CN111562783A - Domain control system based on unmanned driving of mining wide-body vehicle - Google Patents
Domain control system based on unmanned driving of mining wide-body vehicle Download PDFInfo
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- CN111562783A CN111562783A CN202010325674.4A CN202010325674A CN111562783A CN 111562783 A CN111562783 A CN 111562783A CN 202010325674 A CN202010325674 A CN 202010325674A CN 111562783 A CN111562783 A CN 111562783A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention relates to a domain control system for unmanned driving of mine vehicles, which comprises a domain controller, a radar unit and a vision unit, wherein the domain controller comprises: the controller comprises a first controller, a second controller, a third controller, a fourth controller and a fifth controller; the first controller is a planning decision control device of the whole system and controls and connects other controllers, wherein each controller comprises an independent processor, an Ethernet communication unit, a CAN (controller area network) and an RS232, signals collected by the radar unit and the vision unit are processed by the second controller and the fourth controller and are sent to the first controller, then obstacle state information is obtained and sent to the fifth controller to control the running of a vehicle mechanism, and the third controller is used for communicating with external equipment to realize information transmission between vehicles and between the vehicles and the external equipment. The invention reduces the maintenance cost of the vehicle, prolongs the service life and improves the safety factor of unmanned driving.
Description
Technical Field
The invention belongs to the field of automatic driving, and particularly relates to a domain control system based on unmanned driving of a mining wide-body vehicle.
Background
Along with the high-speed development of economy in China, the demand for mining resources is greater and greater, and the development of mine resources is gradually increased. Because the working environment of a mining area is quite severe, safety accidents of the mining area are frequent due to extreme weather and bumpy road surfaces; meanwhile, with the development of aging of the population, recruitment of drivers in mining areas is more difficult; in addition, different driving habits of each driver cause that the working efficiency of each vehicle does not have a standard, and the maintenance cost of the vehicle caused by improper operation of personnel is high. Therefore, the introduction of the unmanned technology is urgently needed for the efficient development of the mining area intelligence, and the unmanned domain control system is particularly important as a core component for realizing the unmanned operation of the vehicle.
The existing unmanned controller is basically realized by controlling public road passenger vehicles and commercial vehicles, and cannot realize direct unmanned application of mining vehicles. Due to the special working scene of the mining area, the used vehicles of the mining area are greatly different from public road vehicles, for example, the fifth controller 6 is not arranged on part of mining area vehicles, so that the vehicles have a plurality of vehicle self factors such as braking mechanisms and the like, and external factors such as instability of a mining area network environment and the like. In addition, the current power supply design of most controllers is simple, a standby power supply strategy in an abnormal power failure state is not considered, and the condition of how to suddenly stop a brake when a system is abnormal is not considered, so that the power supply design has a great risk for the unmanned ground application in a mining area.
At present, in Chinese patents, the invention names are: a mining unmanned wide-body car, application number: only external devices required by unmanned driving of the mining wide body vehicle are mentioned in CN201721749283.5, and how the unmanned controller is designed is not described.
Disclosure of Invention
Based on the problems, the invention provides a domain control system for unmanned driving of mine vehicles, which realizes the transformation and operation of the mine vehicles, and adopts the following technical scheme: the domain control system includes a domain controller, a radar unit, and a vision unit, the domain controller including: the system comprises a first controller, a second controller, a third controller, a fourth controller and a fifth controller, wherein each controller comprises an independent processor, an Ethernet communication unit, a CAN and an RS 232;
the first controller is used as a planning decision control device of the whole system and controls and is connected with other controllers, and the first controller also comprises an emergency stop control unit which can manually realize emergency stop control of the vehicle in an abnormal state; the second controller is used for receiving and processing the data collected by the radar unit and sending the processed distance information of the obstacle to the first controller; the fourth controller is used for controlling the vision unit to acquire data and process the data acquired by the vision unit, and sending the analyzed and processed obstacle position information to the first controller, the first controller comprehensively judges according to the obstacle information sent by the second controller and the fourth controller to obtain obstacle state information on a driving path, and the obstacle state information is sent to the fifth controller to control the brake of the vehicle mechanism; the third controller comprises an external communication unit, and is used for controlling the information interaction of the whole system and the peripheral equipment to realize the communication between the vehicle and between the vehicle and the peripheral equipment; the fifth controller is used for realizing operation control of a vehicle mechanism and power supply control of the whole system, and comprises a PWR module which is used as a power supply unit of the system and is responsible for power supply control of external equipment in the whole system, and can realize automatic switching of 2 paths of power supply input, wherein when one path of power supply input is abnormal, the other path of power supply can be automatically switched to be used, so that power supply is ensured; the system also comprises a vehicle operation control unit which is used for realizing the operation data acquisition and signal control of the vehicle mechanism.
The first controller unit can also realize wireless communication with an external remote control handle, ground personnel can send an instruction to the first controller through the remote control handle when the vehicle mechanism has an abnormal fault, and the emergency stop control unit receives the instruction to control the fifth controller unit to realize brake control on the vehicle mechanism.
The control system further comprises an inertial navigation unit, the first controller is connected with the inertial navigation unit, and sends a control signal to the fifth controller according to the information of the inertial navigation unit so as to provide navigation for the running of the vehicle.
The third controller can specifically realize external interaction control platform communication, perform man-machine interaction, and forward task information of the external interaction control platform to the first controller unit for task processing; meanwhile, the third controller is directly connected with the vehicle-mounted HMI in a wired mode, and interaction control with an operator in the vehicle can be achieved.
The fourth controller also comprises an industrial Ethernet unit, a vehicle-mounted Ethernet unit, a USB unit and an FPD-LinkIII, and the industrial Ethernet unit, the vehicle-mounted Ethernet unit, the USB unit and the FPD-LinkIII are used as internal and external communication units and can be compatible with the access of visual units of various data interfaces.
The vehicle running control unit of the fifth controller can realize control and data acquisition of signals of an executing mechanism including gears, braking, an accelerator, lifting control and steering control.
The PWR module in the fifth controller can also provide a stable power supply output of 12V/24V meeting the peripheral power supply requirement, so that the working state of the whole system is more stable.
The visual unit is a camera.
The radar unit is a laser radar.
The invention provides technical support for unmanned driving of vehicles in a mining area, realizes landing of unmanned driving application in the mining area, and improves the overall benefit of the mining area from the following aspects:
1. the driver personnel are replaced, the personal accident risk is reduced, and the personnel cost is reduced;
2. the unmanned vehicle controls the vehicle more reasonably and accurately, the maintenance cost of the vehicle is reduced, and the service life of the vehicle is prolonged;
3. the unmanned continuous operation time is longer, and the production efficiency is improved.
4. The unmanned control system has multiple power supply inputs, and is designed with multiple communication networks, so that the whole system is more reliable, and the safety factor of unmanned driving is greatly improved.
Drawings
FIG. 1 is a schematic structural diagram of a domain control system for unmanned driving of mine vehicles according to the invention
1-domain controller, 2-first controller, 3-second controller, 4-third controller, 5-fourth controller, 6-fifth controller, 7-radar unit, 8-vision unit, 9-inertial navigation unit, 10 remote control handle, 11-PWR, 12-vehicle mechanism, 13-vehicle HIMI, 14-peripheral equipment
Detailed Description
As shown in fig. 1, the domain control system for unmanned driving of mine vehicles of the present invention comprises a domain controller 1, a radar unit 7, a vision unit 8; the domain controller 1 specifically includes: a first controller 2, a second controller 3, a third controller 4, a fourth controller 5, a fifth controller 6; wherein, each controller comprises an independent processor, an Ethernet communication unit, a CAN and an RS 232;
the first controller 2 is used as a planning decision control device of the whole system and controls and connects other controllers, and the first controller 2 further comprises an emergency stop control unit which can manually realize emergency stop control of the vehicle mechanism 12 in an abnormal state; the second controller 3 is configured to receive and process data acquired by the radar unit, and send the processed distance information of the obstacle to the first controller 2; the fourth controller 5 is configured to control the vision unit 8 to perform data acquisition and process data acquired by the vision unit 8, and send the analyzed and processed obstacle position information to the first controller 2, the first controller 2 performs comprehensive judgment according to the obstacle information sent by the second and fourth controllers 5 to obtain obstacle state information on a driving path, and sends the obstacle state information to the fifth controller 6 to control the braking of the vehicle mechanism 12; the third controller 4 comprises an external communication unit, and is used for controlling the information interaction of the whole system and the peripheral 14, and realizing the communication between the vehicle and between the vehicle and the peripheral 14; the fifth controller 6 is used for realizing operation control of the vehicle mechanism 12 and power supply control of the whole system, and comprises a PWR11 module which is used as a power supply unit of the system and is responsible for power supply control of external equipment in the whole system, so that automatic switching of 2 paths of power supply input can be realized, and when one path of power supply input is abnormal, the other path of power supply can be automatically switched to be used, and power supply is ensured; the system also comprises a vehicle operation control unit which is used for realizing the operation data acquisition and signal control of the vehicle mechanism 12.
The first controller 2 unit can also realize wireless communication with an external remote control handle 10, a person can send an instruction to the first controller 2 through the remote control handle 10 when the vehicle mechanism 12 has an abnormal fault, and the emergency stop control unit receives the instruction to control the fifth controller 6 unit to realize brake control on the vehicle mechanism 12.
The control system further comprises an inertial navigation unit 9, the first controller 2 is connected with the inertial navigation unit 9, and sends a control signal to the fifth controller 6 according to the information of the inertial navigation unit 9, so that navigation is provided for the running of the vehicle.
The third controller 4 can specifically realize external interaction control platform communication, perform man-machine interaction, and forward task information of the external interaction control platform to the first controller 2 unit for task processing; meanwhile, the third controller 4 is directly connected with the vehicle-mounted HMI13 in a wired mode, and interaction control with an operator in the vehicle can be achieved.
The fourth controller 5 further comprises an industrial ethernet unit, a vehicle-mounted ethernet unit, a USB unit, and an FPD-linkli, which are used as internal and external communication units and are compatible with the access of the vision unit 8 with various data interfaces.
The vehicle running control unit of the fifth controller 6 can realize control and data acquisition of signals of an executing mechanism including gears, braking, an accelerator, lifting control and steering control. If the mining truck is provided with the VCU, the vehicle operation control function in the fifth controller 6 can be omitted, and the first controller 2 is directly connected with the communication interface of the VCU, so that the operation control of the whole truck is realized. The system has higher compatibility and can meet the unmanned control requirements of different vehicles in a mining area.
The PWR11 module in the fifth controller 6 can also provide a stable power output of 12V/24V to meet the power supply requirement of the peripheral 14, so as to ensure that the working state of the whole system is more stable.
Wherein, the visual unit 8 can be selected as a camera; the radar unit 7 may alternatively be a lidar.
Aiming at the unmanned requirement of the current mining area, the invention provides a domain control system adaptive to the working scene characteristics of the mining area, and the safety coefficient of unmanned driving is improved.
The above-mentioned embodiments are merely specific embodiments of the present invention, which are used to illustrate the technical solutions of the present invention, but not to limit the technical solutions, and the scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the above-mentioned embodiments. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the invention without departing from the principle of the invention, and those improvements and modifications also fall within the scope of the claims of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A domain control system for unmanned driving of mine vehicles, comprising a domain controller (1), a radar unit (7), a vision unit (8), the domain controller (1) comprising: the system comprises a first controller (2), a second controller (3), a third controller (4), a fourth controller (5) and a fifth controller (6), wherein each controller comprises a separate processor, an Ethernet communication unit, a CAN and an RS 232;
the first controller (2) is used as a planning decision control device of the whole system and controls and connects other controllers, and the first controller (2) further comprises an emergency stop control unit which can manually realize emergency stop control of the vehicle in an abnormal state; the second controller (3) is used for receiving and processing data collected by the radar unit and sending the processed distance information of the obstacle to the first controller (2); the fourth controller (5) is used for controlling the vision unit (8) to acquire data and process the data acquired by the vision unit (8), and sending the analyzed and processed obstacle position information to the first controller (2), the first controller (2) comprehensively judges according to the obstacle information sent by the second controller (5) and the fourth controller (5) to obtain obstacle state information on a driving path, and the obstacle state information is sent to the fifth controller (6) to control the brake of the vehicle mechanism (12); the third controller (4) comprises an external communication unit, and is used for controlling information interaction of the whole system and the peripheral (14) and realizing communication between the vehicle and communication between the vehicle and the peripheral (14); the fifth controller (6) is used for realizing operation control of a vehicle mechanism (12) and power supply control of the whole system, and comprises a PWR (11) module which is used as a power supply unit of the system and is responsible for power supply control of external equipment in the whole system, so that automatic switching of 2 paths of power supply input can be realized, and when one path of power supply input is abnormal, the other path of power supply can be automatically switched to be used, and power supply is ensured; the system also comprises a vehicle operation control unit which is used for realizing the operation data acquisition and signal control of the vehicle mechanism (12).
2. The domain control system for unmanned driving of mine vehicles according to claim 2, wherein the first controller (2) unit is further capable of wirelessly communicating with an external remote control handle (10), ground personnel can give instructions to the first controller (2) through the remote control handle (10) when the vehicle mechanism (12) is abnormally out of order, and the emergency stop control unit receives instructions to control the fifth controller (6) unit to realize brake control of the vehicle mechanism (12).
3. A domain control system for unmanned driving of vehicles in mine area according to claim 3 or 2, characterized in that, the control system further comprises an inertial navigation unit (9), the first controller (2) is connected with the inertial navigation unit (9), and sends control signal to the fifth controller (6) according to the information of the inertial navigation unit (9) to provide navigation for the operation of the vehicle.
4. The domain control system for unmanned driving of mine vehicles according to any one of claims 1 to 3, wherein the third controller (4) is specifically adapted to implement external interaction control platform communication for human-computer interaction, and to forward task information of the external interaction control platform to the first controller (2) unit for task processing; meanwhile, the third controller (4) is directly connected with the vehicle-mounted HMI (13) in a wired mode, and interaction control with an operator in the vehicle can be achieved.
5. A domain control system for unmanned driving of vehicles in mines according to claim 5 and any of claims 1 to 4, characterized in that the fourth controller (5) further comprises an industrial Ethernet unit, a vehicle-mounted Ethernet unit, a USB unit, a FPD-Link III as an access to the internal and external communication units compatible with the vision unit (8) of the various data interfaces.
6. A domain control system for unmanned mine vehicles according to claim 6 and any one of claims 1 to 5, wherein the vehicle operation control unit of the fifth controller (6) is capable of controlling and data collecting signals of actuators including gears, brakes, throttle, lift control and steering control.
7. The domain control system for unmanned driving of mine vehicles according to claim 7, wherein the PWR (11) module in the fifth controller (6) can provide a stable power output of 12V/24V to meet the power supply requirement of the peripheral device (14), ensuring a more stable working state of the whole system.
8. A domain control system for unmanned driving of vehicles in mines according to claim 8 and any of claims 1 to 7, characterized in that the vision unit (8) is a camera.
9. A domain control system for unmanned driving of mine vehicles according to claim 9-8, characterized in that the radar unit (7) is a lidar.
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| CN202010325674.4A CN111562783B (en) | 2020-04-23 | 2020-04-23 | Unmanned domain control system based on mining wide body car |
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| CN113485336A (en) * | 2021-07-06 | 2021-10-08 | 北京踏歌智行科技有限公司 | Unmanned domain controller suitable for off-highway mining dump truck |
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| CN111562783B (en) | 2024-03-29 |
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