Mine vehicle automatic driving control method and system

Abstract

The invention relates to the technical field of mine vehicle automatic driving, in particular to a mine vehicle automatic driving control method and system, and aims at solving the problems that a traditional mine vehicle automatic driving method cannot comprehensively sense various changes in a complex environment, cannot adapt to the complex mine environment, and is poor in safety. The driving safety and efficiency of the mine vehicle are severely influenced. The system comprises an environment monitoring module, a vehicle monitoring module, a communication monitoring module, an information processing module, a comprehensive processing module, an analysis and judgment module and a driving control module. Based on comprehensive acquisition and analysis of environmental factors, vehicle factors and communication factors, the method greatly improves the safety and efficiency of the mine vehicle, ensures the safety of operators, improves the working efficiency, ensures that the vehicle can safely, efficiently and intelligently complete operation tasks under complex environments and conditions, improves the transportation efficiency of the mine vehicle, and reduces the labor intensity of workers. And the overall efficiency and safety of mining are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic driving of mining vehicles, and in particular to an automatic driving control method and system for mining vehicles. Background Art

[0002] Traditional mine transportation operations rely on manual driving, which has problems such as harsh working environment, high safety risks, and low transportation efficiency. Autonomous driving technology for mining vehicles is a new technology that has gradually emerged with the development of intelligent and automated technologies. Especially in mining operating environments where personnel are difficult to enter or the environment is harsh, autonomous vehicles can significantly improve operating efficiency, reduce labor costs, and improve the safety of the working environment.

[0003] However, traditional autonomous driving solutions usually only focus on the analysis of a single factor or a few factors, and it is difficult to fully perceive various changes in complex environments, which makes it difficult for the autonomous driving system to adapt to the complex mining environment and has insufficient response capabilities when encountering emergencies or special working conditions, seriously affecting the safety and efficiency of mining vehicle driving. Therefore, it is necessary to develop a mining vehicle autonomous driving control method and system, which is of great significance for realizing more intelligent, safe and efficient mining vehicle operations.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] In order to overcome the above-mentioned technical problems, the purpose of the present invention is to provide a mining vehicle automatic driving control method and system, which solves the problem that traditional mining vehicle automatic driving methods are difficult to fully perceive various changes in complex environments, difficult to adapt to complex mining environments, and seriously affect the safety and efficiency of mining vehicle driving.

[0006] The purpose of the present invention can be achieved through the following technical solutions: A mining vehicle automatic driving control system includes the following modules: A comprehensive processing module is used to obtain an abnormal monitoring value YJo according to an environmental monitoring coefficient HJo, a vehicle monitoring coefficient CJ and a communication monitoring coefficient TJ, and send the abnormal monitoring value YJo to an analysis and judgment module; The specific process of the comprehensive processing module obtaining the abnormal monitoring value YJo is as follows: Randomly select two elements from the environmental monitoring coefficient HJo, the vehicle monitoring coefficient CJ and the communication monitoring coefficient TJ as elements to form several parameter sets, obtain the product of the two elements in the parameter set, and mark it as a comprehensive coefficient; Get the sum of all comprehensive coefficients and mark it as the abnormal monitoring value YJo; An analysis and judgment module is used to classify the monitored road area o into a dangerous road area and a safe road area according to the abnormal monitoring value YJo, and to generate an automatic return instruction or obtain a selected safe road area according to the total number of safe road areas, and send the automatic return instruction or the selected safe road area to the driving control module; The specific process of the analysis and judgment module obtaining the automatic return instruction or selecting the safe road area is as follows: The abnormal monitoring value YJo is compared with the preset abnormal monitoring judgment value YJp, and the comparison results are as follows: If the abnormal monitoring value YJo ≥ the abnormal monitoring judgment value YJp, the monitoring road area o corresponding to the abnormal monitoring value YJo is marked as a dangerous road area; If the abnormal monitoring value YJo is less than the abnormal monitoring judgment value YJp, the monitoring road area o corresponding to the abnormal monitoring value YJo is marked as a safe road area; The monitored road area o is classified into dangerous road areas and safe road areas, and the total number of safe road areas is obtained. If the total number of safe road areas = 0, an automatic return instruction is generated. If the total number of safe road areas is ≥ 1, the safe road area corresponding to the smallest abnormal monitoring value YJo is selected and marked as the selected safe road area; The driving control module is used to control the mining vehicle to return along the original route after receiving the automatic return command; and control the mining vehicle to move forward along the selected safe road area after receiving the selected safe road area.

[0007] As a preferred embodiment of the present invention, the automatic driving control system for mining vehicles further includes: The environmental monitoring module is used to obtain the environmental monitoring parameters of the monitored road area o and send the environmental monitoring parameters to the information processing module; wherein the environmental monitoring parameters include height information GDo, pit information AKo, bump information TQo, angle information JDo, obstacle information ZAo and friction information MYo.

[0008] As a preferred implementation of the present invention, the specific process of the environment monitoring module obtaining the environment monitoring parameters is as follows: Obtain a preset driving route of a mining vehicle, and divide the preset driving route into a number of monitoring route areas from left to right according to a preset monitoring width, and mark them in sequence as monitoring road areas o, o=1, ..., n, n is a positive integer, o is the number of any monitoring road area, and n is the total number of monitoring road areas; wherein the preset monitoring width is greater than the width of the mining vehicle; Obtain the highest point position and the lowest point position in the ground of the preset area in the driving direction of the mining vehicle in the monitoring road area o, obtain the height difference between the two, and mark it as height information GDo; Obtain the number of pits on the ground in a preset area in the driving direction of the mining vehicle in the monitoring road area o and the total area of ​​all pits, obtain the product of the two, and mark it as pit information AKo; Obtain the number of protrusions and the total volume of all protrusions in the ground of the preset area in the driving direction of the mining vehicle in the monitoring road area o, obtain the product of the two, and mark it as protrusion information TQo; Obtain the average angle between the ground and the horizontal plane in the preset area of ​​the mining vehicle driving direction in the monitoring road area o, and mark it as angle information JDo; Obtain the ground standard photo and current photo of the preset area in the driving direction of the mining vehicle in the monitoring road area o, and compare the two to obtain the number of new obstacles and the maximum volume of obstacles, obtain the product of the two, and mark it as obstacle information ZAo; Obtain the average friction coefficient of the ground in a preset area in the driving direction of the mining vehicle in the monitoring road area o, and mark its reciprocal as friction information MYo; The height information GDo, pit information AKo, protrusion information TQo, angle information JDo, obstacle information ZAo and friction information MYo are sent to the information processing module.

[0009] As a preferred embodiment of the present invention, the automatic driving control system for mining vehicles further includes: The vehicle monitoring module is used to obtain the vehicle monitoring parameters of the mining vehicle and send the vehicle monitoring parameters to the information processing module; wherein the vehicle monitoring parameters include speed information ST, speed difference information SC, load information ZZ and deadweight information ZV.

[0010] As a preferred implementation of the present invention, the specific process of the vehicle monitoring module obtaining the vehicle monitoring parameters is as follows: Obtain the speed of the mining vehicle from the start time to the time when it reaches the target speed, obtain the time difference between the two, and mark it as speed information ST; Obtain the difference between the average speed and the target speed within a preset time after the mining vehicle reaches the target speed, and mark it as speed difference information SC; Get the load weight of the mining vehicle and mark it as load information ZZ; Obtain the own weight and the preset standard weight of the mining vehicle, obtain the time difference between the two, and mark it as the self-weight information ZV; The speed information ST, speed difference information SC, load information ZZ and self-weight information ZV are sent to the information processing module.

[0011] As a preferred embodiment of the present invention, the automatic driving control system for mining vehicles further includes: The communication monitoring module is used to obtain the communication monitoring parameters of the mining vehicle and send the communication monitoring parameters to the information processing module; wherein the communication monitoring parameters include timing information CT, transmission information CS, and loss information DS.

[0012] As a preferred implementation of the present invention, the specific process of the communication monitoring module acquiring the communication monitoring parameters is as follows: Obtain the data collection time of each data collection device in the mining vehicle and the preset standard collection time, obtain the difference between the two, and mark it as the collection time value, obtain the average value of all the collection time values, and mark it as the collection time information CT; wherein the data collection time is the time between the start time of data collection and the completion time of data collection; Obtain the data transmission time of each data transmission device in the mining vehicle and the preset standard transmission time, obtain the difference between the two, and mark it as the transmission value, obtain the average value of all transmission values, and mark it as transmission information CS; wherein the data transmission time is the time between the data sending time and the data sending reaching the target time; Obtain the number of data bytes before and after data transmission of each data transmission device in the mining vehicle, obtain the difference between the two, and mark it as a lost value, obtain the average value of all lost values, and mark it as lost information DS; The timing information CT, transmission information CS and loss information DS are sent to the information processing module.

[0013] As a preferred embodiment of the present invention, the automatic driving control system for mining vehicles further includes: The information processing module is used to obtain the environmental monitoring coefficient HJo according to the environmental monitoring parameters, and send the environmental monitoring coefficient HJo to the comprehensive processing module; it is also used to obtain the vehicle monitoring coefficient CJ according to the vehicle monitoring parameters, and send the vehicle monitoring coefficient CJ to the comprehensive processing module; it is also used to obtain the communication monitoring coefficient TJ according to the communication monitoring parameters, and send the communication monitoring coefficient TJ to the comprehensive processing module.

[0014] As a preferred embodiment of the present invention, the specific process of the information processing module obtaining the environmental monitoring coefficient HJo is as follows: respectively obtain the preset measurement values ​​corresponding to the height information GDo, the pit information AKo, the protrusion information TQo, the angle information JDo, the obstacle information ZAo and the friction information MYo, respectively obtain the ratios of the height information GDo, the pit information AKo, the protrusion information TQo, the angle information JDo, the obstacle information ZAo and the friction information MYo to the corresponding preset measurement values, and mark them as the height measurement value, the pit measurement value, the protrusion measurement value, the angle measurement value, the obstacle measurement value and the friction measurement value, respectively; wherein the preset measurement value is set by the management personnel according to their experience and is not zero; Draw six line segments according to the values ​​of the height measurement value, the pit measurement value, the protrusion measurement value, the angle measurement value, the obstacle measurement value, and the friction measurement value, and one end point of the six line segments coincides, and the angle between adjacent line segments is 60°, and then the other end points are connected in sequence to form an irregular hexagonal figure; The area of ​​the irregular hexagonal figure is obtained and marked as the environmental monitoring coefficient HJo, and the environmental monitoring coefficient HJo is sent to the comprehensive processing module.

[0015] As a preferred embodiment of the present invention, the specific process of the information processing module obtaining the vehicle monitoring coefficient CJ is as follows: Obtain preset measurement values ​​corresponding to the speed information ST, speed difference information SC, load information ZZ and self-weight information ZV respectively, obtain the ratios of the speed information ST, speed difference information SC, load information ZZ and self-weight information ZV to the corresponding preset measurement values ​​respectively, and mark them as speed measurement value, speed difference measurement value, load measurement value and self-weight measurement value respectively; wherein the preset measurement value is set by the management personnel according to experience and is not zero; Draw four line segments according to the speed-time measurement value, speed difference measurement value, load measurement value and deadweight measurement value, and one end point of the four line segments coincides, and the angles between adjacent line segments are all 90°, and then connect the other end points in sequence to form an irregular quadrilateral figure; The area of ​​the irregular trapezoidal figure is obtained and marked as a vehicle monitoring coefficient CJ, and the vehicle monitoring coefficient CJ is sent to the comprehensive processing module.

[0016] As a preferred implementation of the present invention, the specific process of the information processing module obtaining the communication monitoring coefficient TJ is as follows: respectively obtain the preset measurement values ​​corresponding to the timing information CT, the transmission information CS, and the loss information DS, respectively obtain the ratios of the timing information CT, the transmission information CS, and the loss information DS to the corresponding preset measurement values, and mark them as the timing measurement value, the transmission measurement value, and the loss measurement value, respectively; wherein the preset measurement value is set by the management personnel according to experience and is not zero; Draw three line segments according to the values ​​of the sampling measurement value, the transmission measurement value, and the loss measurement value, with one end point of the three line segments overlapping and the angle between adjacent line segments being 120°. Then connect the other end points in sequence to form a triangle shape. The area of ​​the triangular figure is obtained and marked as a communication monitoring coefficient TJ, and the communication monitoring coefficient TJ is sent to the integrated processing module.

[0017] As a preferred embodiment of the present invention, a method for controlling automatic driving of a mining vehicle comprises the following steps: Step 1: The environmental monitoring module obtains environmental monitoring parameters of the monitored road area o, and sends the environmental monitoring parameters to the information processing module; wherein the environmental monitoring parameters include height information GDo, pit information AKo, bump information TQo, angle information JDo, obstacle information ZAo and friction information MYo; Step 2: The information processing module obtains the environmental monitoring coefficient HJo according to the environmental monitoring parameters, and sends the environmental monitoring coefficient HJo to the comprehensive processing module; Step 3: The vehicle monitoring module obtains the vehicle monitoring parameters of the mining vehicle and sends the vehicle monitoring parameters to the information processing module; wherein the vehicle monitoring parameters include speed information ST, speed difference information SC, load information ZZ and deadweight information ZV; Step 4: The information processing module obtains the vehicle monitoring coefficient CJ according to the vehicle monitoring parameters, and sends the vehicle monitoring coefficient CJ to the comprehensive processing module; Step 5: The communication monitoring module obtains the communication monitoring parameters of the mining vehicle and sends the communication monitoring parameters to the information processing module; wherein the communication monitoring parameters include the timing information CT, the transmission information CS, and the loss information DS; Step 6: The information processing module obtains the communication monitoring coefficient TJ according to the communication monitoring parameter, and sends the communication monitoring coefficient TJ to the comprehensive processing module; Step 7: The comprehensive processing module obtains the abnormal monitoring value YJo according to the environmental monitoring coefficient HJo, the vehicle monitoring coefficient CJ and the communication monitoring coefficient TJ, and sends the abnormal monitoring value YJo to the analysis and judgment module; Step 8: The analysis and judgment module classifies the monitored road area o into a dangerous road area and a safe road area according to the abnormal monitoring value YJo, and generates an automatic return instruction or obtains a selected safe road area according to the total number of safe road areas, and sends the automatic return instruction or the selected safe road area to the driving control module; Step 9: After receiving the automatic return command, the driving control module controls the mining vehicle to return along the original route; after receiving the selected safe road area, the driving control module controls the mining vehicle to move forward along the selected safe road area.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present invention collects and analyzes data on environmental factors, vehicle factors and communication factors to obtain an environmental monitoring coefficient, a vehicle monitoring coefficient and a communication monitoring coefficient respectively. The environmental monitoring coefficient can comprehensively measure the degree of adverse effects of environmental factors on mining vehicles, and a larger environmental monitoring coefficient indicates a higher degree of adverse effects. The vehicle monitoring coefficient can comprehensively measure the degree of adverse effects of vehicle factors on mining vehicles, and a larger vehicle monitoring coefficient indicates a higher degree of adverse effects. The communication monitoring coefficient can comprehensively measure the degree of adverse effects of communication factors on mining vehicles, and a larger communication monitoring coefficient indicates a higher degree of adverse effects. Finally, the abnormal monitoring values ​​obtained according to the three can comprehensively measure the degree of danger of automatic driving in the monitored road area, and a larger abnormal monitoring value indicates a higher degree of danger of automatic driving, thereby realizing the evaluation of the monitored road area and route screening, and finally performing automatic driving control on the mining vehicle. This method is based on the comprehensive collection and analysis of environmental factors, vehicle factors and communication factors, which greatly improves the safety and efficiency of mining vehicles, ensures the safety of operators, improves work efficiency, and ensures that vehicles can complete operating tasks safely, efficiently and intelligently in complex environments and conditions. It automatically adjusts driving strategies and path planning, improves the transportation efficiency of mining vehicles, and at the same time reduces human intervention, reduces operational risks, and improves the overall efficiency and safety of mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0020] Figure 1 The present invention is a principle block diagram of an automatic driving control system for a mining vehicle.

[0021] Figure 2 The present invention is a flowchart of a method for controlling automatic driving of a mining vehicle. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0023] Embodiment 1: See also Figure 1As shown, this embodiment is a mining vehicle automatic driving control system, including the following modules: an environment monitoring module, a vehicle monitoring module, a communication monitoring module, an information processing module, a comprehensive processing module, an analysis and judgment module, and a driving control module; The environmental monitoring module is used to obtain environmental monitoring parameters of the monitored road area o and send the environmental monitoring parameters to the information processing module; wherein the environmental monitoring parameters include height information GDo, pit information AKo, bump information TQo, angle information JDo, obstacle information ZAo and friction information MYo; The vehicle monitoring module is used to obtain vehicle monitoring parameters of mining vehicles and send the vehicle monitoring parameters to the information processing module; wherein the vehicle monitoring parameters include speed information ST, speed difference information SC, load information ZZ and deadweight information ZV; The communication monitoring module is used to obtain the communication monitoring parameters of the mining vehicle and send the communication monitoring parameters to the information processing module; wherein the communication monitoring parameters include the timing information CT, the transmission information CS, and the loss information DS; The information processing module is used to obtain the environment monitoring coefficient HJo according to the environment monitoring parameters, and send the environment monitoring coefficient HJo to the comprehensive processing module; it is also used to obtain the vehicle monitoring coefficient CJ according to the vehicle monitoring parameters, and send the vehicle monitoring coefficient CJ to the comprehensive processing module; it is also used to obtain the communication monitoring coefficient TJ according to the communication monitoring parameters, and send the communication monitoring coefficient TJ to the comprehensive processing module; The comprehensive processing module is used to obtain an abnormal monitoring value YJo according to the environmental monitoring coefficient HJo, the vehicle monitoring coefficient CJ and the communication monitoring coefficient TJ, and send the abnormal monitoring value YJo to the analysis and judgment module; The analysis and judgment module is used to classify the monitored road area o into a dangerous road area and a safe road area according to the abnormal monitoring value YJo, and generate an automatic return instruction or obtain a selected safe road area according to the total number of safe road areas, and send the automatic return instruction or the selected safe road area to the driving control module; The driving control module is used to control the mining vehicle to return along the original route after receiving the automatic return instruction; and to control the mining vehicle to move forward along the selected safe road area after receiving the selected safe road area.

[0024] Embodiment 2: See also Figure 2 As shown, this embodiment is a method for controlling automatic driving of a mining vehicle, comprising the following steps: Step 1: The environmental monitoring module obtains environmental monitoring parameters of the monitored road area o, wherein the environmental monitoring parameters include height information GDo, pit information AKo, bump information TQo, angle information JDo, obstacle information ZAo and friction information MYo, and sends the environmental monitoring parameters to the information processing module; Step 2: The information processing module obtains the environmental monitoring coefficient HJo according to the environmental monitoring parameters, and sends the environmental monitoring coefficient HJo to the comprehensive processing module; Step 3: The vehicle monitoring module obtains the vehicle monitoring parameters of the mining vehicle, wherein the vehicle monitoring parameters include speed information ST, speed difference information SC, load information ZZ and deadweight information ZV, and sends the vehicle monitoring parameters to the information processing module; Step 4: The information processing module obtains the vehicle monitoring coefficient CJ according to the vehicle monitoring parameters, and sends the vehicle monitoring coefficient CJ to the comprehensive processing module; Step 5: The communication monitoring module obtains the communication monitoring parameters of the mining vehicle, wherein the communication monitoring parameters include the sampling information CT, the transmission information CS, and the loss information DS, and sends the communication monitoring parameters to the information processing module; Step 6: The information processing module obtains the communication monitoring coefficient TJ according to the communication monitoring parameter, and sends the communication monitoring coefficient TJ to the comprehensive processing module; Step 7: The comprehensive processing module obtains the abnormal monitoring value YJo according to the environmental monitoring coefficient HJo, the vehicle monitoring coefficient CJ and the communication monitoring coefficient TJ, and sends the abnormal monitoring value YJo to the analysis and judgment module; Step 8: The analysis and judgment module classifies the monitored road area o into a dangerous road area and a safe road area according to the abnormal monitoring value YJo, and generates an automatic return instruction or obtains a selected safe road area according to the total number of safe road areas, and sends the automatic return instruction or the selected safe road area to the driving control module; Step 9: After receiving the automatic return command, the driving control module controls the mining vehicle to return along the original route; after receiving the selected safe road area, the driving control module controls the mining vehicle to move forward along the selected safe road area.

[0025] Embodiment 3: Based on any of the above embodiments, Embodiment 3 of the present invention is an environment monitoring module. The function of the environment monitoring module is to obtain environment monitoring parameters. The specific process is as follows: The environmental monitoring module obtains the preset driving route of the mining vehicle, and divides the preset driving route into a number of monitoring route areas from left to right according to the preset monitoring width, and marks them as monitoring road areas o in sequence, where o=1, ..., n, n is a positive integer, o is the number of any monitoring road area, and n is the total number of monitoring road areas; wherein the preset monitoring width is greater than the width of the mining vehicle; The environmental monitoring module obtains the highest point position and the lowest point position in the ground of the preset area in the driving direction of the mining vehicle in the monitoring road area o, obtains the height difference between the two, and marks it as the height information GDo; The environmental monitoring module obtains the number of pits on the ground in a preset area in the driving direction of the mining vehicle in the monitoring road area o and the total area of ​​all pits, obtains the product of the two, and marks it as pit information AKo; The environmental monitoring module obtains the number of protrusions and the total volume of all protrusions in the ground of the preset area in the driving direction of the mining vehicle in the monitoring road area o, obtains the product of the two, and marks it as protrusion information TQo; The environmental monitoring module obtains the average angle between the ground and the horizontal plane in the preset area of ​​the mining vehicle driving direction in the monitoring road area o, and marks it as the angle information JDo; The environmental monitoring module obtains the ground standard photo and the current photo of the preset area in the driving direction of the mining vehicle in the monitoring road area o, and obtains the number of new obstacles and the maximum volume of obstacles by comparing the two, obtains the product of the two, and marks it as obstacle information ZAo; The environmental monitoring module obtains the average friction coefficient of the ground in a preset area in the driving direction of the mining vehicle in the monitoring road area o, and marks its reciprocal as the friction information MYo; The environment monitoring module sends the height information GDo, the pit information AKo, the protrusion information TQo, the angle information JDo, the obstacle information ZAo and the friction information MYo to the information processing module.

[0026] Embodiment 4: Based on any of the above embodiments, Embodiment 4 of the present invention is a vehicle monitoring module. The function of the vehicle monitoring module is to obtain vehicle monitoring parameters. The specific process is as follows: The vehicle monitoring module obtains the speed of the mining vehicle from the start time to the time when the target speed is reached, obtains the time difference between the two, and marks it as speed information ST; The vehicle monitoring module obtains the difference between the average speed and the target speed within a preset time after the mining vehicle reaches the target speed, and marks it as speed difference information SC; The vehicle monitoring module obtains the load weight of the mining vehicle and marks it as load information ZZ; The vehicle monitoring module obtains the mine vehicle's own weight and the preset standard weight, obtains the time difference between the two, and marks it as the self-weight information ZV; The vehicle monitoring module sends the speed information ST, speed difference information SC, load information ZZ and self-weight information ZV to the information processing module.

[0027] Embodiment 5: Based on any of the above embodiments, Embodiment 5 of the present invention is a communication monitoring module. The function of the communication monitoring module is to obtain communication monitoring parameters. The specific process is as follows: The communication monitoring module obtains the data collection time of each data collection device in the mining vehicle and the preset standard collection time, obtains the difference between the two, and marks it as the collection time value, obtains the average value of all the collection time values, and marks it as the collection time information CT; wherein the data collection time is the time between the start time of data collection and the completion time of data collection; The communication monitoring module obtains the data transmission time of each data transmission device in the mining vehicle and the preset standard transmission time, obtains the difference between the two, and marks it as the transmission value, obtains the average value of all transmission values, and marks it as the transmission information CS; wherein the data transmission time is the time between the data sending time and the data sending reaching the target time; The communication monitoring module obtains the number of data bytes before and after the data transmission of each data transmission device in the mining vehicle, obtains the difference between the two, and marks it as a lost value, obtains the average value of all lost values, and marks it as lost information DS; The communication monitoring module sends the timing information CT, transmission information CS and loss information DS to the information processing module.

[0028] Embodiment 6: Based on any of the above embodiments, Embodiment 6 of the present invention is an information processing module, and the information processing module has three functions: One of the functions is to obtain the environmental monitoring coefficient HJo. The specific process is as follows: The information processing module obtains preset measurement values ​​corresponding to the height information GDo, the pit information AKo, the protrusion information TQo, the angle information JDo, the obstacle information ZAo and the friction information MYo, respectively, and obtains the ratios of the height information GDo, the pit information AKo, the protrusion information TQo, the angle information JDo, the obstacle information ZAo and the friction information MYo to the corresponding preset measurement values, and marks them as the height measurement value, the pit measurement value, the protrusion measurement value, the angle measurement value, the obstacle measurement value and the friction measurement value, respectively; wherein the preset measurement value is set by the management personnel according to their experience and is not zero; The information processing module draws six line segments according to the values ​​of the height measurement value, the pit measurement value, the protrusion measurement value, the angle measurement value, the obstacle measurement value, and the friction measurement value, and one end point of the six line segments overlaps, and the angles between adjacent line segments are all 60 degrees, and then the other end points are connected in sequence to form an irregular hexagonal figure; The information processing module obtains the area of ​​the irregular hexagonal figure, marks it as the environmental monitoring coefficient HJo, and sends the environmental monitoring coefficient HJo to the comprehensive processing module; The second function is to obtain the vehicle monitoring coefficient CJ. The specific process is as follows: The information processing module obtains the preset measurement values ​​corresponding to the speed information ST, the speed difference information SC, the load information ZZ and the self-weight information ZV, respectively, obtains the ratios of the speed information ST, the speed difference information SC, the load information ZZ and the self-weight information ZV to the corresponding preset measurement values, and marks them as the speed measurement value, the speed difference measurement value, the load measurement value and the self-weight measurement value respectively; wherein the preset measurement value is set by the management personnel according to experience and is not zero; The information processing module draws four line segments according to the speed-time measurement value, the speed difference measurement value, the load measurement value and the deadweight measurement value, and one end point of the four line segments coincides, and the angles between adjacent line segments are all 90°, and then the other end points are connected in sequence to form an irregular quadrilateral figure; The information processing module obtains the area of ​​the irregular quadrilateral figure, marks it as a vehicle monitoring coefficient CJ, and sends the vehicle monitoring coefficient CJ to the comprehensive processing module; The third function is to obtain the communication monitoring coefficient TJ. The specific process is as follows: The information processing module obtains the preset measurement values ​​corresponding to the timing information CT, the transmission information CS, and the loss information DS, respectively, obtains the ratios of the timing information CT, the transmission information CS, and the loss information DS to the corresponding preset measurement values, and marks them as the timing measurement value, the transmission measurement value, and the loss measurement value, respectively; wherein the preset measurement value is set by the management personnel according to experience and is not zero; The information processing module draws three line segments according to the values ​​of the sampling measurement value, the transmission measurement value, and the loss measurement value, and one end point of the three line segments coincides, and the angles between adjacent line segments are all 120 degrees, and then the other end points are connected in sequence to form a triangular figure; The information processing module obtains the area of ​​the triangular figure, marks it as a communication monitoring coefficient TJ, and sends the communication monitoring coefficient TJ to the comprehensive processing module.

[0029] Embodiment 7: Based on any of the above embodiments, Embodiment 7 of the present invention is a comprehensive processing module. The function of the comprehensive processing module is to obtain the abnormal monitoring value YJo. The specific process is as follows: The comprehensive processing module randomly selects two elements from the environmental monitoring coefficient HJo, the vehicle monitoring coefficient CJ and the communication monitoring coefficient TJ as elements to form several parameter sets, obtains the product of the two elements in the parameter set, and marks it as a comprehensive coefficient; The comprehensive processing module obtains the sum of all comprehensive coefficients, marks it as an abnormal monitoring value YJo, and sends the abnormal monitoring value YJo to the analysis and judgment module.

[0030] Embodiment 8: Based on any of the above embodiments, Embodiment 8 of the present invention is an analysis and judgment module. The function of the analysis and judgment module is to obtain an automatic return instruction or select a safe road area. The specific process is as follows: The analysis and judgment module compares the abnormal monitoring value YJo with the preset abnormal monitoring judgment value YJp. The comparison results are as follows: If the abnormal monitoring value YJo ≥ the abnormal monitoring judgment value YJp, the monitoring road area o corresponding to the abnormal monitoring value YJo is marked as a dangerous road area; If the abnormal monitoring value YJo is less than the abnormal monitoring judgment value YJp, the monitoring road area o corresponding to the abnormal monitoring value YJo is marked as a safe road area; The analysis and judgment module classifies the monitored road area o into dangerous road areas and safe road areas, and obtains the total number of safe road areas. If the total number of safe road areas = 0, an automatic return instruction is generated and sent to the driving control module. If the total number of safe road areas is ≥ 1, the safe road area corresponding to the smallest abnormal monitoring value YJo is screened out and marked as the selected safe road area, and the selected safe road area is sent to the driving control module.

[0031] Embodiment 9: Based on any of the above embodiments, Embodiment 9 of the present invention is a driving control module, and the driving control module has two functions: One function is to control the mining vehicle to return along the original route after receiving the automatic return command; The second function is to control the mining vehicle to move forward according to the selected safe road area after receiving the selected safe road area.

[0032] Based on the above embodiments 1-9, the working principle of the present invention is as follows: A method and system for controlling automatic driving of a mining vehicle, wherein the environmental monitoring parameters of a monitoring road area are obtained through an environmental monitoring module, the environmental monitoring coefficient is obtained through an information processing module according to the environmental monitoring parameters, the vehicle monitoring parameters of the mining vehicle are obtained through a vehicle monitoring module, the vehicle monitoring coefficient is obtained through an information processing module according to the vehicle monitoring parameters, the communication monitoring parameters of the mining vehicle are obtained through a communication monitoring module, the communication monitoring coefficient is obtained through an information processing module according to the communication monitoring parameters, an abnormal monitoring value is obtained through a comprehensive processing module according to the environmental monitoring coefficient, the vehicle monitoring coefficient and the communication monitoring coefficient, the monitoring road area is classified into a dangerous road area and a safe road area according to the abnormal monitoring value through an analysis and judgment module, an automatic return instruction is generated or a selected safe road area is obtained according to the total number of safe road areas, the driving control module controls the mining vehicle to return along the original road after receiving the automatic return instruction, and controls the mining vehicle to drive forward along the selected safe road area after receiving the selected safe road area; A method and system for controlling automatic driving of mining vehicles. First, data collection and analysis are performed on environmental factors, vehicle factors and communication factors to obtain environmental monitoring coefficients, vehicle monitoring coefficients and communication monitoring coefficients respectively. The environmental monitoring coefficient can comprehensively measure the degree of adverse effects of environmental factors on mining vehicles, and the larger the environmental monitoring coefficient, the higher the degree of adverse effects. The vehicle monitoring coefficient can comprehensively measure the degree of adverse effects of vehicle factors on mining vehicles, and the larger the vehicle monitoring coefficient, the higher the degree of adverse effects. The communication monitoring coefficient can comprehensively measure the degree of adverse effects of communication factors on mining vehicles, and the larger the communication monitoring coefficient, the higher the degree of adverse effects. Finally, the abnormal monitoring values ​​obtained from the three can comprehensively measure the degree of danger of automatic driving in the monitoring road area, and the larger the abnormal monitoring value, the higher the degree of danger of automatic driving, thereby realizing the evaluation of the monitoring road area and route screening, and finally controlling the automatic driving of mining vehicles. A method and system for controlling automatic driving of mining vehicles, based on the comprehensive collection and analysis of environmental factors, vehicle factors and communication factors, greatly improves the safety and efficiency of mining vehicles, ensures the safety of operators, improves work efficiency, ensures that vehicles can complete operating tasks safely, efficiently and intelligently in complex environments and conditions, automatically adjusts driving strategies and path planning, improves the transportation efficiency of mining vehicles, reduces manual intervention, reduces operational risks, and improves the overall efficiency and safety of mining.

[0033] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0034] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the invention or exceed the scope defined in this application, they shall all fall within the protection scope of the present invention.

Claims

1. A mining vehicle automatic driving control system, characterized in that: Includes the following modules: A comprehensive processing module is used to obtain an abnormal monitoring value YJo according to an environmental monitoring coefficient HJo, a vehicle monitoring coefficient CJ and a communication monitoring coefficient TJ, and send the abnormal monitoring value YJo to an analysis and judgment module; The specific process of the comprehensive processing module obtaining the abnormal monitoring value YJo is as follows: Randomly select two elements from the environmental monitoring coefficient HJo, the vehicle monitoring coefficient CJ and the communication monitoring coefficient TJ as elements to form several parameter sets, obtain the product of the two elements in the parameter set, and mark it as a comprehensive coefficient; Get the sum of all comprehensive coefficients and mark it as the abnormal monitoring value YJo; An analysis and judgment module is used to classify the monitored road area o into a dangerous road area and a safe road area according to the abnormal monitoring value YJo, and to generate an automatic return instruction or obtain a selected safe road area according to the total number of safe road areas, and send the automatic return instruction or the selected safe road area to the driving control module; The specific process of the analysis and judgment module obtaining the automatic return instruction or selecting the safe road area is as follows: The abnormal monitoring value YJo is compared with the preset abnormal monitoring judgment value YJp, and the comparison results are as follows: If the abnormal monitoring value YJo ≥ the abnormal monitoring judgment value YJp, the monitoring road area o corresponding to the abnormal monitoring value YJo is marked as a dangerous road area; If the abnormal monitoring value YJo is less than the abnormal monitoring judgment value YJp, the monitoring road area o corresponding to the abnormal monitoring value YJo is marked as a safe road area; The monitored road area o is classified into dangerous road areas and safe road areas, and the total number of safe road areas is obtained. If the total number of safe road areas = 0, an automatic return instruction is generated. If the total number of safe road areas is ≥ 1, the safe road area corresponding to the smallest abnormal monitoring value YJo is selected and marked as the selected safe road area; A driving control module is used to control the mining vehicle to return along the original route after receiving an automatic return command; After receiving the selected safe road area, the mining vehicle is controlled to move forward according to the selected safe road area.

2. The automatic driving control system for a mining vehicle according to claim 1, characterized in that: Also includes: The environmental monitoring module is used to obtain the environmental monitoring parameters of the monitoring road area o and send the environmental monitoring parameters to the information processing module.

3. The automatic driving control system for a mining vehicle according to claim 2, characterized in that: The specific process of the environmental monitoring module obtaining environmental monitoring parameters is as follows: Obtain a preset driving route of a mining vehicle, and divide the preset driving route into a number of monitoring route areas from left to right according to a preset monitoring width, and mark them in sequence as monitoring road areas o, o=1, ..., n, n is a positive integer, o is the number of any monitoring road area, and n is the total number of monitoring road areas; Obtain the highest point position and the lowest point position in the ground of the preset area in the driving direction of the mining vehicle in the monitoring road area o, obtain the height difference between the two, and mark it as height information GDo; Obtain the number of pits on the ground in a preset area in the driving direction of the mining vehicle in the monitoring road area o and the total area of ​​all pits, obtain the product of the two, and mark it as pit information AKo; Obtain the number of protrusions and the total volume of all protrusions in the ground of the preset area in the driving direction of the mining vehicle in the monitoring road area o, obtain the product of the two, and mark it as protrusion information TQo; Obtain the average angle between the ground and the horizontal plane in the preset area of ​​the mining vehicle driving direction in the monitoring road area o, and mark it as angle information JDo; Obtain the ground standard photo and current photo of the preset area in the driving direction of the mining vehicle in the monitoring road area o, compare the two, obtain the number of new obstacles and the maximum volume of obstacles, obtain the product of the two, and mark it as obstacle information ZAo; The average friction coefficient of the ground in a preset area in the driving direction of the mining vehicle in the monitoring road area o is obtained, and its reciprocal is marked as the friction information MYo.

4. The automatic driving control system for a mining vehicle according to claim 1, characterized in that: Also includes: The vehicle monitoring module is used to obtain vehicle monitoring parameters of mining vehicles and send the vehicle monitoring parameters to the information processing module.

5. The automatic driving control system for a mining vehicle according to claim 4, characterized in that: The specific process of the vehicle monitoring module obtaining vehicle monitoring parameters is as follows: Obtain the speed of the mining vehicle from the start time to the time when it reaches the target speed, obtain the time difference between the two, and mark it as speed information ST; Obtain the difference between the average speed and the target speed within a preset time after the mining vehicle reaches the target speed, and mark it as speed difference information SC; Get the load weight of the mining vehicle and mark it as load information ZZ; The own weight and the preset standard weight of the mining vehicle are obtained, the time difference between the two is obtained, and it is marked as the self-weight information ZV.

6. The automatic driving control system for a mining vehicle according to claim 1, characterized in that: Also includes: The communication monitoring module is used to obtain the communication monitoring parameters of the mining vehicle and send the communication monitoring parameters to the information processing module.

7. The automatic driving control system for a mining vehicle according to claim 6, characterized in that: The specific process of the communication monitoring module obtaining the communication monitoring parameters is as follows: Obtain the data collection time of each data collection device in the mining vehicle and the preset standard collection time, obtain the difference between the two, and mark it as the collection time value, obtain the average value of all the collection time values, and mark it as the collection time information CT; Obtain the data transmission duration of each data transmission device in the mining vehicle and the preset standard transmission duration, obtain the difference between the two, and mark it as a transmission value, obtain the average value of all transmission values, and mark it as transmission information CS; The number of data bytes before and after data transmission of each data transmission device in the mining vehicle is obtained, the difference between the two is obtained, and it is marked as a lost value, and the average value of all lost values ​​is obtained and marked as lost information DS.

8. The automatic driving control system for a mining vehicle according to claim 1, characterized in that: Also includes: The information processing module is used to obtain the environmental monitoring coefficient HJo according to the environmental monitoring parameters, and send the environmental monitoring coefficient HJo to the comprehensive processing module; it is also used to obtain the vehicle monitoring coefficient CJ according to the vehicle monitoring parameters, and send the vehicle monitoring coefficient CJ to the comprehensive processing module; it is also used to obtain the communication monitoring coefficient TJ according to the communication monitoring parameters, and send the communication monitoring coefficient TJ to the comprehensive processing module.

9. The automatic driving control system for a mining vehicle according to claim 8, characterized in that: The specific process of the information processing module obtaining the environmental monitoring coefficient HJo is as follows: Respectively obtain the ratios of the height information GDo, the pit information AKo, the protrusion information TQo, the angle information JDo, the obstacle information ZAo, and the friction information MYo to the corresponding preset measurement values, and mark them as the height measurement value, the pit measurement value, the protrusion measurement value, the angle measurement value, the obstacle measurement value, and the friction measurement value; Draw an irregular hexagonal figure according to the values ​​of the height measurement value, the pit measurement value, the protrusion measurement value, the angle measurement value, the obstacle measurement value, and the friction measurement value; Get the area of ​​the irregular hexagonal figure and mark it as the environmental monitoring coefficient HJo; The specific process of the information processing module obtaining the vehicle monitoring coefficient CJ is as follows: Respectively obtain the ratios of the speed information ST, the speed difference information SC, the load information ZZ and the self-weight information ZV to the corresponding preset measurement values, and mark them as the speed measurement value, the speed difference measurement value, the load measurement value and the self-weight measurement value respectively; Draw an irregular trapezoidal figure according to the values ​​of speed-time measurement, speed difference measurement, load measurement and deadweight measurement; Obtain the area of ​​the irregular trapezoidal figure and mark it as the vehicle monitoring coefficient CJ; The specific process of the information processing module obtaining the communication monitoring coefficient TJ is as follows: Respectively obtain the ratios of the timing information CT, the transmission information CS, and the loss information DS to the corresponding preset measurement values, and mark them as the timing measurement value, the transmission measurement value, and the loss measurement value respectively; Draw a triangle graph according to the values ​​of the sampling time measurement value, the transmission measurement value, and the loss measurement value; Get the area of ​​the triangular figure and mark it as the communication monitoring coefficient TJ.

10. A method for controlling automatic driving of a mining vehicle, characterized in that: The following steps are involved: Step 1: The environmental monitoring module obtains the environmental monitoring parameters of the monitoring road area o and sends the environmental monitoring parameters to the information processing module; Step 2: The information processing module obtains the environmental monitoring coefficient HJo according to the environmental monitoring parameters, and sends the environmental monitoring coefficient HJo to the comprehensive processing module; Step 3: The vehicle monitoring module obtains the vehicle monitoring parameters of the mining vehicle and sends the vehicle monitoring parameters to the information processing module; Step 4: The information processing module obtains the vehicle monitoring coefficient CJ according to the vehicle monitoring parameters, and sends the vehicle monitoring coefficient CJ to the comprehensive processing module; Step 5: The communication monitoring module obtains the communication monitoring parameters of the mining vehicle and sends the communication monitoring parameters to the information processing module; Step 6: The information processing module obtains the communication monitoring coefficient TJ according to the communication monitoring parameter, and sends the communication monitoring coefficient TJ to the comprehensive processing module; Step 7: The comprehensive processing module obtains the abnormal monitoring value YJo according to the environmental monitoring coefficient HJo, the vehicle monitoring coefficient CJ and the communication monitoring coefficient TJ, and sends the abnormal monitoring value YJo to the analysis and judgment module; Step 8: The analysis and judgment module classifies the monitored road area o into a dangerous road area and a safe road area according to the abnormal monitoring value YJo, and generates an automatic return instruction or obtains a selected safe road area according to the total number of safe road areas, and sends the automatic return instruction or the selected safe road area to the driving control module; Step 9: After receiving the automatic return command, the driving control module controls the mining vehicle to return along the original route; After receiving the selected safe road area, the mining vehicle is controlled to move forward according to the selected safe road area.

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