CN108871794A - Mining automatic driving vehicle fault self-diagnosis method and device - Google Patents
Mining automatic driving vehicle fault self-diagnosis method and device Download PDFInfo
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- CN108871794A CN108871794A CN201810725689.2A CN201810725689A CN108871794A CN 108871794 A CN108871794 A CN 108871794A CN 201810725689 A CN201810725689 A CN 201810725689A CN 108871794 A CN108871794 A CN 108871794A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/005—Testing of electric installations on transport means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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Abstract
The present invention provides a kind of mining automatic driving vehicle fault self-diagnosis method and devices.This method includes：The working condition of at least one motor of the mining automatic driving vehicle is detected, and detects the working condition of at least one sensor of the mining automatic driving vehicle；Determine whether the mining automatic driving vehicle is normal according to the working condition of the working condition of at least one motor and at least one sensor.The embodiment of the present invention guarantees the safety of traveling and operation by the process of mining automatic driving vehicle fault self-diagnosis.
Description
Technical field
The present invention relates to the unmanned technical fields of mine vehicle, and in particular to a kind of mining automatic driving vehicle failure from
Diagnostic method and device.
Background technique
During exploitation of mineral resources, often can along with high temperature, high humidity, noise greatly, vibration it is acutely etc. severe
Environment, this will cause high risks to the health of mining operators, therefore the automatic technology of mine vehicle is by everybody
Extensive concern.For unpiloted mine vehicle, perception vehicle-surroundings environment, Driving Decision-making and control are all by automatic
Change what mechanical and program was completed, almost without human intervention.However often with various rugged environments in mining area, this may
The operation stability of Unmanned Systems' entirety can be had some impact on, and then Unmanned Systems is caused to break down, if
There is no corresponding fault diagnosis and emergent control measure, consequence is unthinkable.
It would therefore be highly desirable to a kind of mining automatic driving vehicle fault self-diagnosis method and device be provided, to guarantee traveling and behaviour
The safety of work.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of mining automatic driving vehicle fault self-diagnosis method and device,
By detecting the motor of mining automatic driving vehicle and the working condition of sensor, and according to the work of motor and sensor
State determines whether mining automatic driving vehicle is normal, to realize the process of mining automatic driving vehicle fault self-diagnosis, guarantees
The safety of traveling and operation.
In a first aspect, the embodiment provides a kind of mining automatic driving vehicle fault self-diagnosis methods, including：
The working condition of at least one motor of mining automatic driving vehicle is detected, and detects at least one of mining automatic driving vehicle
The working condition of sensor；It is determined according to the working condition of the working condition of at least one motor and at least one sensor mining
Whether automatic driving vehicle is normal.
In some embodiments of the invention, the method for first aspect further includes：In mining automatic driving vehicle power-on self-test
Period detects the controller of mining automatic driving vehicle and the connection status of at least one motor, and detect controller at least
The connection status of one sensor；According to the connection status and controller of controller and at least one motor and at least one sensing
Whether the connection status of device determines mining automatic driving vehicle normal, wherein detecting at least one electricity of mining automatic driving vehicle
The working condition of machine, and the working condition of at least one sensor of mining automatic driving vehicle is detected, including：If controller with
The connection status of at least one motor be it is normal, and the connection status of controller and at least one sensor be it is normal, then in mine
During starting self-test with automatic driving vehicle, the working condition of at least one motor is detected, and detect at least one sensor
Working condition.
In some embodiments of the invention, the controller of mining automatic driving vehicle and the connection of at least one motor are detected
State, and the connection status of controller Yu at least one sensor is detected, including：Detect the company of controller and at least one motor
Connect state；If the connection status of controller and at least one motor be it is normal, detect controller and at least one sensor
Connection status, wherein the method for first aspect further include：If the connection shape of any motor in controller and at least one motor
State be it is improper, then prompt is used to indicate the information of motor connecting fault；If controller and any at least one sensor
The connection status of sensor be it is improper, then prompt is used to indicate the information of sensor connecting fault.
In some embodiments of the invention, the working condition of at least one motor of mining automatic driving vehicle is detected, and
The working condition of at least one sensor of mining automatic driving vehicle is detected, including：Detect the work shape of at least one motor
State；If the working condition of at least one motor be it is normal, detect the working condition of at least one sensor, wherein first aspect
Method further include：If the working condition of any motor at least one motor be it is improper, prompt be used to indicate motor
The information of job failure；If the working condition of any sensor at least one sensor be it is improper, prompt for referring to
Show the information of working sensor failure.
In some embodiments of the invention, at least one motor includes brake motor, accelerates motor, steering motor, shift
At least one of motor and emergency braking motor, wherein detecting the work shape of at least one motor of mining automatic driving vehicle
State, including：Each motor at least one motor sends driving instruction, for making the motor reach preset state value；Inspection
Survey the actual condition value of the motor；Judge whether preset state value is consistent with actual condition value；If preset state value and practical shape
State value is inconsistent, it is determined that the working condition of the motor is improper；If preset state value is consistent with actual condition value, it is determined that
The working condition of the motor is normal.
In some embodiments of the invention, at least one sensor includes camera, GPS, laser radar, millimeter wave thunder
It reaches, wherein the working condition of at least one sensor of mining automatic driving vehicle is detected, including：Into at least one sensor
Each sensor send data acquisition instructions；Receive the returned data of sensor transmission；Judge whether returned data meets
Preset condition；If returned data is unsatisfactory for preset condition, it is determined that the working condition of the sensor is improper；If returned data
Meet preset condition, it is determined that the working condition of the sensor is normal.
In some embodiments of the invention, the method for first aspect further includes：Receive preset travel path；Obtain mining nothing
The current location information of people's driving vehicle；Calculate the deviation distance of current location information and preset travel path；Judgement deviate away from
From the size with preset threshold；If deviation distance is greater than preset threshold, prompt to be used to indicate mining automatic driving vehicle offset
Excessive warning information.
In some embodiments of the invention, the method for first aspect further includes：Detect the energy of mining automatic driving vehicle
Surplus；If energy surplus is less than critical value, the information for being used to indicate low energy early warning is prompted, and execute emergency braking.
In some embodiments of the invention, the method for first aspect further includes：Core control program continues to emergency braking
Program sends the first signal；If there is abnormal, emergency braking program execution emergency braking in the first signal；Core control program is held
The second signal that anxious retrosequence is sent is tightened in continued access；Judge whether second signal exception occurs, if there is exception in second signal,
Then execute emergency braking.
Second aspect, the embodiment provides a kind of mining automatic driving vehicle fault self-diagnosis methods, including：
During mining automatic driving vehicle power-on self-test, the controller of mining automatic driving vehicle and the company of at least one motor are detected
State is connect, and detects the connection status of controller Yu at least one sensor；According to the connection of controller and at least one motor
State and the connection status of controller and at least one sensor determine whether mining automatic driving vehicle is normal.
The third aspect, the embodiment provides a kind of mining automatic driving vehicle failure self-diagnosis devices, including：
Detection module, the working condition of at least one motor for detecting mining automatic driving vehicle, and detect mining unmanned
The working condition of at least one sensor of vehicle；Determining module, for according to the working condition of at least one motor and at least
The working condition of one sensor determines whether mining automatic driving vehicle is normal.
In some embodiments of the invention, detection module is also used to during mining automatic driving vehicle power-on self-test, inspection
The controller of mining automatic driving vehicle and the connection status of at least one motor are surveyed, and detects controller and at least one sensing
The connection status of device；Determining module is also used to connection status and controller and at least one according to controller and at least one motor
The connection status of a sensor determines whether mining automatic driving vehicle is normal, wherein detection module, in controller and at least one
The connection status of a motor is normal, and when the connection status of controller and at least one sensor is normal, it is mining nobody
During driving vehicle launch self-test, the working condition of at least one motor is detected, and detect the work shape of at least one sensor
State.
In some embodiments of the invention, the connection status of detection module detection controller and at least one motor, and
When the connection status of controller and at least one motor is normal, the connection status of controller and at least one sensor is detected,
Wherein the device of the third aspect further includes：First cue module, for any motor in controller and at least one motor
Connection status when being improper, prompt to be used to indicate the information of motor connecting fault, in controller and at least one sensor
In the connection status of any sensor when being improper, prompt to be used to indicate the information of sensor connecting fault.
In some embodiments of the invention, detection module detects the working condition of at least one motor, and at least one
When the working condition of motor is normal, the working condition of at least one sensor is detected, wherein the device of the third aspect further includes：
First cue module, when the working condition for any motor at least one motor is improper, prompt is used to indicate
The information of motor job failure when the working condition of any sensor at least one sensor is improper, prompts to use
In the information of indication sensor job failure.
In some embodiments of the invention, at least one motor includes brake motor, accelerates motor, steering motor, shift
At least one of motor and emergency braking motor, wherein each motor of the detection module at least one motor sends driving
Instruction, to make the motor reach preset state value, detects the actual condition value of the motor, judges preset state value and practical shape
Whether state value consistent, and preset state value and actual condition value it is inconsistent when, determine the motor working condition be it is improper,
When preset state value is consistent with actual condition value, determine that the working condition of the motor is normal.
In some embodiments of the invention, at least one sensor includes camera, GPS, laser radar, millimeter wave thunder
It reaches, wherein each sensor of the detection module at least one sensor sends data acquisition instructions, receives sensor hair
The returned data sent, judges whether returned data meets preset condition, and when returned data is unsatisfactory for preset condition, and determining should
The working condition of sensor be it is improper, when returned data meets preset condition, determine that the working condition of the sensor is positive
Often.
In some embodiments of the invention, the device of the third aspect further includes：Receiving module, for receiving preset travel road
Diameter；Module is obtained, for obtaining the current location information of mining automatic driving vehicle；Computing module, for calculating current location
The deviation distance of information and preset travel path；Judgment module, for judging the size of deviation distance and preset threshold；Second mentions
Show module, for when deviation distance is greater than preset threshold, prompt to be used to indicate mining automatic driving vehicle deviate it is excessive pre-
Alert information.
In some embodiments of the invention, detection module is also used to detect the energy surplus of mining automatic driving vehicle,
Wherein the device of the third aspect further includes：Second cue module, for prompting for referring to when energy surplus is less than critical value
Show the information of low energy early warning, and executes emergency braking.
In some embodiments of the invention, the device of the third aspect further includes core control program module and emergency braking journey
Sequence module, wherein core control program module sends the first signal, emergency braking journey to emergency braking program module for continuing
Sequence module executes emergency braking when the first signal occurs abnormal；Core control program module is also used to continue to receive urgent system
The second signal that dynamic program module is sent, judges whether second signal exception occurs, and when second signal occurs abnormal, executes
Emergency braking.
Fourth aspect, the embodiment provides a kind of mining automatic driving vehicle failure self-diagnosis devices, including：
Detection module, for during mining automatic driving vehicle power-on self-test, detect the controller of mining automatic driving vehicle with extremely
The connection status of a few motor, and detect the connection status of controller Yu at least one sensor；Determining module is used for basis
The connection status and controller of controller and at least one motor and the connection status of at least one sensor determine it is mining nobody
Whether normal drive vehicle.
An additional aspect of the present invention provides a kind of computer readable storage medium, is stored thereon with the executable finger of computer
It enables, wherein method as described above is realized when executable instruction is executed by processor.
An additional aspect of the present invention provides a kind of computer equipment, including：Memory, processor and it is stored in memory
In and the executable instruction that can run in the processor, wherein processor realizes side as described above when executing executable instruction
Method.
The embodiment of the invention provides a kind of mining automatic driving vehicle fault self-diagnosis method and devices, by detecting mine
With the motor of automatic driving vehicle and the working condition of sensor, and mine is determined according to the working condition of motor and sensor
It is whether normal with automatic driving vehicle, to realize the process of mining automatic driving vehicle fault self-diagnosis, guarantee traveling and operation
Safety.
Detailed description of the invention
Fig. 1 show the flow chart of the mining automatic driving vehicle fault self-diagnosis method of one embodiment of the invention offer.
Fig. 2 show another embodiment of the present invention provides mining automatic driving vehicle fault self-diagnosis method process
Figure.
Fig. 3 show another embodiment of the present invention provides mining automatic driving vehicle fault self-diagnosis method process
Figure.
Fig. 4 show the structural representation of the mining automatic driving vehicle failure self-diagnosis device of one embodiment of the invention offer
Figure.
It is the frame of the computer installation for fault self-diagnosis shown in an exemplary embodiment according to the present invention shown in Fig. 5
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
One embodiment of the invention provides a kind of mining automatic driving vehicle fault self-diagnosis method, wherein it is mining nobody
Driving vehicle can be in such a way that controller controls mechanical arm or pedipulator or modes of other automations carry out vehicle
Various operations.Fig. 1 show the flow chart of the mining automatic driving vehicle fault self-diagnosis method of one embodiment of the invention offer.
As shown in Figure 1, this method includes following content.
110：The working condition of at least one motor of mining automatic driving vehicle is detected, and detects mining automatic driving car
At least one sensor working condition.
Specifically, controller can be equipped on mining automatic driving vehicle, controller can carry out various detections to vehicle
It can be industrial personal computer with various operations, such as controller.Can be set on mining automatic driving vehicle at least one motor or
At least one sensor, to realize automation to the maximum extent.Controller can control each motor and execute corresponding behaviour respectively
Make, while each sensor monitoring can also be controlled and transmit various signals, detects and controls each component on vehicle to realize
The driving status of operating status and vehicle itself.Therefore, the work of each motor and each sensor is detected by controller
State, can determine in time each motor and each sensor can normal use, avoid going wrong during use,
It causes the accident.
120：According to the working condition of the working condition of at least one motor and at least one sensor determine it is mining nobody
Whether normal drive vehicle.
Specifically, controller can be tied after detecting the working condition of each motor and each sensor according to detection
Fruit determines whether mining automatic driving vehicle is normal, to remind user.For example, having at least when in each motor and each sensor
One there is a problem motor either sensor, then can remind user by way of display screen or voice
And/or terminate the main program (i.e. core control program) of automatic Pilot.Certainly, may include in the content of prompting specifically which
There is failure in motor or sensor, so that user can targetedly be handled.
The embodiment of the invention provides a kind of mining automatic driving vehicle fault self-diagnosis method, by detect it is mining nobody
Drive vehicle motor and sensor working condition, and according to the working condition of motor and sensor determine it is mining nobody
It whether normal drives vehicle, to realize the process of mining automatic driving vehicle fault self-diagnosis, guarantees the safety of traveling and operation
Property.
Optionally, as another embodiment, the method for Fig. 1 further includes：During mining automatic driving vehicle power-on self-test,
The controller of mining automatic driving vehicle and the connection status of at least one motor are detected, and detects controller and at least one biography
The connection status of sensor；According to controller and the connection status of at least one motor and the company of controller and at least one sensor
Whether the state of connecing determines mining automatic driving vehicle normal, wherein in 110, if the connection shape of controller and at least one motor
State be it is normal, and the connection status of controller and at least one sensor be it is normal, then start oneself in mining automatic driving vehicle
During inspection, the working condition of at least one motor is detected, and detects the working condition of at least one sensor.
Specifically, controller can be connect with each motor and each sensor by direct or indirect mode, with reality
Existing control of the controller to each motor and each sensor.Motor mentioned here may include motor driver, certainly, electricity
Machine driver can also be used as independent entity and be connected between controller and motor, and controller is detected by motor driver
With control motor.
An embodiment according to the present invention, at least one motor may include brake motor, accelerate motor, steering motor, change
Keep off at least one of motor and emergency braking motor；At least one sensor may include camera, GPS, laser radar and
At least one of millimetre-wave radar.
Specifically, each motor can be connected by signal wire with motion control card, motion control card by pci interface with
Controller is connected, if the connection of motor and controller is normal, motor can get connection signal, and the letter by signal wire
Number controller can be passed to by PCI (Peripheral Component Interconnect) interface, so that controller can be with
The connection status of motor is detected.
In addition, each sensor can correspond to a device code, such controller can by detection controller whether
The connection status of each sensor is judged there are corresponding device code.For example, camera generally passes through USB and controller connects
It connects, controller can detecte the device code that whether there is camera in controller；Laser radar generally passes through cable and controller
Connection, controller can detecte in controller with the presence or absence of the specified network equipment；Millimetre-wave radar and GPS generally pass through serial ports
It is connect with controller, controller, which can detecte in controller, whether there is as millimetre-wave radar and the preset serial port of GPS.
Controller detects the working condition of motor, can be realized by sending the control instruction for test to motor.
The control instruction, which can be, allows motor to rotate specified angle, that is, tests the rotation function of motor, for example, for brake motor, adding
This four generic servo motors of speed motor, steering motor and shift motor can carry out the test of rotation function, and for urgent
This band-type brake servo motor of braking motor can carry out the test of rotation function and the test of band-type brake function, wherein band-type brake function
The test of energy can be whether detection brake pedal reaches least significant end.
Then the working condition of controller detection sensor can be judged by sending data acquisition instructions to sensor
Sensor sends back whether the returned data come normally is realized.
Since the detection process of motor and working sensor state needs motor and sensor to execute some specific operations,
So the working condition of controller detection motor and sensor can start to detect after the starting of mining automatic driving vehicle, i.e.,
Start self-test, that is, in the case where automobile hand brake pull-up, start self-check program, which can be opened automatically by controller
It is dynamic, it can also be directly initiated by user.
Before detection motor and working sensor state, controller and at least one motor can be detected by controller
Connection status, and detect the connection status of controller Yu at least one sensor, and then determine that mining automatic driving vehicle is
It is no normal.Because if at least one of each motor and each sensor and the connection of controller there is a problem, so that it may
To omit the detection process of the working condition of motor and sensor, that is, avoid relative complex starting process of self-test.Moreover, electric
The detection of machine and sensor and controller connection status can be carried out after the energization of mining automatic driving vehicle, that is, power on certainly
Inspection, which can be with before vehicle launch and after starting, and carries out before activation, then the peace of detection process can be improved
Quan Xing.
Optionally, as another embodiment, the controller of mining automatic driving vehicle and the company of at least one motor are detected
State is connect, and detects the connection status of controller Yu at least one sensor, including：Detect controller and at least one motor
Connection status；If the connection status of controller and at least one motor be it is normal, detect controller and at least one sensor
Connection status, the method for Fig. 1 further includes：If the connection status of any motor in controller and at least one motor be it is non-just
Often, then the information for being used to indicate motor connecting fault is prompted；If controller and any sensor at least one sensor
Connection status be it is improper, then prompt is used to indicate the information of sensor connecting fault.
Specifically, controller can first detect the connection status of each motor and controller, when each motor and controller
Connection it is normal after, then detect the connection status of each sensor and controller；And when at least one of each motor
When connection with controller is broken down, then stop the detection process to each sensor, and prompts to be used to indicate motor connection
The information of failure, it can be pointed out that the information of the motor specifically to break down in the information.Similarly, controller can also be detected first
The connection status of each sensor and controller after the connection of each sensor and controller is normal, then detects each
The connection status of motor and controller, in this way, this detection method can save when mining automatic driving vehicle breaks down
Signals transmission accelerates detection procedure.Optionally, the detection process and control of the connection status of controller and each motor
The detection process of the connection status of device and each sensor can be to be carried out simultaneously, and such controller can disposably be found
The connectivity problem of each motor and each sensor, facilitates user disposably to solve failure problems.
Optionally, as another embodiment, the working condition of at least one motor of mining automatic driving vehicle is detected, and
The working condition of at least one sensor of mining automatic driving vehicle is detected, including：Detect the work shape of at least one motor
State；If the working condition of at least one motor be it is normal, detect the working condition of at least one sensor, wherein the side of Fig. 1
Method further includes：If the working condition of any motor at least one motor be it is improper, prompt be used to indicate motor work
The information of failure；If the working condition of any sensor at least one sensor be it is improper, prompt be used to indicate biography
The information of sense device working failure.
Specifically, controller can first detect the working condition of each motor, when the working condition of each motor is normal
After, then detect the working condition of each sensor；And when the working condition of at least one of each motor is improper,
Then stop the detection process to each working sensor state, and prompts the information for being used to indicate motor job failure, the information
In it can be pointed out that the information of motor specifically to break down, and the particular problem occurred.Similarly, controller can also be examined first
The working condition for surveying each sensor after the working condition of each sensor is normal, then detects the work of each motor
State is accelerated in this way, this detection method can save signals transmission when mining automatic driving vehicle breaks down
Detection procedure.Optionally, the detection of the detection process of the working condition of each motor and the working condition of each sensor
Journey can be while carry out, and such controller can disposably find the working condition of each motor and each sensor
It is whether normal, facilitate user disposably to solve failure problems.
Optionally, as another embodiment, wherein detecting the work shape of at least one motor of mining automatic driving vehicle
State, including：Each motor at least one motor sends driving instruction, for making the motor reach preset state value；Inspection
Survey the actual condition value of the motor；Judge whether preset state value is consistent with actual condition value；If preset state value and practical shape
State value is inconsistent, it is determined that the working condition of the motor is improper；If preset state value is consistent with actual condition value, it is determined that
The working condition of the motor is normal.
Specifically, different motors can have different effects, therefore inspection of the controller to each electric machine operation state
Survey process is also possible to different.For example, controller can be sent to brake motor for driving pedipulator for brake motor
Touch on the brake the instruction of pedal, then detect brake pedal actual condition value preset state value corresponding with the instruction whether one
It causes, is otherwise improper if so, thinking that the working condition of the brake motor is normal.After having detected the brake motor, control
Device processed can control brake motor and brake pedal made to return to reset condition.The detection process and brake of the working condition of other motors
Vehicle motor it is similar, the difference is that：For accelerating motor, controller can be sent to acceleration motor for driving pedipulator
The instruction of accelerator pedal, then detect gas pedal actual condition value preset state value corresponding with the instruction whether one
It causes；For steering motor, controller can send the instruction for driving mechanical arm rotation steering wheel for vehicle to steering motor, so
Whether the actual condition value of detection direction disk preset state value corresponding with the instruction is consistent afterwards；For shift motor, controller
Can be sent to shift motor then detected for driving mechanical arm to realize the instruction of operation of putting into gear the actual condition value of gear with
Whether the corresponding preset state value of the instruction is consistent；For emergency braking motor, controller can be sent to emergency braking motor
For driving pedipulator to touch on the brake the instruction of pedal, the actual condition value preset state corresponding with the instruction of brake is then detected
Whether value is consistent, and further, when controller sends the instruction for being used for band-type brake to emergency braking motor, detection brake pedal is
It is no to reach least significant end.
Preset state value in detection process can be configured acording to the requirement of user, can targetedly be examined in this way
The working condition for surveying each motor realizes the flexibility of detection process.
Optionally, as another embodiment, wherein detecting the work of at least one sensor of mining automatic driving vehicle
State, including：Each sensor at least one sensor sends data acquisition instructions；Receive returning for sensor transmission
Return data；Judge whether returned data meets preset condition；If returned data is unsatisfactory for preset condition, it is determined that the sensor
Working condition is improper；If returned data meets preset condition, it is determined that the working condition of the sensor is normal.
Specifically, different sensors can have different functions, therefore controller is to each working sensor state
Detection process be also possible to it is different.For example, controller can send data acquisition instructions to camera for camera,
To read the pictorial information in camera, and camera then sends returned data to controller after receiving data acquisition instructions,
The middle returned data i.e. pictorial information, then controller judges whether the pictorial information meets preset condition, if meeting, then it is assumed that
The working condition of the camera is normal, is otherwise improper.In an embodiment of the present invention, which can be picture
Size or the format of picture etc..The detection process of the working condition of other sensors is similar with camera, difference
It is：For GPS or millimetre-wave radar, controller is available to come from GPS or millimetre-wave radar (GPS or millimetre-wave radar pair
The serial ports answered) in data, and judge whether the data meet preset format specification；For laser radar, controller can be with
The data in laser radar (the corresponding port IP of laser radar) are obtained, and judge whether the data meet preset format
Specification.
Preset condition in detection process can be configured acording to the requirement of user, can targetedly be detected in this way
Each sensor realizes the flexibility of detection process.
Optionally, as another embodiment, the method for Fig. 1 further includes：Receive preset travel path；Obtain it is mining nobody drive
Sail the current location information of vehicle；Calculate the deviation distance of current location information and preset travel path；Judge deviation distance with
The size of preset threshold；If deviation distance is greater than preset threshold, it is excessive that prompt is used to indicate mining automatic driving vehicle offset
Warning information.
Specifically, user can set preset travel path to mining automatic driving vehicle according to demand, and controller is connecing
Vehicle can be controlled according to preset travel route after receiving the preset travel path.And vehicle is during traveling, it is difficult
Exempting from can be because some external factors or emergency case deviates preset travel path, during vehicle driving, controller
The current location of vehicle can be obtained at any time or at regular intervals, and calculate the inclined of the current location and preset travel path
Separation is from and then judging the size of the deviation distance and preset threshold.If deviation distance is greater than preset threshold, provides and deviated
Big warning information, wherein preset threshold can be set according to the demand of user.Controller by GPS and/or can be taken the photograph
As the current location of first-class acquisition vehicle, to improve the accuracy of the current location.In addition, when deviation distance is greater than preset threshold
When, emergency brake of vehicle operation can also be performed in controller.It this road can be to avoid in the driving path of vehicle through detection process
It is lost caused by when excessive with preset travel Path error.
Optionally, as another embodiment, the method for Fig. 1 further includes：The energy for detecting mining automatic driving vehicle is remaining
Amount；If energy surplus is less than critical value, the information for being used to indicate low energy early warning is prompted, and execute emergency braking.
Specifically, controller can the moment or certain interval of time detection vehicle itself electricity or fuel remaining journey
If the remaining electricity of remaining degree or fuel of the electricity of the degree whole system that perhaps controller controls are lower than a certain critical
Value, then provide warning information, in addition, emergency brake operations can also be performed in controller, cause to damage to avoid because of energy deficiency
It loses.Here, critical value can be set according to the demand of user, for example, 20% full lattice electricity.This energy detecting process can
The problem of to remind user's energy deficiency in time.
Optionally, as another embodiment, the method for Fig. 1 further includes：Core control program continues to emergency braking program
Send the first signal；If there is abnormal, emergency braking program execution emergency braking in the first signal；Core control program persistently connects
Tighten the second signal that anxious retrosequence is sent；Judge whether second signal exception occurs, if exception occurs in second signal, holds
Row emergency braking.
Specifically, controller can execute core control program and emergency braking program, for example, emergency braking program can be with
Make emergency brake of vehicle, and core control program can control a series of behaviour in vehicle progress fault self-checking and driving process
Make, certainly, core control program also can control vehicle and realize emergency braking.In addition, core control program and emergency braking journey
Sequence can be relatively independent, and execute parallel, it can monitor the state of other side mutually, realize that program is monitored.Example
Such as, mutually opposite other side sends heartbeat signal for core control program and emergency braking program, i.e., sends in turn in Fixed Time Interval
Number 0 and number 1, when do not receive for a long time other side transmission heartbeat signal or heartbeat signal number for a long time it is constant,
It is abnormal then to think that other side occurs, and is immediately performed emergency brake operations.Controller can provide the reason of emergency braking at this time.This
Kind program snoop procedure, can make to avoid that when core control program breaks down, can not take emergency braking measure in time
At harm.
An embodiment according to the present invention, controller can according to the instruction of user realize emergency stop operation, such as it is mining nobody
Driving can be set two buttons of a red-green on vehicle, and when red is pressed, controller can control pedipulator and step on brake
Vehicle pedal, when the green button is pressed, controller can control pedipulator releasing of brake pedal.Emergency stop operation can be convenient use
Processing of the family to emergency.
The embodiments of the present invention also provide a kind of mining automatic driving vehicle fault self-diagnosis methods, including：Mining
During automatic driving vehicle power-on self-test, the controller of mining automatic driving vehicle and the connection shape of at least one motor are detected
State, and detect the connection status of controller Yu at least one sensor；According to the connection status of controller and at least one motor
Determine whether mining automatic driving vehicle is normal with the connection status of controller and at least one sensor.
Specifically, controller can be connect with each motor and each sensor by direct or indirect mode, with reality
Existing control of the controller to each motor and each sensor.Motor mentioned here may include motor driver, certainly, electricity
Machine driver can also be used as independent entity and be connected between controller and motor, and controller is detected by motor driver
With control motor.
Motor and the sensor inspection with the connection status of controller respectively are carried out after the energization of mining automatic driving vehicle
It surveys, i.e. the safety of operating process can be improved in power-on self-test, avoids subsequent operating process because of motor and/or sensor
It breaks down when connection status is improper.And motor is carried out before carrying out complicated subsequent detection and connects shape with sensor
The detection of state can omit when the connection status of motor and/or sensor is improper and carry out complicated subsequent detection, mention
The efficiency of high detection process, for example, complicated subsequent detection can be the detection of the working condition of motor and sensor.
Fig. 2 show another embodiment of the present invention provides mining automatic driving vehicle fault self-diagnosis method process
Figure specifically includes power-on self-test process and starting process of self-test.The embodiment of Fig. 2 is the example of the method for Fig. 1.As shown in Fig. 2,
The method of Fig. 2 can be executed by the controller of mining vehicle, and this method includes following content.
210：Detect the connection status of controller and each motor.
220：Judge whether the connection status of controller and each motor is normal.
230：If the connection status of controller and each motor be it is improper, prompt motor connecting fault information.
When the connection status of at least one motor in each motor is improper, then 230 are executed, wherein for prompting
It may include the information of the motor to break down in the information of electrical fault, to facilitate user to take targetedly remedial measure.
240：If the connection status of controller and each motor be it is normal, detect the connection of controller Yu each sensor
State.
When the connection status of each motor is normal, 240 are just executed.
250：Judge whether the connection status of controller and each sensor is normal.
260：If the connection status of controller and each sensor be it is improper, prompt sensor connecting fault information.
Here, the deterministic process of the connection status of sensor and the content for prompting the information of sensor connecting fault
Similar with motor, details are not described herein.
270：If the connection status of controller and each sensor be it is normal, detect the working condition of each motor.
The detection process of the connection status of each motor and each sensor can be completed during power-on self-test, and at this
After detection process, just whether controller can also determine the vehicle according to the connection status of each motor and each sensor
Often, and prompting message is provided, which can be served only for explaining whether power-on self-test process breaks down.
280：Judge whether the working condition of each motor is normal.
290：If the working condition of each motor be it is improper, prompt motor job failure message.
291：If the working condition of each motor be it is normal, detect the working condition of each sensor.
292：Judge whether the working condition of each sensor is normal.
293：If the working condition of each sensor be it is improper, prompt working sensor fault message.
294：If the working condition of each sensor be it is normal, prompt vehicle normal information.
Here, the deterministic process of the working condition of motor and sensor and for prompting motor and working sensor failure
Information content it is similar in 230, details are not described herein.
The detection process of the working condition of each motor and each sensor can be completed during starting self-test, and at this
After detection process, if there is job failure, controller at least one of each motor and each sensor
It can also provide and be used to indicate the improper information of vehicle.
Fig. 3 show another embodiment of the present invention provides mining automatic driving vehicle fault self-diagnosis method process
Figure, specifically includes road through detecting, and energy detecting, program are monitored and emergency stop operation this Four processes, and wherein this Four processes can be with
It is independent from each other, can execute parallel.And the Four processes can be Fig. 2 power-on self-test and starting process of self-test terminate
It carries out afterwards.As shown in figure 3, the method for Fig. 3 can be executed by the controller of mining vehicle, this method includes following content.
310：Receive preset travel path.
For example, the preset driving path can be by manually being set according to transport task before automatic running,
Can be the controller of mining automatic driving vehicle is previously received from remote control center or real-time reception to.
311：Obtain the current location information of vehicle.
Controller can continue to obtain the current location of vehicle.
312：Calculate the deviation distance of current location information and preset travel path.
313：Judge whether deviation distance is greater than preset threshold.
314：If deviation distance is greater than preset threshold, the excessive warning information of vehicle shift is prompted.If deviation distance is less than
Or be equal to preset threshold, then execute 311 calculating process for starting deviation distance next time.
315：Control emergency brake of vehicle.It should be understood that 315 be optional.Correspondingly, can terminate after emergency braking certainly
The dynamic main program driven.
320：Detect the energy surplus of vehicle.
The energy surplus can be the electricity of vehicle itself.
321：Judge whether energy surplus is less than critical value.
322：If energy surplus is less than critical value, low energy warning information is prompted, and execute 315.
If energy surplus is greater than or equal to critical value, the energy detecting process of 320 beginnings next time is executed.
330：Execute program snoop procedure.
331：Whether determining program snoop procedure occurs to respond mistake.
If response mistake occurs for program snoop procedure, 315 are executed.
If program snoop procedure does not occur to respond mistake, the snoop procedure of 330 beginnings next time is executed.
The program snoop procedure can be the mutual snoop procedure between core control program and emergency braking program, specifically
Content is having been described above, and details are not described herein.
340：The emergency stop operation instruction of user is received, and executes 315.
Fig. 4 show the structure of the mining automatic driving vehicle failure self-diagnosis device 400 of one embodiment of the invention offer
Schematic diagram.As shown in figure 4, the device 400 includes：Detection module 410, for detect mining automatic driving vehicle at least one
The working condition of motor, and detect the working condition of at least one sensor of mining automatic driving vehicle；Determining module 420,
For determining mining automatic driving vehicle according to the working condition of at least one motor and the working condition of at least one sensor
It is whether normal.
The embodiment of the invention provides a kind of mining automatic driving vehicle failure self-diagnosis device, by detect it is mining nobody
Drive vehicle motor and sensor working condition, and according to the working condition of motor and sensor determine it is mining nobody
It whether normal drives vehicle, to realize the process of mining automatic driving vehicle fault self-diagnosis, guarantees the safety of traveling and operation
Property.
Optionally, as another embodiment, detection module 410 was also used in the mining automatic driving vehicle power-on self-test phase
Between, the controller of mining automatic driving vehicle and the connection status of at least one motor are detected, and detect controller and at least one
The connection status of a sensor；Determining module 420 is also used to connection status and control according to controller and at least one motor
The connection status of device and at least one sensor determines whether mining automatic driving vehicle is normal, and wherein detection module 410, are being controlled
The connection status of device processed and at least one motor is normal, and the connection status of controller and at least one sensor is normal
When, during mining automatic driving vehicle starts self-test, the working condition of at least one motor is detected, and detect at least one biography
The working condition of sensor.
Optionally, as another embodiment, detection module 410 detects the connection status of controller and at least one motor,
And when the connection status of controller and at least one motor is normal, the connection shape of controller and at least one sensor is detected
State, wherein device 400 further include：First cue module 430, for any motor in controller and at least one motor
When connection status is improper, the information for being used to indicate motor connecting fault is prompted, in controller and at least one sensor
The connection status of any sensor when being improper, prompt to be used to indicate the information of sensor connecting fault.
Optionally, as another embodiment, detection module 410 detects the working condition of at least one motor, and at least
When the working condition of one motor is normal, the working condition of at least one sensor is detected, wherein device 400 further includes：The
One cue module 430, when the working condition for any motor at least one motor is improper, prompt is used to indicate
The information of motor job failure when the working condition of any sensor at least one sensor is improper, prompts to use
In the information of indication sensor job failure.
Optionally, as another embodiment, at least one motor includes brake motor, accelerates motor, steering motor, shift
At least one of motor and emergency braking motor, wherein each motor of the detection module 410 at least one motor is sent
Driving instruction detects the actual condition value of the motor, judges preset state value and reality to make the motor reach preset state value
Whether border state value is consistent, and when preset state value and actual condition value are inconsistent, determines that the working condition of the motor is non-
Normally, when preset state value is consistent with actual condition value, determine that the working condition of the motor is normal.
Optionally, as another embodiment, at least one sensor includes camera, GPS, laser radar, millimeter wave thunder
It reaches, wherein each sensor of the detection module 410 at least one sensor sends data acquisition instructions, receives the sensor
The returned data of transmission, judges whether returned data meets preset condition, and when returned data is unsatisfactory for preset condition, determines
The working condition of the sensor be it is improper, when returned data meets preset condition, determine that the working condition of the sensor is
Normally.
Optionally, as another embodiment, device 400 further includes：Receiving module 440, for receiving preset travel path；
Module 450 is obtained, for obtaining the current location information of mining automatic driving vehicle；Computing module 460, for calculating present bit
The deviation distance of confidence breath and preset travel path；Judgment module 470, for judging the size of deviation distance and preset threshold；
Second cue module 480 is used to indicate mining automatic driving vehicle offset for prompting when deviation distance is greater than preset threshold
Excessive warning information.
Optionally, as another embodiment, the energy that detection module 410 is also used to detect mining automatic driving vehicle is remaining
Amount, wherein device 400 further includes：Second cue module 480, for prompting for referring to when energy surplus is less than critical value
Show the information of low energy early warning, and executes emergency braking.
Optionally, as another embodiment, device 400 further includes core control program module and emergency braking program mould
Block, wherein core control program module sends the first signal, emergency braking program mould to emergency braking program module for continuing
Block executes emergency braking when the first signal occurs abnormal；Core control program module is also used to continue to receive emergency braking journey
The second signal that sequence module is sent, judges whether second signal exception occurs, and when second signal occurs abnormal, executes urgent
Braking.
The method that the operations and functions of the modules of device 400 can refer to above-mentioned Fig. 1, in order to avoid repeating, herein
It repeats no more.
The embodiments of the present invention also provide a kind of mining automatic driving vehicle failure self-diagnosis devices, including：Detect mould
Block, for during mining automatic driving vehicle power-on self-test, detect mining automatic driving vehicle controller and at least one
The connection status of motor, and detect the connection status of controller Yu at least one sensor；Determining module, for according to controller
Mining automatic driving car is determined with the connection status and controller of at least one motor and the connection status of at least one sensor
It is whether normal.
Motor and the sensor inspection with the connection status of controller respectively are carried out after the energization of mining automatic driving vehicle
It surveys, i.e. the safety of operating process can be improved in power-on self-test, avoids subsequent operating process because of motor and/or sensor
It breaks down when connection status is improper.And motor is carried out before carrying out complicated subsequent detection and connects shape with sensor
The detection of state can omit when the connection status of motor and/or sensor is improper and carry out complicated subsequent detection, mention
The efficiency of high detection process, for example, complicated subsequent detection can be the detection of the working condition of motor and sensor.
It is the computer installation 500 for fault self-diagnosis according to the present invention shown in an exemplary embodiment shown in Fig. 5
Block diagram.
Referring to Fig. 5, it further comprises one or more processors, and by depositing that device 500, which includes processing component 510,
Memory resource representated by reservoir 520, can be by the instruction of the execution of processing component 510, such as application program for storing.It deposits
The application program stored in reservoir 520 may include it is one or more each correspond to one group of instruction module.This
Outside, processing component 510 is configured as executing instruction, the method to execute above-mentioned fault self-diagnosis.
Device 500 can also include that a power supply module be configured as the power management of executive device 500, one it is wired or
Radio network interface is configured as device 500 being connected to network and input and output (I/O) interface.Device 500 can be grasped
Make based on the operating system for being stored in memory 520, such as Windows ServerTM, Mac OS XTM, UnixTM,
LinuxTM, FreeBSDTM or similar.
A kind of non-transitorycomputer readable storage medium, when the instruction in storage medium is by the processing of above-mentioned apparatus 500
When device executes, so that a kind of method that above-mentioned apparatus 500 is able to carry out fault self-diagnosis, including：Detect mining automatic driving car
At least one motor working condition, and detect the working condition of at least one sensor of mining automatic driving vehicle；
Whether mining automatic driving vehicle is determined according to the working condition of the working condition of at least one motor and at least one sensor
Normally.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program ver-ify code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (20)
1. a kind of mining automatic driving vehicle fault self-diagnosis method, which is characterized in that including：
The working condition of at least one motor of the mining automatic driving vehicle is detected, and detects the mining automatic driving car
At least one sensor working condition；
It is determined according to the working condition of the working condition of at least one motor and at least one sensor described mining
Whether automatic driving vehicle is normal.
2. the method according to claim 1, wherein further including：
During the mining automatic driving vehicle power-on self-test, detect the controller of the mining automatic driving vehicle with it is described
The connection status of at least one motor, and detect the connection status of the controller Yu at least one sensor；
According to the connection status and the controller of the controller and at least one motor and at least one described sensing
The connection status of device determines whether the mining automatic driving vehicle is normal,
The wherein working condition of at least one motor of the detection mining automatic driving vehicle, and detect the mining nothing
People drives the working condition of at least one sensor of vehicle, including：
If the connection status of the controller and at least one motor be it is normal, and the controller with it is described at least one
The connection status of sensor be it is normal, then during the mining automatic driving vehicle starting self-test, detection it is described at least one
The working condition of motor, and detect the working condition of at least one sensor.
3. according to the method described in claim 2, it is characterized in that, the controller of the detection mining automatic driving vehicle
With the connection status of at least one motor, and the connection status of the controller Yu at least one sensor is detected,
Including：
Detect the connection status of the controller Yu at least one motor；
If the connection status of the controller and at least one motor be it is normal, detect the controller with it is described at least
The connection status of one sensor,
Wherein the method also includes：
If the connection status of the controller and any motor at least one described motor be it is improper, prompt for referring to
Show the information of motor connecting fault；
If the connection status of the controller and any sensor at least one described sensor be it is improper, prompt to use
In the information of indication sensor connecting fault.
4. the method according to claim 1, wherein at least the one of the detection mining automatic driving vehicle
The working condition of a motor, and the working condition of at least one sensor of the mining automatic driving vehicle is detected, including：
Detect the working condition of at least one motor；
If the working condition of at least one motor is normal, the working condition of detection at least one sensor,
Wherein the method also includes：
If the working condition of any motor at least one described motor be it is improper, prompt be used to indicate motor work therefore
The information of barrier；
If the working condition of any sensor at least one described sensor be it is improper, prompt be used to indicate sensor
The information of job failure.
5. the method according to claim 1, wherein at least one described motor includes brake motor, accelerates electricity
At least one of machine, steering motor, shift motor and emergency braking motor,
The wherein working condition of at least one motor of the detection mining automatic driving vehicle, including：
Each motor at least one described motor sends driving instruction, for making the motor reach preset state value；
Detect the actual condition value of the motor；
Judge whether the preset state value and the actual condition value are consistent；
If the preset state value and the actual condition value are inconsistent, it is determined that the working condition of the motor is improper；
If the preset state value is consistent with the actual condition value, it is determined that the working condition of the motor is normal.
6. the method according to claim 1, wherein at least one described sensor includes camera, GPS, swashs
Optical radar, millimetre-wave radar,
The wherein working condition of at least one sensor of the detection mining automatic driving vehicle, including：
Each sensor at least one described sensor sends data acquisition instructions；
Receive the returned data of sensor transmission；
Judge whether the returned data meets preset condition；
If the returned data is unsatisfactory for preset condition, it is determined that the working condition of the sensor is improper；
If the returned data meets preset condition, it is determined that the working condition of the sensor is normal.
7. method according to any one of claim 1 to 6, which is characterized in that further include：
Receive preset travel path；
Obtain the current location information of the mining automatic driving vehicle；
Calculate the deviation distance of the current location information Yu the preset travel path；
Judge the size of the deviation distance and preset threshold；
If the deviation distance is greater than the preset threshold, it is excessive that prompt is used to indicate the mining automatic driving vehicle offset
Warning information.
8. method according to any one of claim 1 to 6, which is characterized in that further include：
Detect the energy surplus of the mining automatic driving vehicle；
If the energy surplus is less than critical value, the information for being used to indicate low energy early warning is prompted, and execute emergency braking.
9. method according to any one of claim 1 to 6, which is characterized in that further include：
Core control program continues to send the first signal to emergency braking program；
If there is abnormal, the emergency braking program execution emergency braking in first signal；
The core control program persistently receives the second signal that the emergency braking program is sent；
Judge whether the second signal exception occurs, if exception occurs in the second signal, executes emergency braking.
10. a kind of mining automatic driving vehicle fault self-diagnosis method, which is characterized in that including：
During the mining automatic driving vehicle power-on self-test, detect the controller of the mining automatic driving vehicle at least
The connection status of one motor, and detect the connection status of the controller Yu at least one sensor；
According to the connection status and the controller of the controller and at least one motor and at least one described sensing
The connection status of device determines whether the mining automatic driving vehicle is normal.
11. a kind of mining automatic driving vehicle failure self-diagnosis device, which is characterized in that including：
Detection module, the working condition of at least one motor for detecting the mining automatic driving vehicle, and described in detection
The working condition of at least one sensor of mining automatic driving vehicle；
Determining module, for according to the working condition of at least one motor and the working condition of at least one sensor
Determine whether the mining automatic driving vehicle is normal.
12. device according to claim 11, which is characterized in that
The detection module is also used to during the mining automatic driving vehicle power-on self-test, is detected described mining unmanned
The connection status of the controller of vehicle and at least one motor, and detect the controller and at least one described sensor
Connection status；
The determining module is also used to connection status and the controller according to the controller and at least one motor
Determine whether the mining automatic driving vehicle is normal with the connection status of at least one sensor,
The wherein detection module is normal, and the control in the connection status of the controller and at least one motor
When the connection status of device processed and at least one sensor is normal, start the self-test phase in the mining automatic driving vehicle
Between, the working condition of at least one motor is detected, and detect the working condition of at least one sensor.
13. device according to claim 12, which is characterized in that
The detection module detects the connection status of the controller Yu at least one motor, and in the controller and institute
State at least one motor connection status be it is normal when, detect the connection shape of the controller Yu at least one sensor
State,
Wherein described device further includes：
First cue module is non-for the connection status in the controller and any motor at least one described motor
When normal, the information for being used to indicate motor connecting fault is prompted, appointing in the controller and at least one described sensor
When the connection status of one sensor is improper, the information for being used to indicate sensor connecting fault is prompted.
14. device according to claim 11, which is characterized in that
The detection module detects the working condition of at least one motor, and in the working condition of at least one motor
When being normal, the working condition of at least one sensor is detected,
Wherein described device further includes：
First cue module prompts when the working condition for any motor at least one described motor is improper
Be used to indicate the information of motor job failure, the working condition of any sensor at least one described sensor be it is non-just
Chang Shi prompts the information for being used to indicate working sensor failure.
15. device according to claim 11, which is characterized in that at least one described motor includes brake motor, accelerates
At least one of motor, steering motor, shift motor and emergency braking motor,
Wherein each motor of the detection module at least one described motor sends driving instruction, reach the motor
To preset state value, detect the actual condition value of the motor, judge the preset state value and the actual condition value whether one
Cause, and the preset state value and the actual condition value it is inconsistent when, determine the motor working condition be it is improper,
When the preset state value is consistent with the actual condition value, determine that the working condition of the motor is normal.
16. device according to claim 11, which is characterized in that at least one described sensor include camera, GPS,
Laser radar, millimetre-wave radar,
Wherein each sensor of the detection module at least one described sensor sends data acquisition instructions, and receiving should
The returned data that sensor is sent, judges whether the returned data meets preset condition, and be unsatisfactory in the returned data
When preset condition, determine the sensor working condition be it is improper, when the returned data meets preset condition, determine should
The working condition of sensor is normal.
17. device described in any one of 1 to 16 according to claim 1, which is characterized in that further include：
Receiving module, for receiving preset travel path；
Module is obtained, for obtaining the current location information of the mining automatic driving vehicle；
Computing module, for calculating the deviation distance of the current location information Yu the preset travel path；
Judgment module, for judging the size of the deviation distance and preset threshold；
Second cue module, for prompting to be used to indicate the mining nothing when the deviation distance is greater than the preset threshold
People drives the excessive warning information of vehicle shift.
18. device described in any one of 1 to 16 according to claim 1, which is characterized in that
The detection module is also used to detect the energy surplus of the mining automatic driving vehicle,
Wherein described device further includes：
Second cue module, for prompting the letter for being used to indicate low energy early warning when the energy surplus is less than critical value
Breath, and execute emergency braking.
19. device described in any one of 1 to 16 according to claim 1, which is characterized in that further include core control program module
With emergency braking program module,
The wherein core control program module sends the first signal to the emergency braking program module for continuing, described
Emergency braking program module executes emergency braking when first signal occurs abnormal；
The core control program module is also used to continue to receive the second signal that the emergency braking program module is sent, judgement
Whether the second signal there is exception, and when the second signal occurs abnormal, executes emergency braking.
20. a kind of mining automatic driving vehicle failure self-diagnosis device, which is characterized in that including：
Detection module, for detecting the mining automatic driving vehicle during the mining automatic driving vehicle power-on self-test
Controller and at least one motor connection status, and detect the connection status of the controller Yu at least one sensor；
Determining module, for according to the connection status of the controller and at least one motor and the controller with it is described
The connection status of at least one sensor determines whether the mining automatic driving vehicle is normal.
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| CN201810725689.2A CN108871794A (en) | 2018-07-04 | 2018-07-04 | Mining automatic driving vehicle fault self-diagnosis method and device |
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| CN201810725689.2A CN108871794A (en) | 2018-07-04 | 2018-07-04 | Mining automatic driving vehicle fault self-diagnosis method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111126835A (en) * | 2019-12-23 | 2020-05-08 | 航天科技控股集团股份有限公司 | Public vehicle management method based on Beidou satellite positioning |
| CN111582730A (en) * | 2020-05-11 | 2020-08-25 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle remote take-over control method, device and system and storage medium |
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| CN112477828A (en) * | 2020-11-24 | 2021-03-12 | 深圳裹动智驾科技有限公司 | Automatic driving vehicle, emergency braking method thereof and robot |
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