Vehicle control system for controlling vehicle using dual controller
A dual controller vehicle system addresses environmental and safety issues in ore handling by enabling safe, unmanned operation through a first controller managing vehicle operations and transferring control to a second controller as needed, ensuring efficient ore processing.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- POSCO HLDG INC
- Filing Date
- 2025-12-18
- Publication Date
- 2026-06-25
AI Technical Summary
The transportation of irregularly shaped raw materials like iron ore using belt conveyors or trucks poses environmental risks due to falling ore during rainfall and safety concerns from manned vehicle operations, especially when vehicles are in continuous motion.
A vehicle control system utilizing a dual controller architecture, where a first controller manages vehicle operations under preset conditions and can transfer control to a second controller upon request, with integrity verification and control return mechanisms.
Enables safe and efficient unmanned operation of vehicles for ore handling, reducing environmental pollution and safety hazards by allowing remote control even during continuous conveyor motion.
Smart Images
Figure KR2025022147_25062026_PF_FP_ABST
Abstract
Description
Vehicle control system that controls the vehicle using a dual controller
[0001] The present embodiments relate to a vehicle control system that controls a vehicle using a dual controller.
[0002] Fuel and raw materials for steelmaking, such as iron ore, can be transported using belt conveyors or trucks from the dock where they are unloaded from ships to subsequent steelmaking processes. Since the raw materials transported by these belt conveyors or trucks have irregular shapes, they may continuously fall to the ground due to vibrations. As the fallen ore flows into the ocean during rain, causing environmental problems, periodic disposal of the fallen ore using vehicles may be necessary.
[0003] However, since belt conveyors or trucks are generally installed at a low height above the ground, the use of vehicles with operators on board may be limited by ground clearance. Furthermore, even when belt conveyors or trucks are in continuous motion, driving the vehicle with an operator on board to handle fallen ore may present safety issues. To resolve these persistent problems, a vehicle capable of unmanned operation is required.
[0004] Therefore, research has conventionally been conducted on technology regarding portable remote controls capable of controlling the ore handling operations of vehicles.
[0005] However, situations may arise where workers cannot perform ore disposal operations on-site using a portable remote control. In such cases, the vehicle needs to be remotely controlled from an office, but advancements in this technology are currently insufficient.
[0006] The embodiments can provide a vehicle control system that controls a vehicle using a dual controller.
[0007] In one aspect, the embodiments may provide a vehicle control system comprising: a vehicle that grants control to a first controller based on preset normal operating conditions; a first controller that, when control is granted from the vehicle, controls the vehicle's mine handling operation according to whether it aligns with the controller's control conditions, and when a request for a change of control from a second controller is confirmed, determines whether to accept the request for a change of control and provides control to the second controller, and when an input signal for a request to return control is generated, requests the vehicle to return control; and a second controller that, when control is provided from the first controller, performs a request for a change of control to the first controller when an input signal for a change of control is generated, controls the vehicle's mine handling operation, determines whether to accept the request for return of control when the request for return of control is confirmed, and returns control to the vehicle or performs integrity verification according to the result of the determination.
[0008] In another aspect, the embodiments may provide a first controller comprising: a first vehicle operation control unit that controls the vehicle's mine handling operation according to whether it meets controller control conditions when control is granted from the vehicle; a control provision unit that determines whether to accept the request for change of control and provides control to the second controller when a request for change of control from the second controller is confirmed; and a control return request unit that requests the vehicle to return control when an input signal for a request to return control is generated.
[0009] In another aspect, the embodiments may provide a second controller comprising: a control change request unit that performs a control change request to a first controller when an input signal for a control change request is generated; a second vehicle operation control unit that controls a vehicle's mine drop processing operation when control is provided from the first controller; and a control return request judgment unit that determines whether to accept the control return request when the control return request from the first controller is confirmed, and returns the control to the vehicle or performs integrity verification according to the judgment result.
[0010] According to the embodiments, a vehicle control system that controls a vehicle using a dual controller can be provided.
[0011] FIG. 1 is a block diagram illustrating a vehicle control system according to one embodiment.
[0012] FIG. 2 is a block diagram illustrating the operation of granting control of a vehicle according to one embodiment.
[0013] FIG. 3 is a block diagram illustrating the components of a first controller according to one embodiment.
[0014] FIG. 4 is a block diagram illustrating the operation of a first controller according to one embodiment.
[0015] FIG. 5 is a flowchart illustrating the detailed operation of a first controller according to one embodiment.
[0016] FIG. 6 is a flowchart illustrating the detailed operation of a first controller according to one embodiment.
[0017] FIG. 7 is a drawing for explaining the components of a second controller according to one embodiment.
[0018] FIG. 8 is a block diagram illustrating the operation of a second controller according to one embodiment.
[0019] FIG. 9 is a flowchart illustrating the detailed operation of a second controller according to one embodiment.
[0020] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the exemplary drawings. In assigning reference numerals to the components of each drawing, the same components may have the same reference numeral as much as possible, even if they are shown in different drawings. Furthermore, in describing the embodiments, if it is determined that a detailed description of related known components or functions may obscure the essence of the technical concept, such detailed description may be omitted. Where terms such as "comprising," "having," or "consisting of" are used in this specification, other parts may be added unless "only" is used. Where a component is expressed in the singular, it may include a plural unless otherwise specified.
[0021] Additionally, terms such as first, second, A, B, (a), (b), etc., may be used to describe the components of the present disclosure. These terms are used merely to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by such terms.
[0022] In describing the positional relationship of components, where it is stated that two or more components are "connected," "combined," or "joined," it should be understood that while the two or more components may be directly "connected," "combined," or "joined," they may also be "connected," "combined," or "joined" with other components "intervened." Here, the other components may be included in one or more of the two or more components that are "connected," "combined," or "joined" with one another.
[0023] In describing the temporal flow relationship regarding components, methods of operation, or methods of production, for example, when the temporal or sequential relationship is described using "after," "following," "next," or "before," it may include cases where the relationship is not continuous unless "immediately" or "directly" is used.
[0024] Meanwhile, where numerical values or corresponding information regarding a component (e.g., levels, etc.) are mentioned, even without separate explicit notation, the numerical values or corresponding information may be interpreted as including a range of error that may occur due to various factors (e.g., process factors, internal or external shocks, noise, etc.).
[0025] Hereinafter, the vehicle, ore drop, and ore drop processing operation used in the present disclosure are described.
[0026] Fuel and raw materials for steelmaking, such as iron ore, can be transported via belt conveyors from the dock where they are unloaded from ships to the subsequent steelmaking process.
[0027] Raw materials transported by belt conveyors have irregular shapes and may continuously fall to the ground due to vibrations or other factors. Such fallen ore can be defined as spilled ore. During rainfall, spilled ore can flow into the ocean and cause environmental pollution. To prevent environmental pollution, spilled ore needs to be processed periodically, even when the belt conveyor is in continuous operation. In this case, the vehicle needs to periodically perform the spilled ore processing operation. The spilled ore processing operation may correspond to the action of the vehicle collecting the spilled ore scattered in the space between the sea and the road.
[0028] In addition, the fallen ore processing operation may include the operation of moving the vehicle forward, backward, left, and right to perform the operation of collecting the fallen ore, and may include the operation of stopping the moving vehicle.
[0029] In the present disclosure, the vehicle may include a vehicle capable of performing a fallen ore processing operation. For example, the vehicle may include a skid loader. However, the present embodiment is not limited to various types of vehicles capable of performing a fallen ore processing operation.
[0030] Furthermore, the vehicle's ore handling operation can be performed not only in manned driving situations but also in unmanned driving situations. The vehicle's ore handling operation can be performed even when a belt conveyor or truck is in continuous motion. Therefore, safety issues may arise if the vehicle is in a manned driving situation. Consequently, the vehicle needs to perform ore handling operations via remote control or autonomous driving control even in unmanned driving situations. Additionally, to support remote control, the vehicle needs to be equipped with a communication module capable of network connectivity, one or more sensors (radar, lidar, camera sensors, etc.), and an MCU or ECU capable of controlling the vehicle's ore handling operation, controlling the engine, wheels, steering wheel, internal devices, and brakes included in the vehicle, and performing control granting and control revocation operations.
[0031] In the present disclosure, the term "falling ore processing operation" may be replaced with other terms having an equivalent meaning, such as "vehicle operation."
[0032] The vehicle control system is described below using the aforementioned terms.
[0033] FIG. 1 is a block diagram illustrating a vehicle control system according to one embodiment. FIG. 2 is a block diagram illustrating a vehicle control granting operation according to one embodiment.
[0034] Referring to FIG. 1, the vehicle control system (1) according to the embodiments may include a vehicle (100), a first controller (200), and a second controller (300). However, the vehicle control system (1) may include not only the vehicle, the first controller (200), and the second controller (300), but also any type of device that can control the vehicle's fall-processing operation.
[0035] Hereinafter, for the convenience of explanation, the vehicle control system (1) is described based on the assumption that it includes only the vehicle (100), the first controller (200), and the second controller (300).
[0036] The vehicle (100), the first controller (200), and the second controller (300) can be network-connected to each other.
[0037] For example, the vehicle (100) can directly grant control of the vehicle to the first controller (200) or directly transmit a command to reclaim control of the vehicle to the second controller (300) through a network connection.
[0038] As another example, the vehicle (100) may grant control to the first controller based on preset operating conditions.
[0039] Referring to FIG. 2, the vehicle (100) can be controlled so that the vehicle's fallout processing operation is stopped while the engine is running. (S110) The vehicle (100) can determine whether it meets preset normal operating conditions. (S120) If the vehicle (100) determines that it meets preset normal operating conditions, it can grant control to the first controller. (S130)
[0040] The following explains each step with specific examples.
[0041] The vehicle (100) can be controlled to stop the fall processing operation. (S110) When the vehicle (100) is running and the fall processing operation of the vehicle (100) is not stopped, it is necessary to determine whether the vehicle (100) meets the preset normal operating conditions to prevent a situation in which personal injury or property damage occurs as the vehicle moves. Therefore, the vehicle (100) needs to be controlled to stop the fall processing operation of the vehicle while the vehicle is running.
[0042] When the vehicle's fallout processing operation is stopped, the vehicle (100) can determine whether it meets preset normal operating conditions. (S120)
[0043] For example, a preset normal operating condition may be set as whether the engine of the vehicle (100) is operating normally. In this case, the vehicle (100) may determine that it does not meet the preset normal operating condition if the engine of the vehicle (100) is not operating normally. Alternatively, the vehicle (100) may determine that it meets the preset normal operating condition if the engine of the vehicle (100) is operating normally.
[0044] As another example, a preset operating condition may be set based on whether the emergency stop switch of the vehicle (100) is in the OFF state. If the emergency stop switch of the vehicle (100) is in the OFF state, it can be determined that the preset operating condition is met. On the other hand, if the emergency stop switch of the vehicle (100) is in the ON state, it can be determined that the preset operating condition is not met.
[0045] For example, the emergency stop switch of the vehicle (100) may be placed as a button inside the vehicle. In this case, the vehicle (100) can determine that the emergency stop switch is in an ON state if it is pressed or rotated, and can determine that it is in an OFF state if it is not pressed or rotated. Conversely, the vehicle (100) can determine that the emergency stop switch is in an OFF state if it is not pressed or rotated, and can determine that the emergency stop switch is in an ON state if it is pressed or rotated.
[0046] As another example, the emergency stop switch of the vehicle (100) may be output to and touched on a part of an output device installed inside the vehicle. In this case, the output device may include a display and a touchscreen connected via CAN communication to the vehicle's ECU (Electronic Control Unit) and MCU (Micro Controller Unit).
[0047] In this case, the vehicle (100) can determine that the emergency stop switch is in the ON state if an input signal is generated to a part of the output device or if a part of the output device is touched. Conversely, the vehicle (100) can determine that the emergency stop switch is in the OFF state if no input signal is generated to a part of the output device or if a part of the output device is not touched.
[0048] However, various types of emergency stop switches may be placed inside the vehicle (100), not limited to the present embodiment. Additionally, various preset normal operating conditions may be set, not limited to the present embodiment.
[0049] If the vehicle (100) determines that it meets preset normal operating conditions, it may grant control to the first controller (200). (S130) Alternatively, the vehicle (100) may grant control to either the first controller (200) or the second controller (300).
[0050] However, not limited to this embodiment, the operation of granting control of the vehicle (100) can be granted to all controllers included in the vehicle control system (1).
[0051] Meanwhile, if the vehicle (100) determines that the network connection between the vehicle (100) and the second controller (300) has been disconnected, it can immediately reclaim control of the second controller (300).
[0052] The second controller (300), which will be described later, can receive control from the first controller (200) to control the ore processing operation of the vehicle (100) by performing a request for a change of control. However, since the vehicle (100) is connected to the second controller (300) via a network, it may become difficult to control the ore processing operation of the vehicle (100) if the network connection is severed. Therefore, to avoid an unavoidable situation, the vehicle (100) can immediately reclaim control from the second controller (300) if it is determined that the network connection between the vehicle (100) and the second controller (300) has been severed.
[0053] However, not limited to the present embodiment, when in various situations, the vehicle (100) can recover the control rights granted to the first controller (200) as well as the second controller (300).
[0054] Hereinafter, a first controller according to embodiments of the present disclosure is described with reference to the attached drawings.
[0055] FIG. 3 is a block diagram illustrating the components of a first controller according to one embodiment. FIG. 4 is a diagram illustrating the operation of a first controller according to one embodiment. FIG. 5 to 6 are flowcharts illustrating the detailed operation of a first controller according to one embodiment.
[0056] The first controller (200) may include a remote control for wirelessly controlling the vehicle's fallout processing operation. However, the present embodiment is not limited to this, and various types of wireless controllers may be included in the first controller (200). Hereinafter, the first controller (200) is described under the assumption that it uses a remote control.
[0057] Referring to FIG. 3, the first controller (200) may include a notification device (201) capable of determining whether the power of the first controller (200) is ON, a joystick (202, 203) capable of controlling the movement of the vehicle up, down, left, and right, an emergency stop switch (204) of the first controller (200) capable of urgently stopping the vehicle's fall processing operation, a driving mode selection switch (205) of the first controller (200) positioned to select the controller having control of the vehicle, a change request notification signal (206) capable of determining the existence of a control change request, and a gyroscope (not shown) capable of determining the degree to which the first controller (200) is tilted relative to the ground.
[0058] For example, a notification device (201) may be included on the upper front of the first controller (200) to determine whether the power of the first controller (200) is in an ON state. In this case, the notification device (201) may include a display capable of outputting a screen and an LED chip. However, the notification device (201) is not limited to the present embodiment and may include various devices.
[0059] For example, the joystick (202, 203) may include a left joystick (203) and a right joystick (202). The neutral state refers to a state in which the joystick (202, 203) is positioned in the center, such as the state in the shape of FIG. 3, and the joystick (202, 203) can be deformed up, down, left, and right from the neutral state to control the vehicle's fall processing operation.
[0060] For example, an emergency stop switch (204) of the first controller (200) may be included in the first controller (200) to rapidly stop the vehicle's fall processing operation. If an obstacle interferes with the vehicle's fall processing operation or if the vehicle's fall processing operation needs to be stopped rapidly, the user of the first controller (200) can press the emergency stop switch (204) of the first controller (200) to rapidly stop the vehicle's fall processing operation. That is, if the vehicle's fall processing operation is in a state of rapid stopping, it may correspond to a situation where it is not appropriate to control the vehicle's fall processing operation. Therefore, the first controller (200) can control the vehicle's fall processing operation only when the emergency stop switch (204) of the first controller (200) is in the OFF state, which is when the vehicle's fall processing operation is not in a state of rapid stopping.
[0061] For example, the driving mode selection switch (205) of the first controller (200) may be included to select the controller that has control of the vehicle.
[0062] For example, if the direction of the driving mode selection switch (205) is the direction of the first controller (200), it can be determined that the first controller (200) is selected. Conversely, if the direction of the driving mode selection switch (205) is the direction of the second controller, it can be determined that the second controller is selected.
[0063] However, not limited to the present embodiment, the direction of the driving mode selection switch (205) of the first controller (200) can be set in various ways.
[0064] For example, the change request notification signal (206) is a signal that can confirm a control change request generated by the second controller. The change request notification signal (206) may include a signal generating device such as an LED chip. However, the present embodiment is not limited to this, and various devices may be included in the change request notification signal (206).
[0065] For example, although not shown, the first controller (200) may include a horn switch for determining whether the vehicle's horn is functioning normally. When the horn switch is pressed or rotated, the vehicle's horn may temporarily produce a sound such as a 'honk'.
[0066] However, not limited to the present embodiment, the first controller (200) may include various switches and sensors not illustrated.
[0067] Additionally, although not illustrated, the first controller (200) may include a computer system capable of performing the operations of the first vehicle operation control unit, the control provision unit, and the control return request unit described later. The computer system of the first controller (200) may include at least one element among one or more processors, memory, storage unit, user interface input unit, and user interface output unit, and these may communicate with each other via a bus. Additionally, the computer system may also include a network interface for network connection with the vehicle and the second controller. The processor may be a CPU or a semiconductor device that executes processing instructions stored in the memory and / or storage unit. The memory and storage unit may include various types of volatile / non-volatile storage media. For example, the memory may include ROM and RAM.
[0068] Hereinafter, the operations of the first vehicle operation control unit, the control provision unit, and the control return request unit of the first controller will be explained using drawings. FIG. 4 is a block diagram for explaining the operation of the first controller according to one embodiment. FIG. 5 and 6 are flowcharts for explaining the detailed operation of the first controller according to one embodiment.
[0069] Referring to FIG. 4, when control is granted from the vehicle, the system may include a first vehicle operation control unit (210) that controls the vehicle's fall processing operation according to whether it meets the controller control conditions, a control provision unit (220) that determines whether to accept the request for change of control from the second controller and provides control to the second controller when the request for change of control from the second controller is confirmed, and a control return request unit (230) that requests the vehicle to return control when an input signal for a request to return control is generated.
[0070] Referring to FIG. 5, the first vehicle operation control unit (210) can control the vehicle's fallout processing operation by determining whether it meets the controller control conditions when control is granted from the vehicle.
[0071] Control rights may be granted from the vehicle to the first controller (200). (S211)
[0072] The first vehicle operation control unit (210) can determine whether the control is met when control is granted from the vehicle, in accordance with the controller control conditions. (S212)
[0073] For example, the controller control conditions may be set using at least one of the following: whether the power of the first controller (200) is ON, whether the joystick of the first controller (200) is in the neutral position, whether the horn of the vehicle is operating normally, whether the degree of tilt of the first controller (200) relative to the ground exceeds a preset angle, whether the emergency stop switch of the first controller (200) is OFF, and whether the direction of the driving mode selection switch (205) of the first controller (200) is facing a preset direction.
[0074] For example, the controller control condition may include whether the power of the first controller (200) is in an ON state. For example, whether the power of the first controller (200) is in an ON state may be determined by whether the LED chip of the notification device (201) lights up, whether the display brightens within N seconds (N is a real number greater than 0), or whether a message saying 'power is on' appears on the display. However, the present embodiment is not limited to this, and the ON state of the notification device (201) may be determined in various ways.
[0075] As another example, the controller control condition may include whether the joystick (202, 203) of the first controller (200) is neutral. For example, the shape of the joystick (202, 203) shown in FIG. 3 may indicate a state where the joystick (202, 203) of the first controller (200) is neutral. Therefore, if either of the joysticks (202, 203) of the first controller (200) does not correspond to a neutral state, a signal may be generated from either of them, and thus it may be determined that the controller control condition is not met.
[0076] However, not limited to the present embodiment, whether the joystick (202, 203) of the first controller (200) is neutral can be determined according to various methods.
[0077] As another example, the controller control condition may include whether the vehicle's horn is operating normally. As described above, the first controller (200) may include a horn switch for determining whether the vehicle's horn is operating normally. When the horn switch is pressed or rotated, the vehicle's horn may produce a sound such as a 'honk'. Such a case may correspond to the vehicle's horn operating normally. If it is determined that the vehicle's horn is operating normally, it may be determined that the controller control condition is met.
[0078] However, not limited to the present embodiment, it may be determined whether the vehicle's horn is functioning normally.
[0079] As another example, the controller control condition may include whether the degree of tilt of the first controller (200) relative to the ground exceeds a preset angle. As described above, the first controller (200) may include a gyroscope capable of determining the degree of tilt relative to the ground. In this case, the preset angle may be set to A degrees (where A is a real number greater than or equal to 0). For example, if the preset angle is 40 degrees, it may be determined that the controller control condition is satisfied if the degree of tilt of the first controller (200) relative to the ground is less than 40 degrees.
[0080] However, the present embodiment is not limited to this, and the preset angle can be set in various ways, and the degree to which the first controller (200) is tilted relative to the ground can be determined in various ways.
[0081] As another example, the controller control condition may include whether the emergency stop switch of the first controller (200) corresponds to the OFF state. As described above, the first controller (200) may include an emergency stop switch. In this case, the OFF state may mean a state in which the emergency stop switch (204) of the first controller (200) is not pressed and the signal generated from the emergency stop switch (204) is not received by the first controller (200). Accordingly, if the emergency stop switch of the first controller (200) corresponds to the OFF state, it may be determined that the controller control condition is satisfied.
[0082] However, the OFF state can be determined in various ways, not limited to the present embodiment.
[0083] As another example, the controller control condition may include whether the direction of the driving mode selection switch (205) of the first controller (200) is facing a preset direction. As described above, if the direction of the driving mode selection switch (205) of the first controller (200) is the direction of the first controller, it can be determined that the first controller (200) is selected. Conversely, if the direction of the driving mode switch (250) is the direction of the second controller, it can be determined that the second controller is selected.
[0084] In addition, the preset direction can be set to either the first controller direction or the second controller direction.
[0085] For example, if the preset direction is the direction of the first controller and the direction of the driving mode selection switch (205) of the first controller (200) is the direction of the first controller, it can be determined that the controller control condition is met.
[0086] However, not limited to the present embodiment, the direction of the driving mode selection switch (205) of the first controller (200) can be set in various ways.
[0087] As another example, the first vehicle operation control unit (210) determines whether the controller control conditions are met, and can determine this by combining at least one of the conditions included in the aforementioned controller control conditions in various order.
[0088] The first vehicle operation control unit (210) can control the vehicle's fallout processing operation if it determines that the controller control conditions are met. (S213)
[0089] Referring to FIG. 6, when the control provision unit (220) confirms the control change request of the second controller, it can determine whether to accept the control change request and provide control to the second controller.
[0090] The first vehicle operation control unit can control the vehicle's ore processing operation depending on whether it meets the controller control conditions. (S213)
[0091] The control provision unit (220) can determine whether the request for a change of control of the second controller is confirmed. (S221)
[0092] For example, a request for a change of control can be confirmed through a change request notification signal (206) of the first controller (200). A request for a change of control can be received from the second controller (300). Additionally, a request for a change of control may mean a request to change control from the first controller (200) to the second controller (300).
[0093] In this case, as described above, the change request notification signal (206) of the first controller (200) can be confirmed through a signal generating device. For example, when the LED chip is turned on, it can be determined that the change request notification signal (206) of the controller (200) is confirmed.
[0094] On the other hand, if the LED chip is off, it may be determined that the change request notification signal (206) of the controller (200) is not being detected. In this case, the control providing unit (200) may further determine whether the emergency stop switch (204) of the first controller (200), which will be described later, is in the OFF state. (S223)
[0095] Meanwhile, the control provision unit (220) can determine whether to accept the request for a change of control from the second controller when the request for a change of control is confirmed. (S221)
[0096] For example, whether to accept a request for a change of control can be determined based on a signal input through a change request acceptance switch (not shown) of the first controller (200).
[0097] In the present embodiment, if the user of the first controller (200) is willing to accept a request for a change of control received from the second controller, the user may press or rotate the change request switch of the first controller (200). Through this, a signal may be input.
[0098] Conversely, if the user of the first controller (200) has no intention of accepting the request for a change of control received from the second controller, the user may not press or rotate the change request switch of the first controller (200). That is, the signal may not be input.
[0099] In this case, if there is an input signal, the control providing unit (220) can determine that the request for a change of control has been accepted.
[0100] The control provision unit (220) may provide control to the second controller (300) if it determines that a request to change control has been accepted. (S224)
[0101] On the other hand, if there is no input signal, the control providing unit (220) may determine that the request for a change of control has not been accepted. In this case, the control providing unit (220) may further determine whether the emergency stop switch (204) of the first controller (200) is in the OFF state. (S223)
[0102] If the emergency stop switch (204) of the first controller (200) is determined to be in the OFF state, the first vehicle operation control unit (210) can control the vehicle's fall processing operation again.
[0103] On the other hand, if the emergency stop switch (204) of the first controller (200) is not determined to be in the OFF state, the first controller (200) may return control to the vehicle. (S225)
[0104] However, this embodiment is merely an example of a series of operations for providing control of the control providing unit (220). Therefore, not limited to this embodiment, the control providing unit (220) may include various judgment methods and operations for providing control.
[0105] Meanwhile, the control return request unit (230) can request the vehicle to return control when an input signal for the control return request is generated.
[0106] A request for the return of control may be a request for the first controller to return the control provided to the second controller to the vehicle, and for the vehicle to grant control back to the first controller. Below, the operation of the control return request unit (230) for the control return request is described.
[0107] For example, an input signal for a control return request can be determined based on a signal input through a return request switch (not shown) of the first controller (200).
[0108] In the present embodiment, if the user of the first controller (200) wishes to receive back the control provided to the second controller, the user may press or rotate the return request switch of the first controller (200). Through this, a signal may be input.
[0109] Conversely, if the user of the first controller (200) does not intend to receive back the control provided to the second controller, they may not press the return request switch of the first controller (200) or rotate it. That is, the signal may not be input.
[0110] In this case, if an input signal exists, the control return request unit (230) can determine that an input signal for a control return request has been generated and make a control return request to the vehicle.
[0111] Additionally, if there is no input signal, the control return request unit (230) may determine that no input signal for the control return request has been generated and may not make a control return request to the vehicle.
[0112] However, not limited to this embodiment, the control return request unit (230) can perform various operations and various operations.
[0113] FIG. 7 is a diagram illustrating the components of a second controller according to one embodiment. FIG. 8 is a block diagram illustrating the operation of a second controller according to one embodiment. FIG. 9 is a flowchart illustrating the detailed operation of a second controller according to one embodiment.
[0114] Referring to FIG. 7, the second controller (300) may include a display (301) which is one of the output devices, a left joystick (302) and a right joystick (303) capable of controlling the movement of the vehicle up, down, left, and right, switches (304, 305) each installed on one side of the two joysticks (302, 303) to receive input signals, a keyboard (305) capable of receiving one or more input signals, and a mouse (not shown) capable of receiving one or more input signals. Additionally, the second controller (300) may include a PC (Personal Computer) that is connected wired or wirelessly to the display (301), joysticks (302, 303), switches (304, 305), keyboard (305), and mouse, and is network-connected to the vehicle and the first controller to exchange one or more commands and one or more signals.
[0115] Referring to FIG. 8, the second controller (300) may include a control change request unit (310) that performs a control change request to the first controller when an input signal for a control change request is generated, a second vehicle operation control unit (320) that controls the vehicle's mine drop processing operation when control is provided from the first controller, and a control return request judgment unit (330) that determines whether to accept the control return request when the control return request from the first controller is confirmed, and returns the control to the vehicle or performs integrity verification according to the judgment result.
[0116] The control change request unit (310) can perform a control change request to the first controller when an input signal for a control change request is generated.
[0117] A request for a change of control may mean a request to the first controller to change the control from the first controller (200) to the second controller (300). In this case, if the user of the second controller (300) has the intention to request a change of control, they may express such intention using the second controller (300).
[0118] For example, an input signal for changing control can be input through a change request switch of the second controller (300).
[0119] In this case, the user of the second controller (300) may press or rotate the change request switch of the second controller (300). Through such action, an input signal for a control change request may be generated.
[0120] Additionally, the change request switch of the second controller (300) may be included in any one of the switches (304, 305), keyboard (305), and mouse, which are respectively installed on one side of the two joysticks (302, 303) of the second controller (300).
[0121] However, not limited to the present embodiment, input signals for requesting a change of control may be generated through various objects in various ways.
[0122]
[0123] As another example, the control change request unit (310) can transmit the control change request to the first controller or vehicle through a network connected to the PC.
[0124] Meanwhile, the second vehicle operation control unit (320) can control the vehicle's fallout processing operation when control is provided from the first controller. The first controller, having received a request to change control, can provide control to the second controller (300), and the second vehicle operation control unit (320) can control the vehicle's fallout processing operation when control is provided from the first controller.
[0125] Meanwhile, when the control return request judgment unit (330) confirms the control return request of the first controller, it determines whether to accept the control return request and, depending on the result of the judgment, may return the control to the vehicle or perform integrity verification.
[0126] Referring to FIG. 9, the second vehicle operation control unit (320) can control the vehicle's fallout processing operation using the control rights provided by the first controller. (S321)
[0127] The control return request determination unit (330) can determine whether a control return request from the first controller is confirmed while controlling the vehicle's fallout processing operation. (S331)
[0128] A request for the return of control may refer to a request made by the user of the first controller (200) to regain control and to control the vehicle's ore processing operation. Accordingly, when an input signal for the request for the return of control from the first controller (200) is generated, it can be transmitted from the first controller (200) to the second controller (300). However, even if the user of the second controller has a request for the return of control from the first controller, a method to verify the request for the return of control is required; therefore, a method for the second controller to verify the request for the return of control from the first controller is described below.
[0129] For example, a request to return control can be confirmed through an output device of the second controller (300). In this case, the output device may include a display (301) capable of displaying a screen connected to a PC, and the request to return control can be confirmed by being expressed in the form of a message on a part of the display (301). Additionally, the output device may include a speaker capable of outputting sound, and the request to return control can be confirmed by being expressed in the form of sound through the output device. Additionally, the output device may include an LED chip, and the request to return control can be confirmed through the blinking of the LED chip.
[0130] However, not limited to the present embodiment, a request to return control can be confirmed in various ways.
[0131] If the control return request determination unit (330) does not confirm the control return request of the first controller, it can determine whether there is a problem with the hardware described below. (S334)
[0132] The control return request determination unit (330) can determine whether to accept the control return request when the control return request of the first controller is confirmed. (S331)
[0133] For example, the control return request determination unit (330) can determine whether to accept the control return request based on a signal input to the return request acceptance switch of the second controller (300).
[0134] The user of the second controller (300) may provide an intention to accept the request to return control from the first controller through the return request acceptance switch of the second controller (300). For example, the return request acceptance switch of the second controller (300) may include switches (304, 305) placed on one side of the keyboard (305), mouse, and both joysticks (302, 303) of the second controller (300). In this case, when the user of the second controller (300) presses or rotates the return request acceptance switch of the second controller (300), a signal may be input to the corresponding switch.
[0135] Additionally, the control return request determination unit (330) may determine that the control return request has been accepted if there is a signal input to the return request acceptance switch of the second controller (300). In this case, the control return request determination unit (330) may return the control to the vehicle. (S333)
[0136] On the other hand, the control return request determination unit (330) may also determine that the control return request has not been accepted if there is no signal input to the return request acceptance switch of the second controller (300). In this case, the control return request determination unit (330) may perform an integrity verification. (S334 to S335)
[0137] For example, the integrity verification may include a hardware verification (S334) for determining whether there is a hardware problem between one or more sensors of the vehicle and a second controller, and a software verification (S335) for determining whether there is a problem with the vehicle's fallout processing operation.
[0138] For example, the control return request determination unit (330) can perform hardware verification and determine if there is a hardware problem. (S334)
[0139] For example, hardware issues may include whether a network connection between the second controller (300), the vehicle, and the first controller (200) is maintained, and whether one or more pieces of information received through one or more sensors of the vehicle are output to the display (301) of the second controller (300).
[0140] Additionally, the control return request judgment unit (330) may determine that there is a hardware problem if it corresponds to only one of the described problems or to all of one or more problems.
[0141] Alternatively, the control return request judgment unit (330) may determine that there is no hardware problem if none of the described problems apply.
[0142]
[0143] However, the present embodiment is not limited to various hardware problems.
[0144] After going through this judgment process, the control return request judgment unit (330) can return control to the vehicle if it determines that there is a hardware problem. (S333)
[0145] On the other hand, if the control return request judgment unit (330) determines that there is no hardware problem, it may perform further software verification. (S335)
[0146] Software verification is intended to determine whether there are any problems with the vehicle's ore handling operation. For example, determining whether there are any problems with the vehicle's ore handling operation may include whether the ore handling operation is obstructed by obstacles. However, whether there are problems with the vehicle's ore handling operation is not limited to the present embodiment and may include various cases.
[0147] Specifically, the control return request judgment unit (330) may continue to control the vehicle's fallout processing operation if it is determined that there is no problem with the vehicle's fallout processing operation, even if it performs further software verification. (S321)
[0148] On the other hand, if it is determined that there is a problem with the vehicle's ore handling operation, the vehicle can be controlled to stop and software verification can be performed again (S336).
[0149] The foregoing description is merely an illustrative explanation of the technical concept of the present disclosure, and those skilled in the art to which the present disclosure pertains may make various modifications and variations within the scope of the essential characteristics of the technical concept. Furthermore, since these embodiments are intended to explain, not limit, the scope of the technical concept is not limited by these embodiments. The scope of protection of the present disclosure shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present disclosure.
[0150]
[0151] CROSS-REFERENCE TO RELATED APPLICATION
[0152] This patent application claims priority pursuant to Section 119(a) of the U.S. Patent Act (35 USC § 119(a)) to Korean Patent Application No. 10-2024-0189411 filed on December 18, 2024, all of which are incorporated by reference into this patent application. Additionally, this patent application claims priority in countries other than the United States for the same reasons as above, all of which are incorporated by reference into this patent application.
Claims
1. A vehicle control system comprising a vehicle that performs a fallout processing operation and a first controller and a second controller capable of controlling the fallout processing operation of the vehicle, The above vehicle is, Based on preset normal operating conditions, control is granted to the first controller, and The above-mentioned first controller is, When control is granted from the vehicle, the vehicle's ore drop processing operation is controlled according to whether it meets the controller control conditions, and when a request for a change of control from the second controller is confirmed, the acceptance of the request for a change of control is determined and the control is provided to the second controller, and when an input signal for a request to return control is generated, a request to return control is made to the vehicle. The above second controller is, A vehicle control system that, when an input signal for a control change request is generated, performs a control change request to the first controller, controls the ore drop processing operation of the vehicle when control is provided from the first controller, and when a control return request from the first controller is confirmed, determines whether to accept the control return request, and returns the control to the vehicle or performs integrity verification according to the result of the determination.
2. In Paragraph 1, The above preset normal operating conditions are, A vehicle control system configured to determine whether the engine of the vehicle is operating normally and whether the emergency stop switch of the vehicle is in the OFF state.
3. In Paragraph 1, The above vehicle is, A vehicle control system that immediately reclaims control of the second controller when it is determined that the network connection between the vehicle and the second controller has been disconnected.
4. A first vehicle operation control unit that controls the ore-falling processing operation of the vehicle according to whether it meets the controller control conditions when control is granted from the vehicle; A control provision unit that, upon confirmation of a control change request from a second controller, determines whether to accept the control change request and provides the control to the second controller; and A first controller comprising a control return request unit that requests the return of control to the vehicle when an input signal for a control return request is generated.
5. In Paragraph 4, The above controller control conditions are, A first controller configured using at least one of the following: whether the power of the first controller is in an ON state, whether the joystick of the first controller is in a neutral state, whether the horn of the vehicle is operating normally, whether the degree of tilt of the first controller relative to the ground exceeds a preset angle, whether the emergency stop switch of the first controller is in an OFF state, and whether the direction of the driving mode selection switch of the first controller is facing a preset direction.
6. In Paragraph 4, The above request for a change of control is, The first controller identified through the change request notification signal of the first controller above.
7. In Paragraph 4, Whether the above request for a change of control is accepted is, A first controller determined based on a signal input through a change request acceptance switch of the first controller.
8. In Paragraph 4, The above-mentioned control providing unit is, If it is determined that the above request for a change of control has been accepted, A first controller providing the above control rights.
9. In Paragraph 4, The above-mentioned control providing unit is, If it is determined that the above request for a change of control has not been accepted, Further determine whether the emergency stop switch of the first controller is in the OFF state, and If the emergency stop switch of the first controller is determined to be in the OFF state, The above-mentioned first vehicle operation control unit is, A first controller that controls the ore fall processing operation of the above vehicle again.
10. In Paragraph 4, The input signal for the above request to return control is, The first controller generated through the return request switch of the first controller above.
11. A control change request unit that performs the control change request to the first controller when an input signal for a control change request is generated; A second vehicle operation control unit that controls the vehicle's fallout processing operation when control is provided from the first controller; and A second controller comprising a control return request determination unit that, when a control return request from the first controller is confirmed, determines whether to accept the control return request and, depending on the determination result, returns the control to the vehicle or performs integrity verification.
12. In Paragraph 11, The input signal for the above-mentioned request for a change of control is, The second controller generated through the change request switch of the second controller above.
13. In Paragraph 11, The above request for the return of control is, A second controller identified through the output device of the second controller.
14. In Paragraph 11, The above control return request judgment unit, A second controller that determines whether to accept a request to return control based on a signal input to a switch accepting the request to return the control of the second controller.
15. In Paragraph 14, The above control return request judgment unit, If it is determined that the above request to relinquish control has been accepted, A second controller that returns the above control rights to the above vehicle.
16. In Paragraph 14, The above control return request judgment unit, If it is determined that the above request to relinquish control has not been accepted, A second controller that performs the above integrity verification.
17. In Paragraph 16, The above integrity verification is, A second controller comprising a hardware verification for determining whether a hardware problem exists between one or more sensors of the vehicle and the second controller, and a software verification for determining whether a problem exists in the mine drop processing operation of the vehicle.
18. In Paragraph 17, The above control return request judgment unit, A second controller that performs the above hardware verification, and returns the control to the vehicle if it is determined that there is a hardware problem.
19. In Paragraph 17, The above control return request judgment unit, A second controller that performs the above hardware verification, and if it is determined that there is no hardware problem, further performs the above software verification.
20. In Paragraph 19, The above control return request judgment unit, Further perform the above software verification, If it is determined that there is no problem with the ore drop processing operation of the above vehicle, the ore drop processing operation of the above vehicle is continuously controlled, and A second controller that controls the vehicle to stop and re-performs the software verification when it is determined that there is a problem with the ore fall processing operation of the vehicle.