Control system of unmanned working vehicle

Abstract

The utility model provides a control system of an unmanned working vehicle, and relates to the technical field of unmanned driving and the field of intelligent mines. The control system comprises an unmanned working vehicle, the unmanned working vehicle is provided with sensing equipment and a first communication device, the sensing equipment is configured to obtain sensing data representing that a target working vehicle occupies a passing route, and the first communication device is associated with the sensing equipment and is configured to send a passing prompt message to the target working vehicle; the target operation vehicle is provided with a second communication device and prompt equipment, the second communication device is in communication connection with the first communication device, the second communication device is configured to obtain the passing prompt message, the prompt equipment is associated with the second communication device, and the prompt equipment is configured to output a passing prompt signal; the passing prompt signal is used for prompting a driver of the target working vehicle that the unmanned working vehicle is about to pass through the passing route.

Description

Technical Field

[0001] This utility model relates to the fields of unmanned driving technology and smart mining, and more specifically, to a control system for an unmanned operating vehicle. Background Technology

[0002] Mining environments often present challenges such as narrow roads and high vehicle density, which can negatively impact the safety and efficiency of unmanned mining vehicles and consequently affect mining operations. Utility Model Content

[0003] In view of this, the present invention provides a control system for an unmanned operation vehicle.

[0004] One aspect of this utility model provides a control system for an unmanned operation vehicle, the control system comprising:

[0005] The unmanned operation vehicle is equipped with a sensing device and a first communication device. The sensing device is configured to acquire sensing data representing the target operation vehicle's occupation of the passage route. The first communication device is associated with the sensing device and configured to send a passage prompt message to the target operation vehicle.

[0006] The target work vehicle is equipped with a second communication device and a prompting device. The second communication device is communicatively connected to the first communication device and is configured to acquire passage prompt messages. The prompting device is associated with the second communication device and is configured to output a passage prompt signal. The passage prompt signal is used to prompt the driver of the target work vehicle that the unmanned work vehicle is about to pass through the passage route.

[0007] According to an embodiment of the present invention, the target work vehicle is further equipped with a user operation device; the user operation device is used to generate a confirmation command in response to the driver's confirmation operation and send it to the second communication device; wherein, the second communication device is further configured to send a confirmation message to the first communication device, and the confirmation message is used to instruct the unmanned work vehicle to continue driving.

[0008] According to an embodiment of the present invention, the target work vehicle is further equipped with a user operation device; the user operation device is used to generate a rejection command in response to the driver's rejection operation and send it to the second communication device; wherein, the second communication device is further configured to send a rejection message to the first communication device, the rejection message being used to instruct the unmanned work vehicle to stop driving.

[0009] According to an embodiment of the present invention, the prompting device includes a display screen assembly. The passage prompt signal is displayed on the display interface of the display screen assembly. The display interface also displays a target response icon. The driver can perform a confirmation operation or a rejection operation by operating the target response icon.

[0010] According to an embodiment of the present invention, a vehicle-to-vehicle (V2V) communication link and a vehicle-to-everything (V2N) communication link are established between the first communication device and the second communication device.

[0011] According to an embodiment of the present invention, the prompting device is configured to acquire multiple passage prompt messages within a preset prompting period, and output a specified number of passage prompt signals within the preset prompting period, wherein the specified number is less than or equal to the number of passage prompt messages.

[0012] According to an embodiment of the present invention, the sensing device includes at least one of the following: lidar, camera, and millimeter-wave radar.

[0013] According to an embodiment of this utility model, the unmanned operation vehicle includes: an unmanned transport vehicle; the target operation vehicle includes: an excavator, a bulldozer, a grader, and a water truck.

[0014] According to an embodiment of the present invention, the prompting device includes at least one of the following components: a voice indication component, a display screen component, a vibration prompting component, and a light-emitting prompting component.

[0015] According to an embodiment of the present invention, both the first communication device and the second communication device are communicatively connected to other devices; the first communication device is further configured to send a passage prompt message to other devices, and the other devices are configured to send a passage prompt message to the second communication device.

[0016] According to an embodiment of this utility model, the sensing device of the control system acquires sensing data of the target vehicle occupying the passage route, and sends a passage prompt message to the prompting device of the target vehicle in a timely manner through the first communication device. This can promptly notify the driver of the target vehicle to give way, so that the driver can understand the passage status of the unmanned vehicle in the complex working environment based on the second communication device and the prompting device. By performing a confirmation operation, the unmanned vehicle can perform the work task more quickly, and the driver can pay attention to the driving trajectory of the unmanned vehicle, so as not to blindly operate the target vehicle and cause a safety accident. Attached Figure Description

[0017] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

[0018] Figure 1 The schematic diagram illustrates the structure of the control system for the unmanned vehicle to which this invention can be applied;

[0019] Figure 2 This schematic diagram illustrates the structure of the control system of an unmanned vehicle according to another embodiment of the present invention;

[0020] Figure 3The diagram illustrates communication between an unmanned work vehicle and a target work vehicle according to an embodiment of the present invention. Detailed Implementation

[0021] The embodiments of the present invention will now 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, numerous specific details are set forth to provide a comprehensive understanding of the embodiments of the present invention for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the present invention.

[0022] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0023] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0024] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0025] The inventors discovered that when unmanned mining trucks need to approach heavy-duty vehicles such as loaders or excavators, the narrow passageway may cause the unmanned mining trucks to stop abnormally or collide with the heavy-duty vehicles.

[0026] In the embodiments of this utility model, the collection, updating, analysis, processing, use, transmission, provision, disclosure, and storage of data (e.g., including but not limited to user personal information) comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken to prevent unauthorized access to user personal information data and to maintain user personal information security and network security. In the embodiments of this utility model, user authorization or consent is obtained before acquiring or collecting user personal information.

[0027] Figure 1 The schematic diagram illustrates the structure of the control system for the unmanned vehicle to which this invention can be applied.

[0028] like Figure 1 As shown, a control system for an unmanned work vehicle is provided. The unmanned work vehicle 110 is equipped with a sensing device 111 and a first communication device 112. The sensing device 111 is configured to acquire sensing data representing the occupation of the passage route by the target work vehicle 120. The first communication device 112 is associated with the sensing device 111 and is configured to send a passage prompt message to the target work vehicle 120.

[0029] The target work vehicle 120 is equipped with a second communication device 122 and a prompting device 121. The second communication device 122 is communicatively connected to the first communication device 112 and is configured to acquire passage prompt messages. The prompting device 121 is associated with the second communication device 122 and is configured to output a passage prompt signal. The passage prompt signal is used to prompt the driver of the target work vehicle 120, the unmanned work vehicle 110, that it is about to pass through the passage route.

[0030] According to embodiments of this utility model, the unmanned operation vehicle may include an unmanned vehicle used for cargo transportation, such as an unmanned mining truck. The target operation vehicle may include a heavy-duty auxiliary vehicle or other vehicle that requires a driver to operate and perform operational functions.

[0031] According to embodiments of this utility model, the sensing device 111 may include sensor devices, camera devices, lidar, etc. The sensing device 111 may be configured to acquire sensing data characterizing the passageway occupied by a target work vehicle. The sensing data may include target detection boxes, visual data, sensor data, etc., but is not limited thereto. The embodiments of this disclosure do not limit the specific types of sensing data. The sensing data can be used to indicate the passage space occupied by the target work vehicle on the passageway; for example, the sensing data can indicate that a heavy work vehicle occupies a passageway to perform excavation work.

[0032] The prompting device 121 may include a display screen, an audio prompting device, an optical signal prompting device, an audio-visual prompting device, etc., but is not limited thereto. The embodiments of this disclosure do not limit the specific type of prompting device.

[0033] According to an embodiment of the present invention, the first communication device 112 is configured to send a passage prompt message to the target work vehicle 120. The passage prompt message can indicate that the unmanned work vehicle needs to overtake or apply to pass near the target work vehicle. The second communication device 122 in the target work vehicle 120 is configured to acquire the communication prompt message. The prompting device 121 in the target work vehicle 120 can be configured to output a passage prompt signal. The passage prompt signal can be used to prompt the driver of the target work vehicle 120 that the unmanned work vehicle 110 is about to pass through the passage route.

[0034] The passage prompt signal can include any type of signal such as sound signal, image signal, or vibration signal light. The embodiments of this disclosure do not limit the specific type of passage prompt signal, as long as it can prompt the driver in the target work vehicle.

[0035] According to an embodiment of this utility model, the sensing device of the control system acquires sensing data on the target vehicle's obstruction of the passage route, and sends a passage prompt message to the target vehicle's prompting device in a timely manner through the first communication device. This allows the driver of the target vehicle to promptly notify the driver to give way. The driver can then understand the operational situation around the unmanned vehicle in a complex working environment based on the communication prompt signals generated by the second communication device and the prompting device. The driver can monitor the distance between the unmanned vehicle and the target vehicle based on the passage prompt signals and adjust the target vehicle's operating status or driving position accordingly, ensuring the unmanned vehicle can pass safely and efficiently, and avoiding operational safety accidents.

[0036] Figure 2 The schematic diagram illustrates the structure of the control system of an unmanned vehicle according to another embodiment of the present invention.

[0037] According to an embodiment of the present invention, the target work vehicle 120 is further equipped with a user operation device 123; the user operation device 123 is used to generate a confirmation command in response to the driver's confirmation operation and send it to the second communication device 122; wherein, the second communication device 122 is further configured to send a confirmation message to the first communication device 112, and the confirmation message is used to instruct the unmanned work vehicle 110 to continue driving.

[0038] According to an embodiment of the present invention, the target work vehicle 120 is further equipped with a user operation device 123; the user operation device 123 is used to generate a rejection command in response to the driver's rejection operation and send it to the second communication device 122; wherein, the second communication device 122 is further configured to send a rejection message to the first communication device 112, the rejection message being used to instruct the unmanned work vehicle 110 to stop driving.

[0039] In one example, the user operating device may include a prompter with a physical button that the driver presses to perform a rejection operation, and the prompter generates a rejection command in response to the rejection operation.

[0040] In one example, the user operating device may also include a touch screen, which the user can reject by clicking on an icon on the touch screen.

[0041] According to an embodiment of the present invention, the prompting device 121 includes a display screen assembly 1211. The passage prompt signal is displayed on the display interface of the display screen assembly 1211. The display interface also displays a target reply icon. The driver can perform a confirmation operation or a rejection operation by operating the target reply icon.

[0042] According to an embodiment of this utility model, the unmanned operation vehicle 110 acquires sensing data of the target operation vehicle 120 occupying the passage route through the configured sensing device 111. When the unmanned operation vehicle 110 detects that the target operation vehicle 120 is occupying the passage route, the first communication device 112 can send a communication prompt message to the target operation vehicle. The prompt device 121 may include a display screen assembly 1211, on which a passage prompt signal can be displayed. The display screen also displays a target response icon, which the driver can interact with to perform a confirmation operation or a rejection operation.

[0043] According to an embodiment of the present invention, when the driver confirms the target response icon, the user operation device 123 can be used to generate a confirmation command in response to the driver's confirmation operation and send it to the second communication device 122; the second communication device 122 is also configured to send a confirmation message to the first communication device 112, and the confirmation message is used to instruct the unmanned vehicle 110 to continue driving.

[0044] According to an embodiment of the present invention, when the driver rejects the target response icon, the user operation device 123 can be used to generate a rejection command in response to the driver's rejection operation and send it to the second communication device 122; the second communication device 122 is also configured to send a rejection message to the first communication device 112, and the rejection message is used to instruct the unmanned vehicle 110 to stop driving.

[0045] According to an embodiment of the present invention, a vehicle-to-vehicle (V2V) communication link and a vehicle-to-network (V2N) communication link are established between the first communication device and the second communication device.

[0046] According to embodiments of this invention, the vehicle-to-vehicle (V2V) communication link enables unmanned vehicles and target vehicles to exchange information wirelessly. The vehicle-to-network (V2N) communication link allows unmanned vehicles and target vehicles to interact with a cloud platform via a cellular network. The target vehicle and the unmanned vehicle can exchange messages through these two different communication links—the vehicle-to-vehicle (V2V) link and the vehicle-to-network (V2N) link—to improve the transmission efficiency and quality of various message types, such as passage notification messages.

[0047] Figure 3 The diagram illustrates communication between an unmanned work vehicle and a target work vehicle according to an embodiment of the present invention.

[0048] like Figure 3 As shown, the unmanned operation vehicle 312 may include a first communication device, and the target operation vehicle 310 may include a second communication device. A vehicle-to-vehicle (V2V) communication link can be established between the first communication device in the unmanned operation vehicle 312 and the second communication device in the target operation vehicle 310. A vehicle-to-everything (V2N) communication link can also be established between the first communication device in the unmanned operation vehicle 312 and the second communication device in the target operation vehicle 310 through the cloud 311.

[0049] According to an embodiment of the present invention, both the first communication device 112 and the second communication device 122 are communicatively connected to other devices; the first communication device 112 is further configured to send a passage prompt message to other devices, and the other devices are configured to send a passage prompt message to the second communication device 122.

[0050] According to an embodiment of this utility model, both the first communication device 112 and the second communication device 122 are communicatively connected to other devices to establish a vehicle-to-everything (V2N) communication link. Other devices may include the cloud, etc. The first communication device 112 is also configured to send passage notification messages to other devices, and the other devices are configured to send passage notification messages to the second communication device 122.

[0051] According to an embodiment of the present invention, the prompting device 121 is configured to acquire multiple passage prompt messages in a preset prompting period, and output a specified number of passage prompt signals in the preset prompting period, wherein the specified number is less than or equal to the number of passage prompt messages.

[0052] According to an embodiment of the present invention, the prompting device 121 is configured to acquire multiple passage prompt messages within a preset prompting period, and output a specified number of passage prompt signals within the preset prompting period, wherein the specified number is less than or equal to the number of passage prompt messages. The preset prompting period can be set to an interval of 1 minute, etc., but is not limited thereto, and the embodiments of the present disclosure do not limit the preset prompting period.

[0053] According to an embodiment of this utility model, after the prompting device receives a passage prompt message from the unmanned vehicle, it can immediately prompt the driver and simultaneously check whether the driver confirms the information. If not, a second prompt should be issued after a 1-minute interval. Within 1 minute of the driver confirming the unmanned vehicle's request, similar request messages from the same unmanned vehicle should be filtered out; that is, even if a request is received at this time, no prompt will be issued. This reduces the number of prompt signals sent to the driver during the prompting cycle, avoiding excessively frequent prompts that could lead to driver errors. Additionally, the driver can be prompted via voice or displayed on a screen.

[0054] According to an embodiment of this utility model, if the unmanned vehicle does not receive a response, it must park at a certain distance from the target vehicle. Simultaneously, the unmanned vehicle must continuously send requests to the target vehicle until a response is received.

[0055] According to an embodiment of the present invention, the sensing device 111 includes at least one of the following: lidar, camera, and millimeter-wave radar.

[0056] According to an embodiment of this utility model, the sensing device 111 may include a lidar, a camera, and a millimeter-wave radar. The lidar can be used to acquire three-dimensional point cloud data of the environment surrounding the target vehicle, accurately measuring the distance and relative position of the target vehicle to surrounding objects. The camera can be used to capture images of the environment surrounding the target vehicle, including road conditions, traffic signs, other vehicles, and personnel. The millimeter-wave radar can be used to detect the distance and speed information of obstacles in front of and behind the target vehicle.

[0057] According to an embodiment of the present invention, the unmanned operation vehicle 110 includes: an unmanned transport vehicle; the target operation vehicle 120 includes an excavator, a bulldozer, a grader, and a water truck.

[0058] According to the embodiments of this utility model, the unmanned operation vehicle 110 may include an unmanned transport vehicle, and the target operation vehicle 120 may include an excavator, bulldozer, grader, water truck, etc., but is not limited thereto. The embodiments disclosed herein do not limit the type of target operation vehicle.

[0059] According to an embodiment of the present invention, the prompting device 121 includes at least one of the following components: a voice indication component, a display screen component, a vibration prompting component, and a light-emitting prompting component.

[0060] According to embodiments of this utility model, the prompting device 121 may include a voice instruction component, a display screen component, a vibration prompting component, and a light-emitting prompting component, but is not limited thereto. The embodiments of this disclosure do not limit the components included in the prompting device. Based on the voice instruction component, a voice prompt can be given to the driver indicating that the unmanned vehicle is about to pass through the designated route. Based on the display screen component, a visual prompt can be given to the driver indicating that the unmanned vehicle is about to pass through the designated route. Based on the vibration prompting component, a vibration sound prompt can be given to the driver indicating that the unmanned vehicle is about to pass through the designated route. Based on the light-emitting prompting component, a light signal prompt can be given to the driver indicating that the unmanned vehicle is about to pass through the designated route.

[0061] In one example, the prompting device may include a voice instruction component, a display screen component, a vibration prompting component, and a light-emitting prompting component, so as to prompt the driver to respond to the unmanned operation vehicle's passage needs from multiple dimensions such as sound, optics, physical vibration, and specific prompting content, thereby improving the passage safety of the unmanned operation vehicle.

[0062] According to embodiments of this utility model, by using a prompting device to provide prompts to the driver, the safety of the interaction between the unmanned operation vehicle and the target operation vehicle is significantly improved.

[0063] Those skilled in the art will understand that the features described in the various embodiments of this utility model can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this utility model. In particular, the features described in the various embodiments of this utility model can be combined and / or combined in various ways without departing from the spirit and teachings of this utility model. All such combinations and / or combinations fall within the scope of this utility model.

[0064] The embodiments of this utility model have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this utility model. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. This utility model does not depart from its scope, and those skilled in the art can make various substitutions and modifications, all of which should fall within the scope of this utility model.

Claims

1. A control system for an unmanned operating vehicle, characterized in that, The control system includes: An unmanned work vehicle is equipped with a sensing device and a first communication device. The sensing device is configured to acquire sensing data indicating that the target work vehicle occupies a passageway. The first communication device is associated with the sensing device and configured to send a passage prompt message to the target work vehicle. The target work vehicle is equipped with a second communication device and a prompting device. The second communication device is communicatively connected to the first communication device and is configured to acquire the passage prompt message. The prompting device is associated with the second communication device and is configured to output a passage prompt signal. The passage prompt signal is used to prompt the driver of the target work vehicle that the unmanned work vehicle is about to travel through the passage route.

2. The control system according to claim 1, characterized in that, The target work vehicle is also equipped with a user operation device; The user operating device is used to generate a confirmation command in response to the driver's confirmation operation and send it to the second communication device; The second communication device is further configured to send an acknowledgment message to the first communication device, the acknowledgment message being used to instruct the unmanned vehicle to continue driving.

3. The control system according to claim 1, characterized in that, The target work vehicle is also equipped with a user operation device; The user operating device is used to generate a rejection command in response to the driver's rejection operation and send it to the second communication device; The second communication device is further configured to send a rejection message to the first communication device, the rejection message being used to instruct the unmanned vehicle to stop driving.

4. The control system according to claim 2 or 3, characterized in that, The prompting device includes a display screen assembly, on which the passage prompt signal is displayed. The display screen assembly also displays a target response icon, which the driver interacts with to confirm or refuse the operation.

5. The control system according to claim 1, characterized in that, A vehicle-to-vehicle (V2V) communication link and a vehicle-to-everything (V2N) communication link are established between the first communication device and the second communication device.

6. The control system according to claim 1, characterized in that, The notification device is configured to acquire multiple access notification messages within a preset notification period, and output a specified number of access notification signals within the preset notification period, wherein the specified number is less than or equal to the number of access notification messages.

7. The control system according to claim 1, characterized in that, The sensing device includes at least one of the following: lidar, camera, millimeter-wave radar.

8. The control system according to claim 1, characterized in that, The unmanned operation vehicle includes: an unmanned transport vehicle; The target work vehicles include: excavators, bulldozers, graders, and water trucks.

9. The control system according to claim 1, characterized in that, The notification device includes at least one of the following components: Voice indication component, display screen component, vibration prompt component, and light-emitting prompt component.

10. The control system according to claim 1, characterized in that, Both the first communication device and the second communication device are communicatively connected to other devices; The first communication device is further configured to send the passage prompt message to the other device, and the other device is configured to send the passage prompt message to the second communication device.

Images