Autonomous vehicles and systems

Abstract

The utility model provides an unmanned vehicle and a system. The unmanned vehicle comprises: a vehicle body and a cargo box; a lifting oil cylinder, a hydraulic oil tank and a control valve are arranged inside the vehicle body; an oil inlet of the control valve is connected to the hydraulic oil tank through a first oil supply pipeline; a control port of the control valve is connected to the lifting oil cylinder through a second oil supply pipeline; a pressure sensor is arranged at the control port; the pressure sensor is used to collect a first pressure signal when the control valve moves to a target position, and the first pressure signal is used to determine a first output signal; the first output signal is used to characterize whether there is residual material in the cargo box.

Description

Technical Field

[0001] The utility model relates to the field of automatic driving, and more specifically to an unmanned vehicle and a system. Background Art

[0002] In winter, under low temperatures, the materials inside the cargo box of wide-body dump trucks used in mining are prone to freezing. If these frozen materials are not handled in time, they will gradually accumulate. For autonomous vehicles, in the absence of manual intervention by the driver, it is difficult for autonomous vehicles to detect the problem of incomplete unloading of these frozen materials in time, which not only reduces the effective carrying capacity of the dump truck and the actual carrying capacity of the dump truck, but also may cause the dump truck to return to the loading area when it is half loaded. This situation not only reduces the operating efficiency of the mine, but also increases energy consumption. Utility Model Content

[0003] In view of the above problems, the utility model provides an unmanned vehicle and a system.

[0004] According to one aspect of the utility model, an unmanned vehicle is provided, comprising a vehicle body 11 and a cargo box 12. A lifting cylinder 111, a hydraulic oil tank 112 and a control valve 113 are arranged inside the vehicle body 11. An oil inlet 1131 of the control valve 113 is connected to the hydraulic oil tank 112 via a first oil supply pipeline 114. A control port 1132 of the control valve 113 is connected to the lifting cylinder 111 via a second oil supply pipeline 115. A pressure sensor 116 is arranged at the control port 1132. The pressure sensor 116 is used to collect a first pressure signal when the control valve 113 moves to a target position, and the first pressure signal is used to determine a first output signal. The first output signal is used to characterize whether there is residual material in the cargo box 12.

[0005] According to an embodiment of the utility model, the control valve 113 includes: a first cavity 1134 and a valve core 1136. The first cavity 1134 is connected to the air inlet a through a first pipeline 1137, and is used to control the gas transmitted from the air inlet a to the first cavity 1134 when a lifting command is received, so as to push the valve core 1136 to the lifting position.

[0006] According to an embodiment of the present invention, the control valve 113 further comprises a second cavity 1135. The second cavity 1135 is connected to the exhaust port b via a second pipeline 1138, and is used to control the gas amount of the gas in the control valve 113 when receiving a holding instruction, so as to push the valve core 1136 to the holding position.

[0007] According to an embodiment of the utility model, the control valve 113 further includes a second cavity 1135, which is connected to the exhaust port b through the second pipeline 1138, and is used for controlling the gas to be discharged from the exhaust port b when receiving a landing command, so as to push the valve core 1136 to the landing position.

[0008] According to an embodiment of the utility model, the pressure sensor 116 is also used to collect a second pressure signal when the valve core 1136 is pushed to the landing position, and the second pressure signal is used to determine a second output signal, and the second output signal is used to determine the descending state of the cargo box 12.

[0009] According to an embodiment of the present invention, the second pressure signal includes: a pressure signal corresponding to the pressure difference generated when the hydraulic oil fills the lifting cylinder 111 .

[0010] According to an embodiment of the present utility model, the first pressure signal includes: a pressure signal corresponding to the pressure difference generated when the hydraulic oil fills the lifting cylinder 111 and a pressure signal corresponding to the force required by the lifting cylinder 111 to support the cargo box 12.

[0011] According to an embodiment of the present invention, a one-way valve 117 is disposed on the first oil supply pipeline 114 .

[0012] According to an embodiment of the present invention, the oil return port 1133 of the hydraulic oil tank 112 is connected to a pilot relief valve 118 .

[0013] According to another aspect of the utility model, a system is provided, including an unmanned vehicle 1 and a service platform 2. The service platform 2 is in communication with the unmanned vehicle 1, and is used to send a residual material cleaning instruction to the unmanned vehicle 1 when receiving a target output signal. The target output signal is used to indicate that there is residual material in the cargo box of the unmanned vehicle 1.

[0014] According to the embodiment of the utility model, by setting the pressure sensor 116 at the control port 1132, the pressure sensor 116 is used to collect the first pressure signal when the control valve 113 moves to the target position, and the first output signal is used to characterize whether there is residual material in the cargo box 12 based on the first pressure signal. The unmanned vehicle can automatically detect and timely discover the problem of incomplete material unloading based on the first output signal, so as to facilitate the implementation of countermeasures, for example, the unmanned vehicle can go to the excavator and prompt the excavator to clean up the residual material, thereby improving the effective carrying capacity of the unmanned vehicle, reducing the time waste caused by returning to the loading area due to incomplete unloading, reducing energy consumption, and improving the operation efficiency of the mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above contents and other purposes, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0016] Figure 1 The schematic diagram of the structure of the unmanned vehicle of the embodiment of the utility model is shown schematically;

[0017] Figure 2 A schematic diagram of the control structure of the unmanned vehicle of the embodiment of the utility model is schematically shown; and

[0018] Figure 3 The structural diagram of the system of the embodiment of the utility model is schematically shown.

[0019] In the above drawings, the meanings of the drawing numbers are as follows: 1. Unmanned vehicle; 11. Vehicle body; 111. Lifting cylinder; 112. Hydraulic oil tank; 113. Control valve; 1131. Oil inlet; 1132. Control port; 1133. Oil return port; 1134. First cavity port; 1135. Second cavity port; 1136. Valve core; 1137. First pipeline; 1138. Second pipeline; 114. First oil supply pipeline; 115. Second oil supply pipeline; 116. Pressure sensor; 117. Check valve; 118. Pilot relief valve; 119. Operating valve; 12. Cargo box; 2. Service platform; a. Air inlet; b. Exhaust port. DETAILED DESCRIPTION

[0020] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are described to provide a comprehensive understanding of the embodiments of the present invention. However, it is obvious that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0021] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "include", "comprises", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0022] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0023] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0024] In the technical solution of the utility model, the acquisition, storage and application of the information involved all comply with the provisions of relevant laws and regulations, take necessary confidentiality measures, and do not violate public order and good morals.

[0025] Wide-body dump trucks for mining play a vital role in the field of autonomous driving in mines, especially in the whole process of mining, transportation and discharge. The lifting function of the cargo box in wide-body dump trucks for mining plays a core role. During the automatic unloading of materials, the automatic driving system of wide-body dump trucks for mining needs to accurately identify various working conditions during the lifting of the cargo box, just like manual driving.

[0026] However, in the low temperature environment of winter, the materials inside the cargo box of the wide-body dump truck for mining are prone to freezing. If these frozen materials are not handled in time, they will gradually accumulate. For autonomous driving vehicles, in the absence of manual intervention by the driver, it is difficult for autonomous driving vehicles to detect the problem of incomplete unloading of these frozen materials in time, which not only reduces the effective carrying capacity of the dump truck and the actual carrying capacity of the dump truck, but also may cause the dump truck to return to the loading area when it is half loaded. This situation not only reduces the operating efficiency of the mine, but also increases energy consumption.

[0027] In view of this, there is an urgent need to provide an unmanned vehicle that can automatically detect and promptly discover problems with incomplete material unloading, reduce the time wasted due to incomplete unloading and returning to the loading area, reduce energy consumption, and improve the operating efficiency of the mine.

[0028] Figure 1 The structural diagram of the unmanned vehicle of an embodiment of the utility model is schematically shown.

[0029] like Figure 1As shown, the unmanned vehicle 1 includes a vehicle body 11 and a cargo box 12. A lifting cylinder 111, a hydraulic oil tank 112 and a control valve 113 are arranged inside the vehicle body 11. An oil inlet 1131 of the control valve 113 is connected to the hydraulic oil tank 112 through a first oil supply pipeline 114. A control port 1132 of the control valve 113 is connected to the lifting cylinder 111 through a second oil supply pipeline 115. A pressure sensor 116 is arranged at the control port 1132. The pressure sensor 116 is used to collect a first pressure signal when the control valve 113 moves to a target position, and the first pressure signal is used to determine a first output signal. The first output signal is used to characterize whether there is residual material in the cargo box 12.

[0030] According to an embodiment of the utility model, the vehicle body 11 is the main structure of the unmanned vehicle 1, and the cargo box 12 can be used to load materials. The lifting cylinder 111 arranged inside the vehicle body 11 can be used to realize the lifting, lowering and holding actions of the cargo box 12. The hydraulic oil tank 112 can be used to store hydraulic oil, and the control valve 113 can be used to control the flow direction of the hydraulic oil.

[0031] According to an embodiment of the utility model, the oil inlet 1131 of the control valve 113 is connected to the hydraulic oil tank 112 through the first oil supply pipeline 114, so that the hydraulic oil can flow from the hydraulic oil tank 112 to the control valve 113. The control port 1132 of the control valve 113 is connected to the lifting cylinder 111 through the second oil supply pipeline 115, so that the control valve 113 can control the action of the lifting cylinder 111, for example, the control valve 113 can control the hydraulic oil from the second oil supply pipeline 115 to enter the lower chamber of the lifting cylinder 111, and the pressure of the hydraulic oil pushes the piston in the lifting cylinder 111 to move upward, thereby lifting the cargo box 12. When the control valve 113 changes the flow direction of the hydraulic oil, the control port 1132 is connected to the oil return port 1133, and the hydraulic oil in the upper chamber of the lifting cylinder 111 flows back to the hydraulic oil tank 112 through the control valve 113. The piston in the lifting cylinder 111 moves downward under the weight of the cargo box 12 or external pressure, so that the cargo box 12 is lowered. The control valve 113 can be placed in the middle position to cut off the inflow and outflow of the hydraulic oil, and the hydraulic oil in the lifting cylinder 111 is locked, and the cargo box 12 remains in the current position, whether it is in the lifting state or the lowering state.

[0032] According to the embodiment of the utility model, the pressure sensor 116 is arranged at the control port 1132, which is a key node of the hydraulic oil flow in the hydraulic system and can accurately reflect the pressure change of the hydraulic oil. The pressure sensor 116 arranged at the control port 1132 can be used to monitor the hydraulic oil pressure at the control port 1132, and can monitor the pressure generated by the material that has not been completely unloaded, such as the pressure generated by the residual material in the cargo box 12 or other reasons that lead to incomplete unloading.

[0033] According to an embodiment of the present invention, the target position may include a first position and a second position. The first position may be a right position of the control valve 113 , and the second position may be a left position of the control valve 113 .

[0034] When the control valve 113 moves to the first position, the control port 1132 of the control valve 113 is connected to the oil inlet 1131, and the hydraulic oil can flow into the oil inlet 1131 and the control port 1132 through the first oil supply pipeline 114. By rotating the hydraulic oil pump, the hydraulic oil flows to the lifting cylinder 111 through the second oil supply pipeline 115, and then fills the lifting cylinder 111. The hydraulic oil can flow into the lower cavity of the lifting cylinder 111, and the piston in the lifting cylinder 111 moves upward, thereby realizing the lifting of the cargo box 12.

[0035] When the control valve 113 moves to the second position, the oil inlet 1131 of the control valve 113 is connected to the oil return port 1133 of the control valve 113, and the hydraulic oil can neither flow into the lifting cylinder 111 nor flow out of the lifting cylinder 111. The hydraulic oil in the lifting cylinder 111 is locked, and the cargo box 12 remains in the current position unchanged.

[0036] According to an embodiment of the utility model, when the control valve 113 is moved to the target position, a first pressure signal can be collected, and the first pressure signal is used to determine a first output signal, and the first output signal is used to characterize whether there is residual material in the cargo box 12, that is, whether there is any material that has not been unloaded in the cargo box 12.

[0037] For example, when the first output signal differs from the expected output signal, it indicates that the pressure in the cargo box 12 is inconsistent with the expected empty state of the cargo box 12, that is, there may be residual materials in the cargo box 12. The expected output signal can be determined based on the pressure signal collected by the pressure sensor 116 when the cargo box 12 is empty.

[0038] According to an embodiment of the present invention, the output unit for processing the first pressure signal to output the first output signal may be disposed on the vehicle body 11 , or may be disposed on other devices capable of performing data exchange with the pressure sensor 116 .

[0039] According to the embodiment of the utility model, by setting a pressure sensor 116 at the control port 1132, the pressure sensor 116 is used to collect a first pressure signal when the control valve 113 moves to the target position, and a first output signal is used to characterize whether there is residual material in the cargo box 12 based on the first pressure signal. The unmanned vehicle 1 can automatically detect and timely discover the problem of incomplete material unloading based on the first output signal, so that the unmanned vehicle 1 can go to the excavator and prompt the excavator to clean up the residual material, thereby improving the effective carrying capacity of the unmanned vehicle 1, reducing the time waste caused by returning to the loading area due to incomplete unloading, reducing energy consumption, and improving the operation efficiency of the mine.

[0040] According to an embodiment of the present utility model, the first pressure signal includes: a pressure signal corresponding to the pressure difference generated when the hydraulic oil fills the lifting cylinder 111 and a pressure signal corresponding to the force required by the lifting cylinder 111 to support the cargo box 12.

[0041] According to an embodiment of the present invention, a pressure signal corresponding to the pressure difference generated when the hydraulic oil fills the lifting cylinder 111 can be used to characterize the pressure difference generated when the hydraulic oil flows into the lifting cylinder 111. When the hydraulic oil is pumped into the lifting cylinder 111, a pressure difference is generated based on the compressibility of the hydraulic oil and the volume of the lifting cylinder 111, and this pressure difference can be detected by the pressure sensor 116.

[0042] According to an embodiment of the present invention, based on the installation position of the lifting cylinder 111 , the pressure difference generated when the lifting cylinder 111 is filled with hydraulic oil may be a fixed value.

[0043] According to an embodiment of the present invention, the pressure signal corresponding to the force required by the lifting cylinder 111 to support the cargo box 12 is a variable, which is related to the weight of the cargo box 12, the weight of the material loaded in the cargo box 12, the cross-sectional area of ​​the lifting cylinder 111, and the pressure of the hydraulic oil. Therefore, it can be determined whether there is residual material in the cargo box 12 based on the first pressure signal.

[0044] The calculation formula for the force required by the lifting cylinder 111 to support the cargo box 12 is shown in the following formula (1):

[0045] (1)

[0046] Wherein, P is the force required by the lifting cylinder 111 to support the cargo box 12. M is the total mass of the cargo box 12 and the materials loaded in the cargo box 12. g is the acceleration due to gravity. S is the cross-sectional area of ​​the lifting cylinder 111.

[0047] Therefore, the pressure signal fed back when the cargo box 12 is empty can be determined based on formula (1) as the empty pressure threshold, so that the output unit can determine whether there is residual material in the cargo box 12 according to the empty pressure threshold.

[0048] For example, when the first pressure signal is greater than the pressure signal fed back when the cargo box 12 is empty, it indicates that there is residual material in the current cargo box 12. When the first pressure signal is equal to the pressure signal fed back when the cargo box 12 is empty, it indicates that there is no residual material in the current cargo box 12.

[0049] According to an embodiment of the utility model, based on the fact that the pressure signal corresponding to the pressure difference generated by the hydraulic oil filling the lifting cylinder 111 is a fixed value, the pressure signal corresponding to the force required for the lifting cylinder 111 to support the cargo box 12 can be determined based on the first pressure difference signal collected by the pressure sensor 116, and then the force required for the lifting cylinder 111 to support the cargo box 12 can be determined. The force required for the lifting cylinder 111 to support the cargo box 12 will change based on whether there is material in the cargo box 12, so the first output signal determined by the first pressure signal can be used to characterize whether there is residual material in the cargo box 12, that is, whether the cargo box 12 is completely unloaded. If there is unloaded material, that is, residual material, in the cargo box 12, the pressure signal corresponding to the force required for the lifting cylinder 111 to support the cargo box 12 will increase, thereby affecting the first pressure signal and the first output signal.

[0050] Figure 2 The structural diagram of the control valve of the embodiment of the utility model is schematically shown.

[0051] like Figure 2 As shown, the control valve 113 includes a first cavity 1134 and a valve core 1136. The first cavity 1134 is connected to the air inlet a through a first pipeline 1137, and is used to transmit control gas from the air inlet a to the first cavity 1134 when a lifting command is received, so as to push the valve core 1136 to the lifting position.

[0052] According to an embodiment of the present invention, the first cavity 1134 may be a passage inside the control valve 113 for receiving gas, which may include compressed air.

[0053] According to an embodiment of the utility model, when the control valve 113 receives a lifting command, the control valve 113 controls the gas to be transmitted from the air inlet a to the first cavity 1134 through the first pipeline 1137 according to the lifting command. After the gas is transmitted to the first cavity 1134, the pressure of the gas will act on the valve core 1136, pushing the valve core 1136 to the lifting position. After the valve core 1136 reaches the lifting position, it will change the flow direction of the hydraulic oil so that the hydraulic oil can flow to the lifting cylinder 111, thereby realizing the lifting of the cargo box 12.

[0054] like Figure 2As shown, the control valve 113 further includes a second cavity 1135. The second cavity 1135 is connected to the exhaust port b through a second pipeline 1138, and is used to push the valve core 1136 to the holding position by controlling the gas amount in the control valve 113 when receiving a holding instruction.

[0055] According to an embodiment of the utility model, the second cavity 1135 can be another channel inside the control valve 113, and the exhaust port b is used to release gas. The air inlet a and the exhaust port b can be set on the operating valve 119 of the unmanned vehicle 1, and the operating valve 119 is used to control the lifting, holding or lowering of the cargo box 12 based on the received unmanned vehicle operation instruction. According to an embodiment of the utility model, when the control valve 113 receives the holding instruction, the control valve 113 controls the amount of gas in the control valve 113 according to the holding instruction, such as changing the rate at which the gas flows into or out of the second cavity 1135 to push the valve core 1136 to the holding position. After the valve core 1136 reaches the holding position, the inflow and outflow of the hydraulic oil can be cut off, the hydraulic oil in the lifting cylinder 111 is locked, and the cargo box 12 remains in the current position unchanged, and no lifting or lowering action is performed.

[0056] like Figure 2 As shown, the control valve 113 further includes a second cavity 1135, which is connected to the exhaust port b through a second pipeline 1138, and is used to discharge the control gas from the exhaust port b when receiving a landing command, so as to push the valve core 1136 to the landing position.

[0057] According to an embodiment of the utility model, when the control valve 113 receives a landing instruction, the control valve 113 controls the gas to be discharged from the exhaust port b through the second pipeline 1138 according to the landing instruction. As the gas is discharged from the exhaust port b, the pressure change in the second cavity 1135 will act on the valve core 1136, pushing the valve core 1136 to move to the landing position. After the valve core 1136 reaches the landing position, the flow direction of the hydraulic oil will be changed. The hydraulic oil is discharged from the upper cavity of the lifting cylinder 111 and flows to the hydraulic oil tank 112 or other low-pressure areas, thereby causing the cargo box 12 to land.

[0058] According to the embodiment of the utility model, the position of the valve core 1136 is changed by controlling the gas so that the unmanned vehicle 1 can complete the actions of lifting, holding and lowering the cargo box, thereby further reducing the control difficulty of the unmanned vehicle 1 and improving the working efficiency of the unmanned vehicle 1.

[0059] According to an embodiment of the utility model, the pressure sensor 116 is also used to: collect a second pressure signal when the valve core 1136 is pushed to the landing position, and the above-mentioned second pressure signal is used to determine a second output signal, and the second output signal is used to determine the descending state of the cargo box 12.

[0060] According to an embodiment of the utility model, when the valve core 1136 is pushed to the lowering position, the hydraulic oil in the lifting cylinder 111 flows back to the hydraulic oil tank 112 through the control valve 113, and the pressure at the control port 1132 will be reduced. The pressure at the control port 1132 no longer needs to support the weight of the cargo box 12, but reflects the power loss of the hydraulic oil flow.

[0061] According to an embodiment of the present invention, the pressure change of the control port 1132 is collected and monitored by the pressure sensor 116, that is, when the valve core 1136 is pushed to the landing position, the second pressure signal is collected and transmitted to the output unit, so that the output unit outputs the second output signal, thereby determining whether the cargo box 12 is landing and the landing state of the cargo box 12. According to an embodiment of the present invention, the second pressure signal includes: a pressure signal corresponding to the pressure difference generated by the hydraulic oil filling the lifting cylinder 111.

[0062] According to an embodiment of the utility model, when the cargo box 12 drops to the bottom of the vehicle body 11, the cargo box 12 is supported by the frame and does not need to be supported by the lifting cylinder 111. Therefore, the pressure at the control port 1132 only includes the pressure generated by the hydraulic oil itself.

[0063] According to an embodiment of the present utility model, the second pressure signal may include a pressure signal corresponding to the pressure difference generated when the hydraulic oil fills the lifting cylinder 111 , and the second pressure signal may be used to determine whether the cargo box 12 has dropped to the bottom of the vehicle body 11 .

[0064] According to an embodiment of the utility model, by setting a pressure sensor 116 at the control port 1132, when the valve core 1136 is pushed to the landing position, a second pressure signal is collected, so that the output unit can accurately identify the current landing state of the cargo box and issue a stop command in time, thereby further improving the recognition accuracy of the cargo box action state.

[0065] According to an embodiment of the present utility model, a one-way valve 117 is disposed on the first oil supply pipeline 114 .

[0066] According to an embodiment of the utility model, the one-way valve 117 can be a valve that allows the hydraulic oil to flow in one direction, and the one-way valve 117 can ensure that the hydraulic oil can only flow from the hydraulic oil tank 112 to the control valve 113, and cannot flow back to the hydraulic oil tank 112. By arranging the one-way valve 117 on the first oil supply pipeline 114, it can be ensured that the hydraulic oil flows in a predetermined path and direction.

[0067] According to an embodiment of the present utility model, the oil return port 1133 of the hydraulic oil tank 112 is connected to a pilot relief valve 118 .

[0068] According to the embodiment of the utility model, one end of the pilot relief valve 118 can be connected to the oil return port 1133 of the hydraulic oil tank 112, and the other end can be connected to the hydraulic oil tank 112. The pilot relief valve 118 can play the role of a safety valve, which is sensitive and has high control accuracy. When the pressure at the oil return port 1133 is high or there is too much hydraulic oil, the excess hydraulic oil can flow back into the hydraulic oil tank 112 through the pilot relief valve 118.

[0069] Figure 3 The structural diagram of the system of the embodiment of the utility model is schematically shown.

[0070] like Figure 3 As shown, the system includes an unmanned vehicle 1 and a service platform 2. The unmanned vehicle 1 includes a vehicle body and a cargo box. A lifting cylinder, a hydraulic oil tank and a control valve are arranged inside the vehicle body. The oil inlet of the control valve is connected to the hydraulic oil tank through a first oil supply pipeline. The control port of the control valve is connected to the lifting cylinder through a second oil supply pipeline. A pressure sensor is arranged at the control port. The pressure sensor is used to collect a first pressure signal when the control valve moves to a target position, and the first pressure signal is used to determine a first output signal. The first output signal is used to characterize whether there is residual material in the cargo box.

[0071] According to an embodiment of the utility model, the service platform 2 is in communication with the unmanned vehicle 1 and is used to send a residual material cleaning instruction to the unmanned vehicle when receiving a target output signal, wherein the target output signal is used to indicate that there is residual material in the cargo box of the unmanned vehicle 1.

[0072] According to an embodiment of the utility model, data transmission and reception can be performed based on the communication connection between the service platform 2 and the unmanned vehicle 1. The communication connection between the service platform 2 and the unmanned vehicle 1 can be achieved through a wireless network, mobile communication technology, satellite communication or other data transmission technology.

[0073] According to an embodiment of the utility model, after the service platform 2 receives the target output signal sent by the unmanned vehicle 1, if the target output signal indicates that there are ununloaded residual materials in the cargo box, the service platform 2 will send a residual material cleaning instruction to the unmanned vehicle 1.

[0074] According to an embodiment of the utility model, after receiving the residual material cleaning instruction sent by the service platform 2, the unmanned vehicle 1 will automatically perform the corresponding operation, navigate to the specified location or cooperate with other equipment in the mine (such as an excavator) to complete the residual material cleaning work.

[0075] According to the embodiment of the utility model, based on the system including the unmanned vehicle 1 and the service platform 2, the automation and intelligence level of mining operations can be improved, and a more efficient material transportation and processing process can be achieved through the collaborative work of the unmanned vehicle 1 and the service platform 2.

[0076] According to an embodiment of the utility model, the working principle of the system can be: based on the unmanned vehicle operation instruction (such as a lifting instruction) issued by the service platform 2 to the unmanned vehicle, the operating valve 119 on the unmanned vehicle 1 controls the gas to enter the first cavity 1134 of the control valve 113, and the pressure of the gas will act on the valve core 1136 to push the valve core 1136 to the lifting position. After the valve core 1136 reaches the lifting position, it will change the flow direction of the hydraulic oil so that the hydraulic oil can flow to the lifting cylinder 111, thereby realizing the lifting of the cargo box 12. When the cargo box 12 is in the lifting state, the pressure sensor 116 on the unmanned vehicle 1 collects the first pressure signal, determines the first output signal based on the first pressure signal, and determines whether there is residual material in the cargo box 12 according to the first output signal. In the case of residual material in the cargo box 12, the unmanned vehicle 1 can control the cargo box 12 of the unmanned vehicle 1 to be in a holding state based on the holding instruction sent by the service platform 2, and no longer lift. And based on the residual material cleaning instruction sent by the service platform 2, the unmanned vehicle can navigate to the designated location to complete the cleaning of the residual material. When there is no remaining material in the cargo box 12 , the unmanned vehicle 1 can continue to perform the lifting action of the cargo box 12 based on the operation instructions sent by the service platform 2 .

[0077] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All of these combinations and / or combinations fall within the scope of the present invention.

[0078] The embodiments of the present invention are described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present invention is defined by the attached claims and their equivalents. Without departing from the scope of the present invention, a person skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. An unmanned vehicle, characterized in that: include: A vehicle body (11) and a cargo box (12); a lifting cylinder (111), a hydraulic oil tank (112) and a control valve (113) are arranged inside the vehicle body (11); an oil inlet (1131) of the control valve (113) is connected to the hydraulic oil tank (112) via a first oil supply pipeline (114); a control port (1132) of the control valve (113) is connected to the lifting cylinder (111) via a second oil supply pipeline (115); A pressure sensor (116) is provided at the control port (1132); The pressure sensor (116) is used to collect a first pressure signal when the control valve (113) moves to a target position, and the first pressure signal is used to determine a first output signal; the first output signal is used to indicate whether there is residual material in the cargo box (12).

2. The unmanned vehicle according to claim 1, characterized in that: The control valve (113) comprises: a first cavity (1134) and a valve core (1136); The first cavity port (1134) is connected to the air inlet port (a) via a first pipeline (1137) and is used to control the gas transmitted from the air inlet port (a) to the first cavity port (1134) when a lifting command is received, so as to push the valve core (1136) to a lifting position.

3. The unmanned vehicle according to claim 2, characterized in that: The control valve (113) further comprises a second cavity (1135); The second cavity port (1135) is connected to the exhaust port (b) via a second pipeline (1138) and is used to control the amount of gas in the control valve (113) to push the valve core (1136) to a holding position when a holding instruction is received.

4. The unmanned vehicle according to claim 3, characterized in that: The control valve (113) further comprises a second cavity (1135), wherein the second cavity (1135) is connected to the exhaust port (b) via the second pipeline (1138), and is used for controlling the gas to be discharged from the exhaust port (b) when receiving a landing instruction, so as to push the valve core (1136) to a landing position.

5. The unmanned vehicle according to claim 4, characterized in that: The pressure sensor (116) is also used for: When the valve core (1136) is pushed to the descending position, a second pressure signal is collected, and the second pressure signal is used to determine a second output signal, and the second output signal is used to determine the descending state of the cargo box (12).

6. The unmanned vehicle according to claim 5, characterized in that: The second pressure signal comprises: a pressure signal corresponding to the pressure difference generated when the hydraulic oil fills the lifting cylinder (111).

7. The unmanned vehicle according to claim 1, characterized in that: The first pressure signal comprises: a pressure signal corresponding to the pressure difference generated when the hydraulic oil fills the lifting cylinder (111) and a pressure signal corresponding to the force required by the lifting cylinder (111) to support the cargo box (12).

8. The unmanned vehicle according to claim 1, characterized in that: A one-way valve (117) is provided on the first oil supply pipeline (114).

9. The unmanned vehicle according to claim 1, characterized in that: The oil return port (1133) of the hydraulic oil tank (112) is connected to a pilot relief valve (118).

10. A system, characterized in that: include: The unmanned vehicle (1) and the service platform (2) as described in any one of claims 1 to 9; The service platform (2) is connected to the unmanned vehicle (1) for communication, and is used to send a residual material cleaning instruction to the unmanned vehicle (1) when receiving a target output signal; wherein the target output signal is used to indicate the presence of residual materials in the cargo box of the unmanned vehicle (1).

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