Control system of unmanned vehicle
By introducing residual material detection modules and cleaning equipment into the control system of unmanned vehicles, the problem of incomplete unloading of materials in unmanned vehicles is solved, and efficient, safe and energy-saving mining operations are achieved.
Patent Information
- Application Number
- CN202421685453.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-16
- Publication Date
- 2025-05-02
- Estimated Expiration
- 2034-07-16
AI Technical Summary
In mining operation scenarios, the unmanned vehicle's cargo container is not completely unloaded, resulting in low operational efficiency, increased energy consumption and increased operating costs.
A control system for unmanned vehicles was designed, equipped with residual material detection module and cleaning equipment. The residual material detection module detects the vibration frequency or stress data of the cargo box to identify whether the unloading is complete, and issues a residual material cleaning instruction when an incomplete unloading is detected. The cleaning equipment performs cleaning tasks according to the instructions to ensure the cleanliness of the cargo container.
By accurately identifying and intelligently processing the unloading status of the unmanned vehicles, the cleaning efficiency is improved, the cargo box is cleaned, the resource waste and safety risks caused by operational errors are reduced, the unloading process is automated and intelligently managed, and the mining operation efficiency of the unmanned vehicles is improved.
Smart Images
Figure CN222820044U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical fields of smart mines, automatic driving and unmanned vehicles, and in particular to a control system for an unmanned vehicle. Background Art
[0002] In recent years, with the rapid advancement of science and technology, autonomous driving vehicles (also known as unmanned vehicles) with automatic loading and unloading capabilities have received increasing attention and are increasingly being used in many operating scenarios, such as mining operating scenarios.
[0003] However, in actual application scenarios, some reasons may lead to incomplete unloading of materials in the cargo box of the unmanned vehicle, and the vehicle may even return half-loaded to the loading area, which not only seriously affects operational efficiency but also increases vehicle energy consumption. Utility Model Content
[0004] In view of this, an embodiment of the utility model provides a control system for an unmanned vehicle to reduce the energy consumption of the unmanned vehicle and improve the operating efficiency of the unmanned vehicle.
[0005] In the first aspect, the utility model provides a control system for an unmanned vehicle, including an unmanned vehicle and a cleaning device, wherein the unmanned vehicle is provided with a cargo box, which is used to load materials from a loading area using the cargo box, and transport the loaded materials to an unloading area for unloading. Among them, the unmanned vehicle is provided with a residual material detection module, which is used to detect whether there is incomplete unloading after the cargo box of the unmanned vehicle is unloaded in the unloading area, and the unmanned vehicle is configured to issue a residual material cleaning instruction when it is determined that there is incomplete unloading; the cleaning device is associated with the unmanned vehicle, and the cleaning device is provided with a cleaning component, which is configured to perform a residual material cleaning task on the unmanned vehicle that issues the residual material cleaning instruction based on the residual material cleaning instruction.
[0006] In conjunction with the first aspect, in some implementations of the first aspect, the system further includes a cloud platform, which is respectively connected to the unmanned vehicle and the cleaning device in communication. The cloud platform is configured to receive a residual material cleaning instruction issued by the unmanned vehicle and forward the residual material cleaning instruction to the cleaning device.
[0007] In combination with the first aspect, in some implementations of the first aspect, there are multiple cleaning devices. The cloud platform is further configured to receive a residual material cleaning instruction issued by the unmanned vehicle, and based on the distances between the multiple cleaning devices and the unmanned vehicle, forward the residual material cleaning instruction to the cleaning device closest to the unmanned vehicle among the multiple cleaning devices, so that the cleaning device closest to the unmanned vehicle executes the residual material cleaning task for the unmanned vehicle.
[0008] In combination with the first aspect, in some implementations of the first aspect, the unmanned vehicle includes a cargo box and a lifting system, and the lifting system is used to control the lifting or lowering of the cargo box. The residual material detection module is configured to identify whether the unmanned vehicle has completely unloaded the material when the unmanned vehicle completes the unloading action and requests the lifting system to control the lowering of the cargo box.
[0009] In combination with the first aspect, in certain implementations of the first aspect, the lifting system includes an upper dead point and a lower dead point. The system also includes: a timing module, which is used to start timing if the upper dead point is no longer triggered when the unmanned vehicle completes the unloading action, and to stop timing if the lower dead point is triggered, so as to obtain the movement time from the upper dead point to the lower dead point. Whether to unload is completely related to the movement time.
[0010] In combination with the first aspect, in some implementations of the first aspect, the lifting system includes a top dead point. The residual material detection module is further configured to determine that the unmanned vehicle has completed the unloading action when the lifting system triggers the top dead point during the process of lifting the cargo box.
[0011] In combination with the first aspect, in certain implementations of the first aspect, the lifting system includes an upper dead point and a lower dead point, and the lifting system includes a lifting system. The system also includes: a speed detection module, which is used to detect at least one of the following speeds: the descending speed of the cargo box at the upper dead point, the descending speed of the cargo box at the lower dead point, the descending speed of the cargo box at any other node between the upper dead point and the lower dead point, the average descending speed of the cargo box from the upper dead point to the lower dead point, and the return oil speed of the hydraulic oil of the hydraulic lifting system; wherein, whether to unload is entirely related to the speed detected by the speed detection module.
[0012] In combination with the first aspect, in certain implementations of the first aspect, the system further includes: a motion parameter detection module for detecting the motion parameters of the motion components for the descent of the auxiliary cargo box; wherein whether to unload is entirely related to the motion parameters of the motion components for the descent of the auxiliary cargo box.
[0013] In combination with the first aspect, in certain implementations of the first aspect, the residual material detection module includes: a camera or a weighing sensor, wherein at least part of the sensing range of the camera covers the area where the cargo box is located, and the weighing sensor is arranged on the cargo box.
[0014] In combination with the first aspect, in certain implementations of the first aspect, the cleaning equipment includes at least one of an excavator and a forklift.
[0015] The control system of the unmanned vehicle in the utility model, the unmanned vehicle and the cleaning equipment work together to achieve accurate identification and intelligent processing of the unmanned vehicle's unloading status. Specifically, when incomplete unloading is detected, the unmanned vehicle can establish a connection with the cleaning equipment and automatically issue a residual material cleaning instruction, which not only improves the cleaning efficiency, but also ensures the cleanliness of the unmanned vehicle's cargo box and prepares for the next loading task. In addition, the cleaning component configured by the cleaning equipment can perform cleaning work according to the residual material cleaning instruction. Through this automated cleaning process, the waste of resources and safety risks caused by operational errors are reduced, the automation and intelligent management of the unloading process are realized, the efficiency of the unmanned vehicle's mining operations is improved, and the increased energy consumption and increased operating costs caused by incomplete unloading are reduced, providing an efficient, safe and energy-saving solution for mining vehicle unloading operations. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.
[0017] Figure 1 Shown is a schematic structural diagram of the control system of the unmanned vehicle provided by the utility model.
[0018] Figure 2 Shown is a schematic structural diagram of the unmanned vehicle provided by the utility model.
[0019] Figure 3 Shown is a schematic structural diagram of the cleaning device provided by the utility model.
[0020] Figure 4 Shown is a schematic structural diagram of a lifting system provided in one embodiment of the utility model.
[0021] Figure 5 Shown is a structural schematic diagram of a control system of another unmanned vehicle provided by the utility model.
[0022] Figure 6 Shown is a structural schematic diagram of a control system of another unmanned vehicle provided by the utility model.
[0023] Figure 7 Shown is a structural schematic diagram of a control system of another unmanned vehicle provided by the utility model.
[0024] Figure 8 Shown is a structural schematic diagram of a control system of another unmanned vehicle provided by the utility model. DETAILED DESCRIPTION
[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0026] Figure 1 Shown is a schematic structural diagram of the control system of the unmanned vehicle provided by the utility model. Figure 2 Shown is a schematic structural diagram of the unmanned vehicle provided by the utility model. Figure 3 Shown is a schematic structural diagram of the cleaning device provided by the utility model.
[0027] like Figure 1 As shown, the system includes an unmanned vehicle 120 and a cleaning device 140. Among them, the unmanned vehicle 120 is provided with a cargo box for loading materials from the loading area and transporting the loaded materials to the unloading area for unloading. Specifically, the cargo box is the main component of a wide-body dump truck for mining, which is used to load and transport ore or other materials. The unmanned vehicle 120 is an automated transportation equipment, which can automatically load materials in a designated loading area, and then transport these materials to a designated unloading area safely and efficiently according to a preset path or through an intelligent navigation system. In the unloading area, the unmanned vehicle 120 can automatically unload the materials in the cargo box, thereby completing the entire material handling process. This process not only improves the efficiency of material handling, but also reduces the need for manual operation, while also improving the safety of operations.
[0028] Specifically, the execution steps between the unmanned vehicle and the cleaning equipment can be referred to as follows.
[0029] The unmanned vehicle 120 is provided with a residual material detection module 122 (refer to Figure 2 ) is used to detect whether there is incomplete unloading after the cargo box of the unmanned vehicle is unloaded in the unloading area. The unmanned vehicle 120 is configured to issue a residual material cleaning instruction when it is determined that there is incomplete unloading.
[0030] In one example, taking the vibration frequency of the cargo box as an example, it is explained in detail how the residual material detection module 122 identifies whether the unloading is complete based on this parameter. Specifically, the vibration characteristics of the cargo box during the unloading process will change with the degree of material unloading. When the cargo box begins to unload, the weight of the material and the way the vibration is transmitted will produce a specific vibration mode on the cargo box structure. As the material is gradually unloaded, the dynamic characteristics of the cargo box will change as the weight decreases, and therefore, the vibration frequency of the cargo box will change. The residual material detection module 122 will capture these vibration signals to identify the frequency components in the vibration signals, analyze these frequency components, and extract characteristic frequencies that can reflect the unloading status of the cargo box materials. By comparing these characteristic frequencies, the residual material detection module 122 can determine whether the current unloading status is complete.
[0031] In another example, the residual material detection module 122 identifies whether the unmanned vehicle has completely unloaded the materials based on the stress data of the cargo box. Specifically, as the materials are unloaded, the stress state of the cargo box will change, and the residual material detection module 122 will monitor this change. If the materials are not completely unloaded, the stress level of the cargo box will not drop to the expected level. Therefore, if the stress data obtained by the residual material detection module 122 drops to a stress level close to the empty state, it means that the unloading is complete; if the stress data is still high, it means that the materials are not completely unloaded. Through this method, accurate feedback can be provided so that incomplete unloading can be identified in a timely manner and appropriate measures can be taken.
[0032] For the unmanned vehicle 120, if it determines that the unloading is incomplete, it will generate a residual material cleaning instruction according to the preset logic and operation process. For example, the residual material cleaning instruction includes a series of specific operation steps, such as requesting the vehicle to unload again, or requesting the assistance of other auxiliary equipment, cleaning operation guidance, etc.
[0033] The cleaning device 140 is associated with the unmanned vehicle 120, and the cleaning device 140 is provided with a cleaning member 142 (refer to Figure 3 ), the cleaning component 142 is configured to perform the residual material cleaning task on the unmanned vehicle that issued the residual material cleaning instruction based on the residual material cleaning instruction.
[0034] In this embodiment, the cleaning device 140 is an automated device used in conjunction with the unmanned vehicle 120, and it has one or more cleaning components 142, which are used to perform residual material cleaning tasks.
[0035] When the unmanned vehicle 120 completes the task of loading and transporting materials, some residual materials or impurities may be left in the cargo box. At this time, the cleaning device 140 will analyze all relevant information in the residual material cleaning instruction issued by the unmanned vehicle 120, automatically start the cleaning component 142, and thoroughly clean the cargo box of the unmanned vehicle. In addition, the configuration of the cleaning component 142 allows it to be adjusted according to different types of residual materials and cleaning requirements, ensuring the efficiency and accuracy of the cleaning process.
[0036] In some embodiments, the cleaning device 140 can be the unmanned vehicle 120 itself. For example, the unmanned vehicle 120 confirms that the vehicle needs to return to the unloading area for unloading again according to the residual material cleaning instruction. Then, the unmanned vehicle 120 will activate the navigation system, plan an optimal path from the current position to the unloading area, and control the unmanned vehicle 120 to travel along the path. After the unmanned vehicle 120 arrives at the designated unloading area, the unmanned vehicle 120 will control the cargo box to be lifted to the appropriate unloading angle, and continue to monitor until the cargo box reaches a completely unloaded state.
[0037] The control system of the unmanned vehicle in the utility model, the unmanned vehicle and the cleaning equipment work together to achieve accurate identification and intelligent processing of the unmanned vehicle's unloading status. Specifically, when incomplete unloading is detected, the unmanned vehicle can establish a connection with the cleaning equipment and automatically issue a residual material cleaning instruction, which not only improves the cleaning efficiency, but also ensures the cleanliness of the unmanned vehicle's cargo box and prepares for the next loading task. In addition, the cleaning component configured by the cleaning equipment can perform cleaning work according to the residual material cleaning instruction. Through this automated cleaning process, the waste of resources and safety risks caused by operational errors are reduced, the automation and intelligent management of the unloading process are realized, the efficiency of the unmanned vehicle's mining operations is improved, and the increased energy consumption and increased operating costs caused by incomplete unloading are reduced, providing an efficient, safe and energy-saving solution for mining vehicle unloading operations.
[0038] In combination with the foregoing embodiments, in other embodiments of the present invention, the residual material detection module 122 includes: a camera or a weighing sensor, wherein at least part of the sensing range of the camera covers the area where the cargo box is located, and the weighing sensor is arranged on the cargo box.
[0039] In this embodiment, at least part of the sensing range of the camera covers the area where the cargo box is located, and can capture the visual information inside the cargo box in real time, and detect the distribution of materials in the cargo box through image recognition technology, identify whether there are any materials left, and whether the materials have been completely unloaded. This visual detection method is intuitive and easy to understand, and can provide rich information to help the system determine whether the unloading is complete.
[0040] In addition, the weighing sensor is set on the cargo box and can be used to measure the real-time weight of the cargo box. When the material is unloaded, the weight of the cargo box will change, and the weighing sensor can accurately capture this change. By analyzing the weight data, the detection system can determine whether the material in the cargo box has been unloaded or whether there is incomplete unloading. This provides a detection method based on weight changes for the detection system, increasing the accuracy and reliability of the detection.
[0041] In this embodiment, the camera provides visual detection, while the weighing sensor provides weight-based detection. This multi-sensor fusion detection method can complement each other and improve the accuracy and robustness of detection. Even in some cases, such as insufficient light or visual occlusion, the camera may not be able to accurately identify, but the weighing sensor can still provide accurate weight information to ensure that the detection system can make correct judgments.
[0042] In combination with the foregoing embodiments, in other embodiments of the present invention, the cleaning equipment 140 includes at least one of an excavator and a forklift.
[0043] In some embodiments, the cleaning equipment is not limited to a single type and ratio, and may be at least one of an excavator and a shovel, and may even include a combination of the two or other types of cleaning equipment. Among them, the excavator has strong excavation ability and flexibility, and is suitable for excavating and transporting materials in complex terrain or space-constrained environments. The shovel has efficient loading and unloading capabilities and is suitable for rapid transportation of large-scale materials.
[0044] This diverse equipment configuration enables the control system to better adapt to different working environments and needs, and to find suitable cleaning equipment for operations, whether in open construction sites or in narrow spaces. Secondly, different types of cleaning equipment can be optimized according to specific cleaning tasks to improve cleaning efficiency and effectiveness. For example, for cleaning tasks that require fine operation, an excavator can be used for precise excavation and cleaning; for tasks that require rapid transportation of large amounts of materials, a forklift can be used for operations. In addition, the cloud platform can intelligently select the most suitable cleaning equipment for operations based on the residual material cleaning instructions issued by the unmanned vehicle, as well as the location, function and status of each cleaning equipment. This not only improves the response speed and completion quality of cleaning tasks, but also optimizes resource utilization and reduces operating costs.
[0045] Figure 4FIG. 1 is a schematic diagram of the structure of a lifting system provided by an embodiment of the present invention. In other embodiments of the present invention, the unmanned vehicle 120 further includes a lifting system for controlling the lifting or lowering of the cargo box. Exemplarily, the lifting system includes a hydraulic lifting system, which is powered by a hydraulic oil pump, and the hydraulic oil flows through a pipeline to achieve the lifting or lowering of the cargo box. Figure 4 As shown, the lifting system has the following parts:
[0046] Oil inlet (P): When the hydraulic oil pump rotates, the hydraulic oil is input from the P port to the hydraulic lifting system; Oil return port (T1): After the hydraulic oil completes the lifting or lowering action, it flows back to the hydraulic oil tank from the T1 port; Directional valve (P1): It can control the flow direction of the hydraulic oil according to its position to achieve the lifting, lowering or keeping the cargo box at a certain position; Control port (A): When the hydraulic oil is filled into the lifting cylinder, the cargo box is lifted through the A port; When the hydraulic oil returns, the cargo box is lowered through the A vertex; Control signal (a1 and b1): It is used to control the position switching of the reversing valve, thereby controlling the lifting or lowering of the cargo box. The lower limit switch and the upper limit switch (not shown in the figure): It is used to detect whether the cargo box has reached the highest point of lifting (upper dead point) or the lowest point of lowering (lower dead point) to ensure safe and correct unloading.
[0047] exist Figure 4 In the process, the operation of the hydraulic lifting system depends on the correct control of the reversing valve P1. By changing the position of the reversing valve P1, the lifting and lowering of the cargo box can be achieved. Figure 4 In the figure, the reversing valve P1 has three main working positions, corresponding to different hydraulic oil flow paths. Specifically, when the reversing valve P1 is controlled to the right position, the oil inlet (P) is connected to the control port (A). At this time, the hydraulic oil pump starts to rotate, pushing the hydraulic oil into the lifting cylinder through the P port, so that the cargo box is lifted. Placing the reversing valve P1 in the middle position will cause the oil inlet (P) to be connected to the oil return port (T1), and the hydraulic oil in the control port (A) will not be able to flow out. In this state, the cargo box will not be lifted or lowered, but will maintain its current position. When the reversing valve P1 is switched to the left position, the control port (A) is connected to the oil return port (T1). At this time, the hydraulic oil in the lifting cylinder will flow back to the hydraulic oil tank through the A port, causing the cargo box to drop.
[0048] It should be noted that for fixed vehicle models, the principle of the hydraulic lifting system is the same, that is, when the hydraulic pipeline and route are designed in the same way and the same hydraulic oil is used, the influence of factors such as the hydraulic pipeline on the descent speed can be ignored. At this time, the descent speed of the cargo box, that is, the return speed of the hydraulic oil, is positively correlated with the total mass of the cargo box. In other words, the greater the mass of the cargo box, the faster the flow rate, and the faster the cargo box descends.
[0049] In combination with the foregoing, the remaining material detection module 122 is configured to identify whether the unmanned vehicle has completely unloaded the material when the unmanned vehicle completes the unloading action and requests the lifting system to control the cargo box to descend.
[0050] In this embodiment, the completion of the unloading action refers to the process in which the unmanned vehicle unloads the loaded materials (such as sand, gravel, soil, concrete, etc.) to the designated location. When the unmanned vehicle completes the unloading of the materials (i.e., the unloading action) and issues a command to the lifting system to control the cargo box to return to the initial position or the safe position, the residual material detection module 122 is activated to monitor the initial state of the cargo box, including confirming the position of the cargo box, confirming the state of the safety device, etc., and further identifying whether the unmanned vehicle has completely unloaded the materials.
[0051] In this embodiment, the lifting system controls the lifting or lowering of the cargo box, and the unmanned vehicle can adapt to the loading and unloading requirements at different heights, thereby improving the adaptability and flexibility of the operation. Secondly, when the unmanned vehicle completes the unloading action and requests the lifting system to control the lowering of the cargo box, the residual material detection module can identify in real time whether there are any unloaded materials in the cargo box, thereby ensuring the integrity and accuracy of the unloading. The high degree of automation of the entire control system reduces the reliance on manual operation, reduces the possibility of human error, and improves the safety and reliability of the operation. At the same time, intelligent monitoring and management also make the entire material handling and cleaning process more stable and efficient.
[0052] In combination with the above embodiments, in other embodiments of the present invention, the lifting system includes an upper dead point. When the lifting system triggers the upper dead point during the process of lifting the cargo box, the residual material detection module determines that the unmanned vehicle has completed the unloading action.
[0053] The top dead center of the lifting system is a key mechanical limit device in the hydraulic lifting system, which defines the extreme position of the cargo box during the lifting process. Specifically, the top dead center, as the first limit value of lifting, ensures that the cargo box will not exceed the design range when it is lifted to the highest point, avoiding structural damage or safety accidents caused by excessive lifting. When the cargo box is lifted to the top dead center, the detection system will receive a corresponding signal, indicating that the cargo box has reached the highest position and can be unloaded or other operations can be performed. At this time, the cargo box is in the best unloading position, so that the material can be completely dumped out of the cargo box smoothly. In addition, the residual material detection module 122 is used in this process to detect whether the lifting system triggers the top dead center when lifting the cargo box. When the cargo box is lifted to the top dead center, the residual material detection module 122 will capture this event and determine that the vehicle has completed the unloading action.
[0054] The detection system in this embodiment uses the residual material detection module to monitor the top dead point of the lifting system, thereby determining whether the vehicle has completed the unloading action, providing accurate feedback for the detection system, and ensuring the timeliness and accuracy of the unloading action. Through automated monitoring and control, errors caused by human factors are reduced, and the reliability and repeatability of the operation are improved.
[0055] Figure 5 The figure shows a schematic diagram of the structure of another control system of an unmanned vehicle provided by the utility model. Figure 1 and Figure 2 Based on the embodiment shown, Figure 5 The embodiment shown. Figure 5 As shown, in this embodiment, the lifting system also includes a bottom dead point. The detection system also includes a timing module 121, which is used to start timing if the top dead point is no longer triggered when the unmanned vehicle completes the unloading action, and to stop timing if the bottom dead point is triggered, so as to obtain the movement time from the top dead point to the bottom dead point.
[0056] The bottom dead point of the lifting system is also a key mechanical limit device in the hydraulic lifting system, which defines the extreme position of the cargo box during the descent process. Specifically, the bottom dead point, as the second limit value of the descent of the lifting system, defines the lowest point of the cargo box descent, ensuring that the cargo box will not be too low during the descent process, thereby avoiding damage to the cargo box or the vehicle. When the cargo box descends and touches the bottom dead point, the detection system will also receive a signal indicating that the cargo box has reached the lowest position. The setting of the two limit points, the top dead point and the bottom dead point, not only prevents excessive movement of mechanical parts, but also provides a clear feedback signal for the detection system, so that the detection system can accurately judge the current state of the cargo box, thereby making corresponding control decisions, realizing automated unloading operations, improving operating efficiency, and reducing the uncertainty and potential risks of human operation.
[0057] For example, when the unmanned vehicle completes the unloading action, if the detection system no longer detects the top dead center signal, the timing module 121 starts timing and records the moment when the cargo box starts to descend. As the cargo box descends, once the system detects the bottom dead center signal, the timing module 121 stops timing, thereby obtaining the total time for the cargo box to descend from the highest point to the lowest point.
[0058] As mentioned above, whether the unloading is complete is related to the movement duration. If the material in the cargo box is not completely unloaded, the weight of the cargo box will be heavier, resulting in a faster descent speed, thereby reducing the movement duration. On the contrary, if the material in the cargo box has been completely unloaded, the weight of the cargo box is reduced, the descent speed is slowed down, and the movement duration is increased accordingly. By comparing the actual measured movement duration with the target duration, it is convenient for the material detection module 122 to determine whether the unloading process is complete, so that corresponding measures can be taken later.
[0059] Through the automated monitoring and judgment process in this embodiment, not only the accuracy and efficiency of the unloading operation are improved, but also the safety and reliability of the operation are enhanced, making the entire unloading process more intelligent and automated, which helps to achieve efficient management of mining operations and optimize resource allocation.
[0060] Figure 6 The figure shows a schematic diagram of the structure of another control system of an unmanned vehicle provided by the utility model. Figure 1 and Figure 2 Based on the embodiment shown, Figure 6 The embodiment shown. Figure 6 As shown, in this embodiment, the lifting system includes a hydraulic lifting system. The control system also includes: a speed detection module 123, which is used to detect at least one of the following speeds.
[0061] In one example, the speed includes the descending speed of the cargo box at the top dead center and the descending speed of the cargo box at the bottom dead center.
[0062] In some embodiments, the descent speed of the vehicle at the top dead center or the bottom dead center can be regarded as the speed of the unmanned vehicle at the key position. During the descent process, the speed detection module 123 will monitor the descent speed of the cargo box at the top dead center or the bottom dead center in real time, so as to compare the descent speed here with the normal unloading speed threshold to obtain a comparison result. As mentioned above, the descent speed of the cargo box slows down accordingly when the weight is reduced. Therefore, if the comparison result shows that the descent speed is lower than the normal unloading speed threshold, it means that the material in the cargo box has been unloaded. On the contrary, if the comparison result shows that the descent speed is higher than expected, it means that the material has not been completely unloaded.
[0063] In another example, the speed includes the descent speed of the container at any other node between the top dead center and the bottom dead center.
[0064] It is understandable that if the materials in the cargo box are completely unloaded, the descent speed of the cargo box should be uniform and stable. If, during the unloading process, the descent speed of any node changes suddenly, then it can be judged that the cargo box has not completely unloaded the materials. Alternatively, if the descent speed at any node is greater than the normal unloading speed threshold, it can also be judged that the cargo box has not completely unloaded the materials. This monitoring method improves the automation level of unmanned vehicle operation, reduces human intervention, and also improves the accuracy and reliability of material handling.
[0065] In yet another example, the speed includes an average descent speed of the cargo box from the top dead center to the bottom dead center.
[0066] In some embodiments, the average descent speed from the top dead center to the top dead center reflects the change in the speed of the cargo box during the entire descent process, which has a direct positive correlation with the weight of the material in the cargo box. The speed detection module 123 compares the average descent speed with the expected threshold to obtain a comparison result. If the result indicates that the average descent speed does not meet expectations, it means that the material in the cargo box has not been completely unloaded. On the contrary, if the average descent speed meets expectations, it means that the cargo box has been completely unloaded.
[0067] In another example, the speed includes the return speed of the hydraulic oil of the hydraulic lifting system. Whether to unload is completely related to the speed detected by the speed detection module.
[0068] In some embodiments, when the cargo box is lowered, the hydraulic oil will flow back from the lifting cylinder to the oil tank. It can be understood that when the cargo box is unloaded, its weight is reduced, which reduces the speed at which the hydraulic oil flows back to the oil tank. Therefore, if the speed detection module 123 compares the return oil speed with the preset threshold and the comparison result shows that the return oil speed is lower than the preset threshold, it means that the materials in the cargo box have been unloaded; if the return oil speed is higher than the preset threshold, it means that the materials in the cargo box have not been completely unloaded.
[0069] The various speed parameters in this embodiment are determined based on the vehicle model, material characteristics and historical operation data. Through the comprehensive analysis of these speed parameters, the unmanned vehicle can accurately determine in real time whether the cargo box is completely unloaded, thereby reflecting the actual situation of material unloading and improving the accuracy and efficiency of unloading. Secondly, in the traditional unloading process, whether the unloading is complete often depends on the operator's experience and judgment. This solution reduces the misjudgment caused by human factors through automated monitoring and identification, ensures the continuity and stability of the operation, and effectively reduces energy consumption and improves operational efficiency.
[0070] Figure 7 The figure shows a schematic diagram of the structure of another control system of an unmanned vehicle provided by the utility model. Figure 1 and Figure 2 Based on the embodiment shown, Figure 7 The embodiment shown. Figure 7 As shown, in this embodiment, the detection system further includes a motion parameter detection module 124 for detecting motion parameters of a motion component that assists the lowering of the cargo box.
[0071] Specifically, whether the material has been completely unloaded is related to the motion parameters of the motion components that assist the lowering of the cargo box. If there are auxiliary motion components involved in the lowering process of the cargo box, such as vibrators or other devices that help the material flow, the motion parameters of these components (such as vibration frequency and amplitude) can provide additional information to help determine whether the material has been completely unloaded.
[0072] In this embodiment, by detecting the motion parameters of the motion components that assist the cargo box in descending, it is also possible to determine in real time and accurately whether the cargo box is completely unloaded, thereby reflecting the actual situation of material unloading and improving the accuracy and efficiency of unloading.
[0073] Figure 8 The figure shows a schematic diagram of the structure of another control system of an unmanned vehicle provided by the utility model. Figure 1 and Figure 2 Based on the embodiment shown, Figure 8 The embodiment shown. Figure 8 As shown, in this embodiment, the detection system further includes a cloud platform 130, which is respectively connected to the unmanned vehicle 120 and the cleaning device 140. The cloud platform 130 is configured to receive the residual material cleaning instruction issued by the unmanned vehicle 120 and forward the residual material cleaning instruction to the cleaning device 140.
[0074] In this embodiment, the control system realizes a more efficient and intelligent material handling and cleaning process by introducing the cloud platform 130. Specifically, the cloud platform 130, as a central node, establishes a communication connection with the unmanned vehicle 120 and the cleaning equipment 140. When the residual material detection module of the unmanned vehicle 120 detects that the cargo box is not completely unloaded in the unloading area, the unmanned vehicle 120 will send a residual material cleaning instruction to the cloud platform 130. This instruction eliminates the need for the unmanned vehicle 120 to communicate directly with the cleaning equipment 140, but instead transfers through the cloud platform 130, which simplifies the communication process and improves the flexibility and scalability of the detection system.
[0075] After receiving the residual material cleaning instruction, the cloud platform 130 forwards the instruction to the cleaning device 140. This forwarding process ensures that the cleaning device 140 can receive the cleaning task in time and perform the corresponding cleaning operation according to the instruction. The rapid transmission and processing of this information improves the response speed and operating efficiency of the entire control system. In addition to the above, the introduction of the cloud platform 130 also facilitates the monitoring and management of the control system. Through the cloud platform 130, operators can monitor the working status of the unmanned vehicle and cleaning equipment in real time, and promptly discover and handle abnormal situations. At the same time, the cloud platform 130 can also collect and analyze a large amount of operating data to provide data support for the optimization and improvement of the control system.
[0076] From the above, it can be seen that in this embodiment, by integrating the cloud platform into the control system of the unmanned vehicle, not only the automation and intelligence level of the material handling and cleaning process is improved, but also the monitoring, management and scheduling capabilities of the control system are enhanced, providing strong technical support for realizing efficient, reliable and flexible material handling and cleaning operations.
[0077] Combination Figure 8In the embodiment shown, in other embodiments of the utility model, there are multiple cleaning devices 140. The cloud platform 130 is also configured to receive the residual material cleaning instruction issued by the unmanned vehicle 120, and based on the distance between the multiple cleaning devices 140 and the unmanned vehicle 120, forward the residual material cleaning instruction to the cleaning device 140 closest to the unmanned vehicle among the multiple cleaning devices 140, so that the cleaning device 140 closest to the unmanned vehicle can issue the residual material cleaning task to the unmanned vehicle 120.
[0078] In this embodiment, the control system includes multiple cleaning devices 140, which are distributed in different areas or locations to meet a wider range of operational needs. The cloud platform 130 establishes communication with the multiple cleaning devices 140 to achieve a wider range of information exchange and task scheduling.
[0079] Exemplarily, the cloud platform 130 intelligently selects and forwards the residual material cleaning instruction to the cleaning device 140 closest to the unmanned vehicle based on the location of the unmanned vehicle 120 and the distance between the multiple cleaning devices 140. The nearest cleaning device 140 can reach the location specified by the unmanned vehicle 120 more quickly to perform the cleaning operation. In other embodiments, the cleaning location is determined by the cleaning device 140 itself and is indirectly sent by the cloud platform 130 or directly sent by the cleaning device 140 to the unmanned vehicle 120; or, the cleaning location is determined by the cloud platform 130 and sent to the unmanned vehicle 120 and the cleaning device 140 respectively.
[0080] In this embodiment, by introducing multiple cleaning devices into the system and using the cloud platform for distance-based intelligent scheduling, cleaning efficiency is improved, time and energy consumed by long-distance movement are reduced, and operating costs are reduced. By intelligently selecting the nearest cleaning device, the detection system can also avoid multiple devices responding to the same instruction at the same time, reducing resource waste and potential operation conflicts.
[0081] The basic principle of the present invention is described above in conjunction with specific embodiments. However, it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present invention are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present invention. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not limitation, and the above details do not limit the present invention to being implemented by adopting the above specific details.
[0082] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present utility model are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", and the like are open words, meaning "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to", and can be used interchangeably with it.
[0083] It should also be noted that in the device, apparatus and method of the present invention, each component or each step can be decomposed and / or reassembled, and such decomposition and / or reassembly shall be regarded as an equivalent solution of the present invention.
[0084] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present invention. Therefore, the present invention is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.
[0085] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the utility model to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.
Claims
1. A control system for an unmanned vehicle, characterized in that: The system includes an unmanned vehicle and cleaning equipment. The unmanned vehicle is provided with a cargo box for loading materials from a loading area and transporting the loaded materials to an unloading area for unloading. The unmanned vehicle is provided with a residual material detection module, and the residual material detection module is used to detect whether there is incomplete unloading after the cargo box of the unmanned vehicle is unloaded in the unloading area. The unmanned vehicle is configured to issue a residual material cleaning instruction when it is determined that there is incomplete unloading; The cleaning device is associated with the unmanned vehicle, and the cleaning device is provided with a cleaning component, and the cleaning component is configured to perform a residual material cleaning task on the unmanned vehicle that issues the residual material cleaning instruction based on the residual material cleaning instruction.
2. The control system of the unmanned vehicle according to claim 1, characterized in that: Also includes: A cloud platform, respectively connected to the unmanned vehicle and the cleaning equipment in communication; The cloud platform is configured to receive the residual material cleaning instruction issued by the unmanned vehicle and forward the residual material cleaning instruction to the cleaning equipment.
3. The control system of the unmanned vehicle according to claim 2, characterized in that: The number of the cleaning devices is multiple; The cloud platform is also configured to receive the residual material cleaning instruction issued by the unmanned vehicle, and based on the distance between the multiple cleaning devices and the unmanned vehicle, forward the residual material cleaning instruction to the cleaning device closest to the unmanned vehicle among the multiple cleaning devices, so that the cleaning device closest to the unmanned vehicle can issue the residual material cleaning task to the unmanned vehicle.
4. The control system of the unmanned vehicle according to claim 1, characterized in that: The unmanned vehicle includes a cargo box and a lifting system, and the lifting system is used to control the lifting or lowering of the cargo box; The remaining material detection module is configured to identify whether the unmanned vehicle has completely unloaded the material when the unmanned vehicle completes the unloading action and requests the lifting system to control the lowering of the cargo box.
5. The control system of the unmanned vehicle according to claim 4, characterized in that: The lifting system includes a top dead center and a bottom dead center, and the system also includes: The timing module is used to start timing if the upper dead point is no longer triggered when the unmanned vehicle completes the unloading action, and to stop timing if the lower dead point is triggered, so as to obtain the movement duration from the upper dead point to the lower dead point; wherein, whether to unload is entirely related to the movement duration.
6. The control system of the unmanned vehicle according to claim 4, characterized in that: The lifting system includes a top dead center; The remaining material detection module is also configured to determine that the unmanned vehicle has completed the unloading action when the lifting system triggers the top dead center during the process of lifting the cargo box.
7. The control system of the unmanned vehicle according to claim 4, characterized in that: The lifting system includes an upper dead center and a lower dead center, the lifting system includes a hydraulic lifting system, and the system further includes: The speed detection module is used to detect at least one of the following speeds: the descending speed of the cargo box at the upper dead point, the descending speed of the cargo box at the lower dead point, the descending speed of the cargo box at any other node between the upper dead point and the lower dead point, the average descending speed of the cargo box from the upper dead point to the lower dead point, and the return speed of the hydraulic oil of the hydraulic lifting system; wherein, whether the unloading is performed is entirely related to the speed detected by the speed detection module.
8. The control system of the unmanned vehicle according to claim 4, characterized in that: The system further comprises: The motion parameter detection module is used to detect the motion parameters of the motion components that assist in lowering the cargo box; wherein, whether to unload is entirely related to the motion parameters of the motion components that assist in lowering the cargo box.
9. The control system of the unmanned vehicle according to claim 1, characterized in that: The residual material detection module includes: a camera or a weighing sensor; wherein, at least a part of the sensing range of the camera covers the area where the cargo box is located, and the weighing sensor is arranged on the cargo box.
10. The control system of an unmanned vehicle according to any one of claims 1 to 9, characterized in that: The cleaning equipment includes at least one of an excavator and a forklift.