Unmanned control device, control system and mining vehicle

Abstract

The utility model provides an unmanned control device, a control system and a mining vehicle, and relates to the technical field of unmanned control, the device comprises a main control module, a protection module and a communication module, the communication module comprises a first communication unit and a second communication unit; the main control module is electrically connected with the protection module and the first communication unit respectively; the protection module is also electrically connected with the second communication unit; the first communication unit is wirelessly connected with the upper computer; the second communication unit is used for being electrically connected with a vehicle executing mechanism and a plurality of environmental parameter acquisition modules; the main control module is used for acquiring configuration data from an upper computer through the first communication unit; and according to the configuration data, corresponding configuration signals are sent to the vehicle execution mechanism and the environment parameter acquisition modules through the protection module and the second communication unit in sequence. According to the scheme, remote control of the unmanned control device is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of driverless control, in particular to a driverless control device, a control system and a mining vehicle. Background Art

[0002] Mining vehicles need to cope with complex operating environments in underground mining areas. The driverless controller on a mining vehicle, as a key device for communicating with the upper computer, is the first line of defense to ensure the safety of mining vehicles and personnel. However, the existing driverless controllers on mining vehicles do not support remote control and are inconvenient to configure. Summary of the Utility Model

[0003] In view of this, the purpose of the present utility model is to overcome the deficiencies in the prior art and provide a driverless control device, a control system and a mining vehicle. The present utility model provides the following technical solutions:

[0004] In a first aspect, the present application provides a driverless control device, which includes: a main control module, a protection module and a communication module. The communication module includes a first communication unit and a second communication unit; the main control module is electrically connected to the protection module and the first communication unit respectively; the protection module is also electrically connected to the second communication unit; the first communication unit is wirelessly connected to the upper computer;

[0005] The second communication unit is used to be electrically connected to a vehicle actuator and a plurality of environmental parameter acquisition modules respectively; the main control module is used to obtain configuration data from the upper computer through the first communication unit; according to the configuration data, the main control module sequentially sends corresponding configuration signals to the vehicle actuator and each environmental parameter acquisition module through the protection module and the second communication unit respectively.

[0006] In an embodiment, the main control module includes a core processor, which is electrically connected to the first communication unit and the protection module respectively; the core processor and the first communication unit perform data interaction using a CAN communication protocol and / or an Ethernet communication protocol, and the model of the core processor is GD32F407ZGT6.

[0007] In an embodiment, the protection module includes a protection chip, which is electrically connected to the core processor and the second communication unit respectively, and the model of the protection chip is BZX84C3V6.

[0008] In an embodiment, the device further includes a power management chip, which is electrically connected to the core processor and the protection chip respectively, and the model of the power management chip is SCT2450QSTER; the power management chip is used to supply power to the core processor and the protection chip respectively.

[0009] In one embodiment, the device further includes a crystal oscillator, which is electrically connected to the core processor, and the model of the crystal oscillator is S3D8.000000A20F30T.

[0010] In one embodiment, the device further includes a storage module, which includes an EEPROM storage chip and a Flash storage chip. The EEPROM storage chip and the Flash storage chip are respectively electrically connected to the core processor; the EEPROM storage chip and the core processor perform data interaction using the I2C protocol; the Flash storage chip and the main control module perform data interaction using the SPI interface protocol, and the model of the Flash storage chip is HX24C512DRG.

[0011] In one embodiment, the device further includes a national cryptographic chip, which is electrically connected to the core processor, and the national cryptographic chip and the core processor perform data interaction using the UART protocol.

[0012] In one embodiment, the device further includes an LED, which is electrically connected to the core processor.

[0013] In a second aspect, the present application further provides an unmanned driving control system, which includes a host computer and the unmanned driving control device described in the first aspect.

[0014] In a third aspect, the present application provides a mining vehicle, which includes a vehicle execution mechanism, a plurality of environmental parameter acquisition modules, and the unmanned driving control device described in the first aspect.

[0015] The present utility model provides an unmanned driving control device, a control system, and a mining vehicle. The device includes: a main control module, a protection module, and a communication module. The communication module includes a first communication unit and a second communication unit; the main control module is respectively electrically connected to the protection module and the first communication unit; the protection module is further electrically connected to the second communication unit; the first communication unit is wirelessly connected to the host computer; the second communication unit is used to be respectively electrically connected to the vehicle execution mechanism and a plurality of environmental parameter acquisition modules; the main control module is used to obtain configuration data from the host computer through the first communication unit; according to the configuration data, the main control module sequentially sends corresponding configuration signals to the vehicle execution mechanism and each environmental parameter acquisition module through the protection module and the second communication unit respectively. In the present application, the main control module is wirelessly connected to the host computer through the first communication module, and wirelessly communicates with the host computer through an Ethernet or a CAN network, realizing remote control of the unmanned driving control device.

[0016] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0018] Figure 1 Shows a schematic structural diagram of the driverless control device provided by an embodiment of the present application;

[0019] Figure 2 Shows another schematic structural diagram of the driverless control device provided by an embodiment of the present application;

[0020] Figure 3 Shows still another schematic structural diagram of the driverless control device provided by an embodiment of the present application.

[0021] Main Element Symbol Explanation:

[0022] 100 - Driverless control device; 110 - Main control module; 120 - Protection module; 130 - Communication module; 131 - First communication unit; 132 - Second communication unit; 200 - Host computer; 300 - Vehicle actuator; 400 - Environmental parameter acquisition module. Specific Embodiments

[0023] The following details the embodiments of the present utility model. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as limiting the present utility model.

[0024] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality" means two or more unless otherwise specifically defined.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used in the description of the template herein are for the purpose of describing specific embodiments only and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0026] Embodiment 1

[0027] An embodiment of the present utility model provides an unmanned control device 100. Specifically, please refer to Figure 1 , the unmanned control device 100 includes: a main control module 110, a protection module 120, and a communication module 130. The communication module 130 includes a first communication unit 131 and a second communication unit 132; the main control module 110 is electrically connected to the protection module 120 and the first communication unit 131 respectively; the protection module 120 is also electrically connected to the second communication unit 132; the first communication unit 131 is wirelessly connected to the host computer 200;

[0028] The second communication unit 132 is used to be electrically connected to the vehicle actuator 300 and a plurality of environmental parameter acquisition modules 400 respectively; the main control module 110 is used to obtain configuration data from the host computer 200 through the first communication unit 131; according to the configuration data, the main control module 110 sequentially sends corresponding configuration signals to the vehicle actuator 300 and each environmental parameter acquisition module 400 through the protection module 120 and the second communication unit 132 respectively.

[0029] In this embodiment, the main control module 110 includes a core processor, and the core processor includes a CAN unit and an Ethernet unit, which are respectively electrically connected to the first communication unit 131. Among them, the CAN communication protocol is adopted for data interaction between the CAN unit and the first communication unit 131, and the Ethernet communication protocol is adopted for data interaction between the Ethernet unit and the first communication unit 131. A CAN conversion chip is also provided between the CAN unit and the first communication unit 131, and an Ethernet conversion chip is also provided between the Ethernet unit and the first communication unit 131. The first communication unit 131 is electrically connected to the upper computer and is used for data interaction with the upper computer. The second communication unit 132 is used for being electrically connected to the vehicle actuator 300 and each environmental parameter acquisition module 400, obtaining the current environmental parameters from each environmental parameter acquisition module 400 and sending the current environmental parameters to the main control module 110 through the protection module 120, and controlling the actions of each vehicle actuator according to the control signal sent by the main control module 110. When the driverless control device 100 is applied to, for example, a mining vehicle, due to the complex and changeable working environment of the mining driverless vehicle, in order to prevent the driverless control device 100 from being interfered by electrostatic discharge, voltage surges, etc., a protection module 120 is provided between the vehicle actuator 300 and the second communication unit 132 and between each environmental parameter acquisition module 400 and the second communication unit 132 to effectively absorb the energy generated by electrostatic discharge and resist voltage surges to protect the subsequent circuits from damage. Each environmental parameter acquisition module 400 includes, but is not limited to: in-vehicle sensors, lidar, vehicle speed sensors, and steering angle sensors.

[0030] In one embodiment, please refer to Figure 2 , the main control module 110 includes a core processor, which is respectively electrically connected to the first communication unit 131 and the protection module 120; the CAN communication protocol and / or the Ethernet communication protocol is adopted for data interaction between the core processor and the first communication unit 131, and the model of the core processor is GD32F407ZGT6.

[0031] It should be noted that in the face of a complex and changeable working environment, such as an environment with high vibration, a lot of dust, a lot of electromagnetic interference, and a wide temperature range requirement, the core processor needs to have excellent anti-vibration performance and advanced packaging technology to ensure that the core processor can operate stably in high-temperature, high-humidity, and high-vibration environments.

[0032] In this embodiment, the core processor includes a 4G unit and an Ethernet unit, which are respectively electrically connected to the first communication unit 131. The 4G unit and the Ethernet unit perform data interaction with the upper computer 200 through the first communication unit 131, thereby realizing remote control of the device where the driverless control device 100 is located by the upper computer 200.

[0033] In one embodiment, please refer to again Figure 2 The protection module 120 includes a protection chip, which is electrically connected to the core processor and the second communication unit 132 respectively. The model of the protection chip is BZX84C3V6.

[0034] In this embodiment, in addition to preventing the subsequent circuit from being interfered by electrostatic discharge, voltage surge, etc., the protection chip also has functions such as short-circuit protection to prevent damage to the subsequent circuit caused by abnormal conditions such as short circuits. Specifically, the protection chip can monitor the current flowing through the protection chip in real time. When a short circuit is detected through the current, the current is quickly cut off to prevent overcurrent damage.

[0035] In one embodiment, please refer to Figure 3 The unmanned driving control device 100 further includes a power management chip, which is electrically connected to the core processor and the protection chip respectively. The model of the power management chip is SCT2450QSTER; the power management chip is used to supply power to the core processor and the protection chip respectively.

[0036] In this embodiment, the voltage output range of the power management chip is 8 - 32V. DC-DC voltage conversion chips are respectively provided between the power management chip and the core processor, and between the power management chip and the protection module 120. Specifically, after the voltage conversion by the DC-DC voltage conversion chip, the power management chip provides a DC 3.3V voltage to the core processor, and after passing through the DC-DC voltage conversion chip, the power management chip provides a DC 5.0V voltage to the protection module 120. The power management chip is also directly electrically connected to the protection module 120 to provide a DC 24V voltage to the protection module 120.

[0037] In one embodiment, the unmanned driving control device 100 further includes a crystal oscillator, which is electrically connected to the core processor. The model of the crystal oscillator is S3D8.000000A20F30T.

[0038] In this embodiment, the crystal oscillator frequency is 8MHz / 25MHz, which is electrically connected to the core processor and is used to provide a clock to the core processor.

[0039] In one embodiment, the unmanned driving control device 100 further includes a storage module. The storage module includes an EEPROM storage chip and a Flash storage chip. The EEPROM storage chip and the Flash storage chip are respectively electrically connected to the core processor; data interaction between the EEPROM storage chip and the core processor is carried out using the I2C protocol; data interaction between the Flash storage chip and the main control module is carried out using the SPI interface protocol. The model of the Flash storage chip is HX24C512DRG.

[0040] In this embodiment, please refer to Figure 3 , the Flash storage chip and the core processor use the SPI (Serial Peripheral Interface) interface protocol for data interaction. Due to its high data transfer rate, simple interface, small footprint and other characteristics, the SPI interface has been widely used in various storage chips. This interface design facilitates data interaction with other devices, reduces the complexity of the system, and improves the stability and efficiency of data transfer.

[0041] In one embodiment, the driverless control device 100 further includes a national cryptographic chip, which is electrically connected to the core processor, and the national cryptographic chip and the core processor use the UART protocol for data interaction.

[0042] In this embodiment, the national cryptographic chip is used to encrypt the data before data interaction.

[0043] In one embodiment, the driverless control device 100 further includes an LED, which is electrically connected to the core processor.

[0044] In this embodiment, when the driverless control device 100 obtains configuration data from the host computer and completes the configuration, it emits a signal indication through the LED. For example, it emits an indication light of a preset color to prompt the completion of the configuration.

[0045] The driverless control device provided by the embodiment of the present application includes: a main control module, a protection module and a communication module. The communication module includes a first communication unit and a second communication unit; the main control module is electrically connected to the protection module and the first communication unit respectively; the protection module is also electrically connected to the second communication unit; the first communication unit is wirelessly connected to the host computer; the second communication unit is used to be electrically connected to the vehicle actuator and multiple environmental parameter acquisition modules respectively; the main control module is used to obtain configuration data from the host computer through the first communication unit; according to the configuration data, the main control module sequentially sends corresponding configuration signals to the vehicle actuator and each environmental parameter acquisition module through the protection module and the second communication unit respectively. In the present application, the main control module is wirelessly connected to the host computer through the first communication module and wirelessly communicates with the host computer through Ethernet or CAN network, realizing the remote control of the driverless control device.

[0046] Embodiment 2

[0047] In addition, the embodiment of the present utility model further provides an unmanned driving control system, which includes a host computer and the unmanned driving control device described in Embodiment 1. Specifically, the device includes: a main control module, a protection module and a communication module. The communication module includes a first communication unit and a second communication unit; the main control module is electrically connected to the protection module and the first communication unit respectively; the protection module is also electrically connected to the second communication unit; the first communication unit is wirelessly connected to the host computer; the second communication unit is used to be electrically connected to a vehicle actuator and a plurality of environmental parameter acquisition modules respectively; the main control module is used to obtain configuration data from the host computer through the first communication unit; according to the configuration data, the main control module sequentially sends corresponding configuration signals to the vehicle actuator and each environmental parameter acquisition module through the protection module and the second communication unit respectively.

[0048] In one embodiment, the main control module includes a core processor, which is electrically connected to the first communication unit and the protection module respectively; the core processor and the first communication unit perform data interaction using a CAN communication protocol and / or an Ethernet communication protocol, and the model of the core processor is GD32F407ZGT6.

[0049] In one embodiment, the protection module includes a protection chip, which is electrically connected to the core processor and the second communication unit respectively, and the model of the protection chip is BZX84C3V6.

[0050] In one embodiment, the device further includes a power management chip, which is electrically connected to the core processor and the protection chip respectively, and the model of the power management chip is SCT2450QSTER; the power management chip is used to supply power to the core processor and the protection chip respectively.

[0051] In one embodiment, the device further includes a crystal oscillator, which is electrically connected to the core processor, and the model of the crystal oscillator is S3D8.000000A20F30T.

[0052] In one embodiment, the device further includes a storage module. The storage module includes an EEPROM storage chip and a Flash storage chip. The EEPROM storage chip and the Flash storage chip are electrically connected to the core processor respectively; the EEPROM storage chip and the core processor perform data interaction using an I2C protocol; the Flash storage chip and the main control module perform data interaction using an SPI interface protocol, and the model of the Flash storage chip is HX24C512DRG.

[0053] In one embodiment, the device further includes a national cryptography chip, which is electrically connected to the core processor, and the national cryptography chip and the core processor perform data interaction using the UART protocol.

[0054] In one embodiment, the device further includes an LED, which is electrically connected to the core processor.

[0055] The unmanned driving control system provided by the embodiment of the present invention can implement the functions of the unmanned driving control device provided in the above-mentioned Embodiment 1. To avoid repetition, it will not be elaborated here.

[0056] Embodiment 3

[0057] In addition, the embodiment of the present invention provides a mining vehicle, which includes a vehicle execution mechanism, a plurality of environmental parameter acquisition modules, and the unmanned driving control device described in Embodiment 1.

[0058] The mining vehicle provided by the embodiment of the present invention can implement the functions of the unmanned driving control device provided in the above-mentioned Embodiment 1. To avoid repetition, it will not be elaborated here.

[0059] In all the examples shown and described here, any specific value should be construed as merely exemplary, not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0060] It should be noted that: similar reference numerals and letters denote similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0061] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. An unmanned control device, characterized in that, The device includes: a main control module, a protection module, and a communication module. The communication module includes a first communication unit and a second communication unit; The main control module is electrically connected to the protection module and the first communication unit respectively; The protection module is also electrically connected to the second communication unit; The first communication unit is wirelessly connected to a host computer; The second communication unit is used to be electrically connected to a vehicle actuator and a plurality of environmental parameter acquisition modules respectively; The main control module is used to obtain configuration data from the host computer through the first communication unit; according to the configuration data, the main control module sequentially sends corresponding configuration signals to the vehicle actuator and each environmental parameter acquisition module through the protection module and the second communication unit respectively.

2. The driverless control device according to claim 1, wherein The main control module includes a core processor, which is electrically connected to the first communication unit and the protection module respectively; Data interaction between the core processor and the first communication unit is carried out using the CAN communication protocol and / or the Ethernet communication protocol. The model of the core processor is GD32F407ZGT6.

3. The driverless control device according to claim 2, characterized in that, The protection module includes a protection chip, which is electrically connected to the core processor and the second communication unit respectively. The model of the protection chip is BZX84C3V6.

4. The driverless control device according to claim 3, characterized in that, The device also includes a power management chip, which is electrically connected to the core processor and the protection chip respectively. The model of the power management chip is SCT2450QSTER; The power management chip is used to supply power to the core processor and the protection chip respectively.

5. The driverless control device according to claim 4, wherein The device also includes a crystal oscillator, which is electrically connected to the core processor. The model of the crystal oscillator is S3D8.000000A20F30T.

6. The driverless control device according to claim 5, characterized in that, The device also includes a storage module. The storage module includes an EEPROM storage chip and a Flash storage chip. The EEPROM storage chip and the Flash storage chip are electrically connected to the core processor respectively; Data interaction between the EEPROM storage chip and the core processor is carried out using the I2C protocol; Data interaction between the Flash storage chip and the main control module is carried out using the SPI interface protocol. The model of the Flash storage chip is HX24C512DRG.

7. The driverless control device according to any one of claims 2-6, characterized in that, The device also includes a national cryptography chip, which is electrically connected to the core processor. Data interaction between the national cryptography chip and the core processor is carried out using the UART protocol.

8. The driverless control device according to claim 7, characterized in that, The device also includes an LED, which is electrically connected to the core processor.

9. An unmanned control system, characterized in that, It includes a host computer and the driverless control device according to any one of claims 1-8.

10. A mining vehicle, characterized in that, It includes a vehicle actuator, a plurality of environmental parameter acquisition modules, and the driverless control device according to any one of claims 1-8.

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