Mining shuttle car autonomous driving method and device based on remote control device

Abstract

The invention provides a mining shuttle car autonomous driving method and device based on a remote control device, electronic equipment and a storage medium, and the method comprises the steps: collecting environment data in a roadway where a mining shuttle car runs, and generating a global environment perception map according to the environment data; performing path planning according to the global environment perception map to obtain path information; adjusting the path information according to a control instruction for the mining shuttle car; and controlling the action of the mining shuttle car according to the path information and the control instruction. Route planning and control instruction fusion are performed through a global environment perception map to jointly control driving of the mining shuttle car, remote control-autonomous cooperative driving of the shuttle car in a complex roadway environment is achieved, and operation safety and efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of coal mining technology, and in particular to a method and device for autonomous driving of a mining shuttle car based on a remote control device. Background Technology

[0002] Mining shuttle cars are key equipment for underground transportation in mines. They are mainly used to transport ore or gangue after it has been excavated by roadheaders or continuous miners from the working face to the unloading point of the crusher. They are characterized by heavy load capacity (usually 10-20 tons), high requirements for roadway passability (suitable for narrow, winding, and undulating roadways), and harsh operating environment (dust, humidity, low light, and strong electromagnetic interference). Currently, the driving mode of mining shuttle cars mainly relies on manual operation, which has the following significant drawbacks: high safety risks; narrow underground roadways and obstructed visibility make manual operation prone to collisions due to fatigue, blind spots, or sudden obstacles (such as falling rocks or equipment); although existing autonomous driving technologies for mining shuttle cars attempt to achieve autonomous control through onboard sensors (such as lidar and cameras) and navigation algorithms, they still have the following shortcomings: the real-time response capability of pure autonomous driving mode is insufficient in complex dynamic environments; remote control driving mode relies on remote control by a single operator, resulting in problems such as command delay, operational complexity, and operator fatigue; and there is a lack of a coordination mechanism between remote control and autonomy, making it impossible to achieve flexible switching between "human-machine co-driving" in complex scenarios. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, this application proposes a method, apparatus, electronic device, and storage medium.

[0005] One embodiment of this application proposes an autonomous driving method for a mining shuttle car based on a remote control device, including: Collect environmental data in the tunnels where the mine shuttle car operates, and generate a global environmental perception map based on the environmental data; Path planning is performed based on the global environment perception map to obtain path information; The path information is adjusted according to the control commands for the mining shuttle car; The movement of the mining shuttle is controlled according to the path information and the control instructions.

[0006] Optionally, the environmental data includes: obstacle location, road surface slope, road surface slope humidity, tunnel width, tunnel height, and dust concentration. Generating a global environmental perception map based on the environmental data includes: The environmental data is fused using a filtering algorithm; Static obstacle information, dynamic moving target information, and tunnel boundary information are extracted from the fused environmental data. The global environment perception map is constructed based on the static obstacle information, dynamic moving target information, and alleyway boundary information.

[0007] Optionally, the control commands include: path control commands and vehicle control commands, wherein adjusting the path information according to the control commands for the mining shuttle car includes any one of the following: If there is no conflict between the path control command and the path information, then the path control command is adopted as the travel path of the mining shuttle car. If a conflict exists between the path control command and the path information, a conflict warning is sent to the airborne unmanned driving control center, and the path information is adjusted.

[0008] Optionally, the vehicle control commands include: oil pump start / stop commands, transfer start / stop commands, speed commands, steering commands, and braking commands. Controlling the movement of the mining shuttle car based on the path information and the control commands includes: Determine the priority of the received vehicle control commands; In response to receiving at least two of the vehicle control commands, the vehicle control command with the highest priority is executed.

[0009] Optionally, controlling the movement of the mining shuttle car based on the path information and the control command further includes at least one of the following: The motor torque is adjusted according to the speed command so that the mining shuttle car moves at a preset speed. The steering angle is calculated based on the path information and the steering command, and the steering cylinder is controlled by an electro-hydraulic proportional valve to make the mining shuttle car turn. The braking device is controlled according to the braking command to brake the mining shuttle.

[0010] Optionally, the method further includes: The vehicle status of the mining shuttle car is determined based on the vehicle status data of the mining shuttle car. A status warning will be issued based on the vehicle's status.

[0011] Optionally, determining the vehicle status of the mining shuttle car based on its vehicle status data and issuing a status warning based on the vehicle status includes at least one of the following: In response to the vehicle status data exceeding the preset normal range, the vehicle status is determined to be abnormal, and the speed of the mining shuttle car is limited to be lower than the preset speed limit. In response to abnormal sensor data in the vehicle status data, the vehicle status is determined to be abnormal, and the sensor is replaced. In response to an anomaly in the autonomous control module of the vehicle status data, the vehicle status is determined to be abnormal, and the mining shuttle car is switched to manual remote control mode.

[0012] Another embodiment of this application proposes an autonomous driving device for a mining shuttle car based on a remote control device, comprising: The map generation module is used to collect environmental data in the tunnels where the mine shuttle car runs, and generate a global environmental perception map based on the environmental data. The path planning module is used to plan paths based on the global environment perception map and obtain path information. The path adjustment module is used to adjust the path information according to the control commands for the mining shuttle car; The control module is used to control the movement of the mining shuttle car according to the path information and the control instructions.

[0013] Another embodiment of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in the foregoing aspect.

[0014] Another embodiment of this application proposes a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the foregoing aspect.

[0015] Another embodiment of this application proposes a chip including processing circuitry configured to perform the method described in one aspect above.

[0016] Another embodiment of this application proposes a computer program product that, when executed by a processor, implements the method described in the foregoing aspect.

[0017] The method, device, electronic equipment, chip and storage medium for autonomous driving of mine shuttle cars based on remote control proposed in this application achieve “remote control-autonomous” collaborative driving of the shuttle car in complex roadway environments by integrating path planning and control commands through a global environmental perception map, thereby improving operational safety and efficiency.

[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 A flowchart illustrating an autonomous driving method for a mining shuttle car based on a remote control device, provided in an embodiment of this application; Figure 2 A schematic diagram of a remote control device provided in an embodiment of this application; Figure 3 A top view schematic diagram of a mining shuttle provided in an embodiment of this application; Figure 4 A schematic diagram of the path of a mining shuttle provided in an embodiment of this application; Figure 5 A schematic diagram of the structure of an autonomous driving device for a mining shuttle car based on a remote control device provided in this application embodiment; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a chip proposed in an embodiment of this application. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0021] The following description, with reference to the accompanying drawings, outlines an autonomous driving method, apparatus, electronic device, chip, and storage medium for a mining shuttle based on a remote control device, according to embodiments of this application.

[0022] Figure 1 This is a schematic diagram illustrating the autonomous driving process of a mining shuttle car based on a remote control device, provided as an embodiment of this application.

[0023] As one implementation, the mine shuttle autonomous driving method based on the remote control device in this application embodiment can be configured in the mine shuttle autonomous driving device based on the remote control device. The mine shuttle autonomous driving device based on the remote control device can be applied to any electronic device so that the electronic device can perform the mine shuttle autonomous driving function based on the remote control device.

[0024] Among them, electronic devices can be any device with computing capabilities, such as mobile terminals, which can be hardware devices with various operating systems, touch screens and / or displays, such as mobile phones, tablets, personal digital assistants, wearable devices, etc.

[0025] As another implementation, the autonomous driving method for mining shuttle cars based on remote control devices in this application embodiment can also be executed by a chip with processing capabilities. The chip includes an image signal processing chip (ISP), a central processing unit (CPU), an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a field-programmable gate array (FPGA), a system on a chip (SOC), a reduced instruction set computer (RISC), etc., which will not be listed here.

[0026] It should be noted that all data collection operations related to users in this application are conducted with the user's authorization and in strict compliance with relevant laws and regulations such as privacy and security.

[0027] like Figure 1 As shown, the method may include the following steps: Step 101: Collect environmental data in the tunnels where the mine shuttle car is running, and generate a global environmental perception map based on the environmental data; Step 102: Perform path planning based on the global environment perception map to obtain path information; Step 103: Adjust the path information according to the control command for the mining shuttle car; Step 104: Control the movement of the mining shuttle car according to the path information and the control command.

[0028] In this embodiment, the autonomous driving of the mining shuttle car based on the remote control device includes the following process: Environmental Data Acquisition: Multiple sensors are used to collect environmental data in the mine shuttle's operating tunnels. This data comprehensively reflects various conditions within the tunnels, providing a basis for subsequent path planning and vehicle control. Specifically, onboard sensor arrays (including millimeter-wave radar, vision cameras, odometers, tilt sensors, dust sensors, etc.) can collect real-time tunnel environmental data (such as obstacle location, road surface slope / humidity, tunnel width / height, dust concentration) and vehicle status data (such as vehicle speed, acceleration, steering angle, braking pressure). A Kalman filter algorithm is used to fuse the multi-source sensor data, eliminating noise interference and generating a global environmental perception map (including information on static obstacles, dynamic moving targets, tunnel boundaries, etc.).

[0029] Global environmental perception map generation: Based on the collected environmental data, a global environmental perception map is generated using advanced data processing technology. This map can clearly present the environmental layout and potential obstacles in the alley, providing accurate reference for path planning.

[0030] Path planning: Based on the generated global environment perception map, intelligent algorithms are used for path planning to obtain optimal path information. This path information can guide the mine shuttle car to travel safely and efficiently in the tunnel, avoiding obstacles and dangerous areas.

[0031] Path information adjustment: The planned path information is adjusted based on the control commands for the mining shuttle. These commands may originate from a remote control device or other intelligent systems. By adjusting the path information, the mining shuttle can better adapt to different driving needs and unexpected situations.

[0032] Vehicle Motion Control: Ultimately, based on the adjusted path information and control commands, the movement of the mine shuttle car is precisely controlled to achieve autonomous driving. This control method ensures stable operation of the mine shuttle car in complex tunnel environments, improving the safety and efficiency of mining operations.

[0033] Figure 2 This is a schematic diagram of a remote control device provided in an embodiment of this application. Figure 2 As shown, the shuttle's wireless remote control device has an 8-inch display screen. The forward and reverse functions are controlled by a friction lever for maintaining the shuttle's speed. Left and right turns are controlled by a self-resetting lever, which controls the shuttle's direction. Control commands can be sent to the shuttle by adjusting the buttons and levers in the remote control device.

[0034] Optionally, the environmental data includes: obstacle location, road surface slope, road surface slope humidity, tunnel width, tunnel height, and dust concentration. Generating a global environmental perception map based on the environmental data includes: The environmental data is fused using a filtering algorithm; Static obstacle information, dynamic moving target information, and tunnel boundary information are extracted from the fused environmental data. The global environment perception map is constructed based on the static obstacle information, dynamic moving target information, and alleyway boundary information.

[0035] In this embodiment, the environmental data includes not only obstacle locations but also aspects such as road surface slope, road surface humidity, tunnel width, tunnel height, and dust concentration. This data comprehensively and meticulously reflects various conditions within the tunnel, providing richer information for subsequent path planning and vehicle control.

[0036] Environmental data fusion: Filtering algorithms are used to fuse the collected environmental data. These algorithms effectively remove noise and interference from the data, improving its accuracy and reliability, and ensuring that the fused environmental data more accurately reflects the actual conditions within the tunnel.

[0037] Information Extraction: Static obstacle information, dynamic moving target information, and roadway boundary information are extracted from the fused environmental data. Static obstacle information helps the mine shuttle car avoid fixed obstacles in advance; dynamic moving target information enables it to respond promptly to moving objects, such as other vehicles or personnel; and roadway boundary information provides a clear boundary range for the mine shuttle car's movement, preventing it from deviating from the roadway.

[0038] Global Environmental Awareness Map Construction: Based on the extracted static obstacle information, dynamic moving target information, and tunnel boundary information, a detailed global environmental awareness map is constructed. This map can more intuitively present the environmental layout and potential hazards within the tunnel, providing a more accurate and reliable reference for path planning, and further improving the safety and reliability of autonomous driving of mining shuttle cars.

[0039] Optionally, the control commands include: path control commands and vehicle control commands, wherein adjusting the path information according to the control commands for the mining shuttle car includes any one of the following: If there is no conflict between the path control command and the path information, then the path control command is adopted as the travel path of the mining shuttle car. If a conflict exists between the path control command and the path information, a conflict warning is sent to the airborne unmanned driving control center, and the path information is adjusted.

[0040] In this embodiment, the processing of the control commands has more specific provisions: Classification of Control Commands: The control commands are divided into two main categories: path control commands and vehicle control commands. Path control commands are mainly used to adjust and optimize the travel path of the mine shuttle car; vehicle control commands involve specific operations such as starting, stopping, speed, steering, and braking of the vehicle. Together, they determine the travel status of the mine shuttle car.

[0041] Specific methods for adjusting path information: No conflict scenario: When there is no conflict between the path control command and the planned path information, the path control command is directly adopted as the travel path of the mine shuttle. In this case, the path control command may optimize the original path according to actual operational needs or unforeseen circumstances, enabling the mine shuttle to complete the task more efficiently.

[0042] In case of conflict: If the path control command conflicts with the path information, such as requiring the mining shuttle to enter a dangerous area or deviating from the originally planned optimal path, the system will send a conflict warning to the onboard unmanned driving control center. Upon receiving the warning, the control center will adjust the path information according to the actual situation to ensure the safe operation of the mining shuttle and the smooth progress of the mission. This conflict handling mechanism effectively avoids potential dangers caused by command conflicts and improves the reliability and safety of the mining shuttle's autonomous driving.

[0043] Figure 3 This is a top view schematic diagram of a mining shuttle car provided as an embodiment of this application. Figure 3 As shown in the figure, the circular area is the camera and the square area is the millimeter-wave radar. Eight cameras are installed around the shuttle car. The eight cameras are stitched together to form a panoramic image. In addition, seven millimeter-wave radars with a viewing angle of 120 degrees are installed on the shuttle car to achieve full-body perception of the tunnel.

[0044] Figure 4 This is a schematic diagram of the path of a mining shuttle provided in an embodiment of this application. Figure 4 As shown, the shuttle can sense the distance between the vehicle and the tunnel wall using the installed millimeter-wave radar, and adjust the vehicle's direction accordingly to maintain a safe distance between the vehicle and the wall, thus avoiding damage.

[0045] Optionally, the vehicle control commands include: oil pump start / stop commands, transfer start / stop commands, speed commands, steering commands, and braking commands. Controlling the movement of the mining shuttle car based on the path information and the control commands includes: Determine the priority of the received vehicle control commands; In response to receiving at least two of the vehicle control commands, the vehicle control command with the highest priority is executed.

[0046] In this embodiment, the execution of the vehicle control commands has more explicit rules: The specific content of the vehicle control commands includes oil pump start / stop commands, transfer start / stop commands, speed commands, steering commands, and braking commands. These commands cover various key operations during the operation of the mining shuttle car. By properly controlling these commands, precise control of the mining shuttle car can be achieved.

[0047] Vehicle control command priority determination: During actual operation, multiple vehicle control commands may be received simultaneously. To ensure that the mining shuttle car operates according to the commands with higher priority, the system determines the priority of the received vehicle control commands. The priority can be set according to different operational needs and safety requirements. For example, in an emergency, the braking command may have a higher priority than other commands.

[0048] Command execution rule: When at least two vehicle control commands are received, the system will execute the highest priority vehicle control command. This execution rule ensures that, in complex situations, the mining shuttle can operate according to the most important command, avoiding operational errors caused by command conflicts, and further improving the safety and reliability of autonomous driving of the mining shuttle.

[0049] In one possible embodiment, the vehicle's wireless communication module receives commands from the remote control device (including fuel pump start / stop, refueling start / stop, speed commands, steering commands, emergency stop signals, etc.) and prioritizes these commands. Emergency stop command (highest priority): Triggers immediate braking of the vehicle.

[0050] Optionally, controlling the movement of the mining shuttle car based on the path information and the control command further includes at least one of the following: The motor torque is adjusted according to the speed command so that the mining shuttle car moves at a preset speed. The steering angle is calculated based on the path information and the steering command, and the steering cylinder is controlled by an electro-hydraulic proportional valve to make the mining shuttle car turn. The braking device is controlled according to the braking command to brake the mining shuttle.

[0051] In this embodiment, the specific implementation method of vehicle motion control further includes at least one of the following: Speed ​​Adjustment: The motor torque is adjusted according to speed commands, enabling the mining shuttle to move stably at a preset speed. Precise control of the motor torque ensures that the mining shuttle maintains a suitable travel speed under different road conditions and load conditions, improving the efficiency and safety of mining operations.

[0052] Steering control: The precise steering angle is calculated based on path information and steering commands, and then the steering cylinder is controlled by an electro-hydraulic proportional valve to achieve the steering operation of the mine shuttle car. This steering control method enables the mine shuttle car to steer flexibly in narrow roadways, accurately travel along the planned path, and avoid collisions with roadway walls or other obstacles.

[0053] Braking control: The braking system controls the braking device according to braking commands, enabling the mine shuttle car to brake promptly and accurately. Precise control of the braking device is crucial for the safe operation of the mine shuttle car, especially in emergency situations, effectively preventing accidents and ensuring the safety of mining operations.

[0054] In one possible embodiment, based on the finally determined path and speed commands, control quantities are output to the actuators (including the drive traction motor, steering cylinder, and braking system) via the vehicle's underlying controller CAN bus. Drive control: The motor torque is adjusted using a PID algorithm to achieve constant speed or acceleration / deceleration according to instructions; Steering control: The steering angle is calculated based on the curvature of the path, and the steering cylinder is controlled by an electro-hydraulic proportional valve; Braking control: Automatically triggers emergency parking brake based on current vehicle speed, path curvature, and distance to obstacles.

[0055] Optionally, the method further includes: The vehicle status of the mining shuttle car is determined based on the vehicle status data of the mining shuttle car. A status warning will be issued based on the vehicle's status.

[0056] In this embodiment, a monitoring and early warning function for the status of mining shuttle cars has been added: Vehicle status data collection and analysis: By collecting vehicle status data from the mining shuttle, such as sensor data and autonomous control module data, the operating status of the vehicle is comprehensively monitored. This data reflects the operating status of various key components and systems of the mining shuttle, providing a basis for subsequent status early warning.

[0057] Status Warning: Based on the analyzed vehicle status data, status warnings are issued. When an abnormal vehicle status occurs, a warning signal is promptly issued to remind relevant personnel to take appropriate measures, such as repairing or replacing parts, to ensure the normal operation of the mining shuttle car and reduce mine operation interruptions and safety accidents caused by vehicle malfunctions.

[0058] Optionally, determining the vehicle status of the mining shuttle car based on its vehicle status data and issuing a status warning based on the vehicle status includes at least one of the following: In response to the vehicle status data exceeding the preset normal range, the vehicle status is determined to be abnormal, and the speed of the mining shuttle car is limited to be lower than the preset speed limit. In response to abnormal sensor data in the vehicle status data, the vehicle status is determined to be abnormal, and the sensor is replaced. In response to an anomaly in the autonomous control module of the vehicle status data, the vehicle status is determined to be abnormal, and the mining shuttle car is switched to manual remote control mode.

[0059] In this embodiment, the specific methods for determining and issuing warnings regarding vehicle status include at least one of the following: Speed ​​Limit Warning: When vehicle status data exceeds the preset normal range, such as excessive vehicle speed or excessive load, the vehicle status is determined to be abnormal. At this time, the system will limit the speed of the mining shuttle car below the preset speed limit to reduce the risk of vehicle operation and prevent accidents caused by excessive speed.

[0060] Sensor Replacement Warning: If abnormal sensor data is detected in the vehicle status data, such as sensor malfunction or excessive data deviation, the vehicle status is determined to be abnormal. In this case, the system will issue a warning signal, prompting relevant personnel to replace the sensor in a timely manner to ensure the accuracy and reliability of the vehicle status data and guarantee the normal operation of the mine shuttle's autonomous driving function.

[0061] Manual Remote Control Status Switching Early Warning: When an anomaly occurs in the vehicle status data of the autonomous control module, such as a control program error or hardware failure, the vehicle status is determined to be abnormal. At this time, the system switches the mining shuttle car to manual remote control mode, allowing the operator to take over control of the vehicle. This ensures the safe operation of the vehicle under abnormal conditions and avoids uncontrollable risks caused by autonomous control module failure. This status switching early warning mechanism effectively improves the adaptability and safety of the mining shuttle car in complex environments.

[0062] In one possible implementation, a three-level security protection system is set up: Level 1: The vehicle terminal monitors the vehicle status in real time (such as brake pressure and steering angle). If any abnormality is detected, an alarm is triggered and the maximum speed is limited or the vehicle is stopped. The vehicle is put into operation after maintenance is completed. Level 2: If critical sensors (such as millimeter-wave radar and vision cameras) fail, reduce vehicle speed, inspect and replace them, and put the vehicle back into operation after they are in good working order. Level 3: If all autonomous controls fail, the system will automatically trigger a braking signal to stop the vehicle and send a fault code to the remote controller, requesting manual remote intervention.

[0063] In one possible embodiment, the steps of the autonomous driving method for a mining shuttle car based on a remote control device are as follows: The machine switches to autonomous driving mode. Remote control switch to autonomous driving mode The shuttle car is started by pressing the oil pump button remotely. After starting, the initial speed command is given via the remote control. Upon receiving this command, the shuttle car's unmanned driving controller uses millimeter-wave radar sensors around the shuttle car to determine its operating boundaries. After confirming that the surrounding environment is normal (if abnormalities are detected, the abnormality information is sent to the remote operator), the controller provides a planned route. The shuttle car begins operation according to the pre-determined route, autonomously accelerating, decelerating, and turning based on the surrounding environment. If the road conditions ahead are complex, speed control is transferred to the remote operator, who sets a fixed speed and then uses remote steering to guide the shuttle car out of narrow areas. When the shuttle car reaches a distance of 10 meters from the roadheader, it automatically slows down to a snail's pace and automatically transfers control to the remote operator. The remote operator then moves the shuttle car to the rear of the roadheader based on its position within the tunnel. Upon reaching the rear, the coal loading information is sent to the roadheader via remote control, and the shuttle car begins loading coal. Based on the real-time coal information transmitted back from the hopper, the scraper movement is controlled. After loading the coal, the shuttle car is given an initial speed command to return. Upon receiving this command, the shuttle car's unmanned driving controller uses millimeter-wave radar sensors around the shuttle car to determine the shuttle car's operating boundaries. After confirming that there are no abnormalities in the surrounding environment (if there are abnormalities, the abnormality information will be given to the remote operator), the controller provides a path planning route. According to the pre-determined route, the shuttle car starts to run. When it reaches 10 meters from the crusher, the shuttle car automatically slows down to a snail's pace and hands over control to the remote operator. The remote operator then begins unloading the coal, and the above operation is repeated.

[0064] To achieve the above embodiments, this application also proposes an autonomous driving device for a mining shuttle car based on a remote control device.

[0065] Figure 5 This is a schematic diagram of the structure of an autonomous driving device for a mining shuttle car based on a remote control device, provided in an embodiment of this application.

[0066] like Figure 5 As shown, the device may include: The map generation module 510 is used to collect environmental data in the tunnels where the mine shuttle car runs, and generate a global environmental perception map based on the environmental data. The path planning module 520 is used to perform path planning based on the global environment perception map to obtain path information; The path adjustment module 530 is used to adjust the path information according to the control command for the mining shuttle car; The control module 540 is used to control the movement of the mining shuttle car according to the path information and the control instructions.

[0067] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of this embodiment, and will not be repeated here.

[0068] To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in the foregoing method embodiments.

[0069] To implement the above embodiments, this application also proposes a computer program product having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in the foregoing method embodiments.

[0070] To implement the above embodiments, this application also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in the foregoing method embodiments.

[0071] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example, the electronic device 800 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0072] Reference Figure 6 The electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input / output (I / O) interface 812, sensor component 814, and communication component 816.

[0073] Processing component 802 typically controls the overall operation of electronic device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0074] Memory 804 is configured to store various types of data to support the operation of electronic device 800. Examples of such data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, etc. Memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0075] Power component 806 provides power to various components of electronic device 800. Power component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800.

[0076] Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When the electronic device 800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0077] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when electronic device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

[0078] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0079] Sensor assembly 814 includes one or more sensors for providing state assessments of various aspects of electronic device 800. For example, sensor assembly 814 can detect the on / off state of electronic device 800, the relative positioning of components such as the display and keypad of electronic device 800, changes in position of electronic device 800 or a component of electronic device 800, the presence or absence of user contact with electronic device 800, orientation or acceleration / deceleration of electronic device 800, and temperature changes of electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0080] Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. Electronic device 800 can access wireless networks based on communication standards, such as WiFi, 4G, or 5G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0081] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0082] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, which can be executed by a processor 820 of an electronic device 800 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0083] To implement the above embodiments, this application also proposes a chip, including: the chip includes a processing circuit configured to perform the methods provided in the foregoing embodiments.

[0084] Figure 7 This is a schematic diagram of the structure of a chip according to an embodiment of this application. See also... Figure 7 The diagram shown is a schematic representation of the structure of chip 1100, but it is not limited to this.

[0085] Chip 1100 includes processing circuitry 1101, which is configured to perform any of the above methods.

[0086] In some embodiments, chip 1100 further includes one or more interface circuits 1102. Optionally, the interface circuit 1102 is connected to memory 1103, and the interface circuit 1102 can be used to receive signals from memory 1103 or other devices, and the interface circuit 1102 can be used to send signals to memory 1103 or other devices. For example, the interface circuit 1102 can read instructions stored in memory 1103 and send the instructions to processing circuit 1101.

[0087] In some embodiments, the interface circuit 1102 performs at least one of the communication steps such as sending and / or receiving in the above method, while the processing circuit 1101 performs other steps.

[0088] In some embodiments, the terms interface circuit, interface, transceiver pin, transceiver, etc., can be used interchangeably.

[0089] In some embodiments, chip 1100 further includes one or more memories 1103 for storing instructions. Optionally, all or part of the memories 1103 may be located outside of chip 1100.

[0090] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0091] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0092] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0093] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0094] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0095] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0096] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0097] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for autonomous driving of a mining shuttle car based on a remote control device, characterized in that, include: Collect environmental data in the tunnels where the mine shuttle car operates, and generate a global environmental perception map based on the environmental data; Path planning is performed based on the global environment perception map to obtain path information; The path information is adjusted according to the control commands for the mining shuttle car; The movement of the mining shuttle is controlled according to the path information and the control instructions.

2. The method according to claim 1, characterized in that, The environmental data includes: obstacle location, road surface slope, road surface slope humidity, alley width, alley height, and dust concentration. Generating a global environmental perception map based on the environmental data includes: The environmental data is fused using a filtering algorithm; Static obstacle information, dynamic moving target information, and tunnel boundary information are extracted from the fused environmental data. The global environment perception map is constructed based on the static obstacle information, dynamic moving target information, and alleyway boundary information.

3. The method according to claim 2, characterized in that, The control commands include: path control commands and vehicle control commands. Adjusting the path information based on the control commands for the mining shuttle car includes any one of the following: If there is no conflict between the path control command and the path information, then the path control command is adopted as the travel path of the mining shuttle car. If a conflict exists between the path control command and the path information, a conflict warning is sent to the airborne unmanned driving control center, and the path information is adjusted.

4. The method according to claim 3, characterized in that, The vehicle control commands include: oil pump start / stop commands, transfer start / stop commands, speed commands, steering commands, and braking commands. Controlling the movement of the mining shuttle car based on the path information and the control commands includes: Determine the priority of the received vehicle control commands; In response to receiving at least two of the vehicle control commands, the vehicle control command with the highest priority is executed.

5. The method according to claim 4, characterized in that, The method of controlling the movement of the mining shuttle car according to the path information and the control command further includes at least one of the following: The motor torque is adjusted according to the speed command so that the mining shuttle car moves at a preset speed. The steering angle is calculated based on the path information and the steering command, and the steering cylinder is controlled by an electro-hydraulic proportional valve to make the mining shuttle car turn. The braking device is controlled according to the braking command to brake the mining shuttle.

6. The method according to claim 5, characterized in that, The method further includes: The vehicle status of the mining shuttle car is determined based on the vehicle status data of the mining shuttle car. A status warning will be issued based on the vehicle's status.

7. The method according to claim 6, characterized in that, The step of determining the vehicle status of the mining shuttle car based on its vehicle status data and issuing a status warning based on the vehicle status includes at least one of the following: In response to the vehicle status data exceeding the preset normal range, the vehicle status is determined to be abnormal, and the speed of the mining shuttle car is limited to be lower than the preset speed limit. In response to abnormal sensor data in the vehicle status data, the vehicle status is determined to be abnormal, and the sensor is replaced. In response to an anomaly in the autonomous control module of the vehicle status data, the vehicle status is determined to be abnormal, and the mining shuttle car is switched to manual remote control mode.

8. A mine shuttle car autonomous driving device based on a remote control device, characterized in that, include: The map generation module is used to collect environmental data in the tunnels where the mine shuttle car runs, and generate a global environmental perception map based on the environmental data. The path planning module is used to plan paths based on the global environment perception map and obtain path information. The path adjustment module is used to adjust the path information according to the control commands for the mining shuttle car; The control module is used to control the movement of the mining shuttle car according to the path information and the control instructions.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method as described in any one of claims 1-7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of the preceding claims 1-7.

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