Backup operation method for unloading operation during trial operation of unmanned vehicle

Abstract

The application discloses a kind of unmanned vehicle commissioning period unloading operation backup protection operation method, contain seven-step process: operation preparation when unmanned wisdom dispatch control platform real-time acquisition tank position, vehicle position, equipment state data;Backup protection remote control device self-check power-on and the vehicle-mounted receiving module of specified vehicle pairing, platform releases exclusive operation permission to form double control and management of unloading;Platform checks that tank is in position and vehicle is in waiting area Two preconditions are established simultaneously, and then issue alignment, lifting bucket permission, command is driven vehicle by vehicle-mounted receiving module and carries out corresponding operation action;In dangerous situation, hardware level high priority emergency stop can be triggered, synchronous lock car falls back to container, after emergency stop locking state is released, it can restore normal control authority only by manual review confirmation;After operation is completed, equipment is powered off and is stored;The application is equipped with double redundant transmitter, lengthens suction disc antenna to guarantee mountain communication stability, supports working condition data back transmission traceability and adapts to multiple construction scenes.

Description

Technical Field

[0001] This invention belongs to the field of safety control technology for unmanned vehicles in water conservancy projects, and more specifically, relates to a backup protection operation method for unloading operations during the trial operation of unmanned vehicles. Background Technology

[0002] In the concrete construction of hydropower dams, concrete transport trucks are commonly used in conjunction with cable cranes to transport materials. After receiving the concrete at the mixing plant, the trucks travel horizontally to a platform halfway up the mountain overlooking the valley, where the concrete is unloaded into a cable crane's hopper. The cable crane then vertically transports the concrete to the valley floor for pouring. With the implementation of 5G communication, V2X vehicle-to-everything (V2X) technology, cloud computing, and autonomous driving, driverless concrete transport trucks are gradually being applied to the horizontal concrete transfer process in dam construction. Compared to traditional manually driven vehicles, driverless vehicles have significant advantages in path planning, continuous operation, and avoiding human fatigue, making them core equipment for intelligent dam construction.

[0003] Before the full deployment of autonomous driving systems, there is a long trial operation period. During this stage, the autonomous driving main control system has not yet completed full-condition verification and generally suffers from multiple safety hazards, including environmental perception deviations, decision-making logic defects, program logic misjudgments, wireless communication interruptions, on-board actuator jamming, and incorrect control commands issued by the cloud scheduling platform. The unloading platform is a high-risk operation area near the edge. Vehicles need to precisely reverse to the predetermined unloading point at the edge of the platform to complete the unloading. Only conventional protective fences are set up outside the platform, and below the fences is a valley tens to hundreds of meters deep. If the autonomous vehicle loses control during reversing and crosses the boundary during the trial operation, it is very likely to cause the entire vehicle to fall into the valley, resulting in complete destruction of the vehicle and equipment, casualties on site, and interruption of the dam concrete pouring process, among other major safety and economic losses.

[0004] The current unmanned operation control system for dam unloading relies solely on a cloud-based intelligent dispatch and management platform to centrally control the entire process of vehicle driving, positioning, unloading, and departure. Vehicles rely only on onboard ultrasonic radar and visual cameras for conventional obstacle recognition and active braking, lacking an independent on-site human backup intervention and protection mechanism separate from the autonomous driving main control system and cloud dispatch platform. Existing remote control solutions have significant shortcomings: First, there is no on-site safety officer to intervene in the control channel in real time. When the cloud dispatch platform's instructions are wrong or the autonomous driving system fails, there are no on-site emergency remedial control measures. Second, the core unloading action lacks pre-condition interlock verification logic, which can easily lead to erroneous operations such as reversing for alignment or lifting the cargo box for unloading when the hoist is not in place or the vehicle has not reached the designated unloading area. Third, there is no hardware-level highest priority emergency stop protection mechanism. In the face of sudden dangers such as vehicle trajectory deviation, material overload with front wheels off the ground, collision with guardrail, and loss of control of the whole vehicle, it is unable to lock the vehicle instantly and eliminate the risk of overturning and falling into the valley. Fourth, the existing remote control terminals have poor protection performance and lack the ability to resist impact, water, dust and moisture. The open-air construction environment of the dam, with its dusty and humid mountainous terrain, is prone to circuit failures, which further amplifies the safety risks of the operation.

[0005] In summary, existing technologies lack backup protection devices and supporting operating methods that are adapted to the unloading scenario at the edge of the dam, independent of the unmanned main control system, and have dual control, access interlocking, hardware-level emergency stop, and high environmental protection capabilities. Therefore, they cannot meet the safety production control requirements for unloading operations during the trial operation phase of unmanned vehicles. Summary of the Invention

[0006] To address the aforementioned problems in existing technologies, this invention provides a backup protection method for unloading operations during the trial operation of unmanned vehicles. This method constructs a dual human-machine collaborative management process involving cloud-based pre-screening and on-site confirmation via a safety officer's handheld terminal. It is complemented by a dual-redundant wireless two-way closed-loop communication mechanism, a full-domain emergency stop handling procedure with an independent hardware interruption channel, and standardized operating procedures adapted to mountainous open-air conditions. The complete process encompasses operation preparation, wireless pairing and permission allocation, interlocked collaborative positioning and unloading, vehicle departure, hardware-level emergency stop, and equipment storage. Before positioning and bucket lifting actions, the position conditions of the bucket and vehicle are forcibly verified; if these conditions are not met, the operation command is blocked, triggering a backup protection method at any stage of the operation. The self-locking emergency stop can output a hardware-level braking and descent signal that is higher than all autonomous driving and dispatch commands. At the same time, it relies on one-to-one standby wireless transmission switching and vehicle-mounted extended suction cup antenna to ensure stable communication in the valley environment. The operation process can be adapted and adjusted according to single vehicle / corrosion / long-distance working conditions. This method eliminates two-way human-machine misoperation through pre-interlocking steps, builds the last line of defense against the risk of falling into the valley with independent hardware emergency stop process, ensures reliable transmission of commands in complex terrain through redundant communication process, and balances safety and transfer efficiency through layered human-machine division of labor process. It effectively solves the major safety hazard of vehicles losing control and falling into the valley when unloading near the edge during trial operation, and greatly improves the safety redundancy, emergency response reliability and adaptability of unmanned unloading operations at the dam and mountain construction.

[0007] To achieve the above objectives, one aspect of the present invention provides a backup protection operation method for unloading operations during the trial operation of an unmanned vehicle, comprising the following steps: S1. When the unmanned vehicle drives to the unloading platform waiting area, the unmanned intelligent dispatch and control platform collects the real-time data of the bucket position, vehicle position, and equipment status, generates the pre-verification permission signal corresponding to the alignment and bucket lifting actions, and sends it to the backup protection remote control device. S2. The safety officer turns on the power supply of the backup protection remote control device. After the device completes its self-test, it automatically matches the on-board receiver module of the designated vehicle. The unmanned intelligent dispatch and control platform synchronously grants the backup protection remote control device exclusive control authority for unloading, forming a dual control mode of platform global dispatch + on-site confirmation by the safety officer. S3. The unmanned intelligent dispatch and control platform verifies the two prerequisites of the tanker being in place and the vehicle being in the waiting area and issues a permission signal. After the safety officer confirms safety on site, he presses the alignment button of the backup protection remote control device. After receiving the instruction, the vehicle VCU controls the vehicle to perform low-speed reversing alignment from the waiting area. If either prerequisite is not met, the alignment button will not output any action. S4. After the vehicle reverses into position, it sends a signal to the unmanned intelligent dispatch and control platform, and the platform grants the lifting bucket operation permission. After the safety officer confirms that there are no personnel in the unloading area, he presses the lifting bucket button of the backup protection remote control device to execute unloading. After unloading is completed, he presses the lowering bucket button to control the cargo box to fall back to the horizontal position. S5. After all unloading and bucket lowering processes are completed, press the drive-away button to control the unmanned vehicle to drive away from the unloading platform. S6. In case of an emergency during any operation, the safety officer presses the self-locking emergency stop button 11, and the highest priority emergency stop command is issued through the independent hardware channel. The vehicle immediately locks its brakes and forces the cargo box to fall back. After the emergency stop is lifted, manual verification and confirmation are required before vehicle control can be restored. S7. After finishing the work for the day, turn off the power of the backup protection remote control device, replenish the power through the Type-C charging port according to the remaining power display on the LCD screen, and then put the equipment away.

[0008] Furthermore, the backup protection system for unloading operations during the trial operation of the unmanned vehicle used to implement the method includes a backup protection remote control device, an on-board receiving module, and an unmanned intelligent dispatch and control platform; the backup protection remote control device establishes a two-way communication connection with the on-board receiving module and the unmanned intelligent dispatch and control platform respectively. The backup protection remote control device is a handheld CAN bus industrial wireless remote control terminal for safety personnel, equipped with 12 independent action output channels; the effective wireless communication distance in open environments can reach 300m, and the signal coverage area completely covers the entire operating area of ​​the dam unloading platform; the backup protection remote control device is compatible with DC / AC 9V~24V wide voltage input. The vehicle-mounted receiving module includes a wireless receiver and an external suction cup antenna. The wireless receiver is fixed inside the vehicle's electrical cabinet, and the external suction cup antenna is electrically connected to the wireless receiver. The suction cup antenna can be detachably attached to the vehicle's metal shell via magnetic attraction to enhance wireless reception in valley conditions. The wireless receiver is equipped with a CAN bus signal conversion hardware circuit, which receives CAN bus wireless control commands from the backup protection remote control device and converts the wireless signal into an electrical signal that can be recognized by the vehicle's electronic control system (VCU) to drive the vehicle to perform the corresponding unloading action. The unmanned intelligent dispatch and control platform is used to collect multi-dimensional data in real time, such as the spatial coordinates of the cable crane and the canister, the location of the unmanned vehicle, and the operating fault status of the on-board equipment. Based on the collected data, it outputs the precondition verification permission signal corresponding to the alignment and bucket lifting actions.

[0009] Furthermore, the backup protection remote control device includes a device body, a protective shell covering the outside of the device body, a control and display module, a function button module, and an auxiliary accessory module; The device integrates four types of core electrical components: dual wireless transmitters, main control circuit board, independent relay module, and lithium battery module. The protective shell adopts a double-layer composite protective structure; the outer layer of the protective shell is made of PC polycarbonate material and is integrally injection molded, while the inner layer is lined with TPU thermoplastic polyurethane buffer layer; thickened airbag buffer structures are set at the four corners of the shell; and annular silicone sealing rings are installed at all splicing gaps of the shell. The control and display module includes a power switch, an LCD screen, and a vehicle identification label; The function button module is equipped with 12 independent action buttons, which can respectively realize the unloading action control of controlled vehicle No. 1 and controlled vehicle No. 2; The auxiliary accessory module includes a connecting ring mounted on the bottom edge of the protective housing 2, a lanyard connected to the connecting ring, and a Type-C charging port opened on the side of the protective housing 2.

[0010] Furthermore, the dual wireless transmitter consists of two independent dual wireless transmitters, which adopt a redundant switching architecture with one in use and one in standby. The main control circuit board integrates a signal analysis submodule, a logic interlocking submodule, and an instruction feedback submodule. The main control circuit board can receive the working condition verification signal issued by the autonomous driving intelligent dispatch and control platform, and set the operation permission pre-locking mechanism for the positioning button and the bucket lifting button based on the logic interlocking submodule. At the same time, the main control circuit board transmits the safety officer's button operation signal and the vehicle's real-time operating status data back to the autonomous driving intelligent dispatch and control platform through a wireless link to realize the closed-loop upload of the entire process status. The relay module is equipped with independent relays for the emergency stop control circuit and each action button control circuit, and the relays achieve physical isolation of multiple control electrical signals.

[0011] Furthermore, the power switch is a two-position rotary switch, divided into an on-state and an off-state. The LCD screen is embedded in the upper part of the protective shell and is used to display the equipment's operating parameters in real time. The parameter types include wireless signal strength, remaining battery power, operating status of controlled vehicle 1 / controlled vehicle 2, dispatch instructions issued by the unmanned intelligent dispatch and control platform, and on-site remote control operation instructions from the safety officer. The dispatch instructions include four types of vehicle driving status indicators: waiting for task, vehicle in alignment, alignment completed, and vehicle leaving. The remote control instructions include four types of unloading action indicators: alignment, bucket raising, bucket lowering, and leaving. The vehicle identification labels are affixed to the lower side of the LCD screen, with the left side labeled "Controlled Vehicle No. 1" and the right side labeled "Controlled Vehicle No. 2," to enable independent management of the two unmanned vehicles in separate zones.

[0012] Furthermore, the specific structure and control logic of each button in the control and display module are as follows: The spare button adopts a self-resetting button structure and reserves a hardware expansion interface to support future upgrades and expansions to add unloading auxiliary control functions. The alignment button adopts a self-resetting button structure and establishes an interlock verification logic with the unmanned intelligent dispatch and control platform. Only when the platform simultaneously verifies and passes both the preconditions of the bucket being in place and the unmanned vehicle entering the designated unloading waiting area, can the alignment button output a valid reversing control command to drive the vehicle to reverse and align at low speed from the waiting area. If either precondition fails to pass the verification, pressing the alignment button will not output a control command, the vehicle will not perform a reversing action, and the backup protection remote control device will send the invalid operation record back to the unmanned intelligent dispatch and control platform for storage. The lifting bucket button adopts a self-resetting button structure, and its operation permission is constrained by the front-end logic of the unmanned intelligent dispatch and control platform. Only when the platform verifies and confirms that the vehicle is in the correct position and meets the conditions for unloading, the lifting bucket button can output the cargo box lifting command to control the vehicle to perform concrete unloading. If the verification conditions are not met, the button is locked and there is no output. The lowering button adopts a self-resetting button structure. After the unloading operation is completed, pressing it outputs the cargo box lowering command, controlling the vehicle cargo box to fall back to a horizontal and flat position. The departure button adopts a self-resetting button structure. After the unloading and lowering of the cargo box are completed, pressing the button will output a departure command, driving the unmanned vehicle to leave the unloading platform. The emergency stop button adopts a self-locking button structure and is the highest priority control component of the whole machine. It is equipped with an independent normally open and normally closed dual-circuit dedicated relay circuit. When the vehicle is in any driving or unloading condition, pressing the emergency stop button will close the relay contacts, instantly locking the vehicle's brakes to bring the vehicle to a complete stop. At the same time, it will link the vehicle's hydraulic system to force the cargo box to fall back to a horizontal position. Pressing the emergency stop button 11 again will open the relay contacts, releasing the vehicle's emergency stop lock state, and the vehicle can then be returned to control.

[0013] Furthermore, the unmanned intelligent dispatch and control platform includes a multi-source sensor data acquisition module, a working condition logic verification module, a two-way communication interaction module, a data storage and traceability module, and a human-machine visualization monitoring module; The multi-source sensor data acquisition module is used to collect and preprocess the raw sensor information of the tank, vehicle, and on-board equipment. The working condition logic verification module is used to determine the preconditions for unloading based on the collected data and output a permission signal. The two-way communication interaction module is used to realize uplink and downlink data interaction between the platform and the backup protection remote control device and the vehicle-mounted receiving module. The data storage and traceability module is used to store full-process operation data for retrospective verification. The human-machine visualization monitoring module is used to realize real-time visualization of the entire unloading process.

[0014] Furthermore, the scope of the unloading-specific control authority mentioned in step S2 only includes five types of unloading-related control commands: alignment, bucket raising, bucket lowering, departure, and emergency stop.

[0015] Furthermore, the backup protection system for unloading operations during the trial operation of the unmanned vehicle adopts a bidirectional closed-loop wireless communication architecture, specifically including downlink command transmission and uplink status feedback. Downlink command transmission means that after the safety officer triggers the function button, the main control circuit board inside the backup protection remote control device encapsulates the positioning, bucket raising, bucket lowering, departure, and emergency stop button action commands into a custom CAN bus radio frequency signal, which is transmitted through a dual redundant wireless transmitter. The vehicle-mounted receiver module's suction cup antenna receives and decodes the signal, converting it into an electrical signal and sending it to the vehicle's VCU vehicle controller. Uplink status feedback refers to the process where vehicle operating status, fault information, and action execution results are reverse-encapsulated into radio frequency wireless signals by the on-board receiving module and transmitted back to the backup protection remote control device. These signals are then displayed visually on the LCD screen and simultaneously uploaded to the unmanned intelligent dispatch and control platform to form a closed-loop interactive monitoring system.

[0016] Furthermore, the backup protection remote control device is equipped with an audible and visual alarm module. When the function button is triggered or the emergency stop button is activated, it simultaneously outputs a high-decibel buzzer and an LED flashing light as dual warning signals. In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: (1) The method of this invention avoids the major safety risk of falling into the valley from the source by constructing a dual verification operation logic of platform coordination and on-site manual verification. Specifically, the cloud scheduling pre-verification process and the on-site confirmation process by the safety officer are bound as the dual necessary prerequisites for the unloading action to take effect, forming a double safety barrier for the inherent unstable working conditions such as perception failure, program misjudgment, and communication abnormality during the trial operation of unmanned vehicles. Only when the scheduling platform completes the compliance verification of the position of the hoisting tank and the vehicle, and the safety officer conducts on-site survey and confirms that there are no personnel, obstacles, or risks of falling into the valley in the unloading area, can the reversing and unloading actions be performed. This completely avoids the defects of the existing single cloud control mode, where there is no on-site intervention channel when the platform command is wrong or the vehicle is out of control. It effectively prevents unmanned vehicles from falling into the valley after crossing the unloading fence, avoiding major safety accidents such as equipment damage, personnel injury, and construction interruption.

[0017] (2) The method of the present invention adds a unified pre-verification step before the key actions of positioning and lifting the bucket. The dispatching platform verifies the hard operating conditions such as the positioning of the bucket and the parking position of the vehicle in real time. If the conditions are not met, the remote control terminal automatically blocks the corresponding action command, and no vehicle responds when the button is pressed manually. On the one hand, it avoids system misoperations such as unloading in place and blind reversing caused by defects in the cloud dispatching logic; on the other hand, it restricts human error caused by safety officers arbitrarily triggering unloading actions, and at the same time, it completely retains invalid operation interaction records, which is convenient for later fault tracing, unifies the standardized operation specifications for unmanned unloading of dams, and reduces the probability of operation errors throughout the process.

[0018] (3) The method of this invention adopts a two-way closed-loop wireless communication interaction process to realize visualized closed-loop monitoring of the entire operation process; specifically, it stipulates a two-way data synchronous transmission mechanism for uplink and downlink: the downlink side sends remote control action commands through dual redundant transmission links, and the backup link automatically switches when the main transmitter fails, ensuring that the command transmission is not interrupted in the mountainous and obstructed environment; the uplink side transmits the vehicle operation status and action execution feedback back to the handheld terminal display screen and the cloud dispatch platform in real time, so that the safety officer can intuitively grasp the vehicle and dispatch command operation status in real time and eliminate the problem of information asymmetry. The entire communication interaction process relies on the customized CAN protocol to complete standardized data encapsulation and parsing, adapt to the complex terrain of the dam valley, and continuously ensure stable communication and traceability of status during the operation process.

[0019] (4) The method of this invention fully defines seven standardized procedures: operation preparation, link pairing and authorization, collaborative positioning, collaborative unloading, vehicle departure, emergency protection, and operation completion. The division of labor is clear: the cloud scheduling platform is responsible for global location collection and automated pre-condition determination, reducing the workload of safety officers in data analysis; the safety officer relies on on-site visual perception to complete on-site risk verification and emergency response, fully integrating the automation advantages of the unmanned driving system and the advantages of manual on-site situation judgment. The entire operation process does not require modification of the existing dam concrete transportation line. Under the premise of adding a multi-layered safety safety net mechanism, it will not reduce the efficiency of continuous unmanned vehicle transportation construction and is suitable for the normalized unloading operation requirements during the trial operation phase.

[0020] (5) The method of the present invention can be adapted to three terminal working conditions to adjust the operation logic: for single-vehicle unloading scenarios, it simplifies the operation steps related to dual-vehicle communication pairing and dual-vehicle status display; for rainy and highly corrosive construction sites, it can simultaneously perform shell protection matching operations; in long-distance operation scenarios, it can be coordinated with sound and light alarms for synchronous operation, and the action execution status can be confirmed synchronously through sound and light prompts. The method can be adapted to unloading platforms of different sizes and different outdoor corrosive working conditions, with a wider range of applications. The execution process can be flexibly adjusted according to the hardware configuration of the construction site, and the engineering implementation adaptability is excellent. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a backup protection operation method for unloading operations during the trial operation of an unmanned vehicle, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the backup protection remote control device in a backup protection operation method for unloading operations during the trial operation of an unmanned vehicle according to an embodiment of the present invention.

[0022] In all the accompanying drawings, the same reference numerals indicate the same technical features, specifically: 1-device body, 2-protective housing, 3-power switch, 4-LCD display screen, 5-vehicle identification label, 6-spare button, 7-alignment button, 8-lifting bucket button, 9-lowering bucket button, 10-departure button, 11-emergency stop button, 12-aluminum alloy protective railing, 13-connecting ring, 14-hanging rope, 15-Type-C charging port, 16-dedicated function identification label. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0024] like Figure 1As shown, this invention provides a backup protection method for unloading operations during the trial operation of unmanned vehicles, implemented using a backup protection system for unloading operations during the trial operation of unmanned vehicles, including the following steps: S1. When the unmanned vehicle drives to the unloading platform waiting area, the unmanned intelligent dispatch and control platform collects the real-time data of the bucket position, vehicle position, and equipment status, generates the pre-verification permission signal corresponding to the alignment and bucket lifting actions, and sends it to the backup protection remote control device. S2. The safety officer turns on the power of the backup protection remote control device. After the backup protection remote control device completes its self-test and powers on, it automatically wirelessly matches the on-board receiver module of the designated vehicle. The unmanned intelligent dispatch and control platform synchronously grants the backup protection remote control device exclusive control authority for unloading, forming a dual control mode of platform global dispatch + on-site confirmation by the safety officer. S3. The unmanned intelligent dispatch and control platform verifies the two prerequisites of the tank being in place and the vehicle being in the waiting area and issues a permission signal. After the safety officer confirms safety on site, he presses the alignment button 7 of the backup protection remote control device, and the vehicle reverses at low speed to align. If the prerequisites are not met, the alignment button 7 does not output any action to the on-board receiving module, and the vehicle does not perform any action. S4. After the vehicle reverses into position, it sends a signal to the unmanned intelligent dispatch and control platform, which then grants the platform permission to lift the bucket. After the safety officer confirms that there are no personnel in the unloading area, he presses the bucket lifting button 8 of the backup protection remote control device to execute unloading. After unloading is completed, he presses the bucket lowering button 9, and the corresponding instruction is sent through the vehicle-mounted receiving module to control the cargo box to fall back to a horizontal position. S5. After all the unloading and bucket lowering processes are completed, press the departure button 10. The departure control command is wirelessly transmitted to the vehicle-mounted receiving module, which converts the electrical signal to drive the unmanned vehicle away from the unloading platform. S6. In the event of vehicle loss of control, collision with fence, or material imbalance during any operation phase, the safety officer presses the self-locking emergency stop button 11. The highest priority emergency stop command is transmitted to the vehicle-mounted receiving module through an independent hardware wireless channel. The vehicle-mounted receiving module simultaneously outputs locking and return-to-the-dump electrical signals, and the vehicle immediately locks and brakes and forcibly lowers the cargo box. After the emergency stop is released, manual verification is required before the vehicle-mounted receiving module can resume receiving regular control commands. S7. Work Completion: After the day's work is completed, turn off the power of the backup protection remote control device, replenish the power through the Type-C charging port according to the remaining power display, and store the equipment. The on-board receiver modules of each vehicle are simultaneously powered off and put into standby mode.

[0025] Furthermore, such as Figure 2As shown, the backup protection system for unloading operations during the trial operation of the unmanned vehicle includes a backup protection remote control device, an on-board receiving module, and an unmanned intelligent dispatch and control platform; the backup protection remote control device establishes a two-way communication connection with the on-board receiving module and the unmanned intelligent dispatch and control platform respectively.

[0026] Furthermore, such as Figure 2 As shown, the backup protection remote control device is a handheld CAN bus industrial wireless remote control terminal for safety personnel, equipped with 8 to 12 independent action output channels; the overall dimensions are 16cm×7cm×5cm to 20cm×9cm×6cm; the effective wireless communication distance in open environments can reach 200 to 300m, and the signal coverage completely covers the entire operating area of ​​the dam unloading platform; the device is compatible with DC / AC9V to 24V wide voltage input, and a Type-C charging interface is set on the side of the device, which can cycle charge the built-in lithium battery to ensure continuous operation of the equipment.

[0027] The vehicle-mounted receiving module wirelessly pairs and communicates with the backup protection remote control device. Each unmanned vehicle is independently equipped with one vehicle-mounted receiving module. The vehicle-mounted receiving module includes a wireless receiver and an external suction cup antenna. The wireless receiver is fixed inside the vehicle's electrical cabinet, and the external suction cup antenna is electrically connected to the wireless receiver. The suction cup antenna cable is 2-3 meters long and is attached to the vehicle's external metal shell by means of a suction cup structure. This can reduce the attenuation of wireless signals caused by valley terrain and unloading platform structures, and improve the stability of the wireless communication link in complex mountainous construction environments. The wireless receiver is used to receive CAN bus wireless control commands issued by the backup protection remote control device and converts the wireless signal into an electrical signal that can be recognized by the vehicle's electronic control system (VCU) to drive the vehicle to perform the corresponding unloading action.

[0028] The unmanned intelligent dispatch and control platform is deployed in the dam's central control room, serving as the overall dispatch hub for the entire system. The platform collects multi-dimensional data in real time, including the spatial coordinates of the cable crane and bucket, the location of the unmanned vehicle, and the operational fault status of the on-board equipment. Based on the collected data, it outputs pre-condition verification and permission signals corresponding to the alignment and bucket lifting actions.

[0029] Furthermore, such as Figure 2 The backup protection remote control device shown includes a device body 1, a protective shell 2 covering the outside of the device body 1, a control and display module, a function button module, and an auxiliary accessory module.

[0030] Furthermore, such as Figure 2The device body 1 shown integrates four types of core electrical components: dual wireless transmitters, main control circuit board, independent relay module, and lithium battery module. The device body 1 is equipped with 12 independent action control channels, and the device uplink and downlink wireless communication transmission rate is 250kbps to 500kbps. It adopts a custom CAN bus communication protocol to complete the bidirectional interaction of control commands and device status data, ensuring the stability of signal transmission.

[0031] The dual wireless transmitter consists of two independent sets of dual wireless transmitters, which adopt a redundant switching architecture with one in use and one in standby. When the main wireless transmitter fails or the signal is interrupted, the standby wireless transmitter automatically and seamlessly switches over to complete the transmission and reception of radio frequency signals, eliminating the risk of vehicle loss of control caused by the failure of a single transmission channel.

[0032] The main control circuit board integrates a signal analysis submodule, a logic interlocking submodule, and an instruction feedback submodule. The main control circuit board can receive the working condition verification signal issued by the autonomous driving intelligent dispatch and control platform, and set a pre-locking mechanism for the operation permission of the positioning button and the bucket lifting button based on the logic interlocking submodule. At the same time, the main control circuit board transmits the safety officer's button operation signal and the vehicle's real-time operating status data back to the autonomous driving intelligent dispatch and control platform through a wireless link, realizing a closed-loop upload of the entire process status.

[0033] The relay module is equipped with independent relays for the emergency stop control circuit and each action button control circuit. The relays achieve physical isolation of multiple control electrical signals, reduce the impact of electromagnetic interference on the circuit, and improve the reliability of the overall circuit operation.

[0034] Furthermore, such as Figure 2 The protective shell 2 shown adopts a double-layer composite protective structure; the outer layer of the protective shell is made of PC polycarbonate material and is integrally injection molded, which has high strength, impact resistance, drop resistance and not easy to crack mechanical properties; the inner liner is a TPU thermoplastic polyurethane buffer layer, which has excellent elasticity, wear resistance and compression deformation resistance; the four corners of the shell are equipped with thickened airbag buffer structure, which can absorb more than 70% of the impact load under the condition of equipment drop impact; all splicing gaps of the shell are equipped with annular silicone sealing rings to achieve IP-level waterproof, dustproof and moisture-proof vapor seal protection for the whole machine, which is suitable for the construction environment of dam open-air, high dust and high humidity mountainous areas.

[0035] Furthermore, such as Figure 2The control and display module shown is fixedly installed in the upper part of the protective housing 2, including a power switch 3, an LCD screen 4, and a vehicle identification label 5. The power switch 3 is a two-position rotary switch, divided into an on-state and an off-state, used for controlling the on / off of the power supply circuit of the whole machine. Before charging the equipment, the power switch must be rotated to cut off the power supply to the whole machine to avoid damage to the internal electrical components caused by the charging current. The LCD screen 4 is embedded in the upper part of the protective housing and is used to display the equipment's operating parameters in real time. The parameter types include wireless signal strength, remaining battery power, operating status of controlled vehicle 1 / controlled vehicle 2 (normal / fault status), dispatch instructions issued by the unmanned intelligent dispatch and control platform, and on-site remote control operation instructions from the safety officer. The dispatch instructions include four types of vehicle driving status indicators: waiting for task, vehicle in alignment, alignment completed, and vehicle departing. The remote control instructions include four types of unloading action indicators: alignment, bucket raising, bucket lowering, and departure. The two-position rotary power switch 3 is connected in series in the power supply circuit of the whole machine; the LCD screen 4 is electrically connected to the main control circuit board; the vehicle identification label 5 is affixed to the lower side of the LCD screen, with the left side labeled as controlled vehicle No. 1 and the right side labeled as controlled vehicle No. 2, so as to realize the independent management and control of the two unmanned vehicles in separate areas.

[0036] Furthermore, such as Figure 2 The function button module shown is located in the central button area of ​​the protective housing, with a total of 8 to 12 independent action buttons, which can respectively realize the unloading action control of single vehicle or dual vehicles (controlled vehicle 1 and controlled vehicle 2). An aluminum alloy protective railing 12 surrounds the buttons, with the top surface of the railing 0.8 to 1.2 cm higher than the top surface of the buttons. This serves two purposes: to buffer against impacts from external objects and protect the button structure, and to prevent unintentional accidental touches by personnel. Each button is equipped with a dedicated function label 16, clearly indicating the functional areas. The specific structure and control logic of each button are as follows: Backup button 6: It adopts a self-reset button structure, which serves as a reserved control channel for function expansion and a reserved hardware expansion interface to support future upgrades and expansions to add unloading auxiliary control functions. Alignment button 7: Adopts a self-resetting button structure and establishes interlock verification logic with the unmanned intelligent dispatch and control platform; only when the platform simultaneously verifies and passes both the preconditions of the bucket being in place and the unmanned vehicle entering the designated unloading waiting area can the alignment button output a valid reversing control command to drive the vehicle to reverse and align at low speed from the waiting area; if either precondition fails to pass the verification, pressing the alignment button will not output a control command, the vehicle will not perform the reversing action, and the equipment will send the invalid operation record back to the unmanned intelligent dispatch and control platform for storage; Lifting Bucket Button 8: Adopts a self-resetting button structure, and the operation permission is constrained by the front-end logic of the unmanned intelligent dispatch and control platform; only when the platform verifies and confirms that the vehicle is in the correct position and has the conditions for unloading can the lifting bucket button output the cargo box lifting command to control the vehicle to perform concrete unloading; when the verification conditions are not met, the button is locked and there is no output, avoiding the safety hazard of the vehicle not being in position for unloading. Lowering button 9: It adopts a self-resetting button structure. After the unloading operation is completed, pressing it outputs the cargo box lowering command, controlling the vehicle cargo box to fall back to a horizontal and flat position. Departure button 10: It adopts a self-resetting button structure. After the unloading and lowering of the cargo box are completed, pressing the button will output the departure command and drive the unmanned vehicle away from the unloading platform. Emergency Stop Button 11: Adopting a self-locking button structure, it is the highest priority control component of the entire machine, equipped with an independent normally open and normally closed dual-circuit dedicated relay circuit; under any driving or unloading conditions, pressing the emergency stop button will close the relay contacts, instantly locking the vehicle's brakes to bring the vehicle to a complete stop, and simultaneously linking the vehicle's hydraulic system to force the cargo box to fall back to a horizontal position; pressing the emergency stop button again will open the relay contacts, releasing the vehicle's emergency stop lock state, and the vehicle can then be returned to control; this button can handle various on-site emergencies such as vehicle electrical control failure, material imbalance with front wheels off the ground, vehicle loss of control crashing into protective fences, and reversing across boundaries and falling into valleys.

[0037] Furthermore, such as Figure 2 The auxiliary accessory module shown includes a connecting ring 13, a lanyard 14, and a Type-C charging interface 15. The connecting ring 13 is fixedly mounted on the bottom edge of the protective shell 2 for mounting and fixing the lanyard 14. The lanyard 14 is a flexible rope structure, with one end connected to the connecting ring 13, for the on-site safety officer to wear around their neck, enabling handheld and portable operation. The Type-C charging interface 15 is located on the side of the protective shell 2, serving as a dedicated charging channel for the built-in lithium battery. When the device's battery is low, the power supply to the entire machine must first be cut off via the power switch 3 before connecting the charging cable to complete the charging process, ensuring the electrical safety and long-term stable operation of the device.

[0038] Furthermore, the aforementioned intelligent dispatch and control platform for unmanned driving comprises five functional modules. These modules work together to complete the entire process of multi-source data acquisition, operational condition verification, command interaction, status storage, and visualization, as detailed below: Multi-source sensor data acquisition module: It connects to the cable crane positioning sensor equipment, vehicle GPS positioning unit, vehicle VCU, vehicle position sensor, vehicle receiving module, and backup protection remote control device respectively, and continuously collects raw sensor data such as the three-dimensional coordinates of the hoisting tank, vehicle position, vehicle speed, communication signal-to-noise ratio, equipment fault, and remote control online heartbeat, and completes signal noise reduction preprocessing. Operating condition logic verification module: It has built-in unloading action pre-judgment logic, receives standardized position data output by the acquisition module, and verifies three core conditions in real time: "hoisting tank in position", "vehicle in waiting area", and "vehicle reversed into position". After the verification is passed, it generates two types of authorization signals, namely positioning permission and lifting permission, and sends them to the backup protection remote control device; if the verification fails, it locks the corresponding action authorization channel. Two-way communication interaction module: Establishes two-way wireless communication links with the backup protection remote control device and the vehicle-mounted receiving module of each vehicle, sends down the pre-verification permission signal and global scheduling command; receives remote control button operation records, vehicle execution feedback and fault alarm data, and completes CAN protocol data encapsulation and parsing. Data storage and traceability module: persistently stores the time-series data of the hoisting tank location, vehicle running trajectory, remote control operation records, fault alarm records, and the results of each pre-verification judgment. It supports historical working condition backtracking, misoperation and fault source tracing, and meets the safety operation and maintenance verification needs of the construction site. Human-machine visualization monitoring module: Deployed in the central control room display terminal, it provides real-time visualization of the entire unloading platform, including the real-time location of the tanks and vehicles, the online status of the equipment, the current verification and permission indicators, and historical alarm pop-ups, allowing central control operation and maintenance personnel to monitor the overall unloading operation status.

[0039] The steps of the method of the present invention will be described in detail below.

[0040] (1) Preparatory work The driverless concrete transport vehicle drives to the pre-set waiting area of ​​the unloading platform and stops; the driverless intelligent dispatch and control platform collects multi-dimensional status data in real time, including the spatial coordinates of the cable crane and hoist, the real-time location of the driverless vehicle, and the operating status of the on-board sensors, and continuously outputs the pre-verification and judgment benchmarks for each action step; specifically including: The unmanned intelligent dispatch and control platform establishes communication links with the cable crane positioning sensor unit, the unmanned vehicle positioning module, and various vehicle-mounted sensor acquisition units. It continuously and synchronously collects the real-time three-dimensional coordinates and lifting operation parameters of the cable crane and canopy, the GPS positioning, real-time speed, and reversing trajectory data of each unmanned vehicle, as well as the vehicle-mounted VCU operating parameters, the feedback level signal of the vehicle positioning sensor, the communication signal-to-noise ratio of the vehicle-mounted receiving module, the online heartbeat signal of the backup protection remote control device, and the original sensor data of the whole machine fault alarm. The platform performs filtering and noise reduction, coordinate conversion, and signal normalization on the received multi-source raw sensor data, eliminates invalid noise data caused by environmental interference, unifies the position coordinate reference of the tank and vehicle, and outputs standardized position and working condition data packets. The platform will cache the standardized data of the completed bucket position, vehicle position, and equipment operating conditions in real time, and simultaneously compare the threshold to determine whether the bucket is in place and whether the vehicle is in the unloading waiting area. It will generate the pre-verification permission signal corresponding to the alignment and bucket lifting actions and send it to the backup protection remote control device. (2) Wireless link establishment and operation permission allocation The on-site safety officer wears a backup protection remote control device and rotates the power switch to the power-on position to power on the entire device. After the device is started, the internal hardware performs a self-test, and the LCD screen simultaneously displays the wireless signal strength, remaining battery power, and the initial operating status of the controlled vehicle. The backup protection remote control device automatically establishes a wireless pairing communication link with the on-board receiver module of the pre-bound number (such as vehicle No. 1). The unmanned intelligent dispatch and control platform synchronously grants exclusive unloading operation permissions to the backup protection remote control device. The scope of permissions only includes five types of unloading-related control commands: positioning, bucket raising, bucket lowering, departure, and emergency stop. This forms a dual control architecture of "global overall verification by the dispatch platform + on-site manual confirmation by the safety officer".

[0041] (3) Human-machine collaborative alignment control process Step S3 specifically includes: 1) The unmanned intelligent dispatch and control platform completes the overall working condition collaborative judgment, confirms the cable crane and canister in place, and guides the unmanned vehicle to drive into the designated waiting area of ​​the unloading platform; 2) The platform simultaneously verifies the two prerequisites: "the container is in place" and "the vehicle is in the waiting area". When both conditions are met, the platform sends a positioning permission signal to the safety officer's backup protection remote control device. 3) After the safety officer conducts an on-site survey of the surrounding environment of the unloading platform and the valley edge area to ensure there are no personnel or obstacles, press the self-resetting alignment button 7; the backup protection remote control device encapsulates the alignment control command and sends it to the vehicle VCU vehicle controller. 4) After receiving the instruction, the vehicle's VCU controls the vehicle to reverse and align itself at low speed from the waiting area, and the real-time action status of the vehicle is synchronously transmitted back to the unmanned intelligent dispatch and control platform. If any of the pre-alignment verification conditions are not met, the alignment button command output channel will be automatically blocked, and pressing the button will not trigger any control action.

[0042] (4) Human-machine collaborative unloading control process Step S4 specifically includes: 1) After the vehicle reverses to the preset unloading point, the on-board positioning sensor sends a vehicle positioning signal to the unmanned intelligent dispatch and control platform. 2) Once the platform verifies that the condition "vehicle reversing and alignment completed" is met, it will push a permission prompt for lifting the bucket to the backup protection remote control device. 3) After the safety officer verifies on-site that there are no workers under the cargo box and that the cable crane and the vehicle cargo box are precisely aligned without any deviation, press the self-resetting bucket lifting button; 4) The vehicle receives the lifting command and drives the cargo box to lift and perform concrete unloading operations; 5) After the unloading operation is completed, the safety officer presses the bucket lowering button 9 or the unmanned intelligent dispatch and control platform issues a bucket lowering command to control the vehicle cargo box to fall back to a horizontal and stationary position.

[0043] (5) Vehicle departure control procedure After all the unloading and cargo box lowering processes are completed, the safety officer presses the departure button 10 to output the departure control command. The unmanned vehicle then departs from the unloading platform and returns to the mixing plant to perform the next round of concrete transportation cycle.

[0044] (6) Emergency stop protection procedures under all operating conditions During any of the following operational stages—whether the vehicle is reversing for alignment, lifting and unloading the cargo box, lowering the cargo box, or the vehicle is leaving the area—if the safety officer observes any dangerous situations such as the vehicle's reversing speed exceeding the limit, deviation from the driving trajectory, uneven material loading causing the front wheels to lift off the ground, the vehicle body about to crash into the protective fence, or the vehicle crossing the boundary and falling into the valley, the safety officer should immediately press the self-locking emergency stop button 11. The emergency stop control signal is transmitted directly to the vehicle's VCU (Vehicle Control Unit) controller via an independent hardware interrupt transmission channel, and the command priority is higher than all CAN bus conventional control commands and vehicle autonomous driving decision commands.

[0045] The vehicle's VCU executes the highest level of safety control logic: the entire vehicle immediately applies emergency braking and locks to remain stationary, and simultaneously drives the onboard hydraulic system to force the cargo box back to a horizontal state, eliminating the safety risks of vehicle overturning and falling into the valley from the root; after the emergency stop lock is released, manual on-site verification is required before the system can restore normal control authority.

[0046] (7) Finishing and packing procedures After all unloading operations are completed for the day, rotate the backup protection remote control power switch to the off position to cut off the power supply to the whole machine; according to the remaining power display, connect the charging cable through the Type-C charging interface to charge the lithium battery, and store the equipment after charging is complete.

[0047] Furthermore, the entire system of this invention adopts an uplink and downlink bidirectional closed-loop wireless communication architecture, which is divided into a downlink control command transmission link and an uplink status data backhaul link: Downlink control command transmission link (remote control → vehicle): After the safety operator triggers the function button, the main control circuit board inside the backup protection remote control device encapsulates the action commands such as alignment, bucket raising, bucket lowering, departure, and emergency stop according to the device's custom CAN bus protocol, converts them into radio frequency signals via the wireless transmitter, and transmits them outward. The vehicle-mounted receiving module, equipped with an external suction cup antenna, captures the radio frequency signals, sequentially completes signal decoding and data verification, converts the wireless signals into CAN bus electrical signals recognizable by the vehicle's electronic control system, and sends them to the vehicle's VCU vehicle controller to drive the vehicle to perform the corresponding unloading actions. Dual wireless transmitter configuration with one-in-one-backup dual redundancy switching logic: When the primary wireless transmitter fails or the signal is interrupted, the backup wireless transmitter instantly and seamlessly switches over to complete the radio frequency signal transmission, avoiding the risk of vehicle loss of control caused by communication link interruption.

[0048] Uplink status data feedback link (vehicle → remote controller / dispatch platform): Real-time vehicle operating status, equipment fault alarm signals, and feedback results of various control actions are reverse-encapsulated into radio frequency wireless signals by the on-board receiving module and transmitted back to the backup protection remote control device; the LCD screen displays in real time the wireless signal strength, the operating status of the controlled vehicle, the executed remote control commands, and other information; all vehicle status data are simultaneously uploaded to the unmanned intelligent dispatch and control platform to achieve closed-loop interactive monitoring of the entire process.

[0049] Furthermore, the communication linkage control logic of the present invention includes key pre-authorization interlocking communication logic and emergency stop command highest priority communication logic; Key pre-authorization interlocking communication logic: The positioning button and bucket lifting button do not have a direct path to issue control commands. After pressing these two types of buttons, the backup protection remote control device first initiates a pre-condition verification request to the unmanned intelligent dispatch and control platform via a wireless link. The platform monitors the working parameters such as the coordinates of the cable crane and the vehicle position in real time and sends back a verification confirmation signal. Only after receiving the platform's permission signal can the device issue the corresponding action control command to the vehicle-mounted receiving module. If the pre-condition verification fails, the device directly blocks the command output and no signal is sent to the vehicle.

[0050] Emergency stop command highest priority communication logic: The self-locking emergency stop button is equipped with an independent dedicated relay control circuit and a dedicated hardware communication channel, and has the highest command priority in the entire system. After the emergency stop button is triggered, the emergency stop command can preempt all conventional communication links. After the vehicle-mounted receiving module receives the signal, it immediately triggers the vehicle braking lock and the forced lowering of the cargo box. The execution process is not constrained by other control commands or conventional software communication logic.

[0051] Furthermore, the backup protection remote control device can be structurally and functionally optimized based on the number of unmanned vehicles deployed at the construction site and the working environment conditions. Single-vehicle operation adaptation solution: The dual vehicle identification tags, dual vehicle independent communication channels and supporting control programs of the device are removed and simplified into a single vehicle dedicated backup protection remote control terminal, and the overall size of the equipment is reduced at the same time to reduce hardware manufacturing costs. Solution for highly corrosive and rainy working conditions: Add a detachable stainless steel protective edging to the outside of the protective shell to improve the equipment's outdoor resistance to acids and alkalis and resistance to rain corrosion; Audible and visual warning upgrade solution: The backup protection remote control device can be equipped with an audible and visual alarm module. When the function button is triggered or the emergency stop button is activated, a high-decibel buzzer and an LED flashing light will be output simultaneously to provide dual warning signals, thereby enhancing the risk warning effect at the remote operation site.

[0052] This invention addresses the safety risks associated with unloading operations of unmanned concrete transport vehicles during the trial operation phase at dams. It designs a dedicated backup protection device and corresponding operating methods. The entire system employs a combination of industrial wireless communication and CAN bus protocol, incorporating hardware redundancy, signal enhancement, and two-way data interaction to adapt to the complex operating conditions of dam unloading platforms. Compared to traditional single-platform remote control modes, it offers several beneficial technical advantages: This invention adds a safety officer's handheld remote control terminal, independent of the autonomous driving main control system and cloud scheduling platform, as a second layer of safety protection. It establishes a dual-action authorization mechanism of pre-verification by the scheduling platform and on-site manual confirmation by the safety officer. Addressing inherent instability issues during the trial operation of unmanned vehicles, such as perception distortion, program misjudgment, communication interruption, and incorrect instructions from the host computer, when control fails in autonomous driving or cloud scheduling, the safety officer can intervene in vehicle control in real time via the handheld terminal. This mechanism fundamentally prevents vehicles from performing reversing or lifting unloading actions when operating conditions are not met, completely avoiding the major safety risks of vehicles crashing through unloading barriers and plunging into valleys tens of meters deep, causing total equipment loss, personnel casualties, and complete interruption of the pouring construction. This significantly improves the overall safety redundancy level in high-risk unloading scenarios.

[0053] This invention employs a hardware and software interlocking logic to establish strict pre-judgment conditions for two high-risk core actions: alignment and bucket lifting. Only when the dispatching platform recognizes the bucket is in place, the vehicle is parked in the designated waiting area (alignment action), or the vehicle completes precise reversing alignment (bucket lifting action) will the corresponding button output a valid control command. If any pre-judgment condition is not met, the terminal directly blocks command output. This mechanism eliminates system malfunctions such as blind reversing and suspended unloading caused by cloud-based dispatching logic defects, and also prevents operators from accidentally pressing buttons and causing violations, standardizing the unloading operation process and comprehensively reducing the probability of operational errors throughout the entire process.

[0054] This invention configures a self-locking emergency stop button with a dedicated independent hardware relay circuit and hardware interrupt communication channel. The emergency stop control signal has a higher priority than all autonomous driving decision commands and conventional CAN bus scheduling commands, and does not rely on software calculations or conventional communication links for transmission. In any emergency situation, such as vehicle trajectory deviation, material overloading causing the front wheels to lift off the ground, vehicle collision with a fence, or reversing beyond the boundary, triggering the emergency stop can instantly and simultaneously complete two safety actions: locking the entire vehicle's brakes and forcibly lowering the cargo box using the hydraulic system. This quickly eliminates the risk of overturning or falling into a ravine. The independent hardware path is not affected by program crashes or communication interruptions, forming a reliable last line of defense in extreme conditions and significantly enhancing on-site emergency response capabilities.

[0055] The backup protection remote control terminal of this invention adopts a double-layer composite protective shell consisting of a PC rigid outer shell and a TPU buffer inner layer. Airbag buffer structures are installed at the four corners of the shell, which can absorb more than 70% of the impact load in the event of a drop. Silicone sealing rings are installed at all seams of the shell to achieve waterproof, dustproof, and moisture-proof sealing of the entire unit. An aluminum alloy protective railing, 0.8–1.2 cm higher than the buttons, is added to the button area, along with a flexible neck-hanging rope. This complete protective structure takes into account the equipment's resistance to drops, impacts, acids, alkalis, dust, and water and vapor corrosion, while also meeting the needs of portable operation in the field. It solves the shortcomings of traditional control terminals, such as weak protection and susceptibility to circuit failures in open-air environments, significantly improving the durability of the equipment.

[0056] The terminal of this invention features a built-in dual wireless transmission unit, one active and one backup. In the event of a failure of the main transmission module, the backup module automatically and seamlessly switches over, preventing control disruption caused by the failure of a single transmission channel. In open environments, it provides 300 meters of full-area wireless coverage, completely covering the unloading platform's operating range. The accompanying 2-3 meter extended vehicle-mounted suction cup antenna adheres to the vehicle's metal surface, effectively reducing signal attenuation caused by valleys, mountains, and structures, resulting in stronger communication stability in complex mountainous terrain. The device supports a wide power supply range of DC / AC 9-24V and is equipped with a Type-C universal charging interface for cyclic charging of the lithium battery. Its battery life meets the needs of uninterrupted unloading and transfer operations at the dam, ensuring construction continuity is not affected by power supply or communication failures.

[0057] This invention does not eliminate the autonomous scheduling authority of the unmanned driving system, but instead forms a clearly defined human-machine collaborative control mode: the cloud-based scheduling platform undertakes global location data collection and automatic verification of pre-conditions, reducing the data analysis burden on safety officers; safety officers rely on the intuitive visual situation on-site to complete operational risk verification and emergency response. The terminal LCD screen displays wireless signals, vehicle status, scheduling, and remote control commands in real time, eliminating the problems of operational hesitation and misjudgment caused by information asymmetry. With the implementation of a multi-layered safety safety net, there is no need to modify the existing concrete transfer line, and the efficiency of continuous unloading operations at the dam will not be reduced, achieving a balance between safety management and construction capacity.

[0058] This invention eliminates human-machine misoperation through pre-interlock verification of unloading actions, constructs a safety net against the risk of vehicles falling into valleys using an independent hardware emergency stop circuit, and eliminates the risk of single-scheduling failure during the trial operation phase of unmanned driving by relying on dual manual and platform control. At the same time, the redundant communication structure is adapted to the complex working conditions of dam valleys and obstructions. While ensuring the safety and redundancy of the entire unloading process and the reliability of emergency response, it also takes into account the efficiency of concrete transfer construction, solving the technical problems of existing single cloud control, which is prone to vehicles falling into valleys and lacking on-site emergency intervention methods.

[0059] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for backup protection during unloading operations of an unmanned vehicle in its trial operation phase, characterized in that, Includes the following steps: S1. When the unmanned vehicle drives to the unloading platform waiting area, the unmanned intelligent dispatch and control platform collects the real-time data of the bucket position, vehicle position, and equipment status, generates the pre-verification permission signal corresponding to the alignment and bucket lifting actions, and sends it to the backup protection remote control device. S2. The safety officer turns on the power supply of the backup protection remote control device. After the backup protection remote control device completes its self-test and powers on, it automatically wirelessly matches the on-board receiver module of the designated vehicle. The unmanned intelligent dispatch and control platform grants exclusive control authority to the backup protection remote control device for synchronous unloading, forming a dual control mode of platform-wide dispatch and on-site confirmation by the safety officer. S3. The unmanned intelligent dispatch and control platform verifies the two prerequisites of the tank being in place and the vehicle being in the waiting area and issues a permission signal. After the safety officer confirms safety on site, he presses the alignment button (7) of the backup protection remote control device and the vehicle reverses at low speed to align. If the prerequisites are not met, the alignment button (7) will not output any action to the vehicle receiver module and the vehicle will not perform any action. S4. After the vehicle reverses into position, it sends a signal to the unmanned intelligent dispatch and control platform to enable the lifting bucket operation. After the safety officer confirms that there are no personnel in the unloading area, he presses the lifting bucket button (8) of the backup protection remote control device to perform unloading. After unloading is completed, he presses the lowering bucket button (9) to control the cargo box to fall back to the horizontal position. S5. After all the unloading and bucket lowering processes are completed, press the drive-away button (10) to control the unmanned vehicle to drive away from the unloading platform; S6. When a dangerous situation occurs during any operation phase, the safety officer presses the self-locking emergency stop button (11), and the highest priority emergency stop command is issued through the independent hardware channel. The vehicle immediately locks the brakes and forces the cargo box to fall back. After the emergency stop is lifted, manual verification and confirmation are required before vehicle control can be restored. S7. After the day's work is completed, turn off the power of the backup protection remote control device, replenish the power through the Type-C charging port according to the remaining power display, and put the device away. The on-board receiver modules of each vehicle will be powered off and put into standby mode simultaneously.

2. The backup protection operation method for unloading operations during the trial operation of an unmanned vehicle according to claim 1, characterized in that: A backup protection system for unloading operations during the trial run of an unmanned vehicle, used to implement the method, includes a backup protection remote control device, an on-board receiving module, and an unmanned intelligent dispatch and control platform; the backup protection remote control device establishes bidirectional communication connections with the on-board receiving module and the unmanned intelligent dispatch and control platform, respectively. The backup protection remote control device is a handheld CAN bus industrial wireless remote control terminal for safety personnel, equipped with 8 to 12 independent action output channels; the effective wireless communication distance in open environments reaches 200 to 300 meters, and the signal coverage area completely covers the entire operating area of ​​the dam unloading platform; the backup protection remote control device is compatible with DC / AC 9V to 24V wide voltage input. The vehicle-mounted receiving module includes a wireless receiver and an external suction cup antenna. The wireless receiver is fixed inside the vehicle's electrical cabinet, and the external suction cup antenna is electrically connected to the wireless receiver. The wireless receiver is used to receive CAN bus wireless control commands issued by the backup protection remote control device and convert the wireless signal into an electrical signal that can be recognized by the vehicle's electronic control system (VCU) to drive the vehicle to perform the corresponding unloading action. The unmanned intelligent dispatch and control platform is used to collect multi-dimensional data in real time, such as the spatial coordinates of the cable crane and the canister, the location of the unmanned vehicle, and the operating fault status of the on-board equipment. Based on the collected data, it outputs the precondition verification permission signal corresponding to the alignment and bucket lifting actions.

3. The backup protection operation method for unloading operations during the trial operation period of an unmanned vehicle according to claim 2, characterized in that: The backup protection remote control device includes a device body (1), a protective shell (2) covering the outside of the device body (1), a control and display module, a function button module, and an auxiliary accessory module; The device body (1) integrates four types of core electrical components: dual wireless transmitters, main control circuit board, independent relay module, and lithium battery module. The protective shell (2) adopts an inner and outer double-layer composite protective structure; the outer layer of the protective shell is integrally injection molded from PC polycarbonate material, and the inner layer is lined with TPU thermoplastic polyurethane buffer layer; thickened airbag buffer structure is set at the four corners of the shell; and annular silicone sealing rings are installed at all splicing gaps of the shell. The control and display module includes a power switch (3), an LCD screen (4), and a vehicle identification label (5). The function button module has a total of 8 to 12 independent action buttons, which can respectively realize the unloading action control of single vehicle or dual vehicle. The auxiliary accessory module includes a connecting ring (13) mounted on the bottom edge of the protective housing (2), a hanging rope (14) connected to the connecting ring (13), and a Type-C charging port (15) opened on the side of the protective housing (2).

4. The backup protection operation method for unloading operations during the trial operation period of an unmanned vehicle according to claim 3, characterized in that: The dual wireless transmitter consists of two independent dual wireless transmitters, which adopt a redundant switching architecture with one in use and one in standby. The main control circuit board integrates a signal analysis submodule, a logic interlocking submodule, and an instruction feedback submodule. The main control circuit board can receive the working condition verification signal issued by the autonomous driving intelligent dispatch and control platform, and set the operation permission pre-locking mechanism for the positioning button and the bucket lifting button based on the logic interlocking submodule. At the same time, the main control circuit board transmits the safety officer's button operation signal and the vehicle's real-time operating status data back to the autonomous driving intelligent dispatch and control platform through a wireless link to realize the closed-loop upload of the entire process status. The relay module is equipped with independent relays for the emergency stop control circuit and each action button control circuit, and the relays achieve physical isolation of multiple control electrical signals.

5. The backup protection operation method for unloading operations during the trial operation of an unmanned vehicle according to claim 4, characterized in that: The power switch (3) is a two-position rotary switch, which is divided into an up position and an down position; The LCD screen (4) is embedded in the upper part of the protective shell and is used to visualize the equipment operating parameters in real time. The parameter types include wireless signal strength, remaining battery power of the equipment, operating conditions of controlled vehicle No. 1 / controlled vehicle No. 2, dispatch instructions issued by the unmanned intelligent dispatch and control platform, and on-site remote control operation instructions of the safety officer. The dispatch instructions include four types of vehicle driving status indicators: waiting for task, vehicle in alignment, alignment completed, and vehicle leaving. The remote control instructions include four types of unloading action indicators: alignment, bucket raising, bucket lowering, and leaving. The vehicle identification label (5) is affixed to the lower side of the LCD screen, with the left side labeled as controlled vehicle No. 1 and the right side labeled as controlled vehicle No. 2, to enable independent management and control of two unmanned vehicles in separate zones.

6. The backup protection operation method for unloading operations during the trial operation of an unmanned vehicle according to claim 5, characterized in that: The specific structure and control logic of each button in the control and display module are as follows: The spare button (6) adopts a self-reset button structure and reserves a hardware expansion interface to support the upgrade and expansion of the unloading auxiliary control function in the future. The alignment button (7) adopts a self-resetting button structure and establishes an interlock verification logic with the unmanned intelligent dispatch and control platform. Only when the platform verifies and passes the two prerequisites of the bucket being in place and the unmanned vehicle entering the designated waiting area for unloading, the alignment button (7) can output a valid reversing control command to drive the vehicle to reverse and align at low speed from the waiting area. If either prerequisite fails to pass the verification, pressing the alignment button (7) will not output a control command, the vehicle will not perform the reversing action, and the backup protection remote control device will send the invalid operation record back to the unmanned intelligent dispatch and control platform for storage. The lifting bucket button (8) adopts a self-resetting button structure, and its operation permission is constrained by the front-end logic of the unmanned intelligent dispatch and control platform. Only when the platform verifies and confirms that the vehicle is in reverse alignment and has the conditions for unloading, the lifting bucket button (8) can output the cargo box lifting command to control the vehicle to perform concrete unloading. When the verification conditions are not met, the button is locked and there is no output. The lowering button (9) adopts a self-resetting button structure. After the unloading operation is completed, pressing it outputs the cargo box lowering command, which controls the vehicle cargo box to fall back to a horizontal and flat position. The drive-away button (10) adopts a self-resetting button structure. After the unloading and lowering of the cargo box are completed, the drive-away command is output by pressing the button, which drives the unmanned vehicle to leave the unloading platform. The emergency stop button (11) adopts a self-locking button structure and is the highest priority control component of the whole machine. It is equipped with an independent normally open and normally closed dual-circuit dedicated relay circuit. When the vehicle is in any driving or unloading condition, pressing the emergency stop button (11) will close the relay contact, instantly lock the vehicle brake to make the vehicle completely stop, and at the same time link the vehicle hydraulic system to force the cargo box to fall back to the horizontal. Pressing the emergency stop button (11) again will disconnect the relay contact, release the vehicle emergency stop lock state, and the vehicle can be restored to control.

7. A backup protection operation method for unloading operations during the trial operation of an unmanned vehicle according to any one of claims 1-6, characterized in that: The unmanned intelligent dispatch and control platform includes a multi-source sensor data acquisition module, a working condition logic verification module, a two-way communication interaction module, a data storage and traceability module, and a human-machine visualization monitoring module. The multi-source sensor data acquisition module is used to collect and preprocess the raw sensor information of the tank, vehicle, and on-board equipment. The working condition logic verification module is used to determine the preconditions for unloading based on the collected data and output a permission signal. The two-way communication interaction module is used to realize uplink and downlink data interaction between the platform and the backup protection remote control device and the vehicle-mounted receiving module. The data storage and traceability module is used to store full-process operation data for retrospective verification. The human-machine visualization monitoring module is used to realize real-time visualization of the entire unloading process.

8. A backup protection operation method for unloading operations during the trial operation of an unmanned vehicle according to any one of claims 1-6, characterized in that: The unloading-specific control authority scope mentioned in step S2 only includes five types of unloading-related control commands: alignment, bucket raising, bucket lowering, departure, and emergency stop.

9. A backup protection operation method for unloading operations during the trial operation of an unmanned vehicle according to any one of claims 2-6, characterized in that: The backup protection system for unloading operations during the trial operation of unmanned vehicles adopts a bidirectional closed-loop wireless communication architecture, including downlink command transmission and uplink status feedback. Downlink command transmission means that after the safety officer triggers the function button, the main control circuit board inside the backup protection remote control device encapsulates the positioning, bucket raising, bucket lowering, departure, and emergency stop button action commands into a custom CAN bus radio frequency signal, which is transmitted through a dual redundant wireless transmitter. The vehicle-mounted receiver module's suction cup antenna receives and decodes the signal, converting it into an electrical signal and sending it to the vehicle's VCU vehicle controller. Uplink status feedback refers to the process where vehicle operating status, fault information, and action execution results are reverse-encapsulated into radio frequency wireless signals by the on-board receiving module and transmitted back to the backup protection remote control device. These signals are then displayed visually on the LCD screen and simultaneously uploaded to the unmanned intelligent dispatch and control platform to form a closed-loop interactive monitoring system.

10. A backup protection operation method for unloading operations during the trial operation of an unmanned vehicle according to any one of claims 2-6, characterized in that: The backup protection remote control device is equipped with an audible and visual alarm module. When the function button is triggered or the emergency stop button is activated, it simultaneously outputs a high-decibel buzzer and an LED flashing light as dual warning signals.

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