time position and operation status; when the communication of the first communication submodule and the second communication submodule is interrupted, the preset emergency stop mechanism is triggered. In the specific implementation process, the emergency stop mechanism includes parking, jumping red light and / or honking. In the specific implementation process, the first communication submodule is used preferentially. When the first communication submodule loses connection with the central control system, the current vehicle data can be reported to the surrounding vehicles through the second communication submodule. If the surrounding vehicles can communicate with the central control system, the surrounding vehicles act as a proxy transfer and report the lost unmanned vehicle data to the central control system. The heartbeat detection unit is used to monitor the stability of the first communication submodule (V2C vehicle and central communication unit) and the second communication submodule (V2V vehicle and vehicle communication unit) in real time. When the communication between the first communication submodule (V2C vehicle and central communication unit) and the central control system is interrupted, it will automatically switch to the second communication submodule (V2V vehicle and vehicle communication unit) to continue running; when the communication of the second communication submodule (V2V vehicle and vehicle communication unit) is interrupted, the emergency parking mechanism will be triggered to ensure the safety of the vehicle.

[0032] In a specific implementation of an embodiment of the present invention, the second communication sub-module is used to receive the location information of the vehicle sent by the positioning module, and obtain the location information of the vehicles around the vehicle from the second communication sub-module of the vehicles around the vehicle, and calculate the straight-line distance between the vehicle and the vehicles around the vehicle based on the location information of the vehicle and the location information of the vehicles around the vehicle.

[0033] In a specific implementation of the embodiment of the present invention, the first communication submodule is used to sort the vehicles around the vehicle according to the calculated straight-line distance, and send the sorting information to the central control system, so that the central control system optimizes the operation route instruction based on the received sorting information; When the communication of the first communication submodule is interrupted, the second communication submodule is used to send the status information and sorting information of the vehicle to the second communication submodule of the vehicles around the vehicle, and the first communication submodule of the vehicles around the vehicle is used to send the status information and sorting information of the vehicle to the central control system, and the first communication submodule of the vehicles around the vehicle is used to receive control information from the central control system, and the second communication submodule of the vehicles around the vehicle is used to send it to the second communication submodule of the vehicle; the control information includes driving instructions, parking instructions, deceleration instructions and operation route instructions, and the status information includes driving mode, real-time location and operation status. This design can realize the sorting of surrounding vehicles and transmit the sorting information to the central control system to optimize the scheduling of vehicles, and can greatly reduce the calculation amount of the central control system and reduce the burden of the central control system.

[0034] In a specific implementation of an embodiment of the present invention, the operation route instruction includes lane centerline and lane boundary information; the operation module is used to guide the vehicle to travel along the lane centerline, and based on the lane boundary information, to ensure the driving safety of the vehicle during the operation process.

[0035] In a specific implementation of an embodiment of the present invention, the operation module is also used to calculate and update the operating status of the vehicle in real time, and the operating status includes empty driving, loading waiting, loading, heavy-load driving and unloading, and the operating status is fed back to the communication module, which is sent to the central control system by the first communication sub-module in the communication module.

[0036] Combine the following Figure 2 and Figure 3 The communication method of the mine unmanned vehicle communication system in the embodiment of the present invention is described in detail.

[0037] S1: Initialize the communication module, positioning module, and operation module.

[0038] When the mine unmanned vehicle communication system is started, the communication module, positioning module and operation module are initialized first. The communication module is set up through the first communication submodule (V2C vehicle and center communication unit) and the first communication submodule (V2V vehicle and vehicle communication unit) to ensure normal communication connection with the central control system and surrounding vehicles. The positioning module and operation module are also started, ready for subsequent operations and data processing.

[0039] S2: Establish a connection.

[0040] After initialization is completed, the mine unmanned vehicle communication system establishes a communication connection with the central control system through the first communication submodule, and establishes an ad hoc network communication connection with surrounding vehicles through the second communication submodule. This step ensures effective communication between the unmanned vehicle and the central system and other vehicles.

[0041] S3: Processing control information and status information through the first communication submodule (V2C vehicle-to-center communication unit).

[0042] The communication module receives the data from the central control system (i.e. Figure 2 The system receives control information from the cloud center in the center, such as driving, parking, deceleration, and operation route instructions, and reports the status information of the unmanned vehicle to the central control system, including driving mode, real-time location, and operation status. The processing and transmission of this information ensures that the unmanned vehicle can operate accurately according to the instructions of the central control system.

[0043] S4: receiving and broadcasting status information through the second communication submodule (V2V vehicle-to-vehicle communication unit).

[0044] The communication module performs inter-vehicle self-organizing network communication through the second communication submodule, broadcasts the status information of the vehicle, and receives the status information of surrounding vehicles. This process realizes information sharing and collaborative operation between vehicles, and optimizes overall operation efficiency and safety.

[0045] S5: Heartbeat detection (V2C and V2V).

[0046] The heartbeat detection unit monitors the communication connection between the first communication submodule and the second communication submodule in real time. When the communication of the first communication submodule is detected to be interrupted, the system will continue to rely on the communication of the second communication submodule to maintain the information exchange between the vehicles; if the communication of the second communication submodule is also interrupted, the system will trigger the emergency stop mechanism to ensure the safety of the vehicle. In this way, the communication modes of the first communication submodule and the second communication submodule are backed up to each other, ensuring the normal operation of at least one communication mode.

[0047] S6: Drive along the operation route and calculate the operation status. The operation module guides the unmanned vehicle to drive along the predetermined route according to the operation route instructions received from the central control system. The vehicle will calculate and update its operation status in real time during driving (such as empty driving, loading waiting, loading, heavy driving, unloading, etc.) to ensure effective management and adjustment of the operation process.

[0048] Through the above steps, the mine unmanned vehicle communication system in the embodiment of the present invention can provide stable communication support and efficient operation management during the operation of the unmanned vehicle, and ensure the safety during the operation. Example 2

[0049] An embodiment of the present invention provides a mine unmanned vehicle communication method, comprising the following steps: (1) Use the positioning module to obtain the vehicle's location information in real time and send it to the communication module; (2) using a communication module to receive control information from a central control system, report vehicle status information to the central control system, and exchange data with vehicles around the vehicle; the communication module includes a first communication submodule and a second communication submodule, the first communication submodule adopts a vehicle-to-center communication mode, and the second communication submodule adopts a vehicle-to-vehicle communication mode; (3) Using the operation module to obtain the operation route instruction issued by the central control system from the communication module, and guiding the vehicle to perform a specific operation task according to the operation route instruction.

[0050] The unmanned mine vehicle communication method in the embodiment of the present invention can be implemented based on the unmanned mine vehicle communication system in Example 1.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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 A step that specifies a function in one or more boxes.

[0055] 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.

[0056] 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 mine unmanned vehicle communication system, characterized in that: include: A communication module, and a positioning module and an operation module connected to the communication module; The positioning module is used to obtain the location information of the vehicle in real time and send it to the communication module; The communication module includes a first communication submodule and a second communication submodule, wherein the first communication submodule adopts a vehicle-to-center communication mode, and the second communication submodule adopts a vehicle-to-vehicle communication mode; the communication module is used to receive control information from a central control system, report vehicle status information to the central control system, and perform data exchange with vehicles around the vehicle; The operation module is used to obtain the operation route instruction issued by the central control system from the communication module, and guide the vehicle to perform a specific operation task according to the operation route instruction.

2. A mine unmanned vehicle communication system according to claim 1, characterized in that: The first communication submodule is used to receive control information from the central control system, wherein the control information includes driving instructions, parking instructions, deceleration instructions and operation route instructions, and the status information includes driving mode, real-time position and operation status.

3. A mine unmanned vehicle communication system according to claim 1, characterized in that: The second communication submodule in the communication module of this vehicle is connected to the second communication submodule in the vehicles around this vehicle using self-organizing network technology. When this vehicle enters the communication range of the vehicles around this vehicle, the two automatically establish a communication connection, and automatically disconnect after leaving the communication range of the vehicles around this vehicle, ensuring the coordination of unmanned vehicles in a dynamic operating environment.

4. A mine unmanned vehicle communication system according to claim 1, characterized in that: The communication module further comprises a heartbeat detection unit, which is connected to the first communication submodule and the second communication submodule respectively, and is used to monitor the communication stability of the first communication submodule and the second communication submodule in real time.

5. A mine unmanned vehicle communication system according to claim 4, characterized in that: When the communication of the first communication submodule is interrupted, the second communication submodule is used to send the status information of the vehicle to the second communication submodule of the vehicle around the vehicle, and the first communication submodule of the vehicle around the vehicle is used to send the status information of the vehicle to the central control system; and the first communication submodule of the vehicle around the vehicle is used to receive control information from the central control system, and the second communication submodule of the vehicle around the vehicle is used to send it to the second communication submodule of the vehicle; the control information includes driving instructions, parking instructions, deceleration instructions and operation route instructions, and the status information includes driving mode, real-time position and operation status; When the communication between the first communication submodule and the second communication submodule is interrupted, a preset emergency stop mechanism is triggered.

6. A mine unmanned vehicle communication system according to claim 1, characterized in that: The second communication sub-module is used to receive the location information of the vehicle sent by the positioning module, and obtain the location information of the vehicles around the vehicle from the second communication sub-module of the vehicles around the vehicle, and calculate the straight-line distance between the vehicle and the vehicles around the vehicle based on the location information of the vehicle and the location information of the vehicles around the vehicle.

7. A mine unmanned vehicle communication system according to claim 6, characterized in that: The first communication submodule is used to sort the vehicles around the vehicle according to the calculated straight-line distance, and send the sorting information to the central control system, so that the central control system optimizes the operation route instructions based on the received sorting information; When the communication of the first communication submodule is interrupted, the second communication submodule is used to send the status information and sorting information of the vehicle to the second communication submodule of the vehicles around the vehicle, and the first communication submodule of the vehicles around the vehicle is used to send the status information and sorting information of the vehicle to the central control system; and the first communication submodule of the vehicles around the vehicle is used to receive control information from the central control system, and the second communication submodule of the vehicles around the vehicle is used to send it to the second communication submodule of the vehicle; the control information includes driving instructions, parking instructions, deceleration instructions and operation route instructions, and the status information includes driving mode, real-time position and operation status.

8. The mine unmanned vehicle communication system according to claim 1, characterized in that: The operation route instruction includes lane centerline and lane boundary information; the operation module is used to guide the vehicle to travel along the lane centerline, and based on the lane boundary information, to ensure the driving safety of the vehicle during the operation process.

9. A mine unmanned vehicle communication system according to claim 1 or 8, characterized in that: The operation module is also used to calculate and update the vehicle's operation status in real time, which includes empty-load driving, loading waiting, loading, heavy-load driving and unloading, and feed the operation status back to the communication module, which is sent to the central control system by the first communication submodule in the communication module.

10. A mine unmanned vehicle communication method, characterized in that: include: Use the positioning module to obtain the vehicle's location information in real time and send it to the communication module; The communication module is used to receive control information from the central control system, report the vehicle status information to the central control system, and exchange data with vehicles around the vehicle; the communication module includes a first communication submodule and a second communication submodule, the first communication submodule adopts a vehicle-to-center communication mode, and the second communication submodule adopts a vehicle-to-vehicle communication mode; The operation module is used to obtain the operation route instruction issued by the central control system from the communication module, and guide the vehicle to perform a specific operation task according to the operation route instruction.

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