Speed planning method, device and system and mechanical equipment

Abstract

The invention relates to a speed planning method, device and system and mechanical equipment, and relates to the technical field of speed control. The speed planning method comprises the following steps: acquiring state information of mechanical equipment and environment information of the mechanical equipment; determining the intermediate speed of the mechanical equipment according to the environment information and the state information; determining the energy consumption of the mechanical equipment according to the intermediate speed, the environment information and the state information; under the condition that the energy consumption is greater than the energy consumption threshold value, adjusting the intermediate speed so as to enable the energy consumption corresponding to the adjusted intermediate speed to be less than or equal to the energy consumption threshold value; and taking the adjusted intermediate speed as a target speed.

Description

Technical Field

[0001] The present disclosure relates to the field of speed control technology, and in particular to a speed planning method, device, system, and mechanical equipment. Background Art

[0002] With the development of automation technology, the demand for automated mechanical equipment is also increasing. For example, in the process of underground mining, the environment of underground tunnels is very complex. Traditional manual driving is not only labor-intensive, but also has a certain degree of safety risks. Automated driving can solve this problem well. Summary of the Invention

[0003] The inventors have discovered that current automated driving still has certain limitations in speed planning for more complex environments or environments prone to sudden changes, and is unable to timely plan an appropriate driving speed. In addition, the current automated driving process does not take into account the load status and energy characteristics of mechanical equipment. Therefore, how to ensure the timeliness and energy utilization of the speed planning process is a problem that needs to be solved.

[0004] In view of this, the present disclosure proposes a speed planning method. According to some embodiments of the first aspect of the present disclosure, a speed planning method is provided, comprising: obtaining status information of a mechanical device and information about the environment in which the mechanical device is located; determining an intermediate speed of the mechanical device based on the environment information and status information; determining the energy consumption of the mechanical device based on the intermediate speed, the environment information, and the status information; if the energy consumption is greater than an energy consumption threshold, adjusting the intermediate speed so that the energy consumption corresponding to the adjusted intermediate speed is less than or equal to the energy consumption threshold; and using the adjusted intermediate speed as a target speed.

[0005] In some embodiments, determining the intermediate speed of the mechanical equipment based on environmental information and status information includes: inputting the environmental information and status information into a speed planning model to obtain the intermediate speed of the mechanical equipment, wherein the speed planning model is trained based on the historical environmental information, historical status information and historical target speed of the mechanical equipment.

[0006] In some embodiments, when the energy consumption is greater than the energy consumption threshold, adjusting the intermediate speed so that the energy consumption corresponding to the adjusted intermediate speed is less than or equal to the energy consumption threshold includes: obtaining a first correspondence and a second correspondence, the first correspondence including the correspondence between historical environmental information and historical status information and the maximum speed of the mechanical equipment, and the second correspondence including the correspondence between historical environmental information and historical status information and the minimum speed of the mechanical equipment; determining the maximum speed corresponding to the environmental information and status information according to the first correspondence, and determining the minimum speed corresponding to the environmental information and status information according to the second correspondence; adjusting the intermediate speed so that the energy consumption corresponding to the intermediate speed is less than or equal to the energy consumption threshold, and the adjusted intermediate speed is less than or equal to the maximum speed, and greater than or equal to the minimum speed.

[0007] In some embodiments, when the mechanical device is in a turning state, the centrifugal force of the mechanical device corresponding to the target speed is less than or equal to a centrifugal force threshold.

[0008] In some embodiments, the speed planning method further includes: when the energy consumption is less than the energy consumption threshold, using the intermediate speed as the target speed.

[0009] In some embodiments, the environmental information includes at least one of the slope value, curvature radius, width value, height value, texture characteristics and obstacle position of the road section where the mechanical equipment is located, and the status information includes at least one of the load, position, posture, wheel speed, wheelbase and steering performance of the mechanical equipment.

[0010] In some embodiments, the mechanical equipment includes a scraper, and obtaining the status information of the mechanical equipment includes: when a height of a boom of the mechanical equipment is greater than a height threshold, obtaining a load in the status information of the mechanical equipment.

[0011] In some embodiments, the environmental information and the state information are acquired through one or more sensors, and the speed planning method further includes: when the environmental information and the state information are acquired by multiple sensors, synchronizing the clocks of the multiple sensors.

[0012] In some embodiments, the status information further includes motor status monitoring information of the mechanical equipment, and the motor status monitoring information includes at least one of motor speed, motor torque, and motor temperature.

[0013] In some embodiments, the speed planning method further includes: determining the obstacle distance based on the position of the mechanical equipment and the position of the obstacle; and determining the target speed to be zero when the obstacle distance is less than a safety distance threshold.

[0014] In some embodiments, the speed planning method further includes: obtaining the wheel speed of the mechanical equipment; when the actual speed corresponding to the wheel speed is less than the target speed, sending a speed increase instruction to the drive unit; when the actual speed corresponding to the wheel speed is greater than the target speed, sending a speed decrease instruction to the braking unit.

[0015] According to some embodiments of the second aspect of the present disclosure, a speed planning device is provided, including: an acquisition unit, configured to acquire status information of a mechanical device and environmental information of the mechanical device; a first determination unit, configured to determine an intermediate speed of the mechanical device based on the environmental information and the status information; a second determination unit, configured to determine the energy consumption of the mechanical device based on the intermediate speed, the environmental information and the status information; an adjustment unit, configured to adjust the intermediate speed when the energy consumption is greater than an energy consumption threshold so that the energy consumption corresponding to the adjusted intermediate speed is less than or equal to the energy consumption threshold; and a planning unit, configured to use the adjusted intermediate speed as the target speed.

[0016] According to some embodiments of the third aspect of the present disclosure, a speed planning device is provided, comprising: a memory and a processor coupled to the memory, wherein the processor is configured to execute the speed planning method in any of the above embodiments based on instructions stored in the memory.

[0017] According to some embodiments of the fourth aspect of the present disclosure, a speed planning system is provided, comprising: a speed planning device according to any one of the above embodiments; and a plurality of sensors installed on mechanical equipment, configured to send environmental information and status information collected by the plurality of sensors to the speed planning device.

[0018] According to some embodiments of the fifth aspect of the present disclosure, a mechanical device is provided, comprising: the speed planning device in any one of the above embodiments.

[0019] According to some embodiments of the sixth aspect of the present disclosure, a computer-readable storage medium is provided, on which computer instructions are stored, and when the instructions are executed by a processor, the speed planning method in any of the above embodiments is implemented.

[0020] According to some embodiments of the seventh aspect of the present disclosure, a computer program product is provided, comprising computer instructions, which, when executed by a processor, implement the speed planning method in any of the above embodiments.

[0021] In the above embodiment, by acquiring the status information of the mechanical equipment and the environmental information in which the mechanical equipment is located in real time, and determining the intermediate speed of the mechanical equipment based on the real-time status information and environmental information, the timeliness of the speed planning process is ensured. Furthermore, by determining the energy consumption of the mechanical equipment based on the intermediate speed, environmental information, and status information, when the energy consumption is greater than the energy consumption threshold, the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed meets the energy consumption threshold requirement, and the adjusted intermediate speed is used as the target speed. While ensuring the timeliness of the speed planning process, energy utilization is taken into account, reducing resource waste, that is, ensuring the timeliness and energy utilization of the speed planning process. In addition, the intermediate speed is dynamically adjusted based on the real-time changing status information and environmental information, and the speed can be reasonably adjusted according to different environments and states, ensuring the adaptability and operational safety of autonomous driving in complex environments, and reducing the risk of fixed speed due to improper speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0023] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings.

[0024] Figure 1 Schematic diagram showing some embodiments of the speed planning method disclosed herein.

[0025] Figure 2 Schematic diagram illustrating some embodiments of the speed planning system of the present disclosure.

[0026] Figure 3 Schematic diagrams showing other embodiments of the speed planning method disclosed herein.

[0027] Figure 4 Schematic diagrams showing some embodiments of the speed planning device disclosed herein.

[0028] Figure 5 Schematic diagrams showing other embodiments of the speed planning device disclosed herein.

[0029] Figure 6 Schematic diagrams showing other embodiments of the speed planning system disclosed herein.

[0030] Figure 7 Schematic diagrams showing some embodiments of the mechanical apparatus of the present disclosure. DETAILED DESCRIPTION

[0031] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0032] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0033] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0034] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0035] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0036] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0037] With the advancement of automated driving and the continuous development of global mineral resources, underground mining operations are gradually moving towards intelligent operations. Intelligent mining has become a key means of addressing safety and efficiency challenges. Underground unmanned loaders (LDLs), as key mechanical equipment for mine automation, operate in underground mining environments, responsible for loading and shoveling ore. Their operational efficiency and safety directly impact the economic benefits of mine production and the safety of personnel. In complex underground tunnel environments, LLDs must frequently traverse tunnels with varying slopes, curvatures, and uneven distribution of mining areas, while also responding to dynamic obstacles and unexpected conditions. However, due to the closed and complex underground environment, traditional manual operation is not only labor-intensive but also exposes drivers to safety risks such as landslides and blasting. These methods are no longer able to meet the efficient and safe production requirements of modern mines. Breakthroughs are urgently needed in terms of timeliness and energy efficiency (i.e., energy utilization) in complex environments.

[0038] The details on how to ensure timeliness and energy utilization during speed planning are as follows.

[0039] Figure 1 Schematic diagram showing some embodiments of the speed planning method disclosed herein.

[0040] like Figure 1As shown, the speed planning method includes steps 110 to 150, and the speed planning method is executed by a speed planning device.

[0041] In step 110 , status information of the mechanical equipment and environmental information of the mechanical equipment are obtained.

[0042] For example, environmental information includes at least one of the slope, curvature radius, width, height, texture characteristics, and obstacle locations of the road section where the machine is located. State information includes at least one of the machine's load, position, posture, wheel speed, wheelbase, and steering performance. The curvature radius of the road section is used to determine the turning radius of the machine.

[0043] Texture features in environmental information can be obtained from road segment images captured by binocular cameras. When determining intermediate speeds, texture features are analyzed and combined with the camera's imaging principles and geometric relationships to convert the 2D road segment images into 3D point cloud data. For example, for a scraper, the unique texture patterns on the tunnel walls (such as rock textures and construction traces) help accurately determine the tunnel's shape and boundaries, providing a precise environmental model for subsequent speed planning. Simultaneously, using the tunnel texture features captured by the visual sensor (i.e., binocular camera), the currently captured image can be matched with images in a pre-built map. Based on the matching results, the pose estimation errors of the inertial measurement unit can be corrected, resulting in a more accurate determination of the scraper's position and attitude in the tunnel, providing accurate scraper status information for speed planning.

[0044] In some embodiments, the state information further includes motor state monitoring information of the mechanical device, the motor state monitoring information including at least one of motor speed, motor torque, and motor temperature, wherein the motor state monitoring information is obtained from the motor via a controller area network (CAN) bus.

[0045] Taking a scraper as an example, motor speed reflects the scraper's travel speed. Motor torque reflects the scraper's power output. The magnitude of motor torque varies under different operating conditions, such as climbing a slope or loading materials. A higher torque output typically indicates the scraper is performing an operation that requires greater power, which is helpful in assessing the scraper's operating status and load. High motor temperature may indicate motor overload or a problem with the cooling system. During speed planning, if the motor temperature is too high, the speed may need to be adjusted to reduce the motor load and avoid damage. Motor current is related to the motor's torque output.

[0046] Generally speaking, in the process of speed planning of mechanical equipment, there is also the problem of path planning of mechanical equipment. Through path planning, the path that the mechanical equipment needs to travel next is determined, and then the environmental information and status information are determined based on the path conditions.

[0047] Motor status monitoring information helps to more accurately assess the power requirements of mechanical equipment under different working conditions. For example, in complex roadway environments, such as steep slopes or rough roads, motor status monitoring information can reflect the power required for mechanical equipment to overcome resistance, thereby providing a basis for path planning, making the planned path more consistent with the actual power capabilities of the mechanical equipment. The motor status is closely related to the load characteristics. By monitoring the motor status, the load conditions borne by the motor in the mechanical equipment can be inferred. For example, an increase in motor current may mean that the load on the motor has increased, which is critical for accurately constructing a perception of load characteristics.

[0048] In step 120 , the intermediate speed of the mechanical equipment is determined based on the environmental information and the state information.

[0049] By determining the intermediate speed of mechanical equipment based on environmental information and status information obtained in real time, the adaptability of mechanical equipment to various environments is improved.

[0050] For example, the intermediate speed of mechanical equipment can be determined based on environmental information and status information by establishing a three-dimensional perception network of tunnel environment (i.e., environmental information) - vehicle status (i.e., status information) - load characteristics (i.e., load in status information).

[0051] In some embodiments, the intermediate speed of the machine is dynamically adjusted based on the slope, load on the scraper, and parameters such as the scraper's power, torque, and current speed. When traveling uphill, if the slope exceeds a certain threshold and the scraper is fully loaded, the speed is reduced based on the maximum climbing capability of the machine (or its drive unit) to ensure safe climbing. When traveling downhill, the speed is appropriately controlled based on the slope and the performance of the brake unit to avoid excessive speed that could cause the brake unit to overheat or lose control.

[0052] In step 130 , the energy consumption of the mechanical equipment is determined based on the intermediate speed, the environmental information, and the state information.

[0053] In step 140 , when the energy consumption is greater than the energy consumption threshold, the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed is less than or equal to the energy consumption threshold.

[0054] In step 150 , the adjusted intermediate speed is used as the target speed.

[0055] In some embodiments, when the energy consumption is less than the energy consumption threshold, the intermediate speed is used as the target speed.

[0056] In the above embodiment, by acquiring the status information of the mechanical equipment and the environmental information in which the mechanical equipment is located in real time, and determining the intermediate speed of the mechanical equipment based on the real-time status information and environmental information, the timeliness of the speed planning process is ensured. Furthermore, by determining the energy consumption of the mechanical equipment based on the intermediate speed, environmental information, and status information, when the energy consumption is greater than the energy consumption threshold, the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed meets the energy consumption threshold requirement, and the adjusted intermediate speed is used as the target speed. While ensuring the timeliness of the speed planning process, energy utilization is taken into account, reducing resource waste, that is, ensuring the timeliness and energy utilization of the speed planning process. In addition, the intermediate speed is dynamically adjusted based on the real-time changing status information and environmental information, and the speed can be reasonably adjusted according to different environments and states, ensuring the adaptability and operational safety of autonomous driving in complex environments, and reducing the risk of fixed speed due to improper speed.

[0057] Figure 2 Schematic diagram illustrating some embodiments of the speed planning system of the present disclosure.

[0058] like Figure 2 As shown, the speed planning system includes a multimodal perception module 21, a control module 22, and an execution module 23. Step 110 is executed by the multimodal perception module 21, steps 120 to 130 are executed by the control module 22, and step 150 is executed by the execution module 23.

[0059] The multimodal perception module 21 includes multiple sensors for collecting environmental information and status information.

[0060] The control module 22 receives the environmental and status information collected by the multimodal perception module 21, performs fusion processing and analysis, runs the speed planning algorithm (i.e., the speed planning model), integrates the multi-objective optimization controllers of the motor system, hydraulic system, and braking system, generates speed control instructions, and sends the instructions to the execution module 23. The speed planning algorithm is based on multi-sensor fusion and environmental modeling, and considers multiple factors such as the load of the scraper, the terrain and slope of the driving section, and the curvature of the curve to determine the target speed.

[0061] For example, the speed control instruction may include a power output strategy, which refers to a control logic program related to power output, such as how much torque to output, how to adjust speed following, and other strategy logics.

[0062] The execution module 23 includes a drive unit and a brake unit. The drive unit receives commands from the control module 22 and adjusts the engine's output power and torque according to the speed planning scheme, achieving precise control of the scraper's travel speed. For example, when traveling uphill with a heavy load, the engine's power output is increased to maintain a suitable climbing speed; when traveling on a flat road with no load, the engine's power output is reduced to save energy.

[0063] The braking unit works in conjunction with the drive unit to perform braking operations based on the planned speed requirements (or instructions). When deceleration is required, the braking unit precisely applies braking force to ensure the scraper decelerates smoothly according to the planned speed (i.e., target speed). Furthermore, in emergency situations (e.g., when the distance to an obstacle is less than or equal to the safety distance threshold), the unit can quickly brake to reduce the speed to zero, ensuring equipment safety.

[0064] In some embodiments, the intermediate speed of the mechanical equipment is determined based on the environmental information and status information as follows: the environmental information and status information are input into the speed planning model to obtain the intermediate speed of the mechanical equipment, wherein the speed planning model is trained based on the historical environmental information, historical status information and historical target speed of the mechanical equipment.

[0065] For example, the initialization parameters of the speed planning model can be read by the control module from the built-in memory. In addition, the control module can also read the preset rule base (including the maximum speed and minimum speed under different working conditions (i.e., different environmental parameters and state parameters)) and safety thresholds from the built-in memory, where the safety thresholds include a safe speed threshold and a safe distance threshold. The safe distance threshold refers to the minimum value of the obstacle distance, and the safe speed threshold refers to the maximum allowable speed of the mechanical equipment.

[0066] In some embodiments, the current environmental information, state information, target speed and execution error are stored in a historical database to enrich historical environmental information, historical state information and historical target speed, which helps to train the speed planning model and improve the accuracy and rationality of the planned speed.

[0067] In some embodiments, when the energy consumption is greater than the energy consumption threshold, the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed is less than or equal to the energy consumption threshold. In the process of adjusting the intermediate speed, it is necessary to adjust it within a certain range, as follows: obtain a first corresponding relationship and a second corresponding relationship, the first corresponding relationship including the corresponding relationship between historical environmental information and historical status information and the maximum speed of the mechanical equipment, and the second corresponding relationship including the corresponding relationship between historical environmental information and historical status information and the minimum speed of the mechanical equipment; determine the maximum speed corresponding to the environmental information and status information according to the first corresponding relationship, and determine the minimum speed corresponding to the environmental information and status information according to the second corresponding relationship; adjust the intermediate speed so that the energy consumption corresponding to the intermediate speed is less than or equal to the energy consumption threshold, and the adjusted intermediate speed is less than or equal to the maximum speed, and greater than or equal to the minimum speed.

[0068] For example, a heuristic search algorithm is used to search for a speed between the minimum speed and the maximum speed that satisfies the energy consumption threshold, and the speed is used as the target speed. For another example, if multiple speeds are found that satisfy the energy consumption threshold, the speed with the lowest energy consumption can be selected as the target speed, or the speed closest to the intermediate speed can be selected as the target speed.

[0069] For another example, the first corresponding relationship and the second corresponding relationship may be determined from an acquired preset rule base, and the preset rule base may be continuously optimized and expanded according to current state information, environmental information, and target speed.

[0070] In the process of speed planning for mechanical equipment, the energy consumption characteristics of the mechanical equipment are taken into consideration, and an energy consumption model is established. This energy consumption model comprehensively considers state information and environmental information (for example, the load of the mechanical equipment, driving speed, road conditions, power system efficiency, etc.). In the process of speed planning, the final target speed is determined based on the current working conditions of the mechanical equipment (for example, no load, full load, climbing, descending, etc.), combined with environmental information and the energy consumption model, to ensure energy utilization during the speed planning process.

[0071] In some embodiments, when the mechanical device is in a turning state, the centrifugal force of the mechanical device corresponding to the target speed is less than or equal to a centrifugal force threshold.

[0072] By adding centrifugal force restrictions during the speed planning process, the safety of the autonomous driving process is guaranteed, and the risk of mechanical equipment rolling over due to excessive centrifugal force corresponding to the target speed caused by unreasonable target speed planning is reduced.

[0073] In some embodiments, determining whether the centrifugal force of the mechanical equipment corresponding to the target speed is less than or equal to the centrifugal force threshold is a safety threshold check. In the process of performing the safety threshold check, in addition to checking the centrifugal force, the maximum climbing speed can also be checked. The maximum climbing speed and the centrifugal force threshold are both mechanical performance limits of the mechanical equipment. If the mechanical equipment is in a climbing state, the planned speed cannot exceed the maximum climbing speed, and the centrifugal force of the mechanical equipment corresponding to the target speed cannot exceed the centrifugal force threshold.

[0074] When a mechanical device is traveling on a curve, the intermediate speed is determined based on the curvature radius of the curve, the wheelbase of the mechanical device, and the steering performance.

[0075] The speed planning algorithm, which takes multiple factors into comprehensive consideration, improves the adaptability of mechanical equipment (underground scraper) in complex underground environments.

[0076] In some embodiments, an intermediate speed of the mechanical device is determined based on environmental information, state information, and mechanical performance constraints of the mechanical device, and the intermediate speed is adjusted so that the adjusted intermediate speed meets the mechanical performance constraints of the mechanical device.

[0077] Through safety threshold verification, mechanical performance constraints are taken into account during speed planning, which are mainly reflected in the following aspects: (1) Torque output limit. When the scraper is in complex terrain (such as a steep slope), if the traditional fixed speed limit algorithm is used, the scraper may be required to travel at a speed that exceeds the torque output capacity of its power system. However, during the speed planning process, the torque situation in the scraper motor status monitoring information is taken into account, that is, the mechanical performance constraint will limit the speed to ensure that the scraper can provide sufficient torque to maintain stable driving under the current terrain, avoiding dangerous situations such as vehicle stagnation or sliding due to insufficient torque; (2) Power output limit. Mechanical performance constraints will take into account the power requirements of the scraper under different working conditions. For example, when climbing a slope with a full load, if mechanical performance constraints are not taken into account, it may cause the power system to overload, affecting its service life or even causing equipment damage. Through mechanical performance constraints, the speed planning algorithm can reasonably adjust the speed to keep the power output within a reasonable range; (3) Mechanical performance constraints will take transmission efficiency into consideration in speed planning. For example, under certain speed and load conditions, the transmission efficiency is high, and the speed can be appropriately increased; under other conditions, the transmission efficiency is low, and the speed planning algorithm will limit the speed to reduce energy loss and improve overall energy efficiency. (4) Mechanical performance constraints will take into account parameters such as the maximum braking deceleration of the braking system. For example, on a downhill section, if the speed is too high, it may exceed the braking capacity of the braking system, resulting in a long braking distance or even brake failure. Through mechanical performance constraints, the speed planning algorithm can reasonably adjust the speed according to factors such as slope and vehicle load, ensuring that the vehicle travels within the range where the braking system can effectively brake, thereby improving operational safety.

[0078] In some embodiments, for example, the mechanical equipment includes a scraper. In the process of obtaining the status information of the mechanical equipment, it is necessary to obtain the load in the status information of the mechanical equipment when the height of the boom of the mechanical equipment is greater than a height threshold.

[0079] When the height of the scraper's boom is greater than the height threshold, it indicates that the scraper is in a transport state, not a loading or unloading state. Obtaining the scraper's load when the scraper is in the transport state allows accurate load calculation, thereby ensuring the accuracy and robustness of the planned speed.

[0080] In some embodiments, environmental and status information is acquired through one or more sensors. If this information is acquired through multiple sensors, the clocks of these sensors must also be synchronized. For example, a hardware clock synchronization module can be used to ensure that the error in the data sampling times of multiple sensors is less than 1ms, reducing the risk of misjudgment of status or environment due to timing deviations.

[0081] For example, multiple sensors include lidar, inertial measurement unit, millimeter wave radar, binocular vision camera, wheel speed sensor, and weighing system, forming a multi-source heterogeneous sensor array.

[0082] Taking underground shovel loader as an example, the shovel loader is mainly used for underground mining operations. Multiple sensors are installed on the shovel loader. The specific detection methods of multiple sensors are as follows.

[0083] LiDAR is installed around the front and body of the underground loader to scan the loader's working environment in real time (or at a certain frequency) to obtain three-dimensional point cloud data of the tunnel, including tunnel width and height. By constructing a map of the surrounding environment, it provides environmental information for speed adjustment of the underground loader. LiDAR is mainly used to obtain environmental information such as tunnel width and tunnel height. For example, the tunnel's slope value, curvature radius, texture characteristics and obstacle positions are all obtained through other sensors.

[0084] The inertial measurement unit (IMU) is installed on the chassis of the underground scraper and is used to accurately measure the slope of the current driving section (i.e., the slope value). Based on this slope information, the system can determine whether the scraper is in an uphill (+θ), downhill (-θ), or flat road (θ≈0) state, thereby providing a basis for adjusting the power system and rationally planning the speed.

[0085] The weighing system detects pressure changes in the hydraulic system. Once the Scraper boom is raised to a preset position (indicating the Scraper is in transport mode and the load is stable and unchanging), the system is triggered to collect pressure data. This data is then converted by an onboard weighing instrument and ultimately displayed as the bucket load weight (i.e., the Scraper's load). This load weight directly affects the Scraper's power requirements and driving stability, and is a key factor in speed planning. In other words, the load-bearing system dynamically monitors the bucket load weight, distinguishing between no load (less than 30% of the rated load), light load (30% to 80% of the rated load), and heavy load (greater than 80% of the rated load).

[0086] The binocular vision camera is combined with the inertial measurement unit to calibrate the odometer of the scraper, realizing the extraction of roadway texture features and the estimation of the scraper's posture.

[0087] Wheel speed sensors are installed on the scraper's wheels, collecting wheel speed in real time (or at a certain frequency), converting it into the scraper's actual travel speed, and feeding it back to the control module for closed-loop speed control, ensuring the accuracy and stability of speed planning. Specifically, wheel speed is collected in real time. If the wheel speed is less than the target speed, a speed-increasing command is sent to the drive unit; if the wheel speed is greater than the target speed, a speed-reducing command is sent to the brake unit.

[0088] Millimeter-wave radar is used to detect dynamic obstacles (i.e., it primarily determines obstacle locations in real time) and identify potential collision risks, providing a crucial basis for speed planning and safety. When an obstacle is detected, its coordinates are annotated on a constructed map of the surrounding environment. Additionally, environmental information such as the curvature radius of the roadway can be annotated.

[0089] In some embodiments, the obstacle distance is determined based on the position of the mechanical device and the position of the obstacle; when the obstacle distance is less than a safety distance threshold, the target speed is determined to be zero.

[0090] By calculating the obstacle distance, once the obstacle distance is less than the safety distance threshold, the target speed will no longer be planned and the target speed will be directly determined as zero. An emergency response system has been built, which can quickly adjust the speed and take safety measures under emergency conditions, ensuring the safety of the working process of the mechanical equipment and achieving emergency obstacle avoidance.

[0091] In some embodiments, the wheel speed of the mechanical equipment is obtained; when the actual speed corresponding to the wheel speed is less than the target speed, a speed increase instruction is sent to the drive unit; when the actual speed corresponding to the wheel speed is greater than the target speed, a speed decrease instruction is sent to the braking unit.

[0092] By monitoring the actual speed corresponding to the wheel speed in real time, it is determined whether the target speed has been reached. If the target speed has not been reached, timely adjustments are made by sending a speed increase command to the drive unit or a speed decrease command to the brake unit, which helps to make the actual speed approach the target speed.

[0093] For example, after determining the target speed, the control module may convert the target speed into a speed control instruction (or speed planning instruction) and send it to the drive unit or the brake unit.

[0094] For another example, when the target speed is greater than the wheel speed of the mechanical equipment, the speed planning instruction including the target speed may be sent to the drive unit; when the target speed is less than or equal to the wheel speed of the mechanical equipment, the speed planning instruction including the target speed may be sent to the braking unit.

[0095] The drive unit or brake unit adjusts the power output according to the speed control command to change the travel speed of the mechanical equipment (scraper).

[0096] In some embodiments, after obtaining environmental information and status information, the intermediate speed of the mechanical equipment is determined. Environmental modeling can be performed based on the environmental information. Taking a scraper as an example, a three-dimensional environmental model of an underground mine is constructed, and key information such as the loading area, unloading area, turning point, terrain, and obstacle location are marked in the three-dimensional environmental model. Furthermore, the working condition of the mechanical equipment can be analyzed based on the status information. Taking a scraper as an example, the current working condition of the scraper can be analyzed by combining the scraper's load weight, power, torque, driving speed, and the slope and curve curvature of the road section the scraper is currently traveling. For example, an extended Kalman filter algorithm can be used to fuse environmental information and status information to perform working condition analysis and construct a real-time working condition model. The constructed working condition model can be a working condition vector = [environmental characteristics, slope, load weight, real-time speed], where environmental characteristics include obstacle distance, roadway curvature (used to determine turning radius), etc.

[0097] In some embodiments, taking a scraper as an example, after constructing a three-dimensional environmental model, the target speed under different driving conditions can be planned in combination with the scraper's dynamic model. The scraper's dynamic model is a model that mathematically describes the physical behavior of the scraper during motion. The first step in the dynamic model is to establish a kinematic model, including the expression and calculation of key parameters such as the scraper's position, velocity, and acceleration. The kinematic model can usually be described using classical kinematic equations. Next comes mechanical modeling, which aims to describe the dynamic characteristics of the scraper, such as the forces and torques it is subjected to. This involves the forces acting on the scraper, such as driving force, braking force, and rolling resistance. The driving force is related to the torque output of the motor, the efficiency of the drive unit, and friction. The braking force is related to the braking torque of the brake unit and the moment of inertia of the wheels. The combined effect of these forces determines the acceleration of the scraper, which in turn affects its speed and trajectory.

[0098] In some embodiments, before obtaining information about the machine's status and surrounding environment, a self-test is performed on multiple sensors, brake units, drive units, and the human-machine interface. For example, these tests check whether the radar (lidar) is scanning normally, whether the weighing system's sensors are zeroed (automatically when unloaded), and whether the wheel speed sensor's signals are stable to reduce initial errors. The system also tests whether communication between the drive unit or brake unit and the control module is normal, ensuring that the execution module can respond to speed control commands and promptly adjust the actual speed based on the target speed.

[0099] Through self-checking, the stability and accuracy of the speed planning process are guaranteed, thereby ensuring the stability and accuracy of the target speed.

[0100] Figure 3 Schematic diagrams showing other embodiments of the speed planning method disclosed herein.

[0101] like Figure 3 As shown, the speed planning method includes steps 301 to 312.

[0102] In step 301, the speed planning system initializes and performs self-test.

[0103] In some embodiments, after the scraper is powered on, the control module 22 performs a self-test of multiple sensors, the drive system, the braking system, and the human-machine interface. The control module 22 also retrieves from its internal memory the initial parameters of the speed planning model, a preset rule library (e.g., speed thresholds and power output strategies for different operating conditions), and safety thresholds (e.g., maximum allowable speed and minimum braking distance (i.e., safety distance threshold)).

[0104] In step 302 , sensor data is collected, and environmental information and status information of the mechanical equipment (eg, scraper) are collected through sensors.

[0105] In step 303, environmental modeling is performed, that is, a three-dimensional environmental model is constructed based on the environmental information collected by the sensor, and information such as the loading area, unloading area, turning point, terrain and obstacle location are marked.

[0106] In step 304, the working condition analysis is performed, that is, the current working condition of the scraper is analyzed based on the status information collected by the sensor and the three-dimensional environment model constructed in step 303 (such as the slope of the current driving section of the scraper, the curvature of the curve, etc.).

[0107] In step 305, determine whether emergency obstacle avoidance is required, that is, determine the obstacle distance based on the position of the mechanical equipment and the position of the obstacle, and determine whether the obstacle distance is less than the safety distance threshold. If the obstacle distance is less than the safety distance threshold, execute step 306, otherwise execute step 307 directly.

[0108] In step 306 , emergency braking is performed, ie, the speed is forced to drop to zero.

[0109] In step 307 , the maximum speed and the minimum speed corresponding to the current working condition are determined based on the preset rule base obtained in step 301 and the current working condition of the mechanical equipment.

[0110] In step 308, an intermediate speed is determined by the speed planning model, and the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed meets the energy consumption threshold.

[0111] In step 309 , a safety threshold is checked, ie, it is determined whether the target speed (ie, the adjusted intermediate speed) meets the performance limit of the mechanical equipment (eg, maximum climbing speed, centrifugal force threshold, etc.).

[0112] In step 310, a target speed instruction is generated and sent to the drive system or the braking system, and the wheel speed is monitored in real time, and the drive system or the braking system is adjusted to make the wheel speed approach the target speed, and finally make the wheel speed equal to the target speed.

[0113] In step 311 , the driving system or the braking system is controlled according to the target speed.

[0114] In step 312 , the control module stores the current environment information, state information, target speed, and execution error in a historical database for training the speed planning model.

[0115] In the above embodiment, by acquiring the status information of the mechanical equipment and the environmental information in which the mechanical equipment is located in real time, and determining the intermediate speed of the mechanical equipment based on the real-time status information and environmental information, the timeliness of the speed planning process is ensured. Furthermore, by determining the energy consumption of the mechanical equipment based on the intermediate speed, environmental information, and status information, when the energy consumption is greater than the energy consumption threshold, the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed meets the energy consumption threshold requirement, and the adjusted intermediate speed is used as the target speed. While ensuring the timeliness of the speed planning process, energy utilization is taken into account, reducing resource waste, that is, ensuring the timeliness and energy utilization of the speed planning process. In addition, the intermediate speed is dynamically adjusted based on the real-time changing status information and environmental information, and the speed can be reasonably adjusted according to different environments and states, ensuring the adaptability and operational safety of autonomous driving in complex environments, and reducing the risk of fixed speed due to improper speed.

[0116] Figure 4 Schematic diagrams showing some embodiments of the speed planning device disclosed herein.

[0117] like Figure 4 As shown, the speed planning device 40 includes an acquisition unit 41 , a first determination unit 42 , a second determination unit 43 , an adjustment unit 44 and a planning unit 45 .

[0118] The acquiring unit 41 is configured to acquire status information of the mechanical device and information about the environment in which the mechanical device is located.

[0119] In some embodiments, the environmental information includes at least one of the slope value, curvature radius, width value, height value, texture characteristics and obstacle position of the road section where the mechanical equipment is located, and the status information includes at least one of the load, position, posture, wheel speed, wheelbase and steering performance of the mechanical equipment.

[0120] For example, the acquisition unit 41 can be implemented by the multimodal perception module 21.

[0121] The first determining unit 42 is configured to determine an intermediate speed of the mechanical equipment according to the environmental information and the state information.

[0122] The second determining unit 43 is configured to determine the energy consumption of the mechanical equipment according to the intermediate speed, the environmental information and the state information.

[0123] The adjusting unit 44 is configured to adjust the intermediate speed so that the energy consumption corresponding to the adjusted intermediate speed is less than or equal to the energy consumption threshold when the energy consumption is greater than the energy consumption threshold.

[0124] For example, the first determining unit 42, the second determining unit 43 and the adjusting unit 44 can be implemented by the control module 22.

[0125] The planning unit 45 is configured to use the adjusted intermediate speed as the target speed.

[0126] For example, the planning unit 45 may be implemented by the execution module 23 .

[0127] In the above embodiment, by acquiring the status information of the mechanical equipment and the environmental information in which the mechanical equipment is located in real time, and determining the intermediate speed of the mechanical equipment based on the real-time status information and environmental information, the timeliness of the speed planning process is ensured. Furthermore, by determining the energy consumption of the mechanical equipment based on the intermediate speed, environmental information, and status information, when the energy consumption is greater than the energy consumption threshold, the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed meets the energy consumption threshold requirement, and the adjusted intermediate speed is used as the target speed. While ensuring the timeliness of the speed planning process, energy utilization is taken into account, reducing resource waste, that is, ensuring the timeliness and energy utilization of the speed planning process. In addition, the intermediate speed is dynamically adjusted based on the real-time changing status information and environmental information, and the speed can be reasonably adjusted according to different environments and states, ensuring the adaptability and operational safety of autonomous driving in complex environments, and reducing the risk of fixed speed due to improper speed.

[0128] In some embodiments, the first determination unit 42 is further configured to input environmental information and state information into a speed planning model to obtain an intermediate speed of the mechanical equipment, wherein the speed planning model is trained based on historical environmental information, historical state information and historical target speed of the mechanical equipment.

[0129] In some embodiments, the adjustment unit 44 is also configured to obtain a first correspondence and a second correspondence, the first correspondence including the correspondence between historical environmental information and historical status information and the maximum speed of the mechanical equipment, and the second correspondence including the correspondence between historical environmental information and historical status information and the minimum speed of the mechanical equipment; according to the first correspondence, the maximum speed corresponding to the environmental information and status information is determined, and according to the second correspondence, the minimum speed corresponding to the environmental information and status information is determined; the intermediate speed is adjusted so that the energy consumption corresponding to the intermediate speed is less than or equal to the energy consumption threshold, and the adjusted intermediate speed is less than or equal to the maximum speed, and greater than or equal to the minimum speed.

[0130] In some embodiments, when the mechanical device is in a turning state, the centrifugal force of the mechanical device corresponding to the target speed is less than or equal to a centrifugal force threshold.

[0131] In some embodiments, the planning unit 45 is further configured to use the intermediate speed as the target speed when the energy consumption is less than the energy consumption threshold.

[0132] In some embodiments, the mechanical equipment includes a scraper, and the acquisition unit 41 is further configured to acquire the load in the state information of the mechanical equipment when the height of the boom of the mechanical equipment is greater than a height threshold.

[0133] In some embodiments, the environmental information and the state information are obtained through one or more sensors. If the environmental information and the state information are obtained through multiple sensors, the speed planning device further includes a synchronization unit configured to synchronize the clocks of the multiple sensors.

[0134] In some embodiments, the status information further includes motor status monitoring information of the mechanical equipment, and the motor status monitoring information includes at least one of motor speed, motor torque, and motor temperature.

[0135] In some embodiments, the planning unit 45 is further configured to determine the obstacle distance based on the position of the mechanical equipment and the position of the obstacle; and determine the target speed to be zero when the obstacle distance is less than the safety distance threshold.

[0136] In some embodiments, the planning unit 45 is also configured to obtain the wheel speed of the mechanical equipment; when the actual speed corresponding to the wheel speed is less than the target speed, a speed increase instruction is sent to the drive unit; when the actual speed corresponding to the wheel speed is greater than the target speed, a speed decrease instruction is sent to the braking unit.

[0137] Figure 5 Schematic diagrams showing other embodiments of the speed planning device disclosed herein.

[0138] like Figure 5As shown, the speed planning device 40 of this embodiment includes: a memory 51 and a processor 52 coupled to the memory 51 , and the processor 52 is configured to execute the speed planning method in any of the aforementioned embodiments based on instructions stored in the memory 51 .

[0139] The memory 51 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0140] The speed planning device 40 may also include an input / output interface 43, a network interface 44, a storage interface 45, and the like. These interfaces 43, 44, and 45, as well as the memory 41 and the processor 42, may be connected, for example, via a bus 46. The input / output interface 43 provides a connection interface for input / output devices such as a display, mouse, keyboard, touch screen, microphone, and speakers. The network interface 44 provides a connection interface for various networked devices. The storage interface 45 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0141] In the above embodiment, by acquiring the status information of the mechanical equipment and the environmental information in which the mechanical equipment is located in real time, and determining the intermediate speed of the mechanical equipment based on the real-time status information and environmental information, the timeliness of the speed planning process is ensured. Furthermore, by determining the energy consumption of the mechanical equipment based on the intermediate speed, environmental information, and status information, when the energy consumption is greater than the energy consumption threshold, the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed meets the energy consumption threshold requirement, and the adjusted intermediate speed is used as the target speed. While ensuring the timeliness of the speed planning process, energy utilization is taken into account, reducing resource waste, that is, ensuring the timeliness and energy utilization of the speed planning process. In addition, the intermediate speed is dynamically adjusted based on the real-time changing status information and environmental information, and the speed can be reasonably adjusted according to different environments and states, ensuring the adaptability and operational safety of autonomous driving in complex environments, and reducing the risk of fixed speed due to improper speed.

[0142] Figure 6 Schematic diagrams showing other embodiments of the speed planning system disclosed herein.

[0143] like Figure 6 As shown, the speed planning system 60 includes the speed planning device 40 in any of the above embodiments and a plurality of sensors 61 , wherein the plurality of sensors 61 are installed on the mechanical equipment.

[0144] The multiple sensors 61 are configured to send environmental information and status information collected by the multiple sensors to the speed planning device.

[0145] In the above embodiment, by acquiring the status information of the mechanical equipment and the environmental information in which the mechanical equipment is located in real time, and determining the intermediate speed of the mechanical equipment based on the real-time status information and environmental information, the timeliness of the speed planning process is ensured. Furthermore, by determining the energy consumption of the mechanical equipment based on the intermediate speed, environmental information, and status information, when the energy consumption is greater than the energy consumption threshold, the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed meets the energy consumption threshold requirement, and the adjusted intermediate speed is used as the target speed. While ensuring the timeliness of the speed planning process, energy utilization is taken into account, reducing resource waste, that is, ensuring the timeliness and energy utilization of the speed planning process. In addition, the intermediate speed is dynamically adjusted based on the real-time changing status information and environmental information, and the speed can be reasonably adjusted according to different environments and states, ensuring the adaptability and operational safety of autonomous driving in complex environments, and reducing the risk of fixed speed due to improper speed.

[0146] Figure 7 Schematic diagrams showing some embodiments of the mechanical apparatus of the present disclosure.

[0147] like Figure 7 As shown, the mechanical equipment 70 includes the speed planning device 40 in any one of the above embodiments. For example, the mechanical equipment is a scraper.

[0148] In the above embodiment, by acquiring the status information of the mechanical equipment and the environmental information in which the mechanical equipment is located in real time, and determining the intermediate speed of the mechanical equipment based on the real-time status information and environmental information, the timeliness of the speed planning process is ensured. Furthermore, by determining the energy consumption of the mechanical equipment based on the intermediate speed, environmental information, and status information, when the energy consumption is greater than the energy consumption threshold, the intermediate speed is adjusted so that the energy consumption corresponding to the adjusted intermediate speed meets the energy consumption threshold requirement, and the adjusted intermediate speed is used as the target speed. While ensuring the timeliness of the speed planning process, energy utilization is taken into account, reducing resource waste, that is, ensuring the timeliness and energy utilization of the speed planning process. In addition, the intermediate speed is dynamically adjusted based on the real-time changing status information and environmental information, and the speed can be reasonably adjusted according to different environments and states, ensuring the adaptability and operational safety of autonomous driving in complex environments, and reducing the risk of fixed speed due to improper speed.

[0149] In some embodiments, a computer program product is provided, comprising a computer program or instructions that, when executed by a processor, implements the aforementioned speed planning method. The computer program product comprises a computer program carried on a computer-readable medium, the computer program containing program code for executing the method illustrated in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network, or installed from a storage device, or installed from a ROM, by a speed planning device. When executed by a CPU, the computer program performs the aforementioned functions defined in the method of the disclosed embodiments.

[0150] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Thus, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable, non-transitory storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0151] The speed planning method, apparatus, system, and mechanical device disclosed herein have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have been omitted. Based on the above description, those skilled in the art will fully understand how to implement the technical solutions disclosed herein.

[0152] The methods and systems of the present disclosure may be implemented in many ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specified. In addition, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, which include machine-readable instructions for implementing the methods according to the present disclosure. Therefore, the present disclosure also covers recording media that store programs for executing the methods according to the present disclosure.

[0153] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A speed planning method, comprising: Acquiring status information of mechanical equipment and environmental information of the mechanical equipment; determining an intermediate speed of the mechanical equipment according to the environmental information and the state information; determining the energy consumption of the mechanical equipment according to the intermediate speed, the environmental information, and the state information; When the energy consumption is greater than the energy consumption threshold, adjusting the intermediate speed so that the energy consumption corresponding to the adjusted intermediate speed is less than or equal to the energy consumption threshold; The adjusted intermediate speed is used as the target speed.

2. The speed planning method according to claim 1, wherein: Determining the intermediate speed of the mechanical equipment according to the environmental information and the state information includes: The environmental information and the state information are input into a speed planning model to obtain an intermediate speed of the mechanical equipment, wherein the speed planning model is trained based on historical environmental information, historical state information and historical target speed of the mechanical equipment.

3. The speed planning method according to claim 1, wherein: When the energy consumption is greater than the energy consumption threshold, adjusting the intermediate speed so that the energy consumption corresponding to the adjusted intermediate speed is less than or equal to the energy consumption threshold includes: Acquire a first correspondence and a second correspondence, wherein the first correspondence includes a correspondence between historical environment information and historical state information and a maximum speed of the mechanical device, and the second correspondence includes a correspondence between the historical environment information and the historical state information and a minimum speed of the mechanical device; determining a maximum speed corresponding to the environment information and the state information according to the first corresponding relationship, and determining a minimum speed corresponding to the environment information and the state information according to the second corresponding relationship; The intermediate speed is adjusted so that the energy consumption corresponding to the intermediate speed is less than or equal to the energy consumption threshold, and the adjusted intermediate speed is less than or equal to the maximum speed and greater than or equal to the minimum speed.

4. The speed planning method according to claim 1, wherein: When the mechanical equipment is in a turning state, the centrifugal force of the mechanical equipment corresponding to the target speed is less than or equal to a centrifugal force threshold.

5. The speed planning method according to claim 1, further comprising: When the energy consumption is less than the energy consumption threshold, the intermediate speed is used as the target speed.

6. The speed planning method according to claim 1, wherein: The environmental information includes at least one of the slope value, curvature radius, width value, height value, texture feature and obstacle position of the road section where the mechanical equipment is located, and the status information includes at least one of the load, position, posture, wheel speed, wheelbase and steering performance of the mechanical equipment.

7. The speed planning method according to claim 6, wherein: The mechanical equipment includes a scraper, and obtaining the status information of the mechanical equipment includes: When the height of the boom of the mechanical equipment is greater than a height threshold, the load in the state information of the mechanical equipment is obtained.

8. The speed planning method according to any one of claims 1 to 7, wherein: The environmental information and the state information are obtained by one or more sensors, further comprising: In a case where the environmental information and the state information are acquired by a plurality of sensors, time synchronization is performed on clocks of the plurality of sensors.

9. The speed planning method according to any one of claims 1 to 7, wherein: The state information further includes motor state monitoring information of the mechanical equipment, and the motor state monitoring information includes at least one of motor speed, motor torque, and motor temperature.

10. The speed planning method according to claim 6, further comprising: determining an obstacle distance according to the position of the mechanical equipment and the position of the obstacle; When the obstacle distance is less than a safety distance threshold, the target speed is determined to be zero.

11. The speed planning method according to any one of claims 1 to 7, further comprising: Obtaining the wheel speed of the mechanical equipment; sending a speed increase instruction to the drive unit when the actual speed corresponding to the wheel speed is less than the target speed; When the actual speed corresponding to the wheel speed is greater than the target speed, a speed reduction instruction is sent to the braking unit.

12. A speed planning device, comprising: an acquiring unit configured to acquire status information of a mechanical device and information about an environment in which the mechanical device is located; a first determining unit configured to determine an intermediate speed of the mechanical device according to the environmental information and the state information; a second determining unit configured to determine the energy consumption of the mechanical equipment according to the intermediate speed, the environmental information, and the state information; an adjusting unit configured to, when the energy consumption is greater than an energy consumption threshold, adjust the intermediate speed so that the energy consumption corresponding to the adjusted intermediate speed is less than or equal to the energy consumption threshold; The planning unit is configured to use the adjusted intermediate speed as the target speed.

13. A speed planning device, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the speed planning method according to any one of claims 1 to 11 based on instructions stored in the memory.

14. A speed planning system comprising: The speed planning device according to claim 12 or 13; The plurality of sensors installed on the mechanical equipment are configured to send the environmental information and the state information collected by the plurality of sensors to the speed planning device.

15. A mechanical device comprising: The speed planning device according to claim 12 or 13.

16. A computer-readable storage medium having computer instructions stored thereon, wherein when the instructions are executed by a processor, the speed planning method according to any one of claims 1 to 11 is implemented.

17. A computer program product comprising computer instructions, wherein when the computer instructions are executed by a processor, the speed planning method according to any one of claims 1 to 11 is implemented.

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