CN113110434B - Cab-free underground unmanned electric locomotive and control method thereof - Google Patents
Cab-free underground unmanned electric locomotive and control method thereof Download PDFInfo
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- 238000007499 fusion processing Methods 0.000 claims description 24
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- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- 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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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- 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 discloses a pilotless cabin type underground unmanned electric locomotive and a control method thereof, wherein the pilotless cabin type underground unmanned electric locomotive comprises a pilotless cabin type electric locomotive head and a locomotive body which is transformed based on a common electric locomotive wire control, wherein the locomotive head is mainly provided with an obstacle intelligent sensing device, a calculation control unit, a bumper and a driving recorder; the vehicle body is provided with a PLC controller, wheels, an electromagnetic braking device, a motor speed regulating device, a vehicle speed sensing device and a storage battery power supply system. The invention relates to the technical field of underground rail transportation unmanned aerial vehicles. Compared with the traditional manual monitoring mode of a ground monitoring room, the control cabin is omitted, a brand-new unmanned underground electric locomotive is structurally designed, barrier sensing, fusion and processing can be automatically completed through line control transformation, processing results are transmitted to an execution system, the electric locomotive is controlled to regulate speed and brake, and the unmanned monitoring mode different from the ground monitoring mode is realized.
Description
Technical Field
The invention relates to an unmanned electric locomotive, in particular to an underground unmanned electric locomotive without a cab and a control method thereof.
Background
In recent years, China has risen a climax of intelligent construction of coal mines, and national eight committees jointly issue guidance opinions about accelerating intelligent development of coal mines in 2020, and the development and industrial application of coal mine robots are promoted, and special actions of mechanical people replacement and automatic people reduction are implemented, wherein scientific and technological innovation is enhanced, the intelligent technology and equipment level of the coal mines are improved, and the special actions are provided. With the introduction of the construction department number of 'smart mines', the unmanned technology is beginning to be applied to underground rail transport vehicles of mines. The underground electric locomotive is important equipment of a rail transportation system in the pit, the current underground electric locomotive in the coal mine has the problems of low transportation efficiency, poor overall scheduling performance, large potential safety hazard and the like, and the design and research of the unmanned system technology of the underground electric locomotive has important practical significance.
The current underground rail transportation unmanned vehicle mainly has the following modes: short-distance near-end remote control mode, surface remote control mode and partial road section autonomous operation mode. Even if part highway section is autonomic operation, the table personnel of needs constantly observes electric locomotive running state, can't independently perceive the operation environment in the front, does not talk about autonomic speed governing, braking. At present, underground electric locomotives have been partially studied in the aspects of unmanned remote monitoring, electric train driving energy management and system scheduling. The patent application number is 202010284277.7, entitled radar device for identifying obstacles of underground unmanned locomotive, and discloses a device for acquiring data such as external shape, outline, size and the like of the obstacles by utilizing radar scanning, wherein the scheme only uses a single radar for sensing, has weak anti-interference capability, can only realize distance detection, cannot detect visual images, and needs to supplement various sensors to make up for the defects of the single sensor; the patent application number is 202010250361.7, the name is "an explosion-proof new forms of energy permanent magnetism intelligence unmanned electric locomotive", the invention wireless monitoring module has selected camera and ultrasonic sensor, but still stays in the remote personnel control, can not realize the vehicle in the pit and perceive and analyze and process independently in real time, and does not specifically describe the working method and arrangement form of the sensor in the scheme, and the subsequent application link after perception data acquisition; the invention relates to an invention patent with the patent application number of 201911206184.6 and the name of 'an automatic running electric locomotive', mainly focuses on how to realize motor braking and power-off protection measures of the electric locomotive, almost does not mention a sensing system which is most critical to unmanned driving, and is difficult to realize the real autonomous driving of the underground electric locomotive.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a cabin-free underground unmanned electric locomotive and a control method thereof, so as to solve the technical problems.
In order to achieve the purpose, the invention adopts the technical scheme that: a pilotless cabin type underground unmanned electric locomotive comprises a locomotive, a locomotive body, an obstacle intelligent sensing device and a calculation control system;
the vehicle head is arranged at the front end of the vehicle body, wheels are arranged at the bottom of the vehicle body, a hub motor is arranged on each wheel, each wheel is connected with an electromagnetic brake, a vehicle speed sensor is arranged on each vehicle body close to each wheel, a battery distribution box and a storage battery are arranged in each vehicle body, and each storage battery is connected with the battery distribution box;
the intelligent obstacle sensing device comprises a first millimeter-wave radar, a second millimeter-wave radar and a CCD camera, wherein the CCD camera is arranged at the top of the vehicle head, the first millimeter-wave radar and the second millimeter-wave radar are longitudinally arranged on a central axis in front of the vehicle head, and the first millimeter-wave radar is positioned below the second millimeter-wave radar;
the calculation control system comprises a PLC (programmable logic controller), an industrial personal computer and a VCU (vehicle control unit), wherein the industrial personal computer and the VCU are arranged in the vehicle head, the PLC is arranged in the vehicle body, the industrial personal computer is respectively connected with the vehicle speed sensor, the CCD camera, the first millimeter wave radar and the second millimeter wave radar, the electromagnetic brake and the hub motor are respectively connected with the PLC, and the industrial personal computer and the PLC are respectively connected with the VCU;
the industrial personal computer, the VCU vehicle control unit, the PLC controller, the wheel hub motor, the electromagnetic brake, the vehicle speed sensor, the first millimeter wave radar and the second millimeter wave radar are all electrically connected with the battery distribution box.
Further, the automobile data recorder with the cloud storage function is further arranged in front of the automobile head and connected with the industrial personal computer.
Furthermore, the side of the vehicle head is also provided with a cooling fan, and the cooling fan is respectively connected with the battery distribution box and the PLC.
Furthermore, a bumper and a vehicle lamp are further arranged in front of the vehicle head, and the vehicle lamp is connected with a battery distribution box.
Furthermore, a temperature sensor is further arranged inside the vehicle head and connected with the industrial personal computer.
Furthermore, an explosion-proof box is arranged outside the industrial control machine.
A control method for a cockpit-free underground unmanned electric locomotive comprises the following steps:
environmental perception: the first millimeter wave radar and the second millimeter wave radar detect the distance information of the front obstacle in real time, the CCD camera detects the type information of the front obstacle in real time, and detection results are transmitted to the industrial personal computer through the CAN bus to be subjected to target-level fusion processing; the fusion processing result of the first millimeter wave radar and the CCD camera is used as a judgment basis for long-distance obstacle information, and the fusion processing result of the second millimeter wave radar and the CCD camera is used as a judgment basis for short-distance obstacle information;
and (3) decision processing: the intelligent obstacle sensing device acquires signals of the surrounding environment, a data receiving module in the industrial personal computer receives the signals and carries out decision-making fusion processing by using a D-S evidence fusion processing module, and a processing result is transmitted to the VCU vehicle control unit through a CAN bus;
starting and stopping control: the VCU vehicle control unit receives a ground control room starting instruction and transmits the ground control room starting instruction to the PLC controller, the PLC controller transmits the instruction information to the hub motor and the electromagnetic brake, the electromagnetic brake analyzes the instruction to remove a braking state, and the hub motor analyzes the instruction to drive wheels to rotate so as to complete the starting of the electric locomotive; when the electric locomotive is parked, the VCU vehicle control unit receives a parking instruction of a ground control room and transmits the parking instruction to the PLC controller, the PLC controller transmits the parking instruction to the hub motor and the electromagnetic brake according to instruction information, the hub motor analyzes the instruction and stops working, and the electromagnetic brake analyzes the instruction to brake so as to finish the parking action of the electric locomotive;
and (3) driving process control: in the driving process, a front obstacle target is detected by the first millimeter wave radar, the second millimeter wave radar and the CCD camera, the front obstacle distance detected by the first millimeter wave radar in real time is S1, the front obstacle distance detected by the second millimeter wave radar in real time is S2, the driving safety distance of the electric locomotive is S, and the braking distance of the electric locomotive is L; when S1 is greater than S and S2 is greater than S, the VCU vehicle controller sends an instruction to the PLC controller, and the PLC controller analyzes the instruction of the VCU vehicle controller, controls the hub motor to maintain the current working state and keeps the electric locomotive running at the original speed; when L < S2< S, the VCU vehicle controller sends an instruction to the PLC controller, the PLC controller analyzes the instruction of the VCU vehicle controller, the hub motor is controlled to execute the deceleration action of the electric locomotive and keep running at a low speed, and in the low-speed running process, if S2> S, the hub motor executes the acceleration action of the electric locomotive, the speed limit is realized when the related regulation of the underground electric locomotive is reached, and the acceleration action is stopped and the constant-speed running is kept; when S2< L, the VCU vehicle controller sends an instruction to the PLC controller, and the PLC controller analyzes the instruction of the VCU vehicle controller to control the hub motor and the electromagnetic brake to complete the emergency braking of the electric locomotive;
auxiliary control: the temperature sensor detects the internal temperature of the locomotive head of the electric locomotive and transmits the detection result to the PLC in real time, the PLC generates an instruction to control the operation of the cooling fan, and the wireless video camera of the automobile data recorder transmits the video image to the cloud server through the information receiving and transmitting unit for real-time storage.
Further, the target-level fusion processing is that the industrial personal computer converts the obstacle distance information acquired by the first millimeter-wave radar and the second millimeter-wave radar into the image information acquired by the CCD camera through a space coordinate system, so that environment perception image data including the millimeter-wave radar and the CCD camera is obtained, the image data includes the obstacle type and the reliability, and the fusion result is transmitted to a D-S evidence fusion processing module in the industrial personal computer for decision-level fusion.
Further, the decision-level fusion processing is to import the obstacle type and the credibility in the target-level fusion result into a D-S evidence theory combination rule for operation, and the operation result is to obtain a final obstacle type, so that the front obstacle type is judged to be a pedestrian, a vehicle or other obstacle types.
Compared with the prior art, the distance detection device is combined with the image detection device, so that the type and the distance of the barrier can be distinguished; the invention can independently collect, analyze and process, adopts a DS evidence theory fusion processing method in the industrial personal computer, applies the processing result to a subsequent decision layer, a control layer and an execution layer, and does not need personnel to participate in the whole process.
Drawings
FIG. 1 is a schematic side view of the overall structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the overall structure of the present invention;
FIG. 4 is a control flow chart of the present invention;
in the figure: 1. CCD camera, 2, the top cap, 3, the dismouting handle, 4, radiator fan, 5, the locomotive, 6, the PLC controller, 7, the automobile body, 8, the battery block terminal, 9, the wheel, 10, the battery, 11, VCU vehicle control unit, 12, the flame proof case, 13, the industrial computer, 14, first millimeter wave radar, 15, the bumper, 16, second millimeter wave radar, 17, the car light, 18, the vehicle event data recorder, 19, temperature sensor, 20, speed sensor, 21, electromagnetic braking ware, 22, in-wheel motor.
Detailed Description
The invention will be further explained with reference to the drawings.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the present invention provides a technical solution: the intelligent obstacle sensing device comprises a vehicle head 5, a vehicle body 7, an intelligent obstacle sensing device and a calculation control system.
The vehicle head 5 is arranged at the front end of the vehicle body 7, and the top cover 2 of the vehicle head 5 is welded with the dismounting handle 3, so that the device in the vehicle head can be dismounted conveniently; the bottom of the vehicle body 7 is provided with a wheel 9, each wheel 9 is provided with a hub motor 22, each wheel 9 is connected with an electromagnetic brake 21, the vehicle body 7 close to the wheel 9 is provided with a vehicle speed sensor 20, a battery distribution box 8 and a storage battery 10 are arranged in the vehicle body 7, the storage battery 10 is connected with the battery distribution box 8, and the battery distribution box 8 distributes energy to the storage battery 10 so as to reasonably supply power for electrical appliances.
The intelligent obstacle sensing device comprises a first millimeter-wave radar 14, a second millimeter-wave radar 16 and a CCD (charge coupled device) camera 1, wherein the millimeter-wave radar is used for detecting the distance, and the CCD camera 1 is used for acquiring image information; the CCD camera 1 is arranged at the top of the vehicle head 5, the first millimeter wave radar 14 and the second millimeter wave radar 16 are longitudinally arranged on a central axis in front of the vehicle head 5, and the first millimeter wave radar 14 is positioned below the second millimeter wave radar 16; the scanning horizontal angle of the first millimeter wave radar 14 is smaller than that of the second millimeter wave radar 16.
An automobile data recorder 18 with a cloud storage function, a bumper 15 and an automobile lamp 17 are arranged in front of the automobile head 5, the automobile data recorder 18 is connected with an industrial personal computer 13, and the automobile lamp 17 is connected with a battery distribution box 8; a cooling fan 4 is further arranged on the side face of the vehicle head 5, and the cooling fan 4 is respectively connected with a battery distribution box 8 and a PLC (programmable logic controller) 6; the interior of the vehicle head 5 is also provided with a temperature sensor 19, and the temperature sensor 19 is connected with the industrial personal computer 13.
The calculation control system comprises a PLC (programmable logic controller) 6, an industrial personal computer 13 and a VCU (virtual vehicle Unit) 11, wherein an explosion-proof box 12 is arranged outside the industrial personal computer 13, the industrial personal computer 13 and the VCU 11 play a role in analyzing and processing information of a sensing system, and the industrial personal computer 13 is provided with a DS evidence theory fusion module; the industrial personal computer 13 and the VCU vehicle control unit 11 are arranged inside the vehicle head 5, the PLC 6 is arranged inside the vehicle body 7, the industrial personal computer 13 is respectively connected with the vehicle speed sensor 20, the CCD camera 1, the first millimeter wave radar 14 and the second millimeter wave radar 16, the electromagnetic brake 21 and the hub motor 22 are respectively connected with the PLC 6, and the industrial personal computer 13 and the PLC 6 are both connected with the VCU vehicle control unit 11; the industrial personal computer 13, the VCU vehicle control unit 11, the PLC 6, the hub motor 22, the electromagnetic brake 21, the vehicle speed sensor 20, the first millimeter wave radar 14 and the second millimeter wave radar 16 are all electrically connected with the battery distribution box 8.
As shown in fig. 4, the electric locomotive running control method comprises the following steps:
environmental perception: the first millimeter-wave radar 14 and the second millimeter-wave radar 16 detect distance information of a front obstacle in real time, the CCD camera 1 detects category information of the front obstacle in real time, detection results are transmitted to the industrial personal computer 13 through a CAN bus, the industrial personal computer 13 converts the obstacle distance information acquired by the first millimeter-wave radar 14 and the second millimeter-wave radar 16 into image information acquired by the CCD camera 1 through a space coordinate system, so that environment perception image data including the millimeter-wave radar and the CCD camera 1 are obtained, the image data include obstacle types and credibility, and the target-level fusion processing result is transmitted to a D-S evidence fusion processing module in the industrial personal computer 13 for decision-level fusion; the fusion processing result of the first millimeter wave radar 14 and the CCD camera 1 is used as the basis for judging the information of the long-distance obstacle, and the fusion processing result of the second millimeter wave radar 16 and the CCD camera 1 is used as the basis for judging the information of the short-distance obstacle.
And (3) decision processing: the intelligent obstacle sensing device acquires signals of the surrounding environment, a data receiving module in the industrial personal computer 13 receives the signals and carries out decision-level fusion processing by using a D-S evidence fusion processing module, the obstacle type and the credibility in the multi-frame target-level fusion result are led into a D-S evidence theory combination rule for operation, the operation result obtains the final obstacle type, the front obstacle type is judged to be a pedestrian type, a vehicle type or other obstacle types, and the processing result is transmitted to the VCU vehicle control unit 11 through the CAN bus.
Starting and stopping control: an information receiving and transmitting unit arranged in the VCU vehicle controller 11 receives a ground control room starting instruction and transmits the command to the PLC 6 through a CAN (controller area network) line, the PLC 6 transmits the command to the in-wheel motor 22 and the electromagnetic brake 21 according to the instruction information, the electromagnetic brake 21 resolves the instruction to release the braking state, and the in-wheel motor 22 resolves the instruction to drive the wheels 9 to rotate so as to complete the starting of the electric locomotive; when the electric locomotive is parked, the information transceiver unit arranged in the VCU vehicle controller 11 receives a parking instruction of a ground control room and transmits the parking instruction to the PLC 6 through the CAN line, the PLC 6 transmits the parking instruction to the in-wheel motor 22 and the electromagnetic brake 21 according to the instruction information, the in-wheel motor 22 analyzes the instruction and stops working, and the electromagnetic brake 21 analyzes the instruction and brakes to complete the parking action of the electric locomotive.
And (3) driving process control: during driving, the first millimeter wave radar 14, the second millimeter wave radar 16 and the CCD camera 1 detect a front obstacle target, the front obstacle distance detected by the first millimeter wave radar 14 in real time is S1, the front obstacle distance detected by the second millimeter wave radar 16 in real time is S2, the driving safety distance of the electric locomotive is S, the braking distance of the electric locomotive is L, when the obstacle distance is far, namely, when S1> S and S2> S, the VCU vehicle controller 11 issues an instruction to the PLC controller 6 through the CAN bus, the PLC controller 6 analyzes the instruction of the VCU vehicle controller 11, controls the hub motor 22 to maintain the current working state, keeps the electric locomotive running at the original speed, in the process, the information collected by the first millimeter wave radar 14 and the CCD camera 1 is fused, judging whether the pedestrian is a pedestrian according to the fusion result, and thus determining whether a flashing light is needed to warn a front obstacle to pay attention to safety; when the distance between the obstacles is close but the obstacles are still beyond the braking danger distance, namely when L < S2< S, the VCU vehicle controller 11 issues an instruction to the PLC controller 6 through the CAN bus, the PLC controller 6 analyzes the instruction of the VCU vehicle controller 11, the hub motor 22 is controlled to execute the deceleration action of the electric locomotive, the low-speed running is kept, in the low-speed running process, if S2> S, the hub motor 22 executes the acceleration action of the electric locomotive, the speed limit is reached when the related regulation of the underground electric locomotive is reached, the acceleration action is stopped, and the constant-speed running is kept; when the obstacle enters the braking dangerous distance, namely when S2 is less than L, the VCU vehicle controller 11 issues an instruction to the PLC controller 6 through the CAN bus, and the PLC controller 6 analyzes the instruction of the VCU vehicle controller 11 to control the hub motor 22 and the electromagnetic brake 21 so as to complete the emergency braking of the electric locomotive; in the process of S2< S, since the second millimeter wave radar 16 is a close-range detection radar, and the close-range detection performance is superior to that of the first millimeter wave radar 14, information collected by the second millimeter wave radar 16 and the CCD camera 1 is subjected to fusion processing, and whether the pedestrian is detected is determined according to the fusion result, thereby determining whether it is necessary to flash a light to warn a front obstacle to pay attention to safety.
Auxiliary control: the temperature sensor 19 detects the internal temperature of the locomotive 5 of the electric locomotive and transmits the detection result to the PLC 6 in real time, the PLC 6 generates an instruction to control the operation of the cooling fan 4, the wireless video camera of the automobile data recorder 18 transmits a video image to the cloud server through the information receiving and transmitting unit for real-time storage, the vehicle speed sensor detects the vehicle operation speed in real time and feeds the result back to the industrial personal computer, when the wheel speed exceeds 40km/h, the vehicle is judged to be overspeed, the industrial personal computer sends an overspeed signal to the ground monitoring room, and the ground monitoring personnel start the stall protection device on the traveling road to protect the vehicle.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (6)
1. A control method of a cockpit-free underground unmanned electric locomotive is characterized by comprising a locomotive (5), a locomotive body (7), an obstacle intelligent sensing device and a calculation control system;
the bicycle head (5) is arranged at the front end of a bicycle body (7), wheels (9) are arranged at the bottom of the bicycle body (7), a hub motor (22) is arranged on each wheel (9), each wheel (9) is connected with an electromagnetic brake (21), the bicycle body (7) close to the wheels (9) is respectively provided with a bicycle speed sensor (20), a battery distribution box (8) and a storage battery (10) are arranged in the bicycle body (7), and the storage battery (10) is connected with the battery distribution box (8);
the intelligent obstacle sensing device comprises a first millimeter-wave radar (14), a second millimeter-wave radar (16) and a CCD (charge coupled device) camera (1), wherein the CCD camera (1) is arranged at the top of the vehicle head (5), the first millimeter-wave radar (14) and the second millimeter-wave radar (16) are longitudinally arranged on a central axis in front of the vehicle head (5), and the first millimeter-wave radar (14) is positioned below the second millimeter-wave radar (16);
the calculation control system comprises a PLC (programmable logic controller) controller (6), an industrial personal computer (13) and a VCU (vehicle control unit) controller (11), wherein the industrial personal computer (13) and the VCU controller (11) are arranged inside a vehicle head (5), the PLC controller (6) is arranged inside a vehicle body (7), the industrial personal computer (13) is respectively connected with a vehicle speed sensor (20), a CCD (charge coupled device) camera (1), a first millimeter-wave radar (14) and a second millimeter-wave radar (16), an electromagnetic brake (21) and a hub motor (22) are respectively connected with the PLC controller (6), and the industrial personal computer (13) and the PLC controller (6) are respectively connected with the VCU controller (11);
the industrial personal computer (13), the VCU vehicle control unit (11), the PLC controller (6), the hub motor (22), the electromagnetic brake (21), the vehicle speed sensor (20), the first millimeter-wave radar (14) and the second millimeter-wave radar (16) are all electrically connected with the battery distribution box (8);
an automobile data recorder (18) with a cloud storage function is further arranged in front of the automobile head (5), and the automobile data recorder (18) is connected with the industrial personal computer (13); a temperature sensor (19) is also arranged in the headstock (5), and the temperature sensor (19) is connected with an industrial personal computer (13);
environmental perception: the first millimeter-wave radar (14) and the second millimeter-wave radar (16) detect the distance information of the front obstacle in real time, the CCD camera (1) detects the category information of the front obstacle in real time, and detection results are transmitted to the industrial personal computer (13) through the CAN bus to perform target-level fusion processing; the fusion processing result of the first millimeter wave radar (14) and the CCD camera (1) is used as a judgment basis for long-distance obstacle information, and the fusion processing result of the second millimeter wave radar (16) and the CCD camera (1) is used as a judgment basis for short-distance obstacle information;
and (3) decision processing: the intelligent obstacle sensing device acquires signals of the surrounding environment, a data receiving module in the industrial personal computer (13) receives the signals and utilizes a D-S evidence fusion processing module to perform decision-making fusion processing, and a processing result is transmitted to the VCU vehicle control unit (11) through a CAN bus;
starting and stopping control: the VCU vehicle control unit (11) receives a ground control room starting instruction and transmits the ground control room starting instruction to the PLC controller (6), the PLC controller (6) transmits the instruction information to the hub motor (22) and the electromagnetic brake (21), the electromagnetic brake (21) analyzes the instruction to remove a braking state, the hub motor (22) analyzes the instruction to drive the wheels (9) to rotate, and the electric locomotive is started; when the electric locomotive is parked, the VCU vehicle control unit (11) receives a parking instruction of a ground control room and transmits the parking instruction to the PLC controller (6), the PLC controller (6) transmits the parking instruction to the in-wheel motor (22) and the electromagnetic brake (21) according to instruction information, the in-wheel motor (22) analyzes the instruction and stops working, and the electromagnetic brake (21) analyzes the instruction to brake so as to finish the parking action of the electric locomotive;
and (3) driving process control: in the driving process, a front obstacle target is detected by the first millimeter wave radar (14), the second millimeter wave radar (16) and the CCD camera (1), the front obstacle distance detected by the first millimeter wave radar (14) in real time is S1, the front obstacle distance detected by the second millimeter wave radar (16) in real time is S2, the driving safety distance of the electric locomotive is S, and the braking distance of the electric locomotive is L;
when S1 is greater than S and S2 is greater than S, the VCU vehicle controller (11) gives an instruction to the PLC controller (6), the PLC controller (6) analyzes the instruction of the VCU vehicle controller (11), the hub motor (22) is controlled to maintain the current working state, and the electric locomotive is kept to run at the original speed;
when L < S2< S, the VCU vehicle controller (11) issues an instruction to the PLC controller (6), the PLC controller (6) analyzes the instruction of the VCU vehicle controller (11), controls the hub motor (22) to execute the deceleration action of the electric locomotive and keeps running at a low speed, and in the low-speed running process, if S2> S, the hub motor (22) executes the acceleration action of the electric locomotive, so that the speed limit of the underground electric locomotive is reached, the acceleration action is stopped and the constant-speed running is kept;
when S2 is less than L, the VCU vehicle controller (11) issues an instruction to the PLC controller (6), the PLC controller (6) analyzes the instruction of the VCU vehicle controller (11), the hub motor (22) and the electromagnetic brake (21) are controlled, and the emergency braking of the electric locomotive is completed;
auxiliary control: temperature sensor (19) detect electric locomotive (5) inside temperature and give PLC controller (6) with the testing result real-time transfer, and PLC controller (6) generate instruction control radiator fan (4) operation, and vehicle event data recorder (18) wireless video camera passes through information transceiver unit with video image and transmits to high in the clouds server and save in real time.
2. The control method of the unmanned underground electric locomotive without the cockpit according to claim 1, wherein a heat dissipation fan (4) is further arranged on a side surface of the locomotive (5), and the heat dissipation fan (4) is respectively connected with the battery distribution box (8) and the PLC (6).
3. The control method of the unmanned underground cabin-free unmanned electric locomotive according to claim 1, wherein a bumper (15) and a lamp (17) are further arranged in front of the locomotive (5), and the lamp (17) is connected with the battery distribution box (8).
4. The control method of the unmanned cabin-free underground unmanned electric locomotive according to claim 1, wherein an explosion-proof box (12) is arranged outside the industrial personal computer (13).
5. The control method of the unmanned underground cabin-free unmanned electric locomotive according to claim 1, characterized by comprising the following steps: the target-level fusion processing is that the industrial personal computer (13) converts obstacle distance information acquired by the first millimeter-wave radar (14) and the second millimeter-wave radar (16) into image information acquired by the CCD camera (1) through a space coordinate system, so that environment perception image data comprising the millimeter-wave radar and the CCD camera (1) is obtained, the image data comprises obstacle types and credibility, and a fusion result is transmitted to a D-S evidence fusion processing module in the industrial personal computer (13) for decision-level fusion.
6. The control method of the unmanned underground cabin-free unmanned electric locomotive according to claim 1, characterized by comprising the following steps: and the decision-level fusion processing is to import the barrier type and the credibility in the target-level fusion result into a D-S evidence theory combination rule for operation, and the operation result obtains the final barrier type, so that the front barrier type is judged to be a pedestrian, a vehicle or other barrier types.
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