CN116101363B - Unmanned mining card steering safety control system and method - Google Patents

Abstract

The invention discloses an unmanned mining card steering safety control system and method, comprising the following steps: the data acquisition module acquires steering system state information, steering angle sensor information and transverse control information and sends the steering system state information, the steering angle sensor information and the transverse control information to the steering failure judgment module; the steering failure judging module is used for respectively generating a corresponding steering system fault processing strategy, a steering angle sensor fault processing strategy and a transverse error fault processing strategy based on the received steering system state information, the steering angle sensor information and the transverse control information, and giving a steering failure grade and a corresponding steering failure quantized value based on each processing strategy; and the steering failure control module generates a braking strategy according to the steering failure quantized value output by the steering failure judging module, gives out the final electric braking and hydraulic braking percentage and is used for controlling the braking executing mechanism of the unmanned mining card. The invention can realize the judgment and the treatment of the steering failure fault more timely, accurately and effectively.

Description

Unmanned mining card steering safety control system and method

Technical Field

The invention belongs to the field of steering safety control of mining machinery, and particularly relates to an unmanned mining card steering safety control system and method.

Background

With the continuous development of unmanned technology, the mining machinery field increasingly starts to adopt the ore transport vehicle of unmanned technology, which can effectively reduce the labor cost and improve the mining area operation production efficiency. Because the mine road condition is complex, the condition is bad, and the urgent requirement of commercial application landing is added, the requirements on the steering control and detection safety of the unmanned mine are higher and higher, and the requirements on the timeliness, the accuracy and the rationality of processing of the steering failure judgment are higher and higher, the general unmanned steering safety control strategy is difficult to adapt to the requirement of commercial application, and therefore, a reliable unmanned mining card steering safety control system needs to be designed.

In the chinese patent of the invention, issued to CN110654456B, there is disclosed a recirculating ball steering safety redundant system for an unmanned commercial vehicle, comprising: an unmanned controller; an EPS controller electrically connected to the unmanned controller; a first oil pump device connected to the oil storage tank and including a first driving device connected to the first oil pump device; the second oil pump device is connected to the oil storage tank and comprises a second driving device and a second oil pump connected with the second driving device; the two-position three-way electric control electromagnetic valve is electrically connected to the EPS controller; the motor steering device comprises a first motor steering device and a second motor steering device which are respectively and electrically connected to the EPS controller and the unmanned controller to provide steering torque; the power actuating mechanism comprises a circulating ball steering gear and an actuating mechanism. Safety redundancy is increased from three aspects of a hydraulic power source, steering torque output and a steering controller, so that powerful guarantee is provided for steering safety of the unmanned commercial vehicle. The circulating ball type steering safety redundant system of the unmanned commercial vehicle is mainly applied to a small car, and the steering redundant system is added to a large ore transport vehicle, so that the system is difficult to reform and high in cost and is not applicable; in addition, the addition of redundant steering systems alone does not address failure due to steering runaway outside of non-steering systems.

In the Chinese patent with the issued notice number of CN112278072B, an intelligent vehicle steering safety control system and a control method are disclosed, wherein the control system comprises a data acquisition module consisting of a vehicle speed sensor, a sensor for acquiring a wheel turntable, a vehicle parameter unit and a camera, a central processing module consisting of a decision control unit, an analog calculation unit and a track planning unit, and an execution module consisting of a brake system control unit, a steering system control unit, a vehicle speed control unit and a buzzer; the control method comprises the following steps: collecting data; data processing; controlling the safe running of the vehicle according to the radial wheel jump quantity of the wheels and the tire pressure of the tires in sequence; identifying the attachment of the pavement; and controlling the safe running of the vehicle according to the vehicle mass center slip angle and the yaw rate in the target lane change time domain under the target lane change track. The intelligent vehicle steering safety control system is mainly aimed at passenger vehicles and commercial vehicles, focuses on the judgment of steering faults, and does not carry out targeted detection on faults such as vehicle axle breakage, sensor failure and the like; in addition, only buzzer warning and braking deceleration running are performed for failure processing, and how braking deceleration running is performed is not specifically described.

In the chinese patent application, issued to CN109278859B, a method, apparatus, device, and readable storage medium for controlling vehicle safety are disclosed. Acquiring an actual steering angle of a steering wheel and an actual steering angle of a vehicle in a preset time period in the steering process of the vehicle; determining whether the vehicle has steering faults according to the corresponding relation between the steering angle of the steering wheel of the vehicle and the steering angle of the vehicle, and the actual steering angle of the steering wheel and the actual steering angle of the vehicle; if the vehicle is determined to have steering faults, the steering faults of the vehicle are processed, the steering faults of the vehicle can be detected in real time, and when the steering faults of the vehicle are determined, the steering faults of the vehicle are processed such as emergency parking or emergency braking, so that the real-time detection and automatic processing of the steering faults of the vehicle are realized, the occurrence of serious accidents caused by the steering faults of the vehicle can be avoided, and the running safety of the vehicle is improved. The vehicle safety control method is aimed at passenger vehicles and commercial vehicles, whether the vehicle has steering faults or not is determined according to the corresponding relation between the steering angle of the steering wheel of the vehicle and the steering angle of the vehicle and the comparison between the actual steering angle of the steering wheel and the actual steering angle of the vehicle, the method is not applicable to unmanned ore transport vehicles with invariable steering angles, and faults such as broken shafts of the vehicle, sensor failure and the like can not be detected; in addition, only emergency parking or emergency braking is mentioned for fault handling, and no specific explanation is provided as to how emergency parking or emergency braking strategies are performed.

Disclosure of Invention

Aiming at the problems, the invention provides an unmanned mining card steering safety control system and method, which can realize more timely, accurate and effective judgment of steering failure faults and more reasonable and effective treatment of the steering failure faults.

In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:

in a first aspect, the present invention provides an unmanned mining card steering safety control system, comprising:

the data acquisition module is used for acquiring steering system state information, steering angle sensor information and transverse control information and sending the steering system state information, the steering angle sensor information and the transverse control information to the steering failure judgment module;

the steering failure judging module is used for respectively generating a corresponding steering system fault processing strategy, a steering angle sensor fault processing strategy and a transverse error fault processing strategy based on the received steering system state information, the steering angle sensor information and the transverse control information, and giving a steering failure grade and a corresponding steering failure quantized value based on each processing strategy; the steering failure level and the corresponding steering failure quantized value dynamically change along with the change of time, and the steering failure level only rises and limits the change of the steering failure quantized value;

the steering failure control module is used for generating a corresponding braking strategy according to the steering failure quantized value output by the steering failure judging module, giving out final electric braking and hydraulic braking percentages and controlling a braking executing mechanism of the unmanned mining card.

Optionally, the steering failure determination module includes:

The data processing unit is used for judging a steering system fault grade according to the steering system state information, determining a steering system fault processing strategy, judging a sensor fault grade according to the wheel turning angle sensor information, determining a wheel turning angle sensor fault processing strategy, judging a transverse error fault grade according to the transverse control information and determining a transverse error fault processing strategy;

And the decision output unit is used for carrying the processing strategy output by the data processing unit into a decision output algorithm after filtering processing, and finally giving a steering failure grade and a corresponding steering failure quantized value, wherein each steering failure grade corresponds to the steering failure quantized value in different ranges.

Optionally, the steering system fault level, the sensor fault level, and the lateral error fault level all include: warning, minor fault, general fault, severe fault;

when the fault level is warning, the corresponding processing strategy is speed limiting;

when the fault level is a slight fault, the corresponding processing strategy is speed reduction;

When the fault level is a general fault, the corresponding processing strategy is slowly stopped;

when the fault level is a serious fault, the corresponding processing strategy is scram.

Optionally, the steering failure control module includes:

The fault processing unit is used for executing different braking strategies according to the steering failure quantized value output by the steering failure judging module and giving out final electric braking and hydraulic braking percentages; the braking strategy includes:

When E is more than 0 and less than or equal to E ₁, only partial electric braking output is obtained, and the electric braking percentage output is as follows: teb=a ₁ ×e%,0 < Teb is less than or equal to t1, and the hydraulic brake output percentage is 0, wherein E is a steering failure quantized value, E ₁ is an upper limit value of E when only electric brake is executed, teb is an electric brake percentage, a ₁ is an empirical coefficient, and t1 is an upper limit value of Teb when only electric brake output is executed;

When E ₁＜E≤E₂ is the full electric brake output, the electric brake percentage output is: teb=100%, and the hydraulic brake output percentage is 0, wherein E ₂ is the upper limit value of E when the electric brake is executed;

When E ₂＜E≤E₃ is applied, the electric braking percentage output is as follows: teb=100%, and the hydraulic brake output percentage is T _hb＝b₁*(E-E₂)％,0＜T_hb less than or equal to T2, wherein E ₃ is the upper limit value of E when the full electric brake and part of hydraulic brake output are executed, T _hb is the hydraulic brake output percentage, b ₁ is the experience coefficient, and T2 is the upper limit value of T _hb when the full electric brake and part of hydraulic brake output are executed;

When E ₃ is less than E and less than or equal to 100, the electric braking output and the full hydraulic braking output are respectively that: teb=100%, and the hydraulic braking output percentage is T _hb＝100％,0＜E₁＜E₂＜E₃ < 100;

and adopting a brake control humanoid control strategy, combining the speed, the load and the fault level to perform secondary treatment on the electric brake percentage T _eb and the hydraulic brake percentage T _hb, obtaining final electric brake and hydraulic brake percentages, and sending the final electric brake and hydraulic brake percentages to an electric brake executing unit and a hydraulic brake executing unit of the unmanned mining card.

Optionally, the fault processing unit is further configured to obtain a radius of a fault protection ring of the vehicle according to the vehicle speed, the radius of a circle circumscribed by the vehicle, the empty load mass of the vehicle, the total mass of the vehicle when the vehicle is loaded, and the steering failure quantization value output by the steering failure determination system in the lateral control information received by the data processing unit, where a calculation formula of the radius of the fault protection ring of the vehicle is as follows:

Wherein R _pr is the radius of the protection ring, V is the vehicle speed, R is the radius of the vehicle circumscribing circle, M is the idle load mass of the vehicle, M _r is the total mass of the vehicle when the vehicle is loaded, M and n are both the vehicle speed coefficients, S _max is the maximum braking distance, k is the maximum braking distance coefficient, and E is the steering failure quantized value.

Optionally, the unmanned mining card steering safety control system further comprises a cluster center which is respectively connected with the data acquisition module and the steering failure control module;

The steering failure control module dynamically delimits a fault vehicle protection ring according to the steering failure quantized value and the vehicle speed, and uploads the fault vehicle protection ring and the position information to a cluster center in real time;

The cluster center marks the size and the position of the fault vehicle protection ring into the map synchronously, modifies a new task path generated by the original task path of the vehicle based on the size and the position of the fault vehicle protection ring, simultaneously plans the highest speed limit of the vehicle at different points of the map, and finally sends the new task path of each vehicle, the highest speed limit of the vehicle at different points of the map and the state information of the highest speed limit to the vehicle to a data acquisition module of a corresponding unmanned mine card in the formation.

Optionally, the steering failure control module includes:

And the fault alarm unit is used for sending a warning to the surrounding through the changes of different colors and different periods of the mode lamp according to the steering failure grade output by the steering failure judging module.

In a second aspect, the invention provides an unmanned mining card steering safety control system method, which comprises the following steps:

the method comprises the steps that a data acquisition module is used for acquiring steering system state information, steering angle sensor information and transverse control information, and transmitting the steering system state information, the steering angle sensor information and the transverse control information to a steering failure judgment module;

The steering failure judging module is used for respectively generating a corresponding steering system fault processing strategy, a steering angle sensor fault processing strategy and a transverse error fault processing strategy based on the received steering system state information, the steering angle sensor information and the transverse control information, and giving a steering failure grade and a corresponding steering failure quantized value based on each processing strategy; the steering failure level and the corresponding steering failure quantized value dynamically change along with the change of time, and the steering failure level only rises and limits the change of the steering failure quantized value;

And generating a corresponding braking strategy by utilizing the steering failure control module according to the steering failure quantized value output by the steering failure judging module, and giving out the final electric braking and hydraulic braking percentage for controlling the braking executing mechanism of the unmanned mining card.

Optionally, the steering failure determination module comprises a data processing unit and a decision output unit; the method for giving the steering failure grade and the corresponding steering failure quantized value comprises the following steps:

the data processing unit is used for judging the fault grade of the steering system according to the state information of the steering system, determining a steering system fault processing strategy, judging the fault grade of the sensor according to the information of the wheel turning sensor, determining a wheel turning sensor fault processing strategy, judging the transverse error fault grade according to the transverse control information and determining a transverse error fault processing strategy;

and the decision output unit is used for carrying the processing strategy output by the data processing unit into a decision output algorithm after filtering processing, and finally giving out steering failure grades and corresponding steering failure quantized values, wherein each steering failure grade corresponds to the steering failure quantized values in different ranges.

Optionally, the steering system fault level, the sensor fault level, and the lateral error fault level all include: warning, minor fault, general fault, severe fault;

when the fault level is warning, the corresponding processing strategy is speed limiting;

when the fault level is a slight fault, the corresponding processing strategy is speed reduction;

When the fault level is a general fault, the corresponding processing strategy is slowly stopped;

when the fault level is a serious fault, the corresponding processing strategy is scram.

Optionally, the steering failure control module includes: the fault processing unit is used for executing different braking strategies according to the steering failure quantized value output by the steering failure judging module and giving out final electric braking and hydraulic braking percentages; the braking strategy includes:

When E is more than 0 and less than or equal to E ₁, only partial electric braking output is obtained, and the electric braking percentage output is as follows: teb=a ₁ ×e%,0 < Teb is less than or equal to t1, and the hydraulic brake output percentage is 0, wherein E is a steering failure quantized value, E ₁ is an upper limit value of E when only electric brake is executed, teb is an electric brake percentage, a ₁ is an empirical coefficient, and t1 is an upper limit value of Teb when only electric brake output is executed;

When E ₁＜E≤E₂ is the full electric brake output, the electric brake percentage output is: teb=100%, and the hydraulic brake output percentage is 0, wherein E ₂ is the upper limit value of E when the electric brake is executed;

When E ₂＜E≤E₃ is applied, the electric braking percentage output is as follows: teb=100%, and the hydraulic brake output percentage is T _hb＝b₁*(E-E₂)％,0＜T_hb less than or equal to T2, wherein E ₃ is the upper limit value of E when the full electric brake and part of hydraulic brake output are executed, T _hb is the hydraulic brake output percentage, b ₁ is the experience coefficient, and T2 is the upper limit value of T _hb when the full electric brake and part of hydraulic brake output are executed;

When E ₃ is less than E and less than or equal to 100, the electric braking output is full electric braking+full hydraulic braking output, and the electric braking percentage output is as follows: teb=100%, and the hydraulic braking output percentage is T _hb＝100％,0＜E₁＜E₂＜E₃ < 100;

and adopting a brake control humanoid control strategy, combining the speed, the load and the fault level to perform secondary treatment on the electric brake percentage T _eb and the hydraulic brake percentage T _hb, obtaining final electric brake and hydraulic brake percentages, and sending the final electric brake and hydraulic brake percentages to an electric brake executing unit and a hydraulic brake executing unit of the unmanned mining card.

Optionally, the unmanned mining card steering safety control system method further comprises the following steps:

And obtaining the radius of the vehicle fault protection ring by using the fault processing unit according to the vehicle speed, the radius of the vehicle circumcircle, the vehicle idle load mass, the total vehicle loading mass and the steering failure quantification value output by the steering failure judging system in the transverse control information received by the data processing unit, wherein the calculation formula of the radius of the vehicle fault protection ring is as follows:

Wherein R _pr is the radius of the protection ring, V is the vehicle speed, R is the radius of the vehicle circumscribing circle, M is the idle load mass of the vehicle, M _r is the total mass of the vehicle when the vehicle is loaded, M and n are both the vehicle speed coefficients, S _max is the maximum braking distance, k is the maximum braking distance coefficient, and E is the steering failure quantized value.

Optionally, the unmanned mining card steering safety control system method further comprises the following steps:

dynamically defining a fault vehicle protection ring according to the steering failure quantized value and the vehicle speed by utilizing a steering failure control module, and uploading the fault vehicle protection ring and position information to a cluster center in real time;

And marking the size and the position of the fault vehicle protection ring into a map by using a cluster center respectively connected with the data acquisition module and the steering failure control module, modifying a new task path generated by an original task path of the vehicle based on the size and the position of the fault vehicle protection ring, simultaneously planning the highest speed limit of the vehicle at different points of the map, and finally transmitting the new task path of each vehicle, the highest speed limit of the vehicle at different points of the map and the state information of the highest speed limit of the vehicle to the data acquisition module of the corresponding unmanned mine card in the formation.

Optionally, the unmanned mining card steering safety control system method further comprises the following steps:

and a fault alarm unit in the steering failure control module is utilized to send out warning to the surrounding through the changes of different colors and different periods of the mode lamp according to the steering failure grade output by the steering failure judging module.

Compared with the prior art, the invention has the beneficial effects that:

The invention utilizes the comprehensive judgment processing of the steering system state information, the wheel rotation angle sensor information and the transverse control information by the steering failure judgment module, thereby being capable of identifying the steering out-of-control faults outside the steering system caused by broken shafts, failure of the rotation angle sensor and the like, and simultaneously, the invention can pre-judge the steering faults in advance by combining the transverse errors and the vehicle speed, and the judgment of the steering failure is more timely, accurate and effective.

According to the steering failure level and the steering failure quantized value, the steering failure control module executes different braking strategies, wherein the braking strategies comprise partial electric braking, full electric braking, partial hydraulic braking, full electric braking and full hydraulic braking, reasonable electric braking percentage Teb and hydraulic braking percentage Thb are calculated, then the Teb and the Thb are subjected to secondary treatment by adopting a braking control humanoid control strategy, and the treated Teb and Thb are sent to an electric braking execution unit and a hydraulic braking execution unit, so that safe, economical, reasonable and effective braking treatment is realized, and the risk of severe shock and even rollover of a vehicle caused by braking overstrong is greatly reduced. And the invention proposes to adopt different braking strategies according to different conditions, so that on one hand, resource waste and reduction of transportation efficiency caused by over-braking can be avoided, and on the other hand, collision risk caused by under-braking can be effectively reduced.

According to the vehicle fault protection ring radius generation method, the fault processing unit is utilized to obtain the vehicle fault protection ring radius according to the vehicle speed, the vehicle circumcircle radius, the vehicle idle load mass, the total vehicle loading mass and the steering failure quantification value output by the steering failure judging module in the transverse control information received by the data processing unit, and a dynamic demarcation protection ring strategy is generated, so that the size of the fault vehicle protection ring can be dynamically and reasonably given in real time, other vehicles cannot be transited and avoided due to overlarge protection rings, the transportation efficiency is reduced, and the risk of collision with other vehicles due to overlarge protection rings is also prevented.

According to the invention, the cluster center generates the traffic control instruction according to the steering health condition information and the map information of the managed vehicles, monitors and dispatches the unmanned mine cards in the system in real time, and greatly improves the safety and reliability of formation transportation of the whole unmanned mine cards.

Drawings

In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings, in which:

FIG. 1 is a block diagram of an unmanned mining card steering safety control system provided by the embodiment of the invention;

FIG. 2 is a flow chart of the data processing unit of the unmanned mining card steering safety control system provided by the embodiment of the invention;

FIG. 3 is a workflow diagram of a decision output unit of an unmanned mining card steering safety control system provided by the embodiment of the invention;

FIG. 4 is a schematic diagram of a braking strategy workflow of an unmanned mining card steering safety control system provided by the embodiment of the invention;

Fig. 5 is a schematic diagram of early warning of a protection ring of an unmanned mining card steering safety control system provided by the embodiment of the invention.

Detailed Description

The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.

The principle of application of the invention is described in detail below with reference to the accompanying drawings.

Example 1

The embodiment of the invention provides an unmanned mining card steering safety control system, which is shown in fig. 1 and comprises the following components: the steering failure control system comprises a data acquisition module, a steering failure judgment module and a steering failure control module;

the data acquisition module is used for acquiring steering system state information, steering angle sensor information and transverse control information and transmitting the steering system state information, the steering angle sensor information and the transverse control information to the steering failure judgment module;

The steering failure judging module is used for respectively generating a corresponding steering system fault processing strategy, a steering angle sensor fault processing strategy and a transverse error fault processing strategy based on the received steering system state information, the steering angle sensor information and the transverse control information, and giving a steering failure grade and a corresponding steering failure quantized value based on each processing strategy; the steering failure level and the corresponding steering failure quantized value dynamically change along with the change of time, and the steering failure level only rises and limits the change of the steering failure quantized value;

The steering failure control module is used for generating a corresponding braking strategy according to the steering failure quantized value output by the steering failure judging module, giving out final electric braking and hydraulic braking percentages and controlling a braking executing mechanism of the unmanned mining card.

In a specific implementation manner of the embodiment of the present invention, the process of collecting the state information of the steering system is: the steering controller of the steering-by-wire system feeds back the execution state of the steering executing mechanism of the vehicle and the heartbeat of the steering executing mechanism of the vehicle, wherein the execution state comprises information such as the state of a steering electromagnetic valve, the pressure of a hydraulic system (used for providing steering power for the steering executing mechanism) and the like, and the information is fed back to the data acquisition module in real time through a CAN bus network, so that reliable basis is provided for fault judgment of the steering system; the wheel turning angle sensor information is corner sensor information respectively installed on the left steering cylinder and the right steering cylinder and is used for detecting the actual value of the wheel turning angle of the vehicle, and the acquisition process of the wheel turning angle sensor information is as follows: the left steering cylinder and the right steering cylinder are simultaneously provided with the corner sensors so as to realize mutual calibration and mutual redundancy of the left and right corner sensors, thereby being capable of identifying steering out-of-control faults outside the steering system due to shaft breakage, failure of the corner sensors and the like and providing reliable basis for fault judgment outside the steering system; the steering failure judging module makes pre-judgment on steering faults in advance by comparing the transverse steering angle control instruction with actual steering angle information fed back by the steering angle sensor (namely, when small errors occur, a braking strategy is put into, at the moment, the steering faults are not necessarily generated, but the steering faults are possibly precursor of the faults).

In a specific implementation manner of the embodiment of the present invention, as shown in fig. 1 and fig. 2, the steering failure determination module includes:

The data processing unit is used for judging a steering system fault grade according to the steering system state information ①, determining a steering system fault handling strategy Err ₁, judging a sensor fault grade according to the steering angle sensor information ②, determining a steering angle sensor fault handling strategy Err ₂, judging a transverse error fault grade according to the transverse control information ③ and determining a transverse error fault handling strategy Err ₃; the relationship between the fault level and the processing policy in the specific implementation process can be set as follows: the steering system fault level, the sensor fault level and the transverse error fault level all comprise: warning, minor fault, general fault, severe fault; when the fault level is warning, the corresponding processing strategy is speed limiting; when the fault level is a slight fault, the corresponding processing strategy is speed reduction; when the fault level is a general fault, the corresponding processing strategy is slowly stopped; when the fault level is serious fault, the corresponding processing strategy is scram; and the data processing unit processes the faults of different types according to ①、②、③ and then outputs the corresponding fault processing strategies to a decision output unit (such as speed limit, speed reduction and slow stop).

The decision output unit is used for taking the processing strategy output by the data processing unit into a decision output algorithm after filtering processing, finally giving a steering failure grade and corresponding steering failure quantized values (N fault combinations output according to the fault processing strategy, combining basic quantized values (available in table look-up) corresponding to each fault combination, comprehensively considering weather and road conditions, giving a certain revision coefficient and a limit value of a secondary grade), and enabling each steering failure grade to correspond to the steering failure quantized values in different ranges. Specifically, as shown in fig. 3, the decision output unit brings the processing strategies (three faults, each corresponding to four different fault processing strategies, and 64 fault combinations) output by the data processing unit into a decision output algorithm after filtering processing, and finally gives a steering failure level (one to four levels) and a corresponding steering failure quantized value E (0-100), wherein the corresponding relationship between the E from low to high and the steering failure level is: 0-E1 (first level), E1-E2 (second level), E2-E3 (third level) and E3-100 (fourth level), wherein 0 < E1 < E2 < E3 < 100, each steering failure level corresponds to a different range of steering failure quantized values, the steering failure level and quantized values thereof dynamically change with time, but the steering failure level only drops and limits the change of the steering failure quantized values until the vehicle is safely stopped. The steering failure level and the quantized value thereof are dynamically changed, but the steering failure level is only increased and the change of the steering failure quantized value is limited, which means that: let E ₁＝50,E₂＝60,E₃ = 90, for example: the turning failure quantized value is 46, the turning failure grade is one grade, after the time filtering of the set period, the turning failure quantized value becomes 56, and the turning failure grade becomes two grade at the moment; if the time filtering of the set period is performed, the steering failure quantized value is calculated to be 46, but the steering failure level is only increased, so that the output steering failure level is still two-level, and the steering failure quantized value is 50 instead of 46 because the minimum steering failure quantized value corresponding to the steering failure level is 50. In a specific implementation process, the steering failure quantification value can be obtained by the following method: the driving of a skilled old driver runs along a defined route for a long time in a test road condition, meanwhile, process operation data are recorded, when different failure grades (different distances from a set route) are found out in a mathematical modeling mode, a control strategy (mainly applied braking conditions) of the driver is adopted, so that corresponding braking percentages (0-100) when the different distances from the set route are made, and the braking percentages are converted into steering failure quantized values E (0-100).

In a specific implementation manner of the embodiment of the present invention, the steering failure control module includes:

The fault processing unit is used for executing different braking strategies according to the steering failure quantized value output by the steering failure judging module and giving out final electric braking and hydraulic braking percentages; as shown in fig. 4, the braking strategy includes:

When E is more than 0 and less than or equal to E ₁, only partial electric braking output is obtained, and the electric braking percentage output is as follows: teb=a ₁ ×e%,0 < Teb is less than or equal to t1, and the hydraulic brake output percentage is 0, wherein E is a steering failure quantized value, E ₁ is an upper limit value of E when only electric brake is executed, teb is an electric brake percentage, a ₁ is an empirical coefficient, and t1 is an upper limit value of Teb when only electric brake output is executed;

When E ₁＜E≤E₂ is the full electric brake output, the electric brake percentage output is: teb=100%, and the hydraulic brake output percentage is 0, wherein E ₂ is the upper limit value of E when the electric brake is executed;

When E ₂＜E≤E₃ is applied, the electric braking percentage output is as follows: teb=100%, and the hydraulic brake output percentage is T _hb＝b₁*(E-E₂)％,0＜T_hb less than or equal to T2, wherein E ₃ is the upper limit value of E when the full electric brake and part of hydraulic brake output are executed, T _hb is the hydraulic brake output percentage, b ₁ is the experience coefficient, and T2 is the upper limit value of T _hb when the full electric brake and part of hydraulic brake output are executed;

When E ₃ is less than E and less than or equal to 100, the electric braking output is full electric braking+full hydraulic braking output, and the electric braking percentage output is as follows: teb=100%, and the hydraulic braking output percentage is T _hb＝100％,0＜E₁＜E₂＜E₃ < 100;

The electric braking percentage T _eb and the hydraulic braking percentage T _hb are subjected to secondary treatment by adopting a braking control humanoid control strategy and combining the speed, the load and the fault level, so that the final electric braking percentage and hydraulic braking percentage are obtained, and the final electric braking percentage and the final hydraulic braking percentage are sent to an electric braking execution unit and a hydraulic braking execution unit of the unmanned mining card, so that safe and economic braking treatment is realized, and the risk of severe shock and even rollover of the vehicle caused by braking too strong is greatly reduced. The secondary treatment in the embodiment of the invention refers to the secondary treatment of Teb and Thb by adopting an anti-man control strategy to process and combining the information of vehicle speed, load, fault level and the like to apply braking inputs with different pressures to different tires so as to realize the braking control of a skilled driver. Specific: and simulating the same working condition, so that an experienced old driver executes corresponding braking treatment, and a plurality of test units perform modeling analysis on data information acquired in real time to find an optimal form of braking application so as to apply the braking.

In a specific implementation manner of the embodiment of the present invention, the steering failure control module includes:

And the fault alarm unit is used for sending a warning to the surrounding through the changes of different colors and different periods of the mode lamp according to the steering failure grade output by the steering failure judging module. Specifically, when the unmanned mining card fails, the failure alarm unit gives an alarm to the surroundings through the changes of different colors and different periods of the mode lamp according to the steering failure grade output by the data processing unit. More specifically, the unmanned mining cards are respectively provided with three groups of mode lamps at the left front part, the right front part and the rear part, so that surrounding vehicles with people are far away from avoidance, and the accident rate can be greatly reduced.

Example 2

Based on example 1, the difference between the present invention and example 1 is:

the fault processing unit is further configured to obtain a radius of a vehicle fault protection ring according to the vehicle speed, the radius of a vehicle circumcircle, the empty load mass of the vehicle, the total load mass of the vehicle and the steering failure quantization value output by the steering failure judging system in the lateral control information received by the data processing unit, and a calculation formula of the radius of the vehicle fault protection ring is as follows:

Wherein R _pr is the radius of the protection ring, V is the vehicle speed, R is the radius of the vehicle circumscribing circle, M is the idle load mass of the vehicle, M _r is the total mass of the vehicle when the vehicle is loaded, M and n are the vehicle speed coefficients, M and n are obtained according to long-time operation experiment summary, S _max is the maximum braking distance, k is the maximum braking distance coefficient and is determined according to the specific braking characteristics of the vehicle, M and n are obtained according to long-time operation experiment summary, k is determined according to the specific braking characteristics of the vehicle, different vehicles k are tested, and E is the steering failure quantized value.

As shown in fig. 1, the unmanned mining card steering safety control system further comprises a cluster center;

The steering failure control module dynamically delimits a fault vehicle protection ring according to the steering failure quantized value and the vehicle speed, and uploads the fault vehicle protection ring and the position information to the cluster center in real time;

The cluster center marks the size and the position of the fault vehicle protection ring (the position of the vehicle protection ring) into a map synchronously, plans the highest speed limit of the vehicle at different points of the map, and finally sends the task path planned in real time and the state information of the task path to the data acquisition module of each unmanned mining card in formation. In the implementation process, the cluster center carries out mutual exclusion processing on the received position coordinates and the sizes of the protection rings of different vehicles: if the radius of the protection ring of the vehicle A is 15 meters and the radius of the protection ring of the vehicle B is 20 meters, if the two vehicles run in opposite directions, the protection rings of the vehicle A and the vehicle B are increased to 35 meters, and the same-direction running is not affected. The highest speed limit of the vehicle at different points of the map is planned because the speed of the vehicle is not allowed to run at too high in different road sections, such as friction coefficient of the road, curvature radius of the path, road condition and the like, otherwise, safety accidents can be generated. The position information of the vehicle protection ring is given based on inertial navigation of the vehicle itself.

Specifically, the cluster center is configured to receive steering health status information of the vehicles in the jurisdiction, where the steering health status information mainly includes: the vehicle steering system state information sent by the data acquisition module and the vehicle fault information (mainly refers to whether the steering failure quantized value output by the steering failure judgment module and the heartbeat value of the vehicle controller are positive) sent by the steering failure judgment module, and a traffic control instruction is generated according to the steering health condition information and the map information of the managed vehicle (for example, the fault vehicle is limited in speed, the speed limit is lower when the load is larger, and the parking guidance is carried out when the load is serious, so as to plan a parking route); the vehicle status information and the vehicle fault information include, but are not limited to, vehicle position, speed, load, guard ring size, and the like. The cluster center generates traffic control instructions according to steering health condition information and map information of the vehicles in jurisdiction, and monitors and dispatches unmanned mining cards in the system in real time, so that the occurrence rate of collision faults is greatly reduced. Specific: the received fault vehicle protection ring size and position marks are injected into a map in real time, the highest speed limit of the vehicle at different points of the map is planned, and finally the task path planned in real time and state information (such as heartbeat information, indicating that the cluster center is in a healthy state and a sent command is reliable) of the vehicle are finally sent to each unmanned mining card data acquisition module in the formation, and particularly, the method is shown in fig. 5.

The cluster center also sends the heartbeat state information of the cluster center to each vehicle in jurisdiction in real time so as to judge the reliability of information and commands sent by the cluster center.

Example 3

The embodiment of the invention provides a method for controlling steering safety of an unmanned mining card, which comprises the following steps:

The method comprises the following steps of (1) acquiring steering system state information, wheel rotation angle sensor information and transverse control information by using a data acquisition module, and sending the steering system state information, the wheel rotation angle sensor information and the transverse control information to a steering failure judgment module;

Step (2) respectively generating a corresponding steering system fault processing strategy, a steering angle sensor fault processing strategy and a transverse error fault processing strategy by using a steering failure judging module based on the received steering system state information, the steering angle sensor information and the transverse control information, and giving a steering failure grade and a corresponding steering failure quantized value based on each processing strategy; the steering failure level and the corresponding steering failure quantized value dynamically change along with the change of time, and the steering failure level only rises and limits the change of the steering failure quantized value;

and (3) generating a corresponding braking strategy by utilizing a steering failure control module according to the steering failure quantized value output by the steering failure judging module, and giving out final electric braking and hydraulic braking percentages for controlling a braking executing mechanism of the unmanned mining card.

In a specific implementation manner of the embodiment of the present invention, the process of collecting the state information of the steering system is: the steering controller of the steer-by-wire system feeds back the execution state of the steering executing mechanism of the vehicle (including the state of a steering electromagnetic valve, the pressure of a hydraulic system and the like) and the heartbeat of the steering executing mechanism of the vehicle to the data acquisition module in real time through a CAN bus network, so as to provide reliable basis for fault judgment of the steering system, and the hydraulic system provides steering power for the steering executing mechanism; the wheel turning angle sensor information is corner sensor information respectively installed on the left steering cylinder and the right steering cylinder and is used for detecting the actual value of the wheel turning angle of the vehicle, and the acquisition process of the wheel turning angle sensor information is as follows: the left steering cylinder and the right steering cylinder are simultaneously provided with the corner sensors so as to realize mutual calibration and mutual redundancy of the left and right corner sensors, thereby being capable of identifying steering out-of-control faults outside the steering system due to shaft breakage, failure of the corner sensors and the like and providing reliable basis for fault judgment outside the steering system; the steering failure judging module makes pre-judgment on steering faults in advance by comparing the transverse steering angle control instruction with actual steering angle information fed back by the steering angle sensor (namely, when small errors occur, a braking strategy is put into, at the moment, the steering faults are not necessarily generated, but the steering faults are possibly precursor of the faults).

In a specific implementation manner of the embodiment of the present invention, the steering failure determination module includes: a data processing unit and a decision output unit; the method for giving the steering failure grade and the corresponding steering failure quantized value comprises the following steps:

The data processing unit is used for judging the fault grade of the steering system according to the state information of the steering system, determining a steering system fault processing strategy, judging the fault grade of the sensor according to the information of the wheel turning sensor, determining a wheel turning sensor fault processing strategy, judging the transverse error fault grade according to the transverse control information and determining a transverse error fault processing strategy; in a specific implementation process, the fault level and the processing strategy can be set as follows, and the fault level of the steering system, the fault level of the sensor and the fault level of the transverse error all comprise: warning, minor fault, general fault, severe fault; when the fault level is warning, the corresponding processing strategy is speed limiting; when the fault level is a slight fault, the corresponding processing strategy is speed reduction; when the fault level is a general fault, the corresponding processing strategy is slowly stopped; when the fault level is a serious fault, the corresponding processing strategy is scram. The data processing unit processes different types of faults according to ①、②、③ and then outputs respective corresponding fault processing strategies to decision output units (such as speed limit, speed reduction and slow stop);

And the decision output unit is used for carrying the processing strategy output by the data processing unit into a decision output algorithm after filtering processing, and finally giving out steering failure grades and corresponding steering failure quantized values, wherein each steering failure grade corresponds to the steering failure quantized values in different ranges. Specifically, as shown in fig. 3, the decision output unit brings the processing strategies (three faults, each corresponding to four different fault processing strategies, and 64 fault combinations) output by the data processing unit into a decision output algorithm after filtering processing, and finally gives a steering failure level (one to four levels) and a corresponding steering failure quantized value E (0-100), wherein the corresponding relationship between the E from low to high and the steering failure level is: 0-E1 (first level), E1-E2 (second level), E2-E3 (third level) and E3-100 (fourth level), wherein 0 < E1 < E2 < E3 < 100, each steering failure level corresponds to a different range of steering failure quantized values, the steering failure level and quantized values thereof dynamically change with time, but the steering failure level only drops and limits the change of the steering failure quantized values until the vehicle is safely stopped. The steering failure level and the quantized value thereof are dynamically changed, but the steering failure level is only increased and the change of the steering failure quantized value is limited, which means that: let E ₁＝50,E₂＝60,E₃ = 90, for example: the turning failure quantized value is 46, the turning failure grade is one grade, after the time filtering of the set period, the turning failure quantized value becomes 56, and the turning failure grade becomes two grade at the moment; if the time filtering of the set period is performed, the steering failure quantized value is calculated to be 46, but the steering failure level is only increased, so that the output steering failure level is still two-level, and the steering failure quantized value is 50 instead of 46 because the minimum steering failure quantized value corresponding to the steering failure level is 50. In a specific implementation process, the steering failure quantification value can be obtained by the following method: the driving of a skilled old driver runs along a defined route for a long time in a test road condition, meanwhile, process operation data are recorded, when different failure grades (different distances from a set route) are found out in a mathematical modeling mode, a control strategy (mainly applied braking conditions) of the driver is adopted, so that corresponding braking percentages (0-100) when the different distances from the set route are made, and the braking percentages are converted into steering failure quantized values E (0-100).

In a specific implementation manner of the embodiment of the present invention, the steering failure control module includes: the fault processing unit is used for executing different braking strategies according to the steering failure quantized value output by the steering failure judging module and giving out final electric braking and hydraulic braking percentages; as shown in fig. 4, the braking strategy includes:

When E is more than 0 and less than or equal to E ₁, only partial electric braking output is obtained, and the electric braking percentage output is as follows: teb=a ₁ ×e (0 < teb+.t1), the hydraulic brake output percentage is 0, where E is the steering failure quantized value, E ₁ is the upper limit value of E when only electric braking is performed, teb is the electric brake percentage, a ₁ is the empirical coefficient, and t1 is the upper limit value of Teb when only electric brake output is performed;

When E ₁＜E≤E₂ is the full electric brake output, the electric brake percentage output is: teb=100%, and the hydraulic brake output percentage is 0, wherein E ₂ is the upper limit value of E when the electric brake is executed;

When E ₂＜E≤E₃ is applied, the electric braking percentage output is as follows: teb=100% and the hydraulic brake output percentage is T _hb＝b₁*(E-E₂)％(0＜T_hb less than or equal to T2), wherein E ₃ is the upper limit value of E when executing all electric brake and partial hydraulic brake output, T _hb is the hydraulic brake output percentage, b ₁ is the empirical coefficient, and T2 is the upper limit value of T _hb when executing all electric brake and partial hydraulic brake output;

When E ₃ is less than E and less than or equal to 100, the electric braking output is full electric braking+full hydraulic braking output, and the electric braking percentage output is as follows: teb=100%, and the hydraulic braking output percentage is T _hb＝100％,0＜E₁＜E₂＜E₃ < 100;

The electric braking percentage T _eb and the hydraulic braking percentage T _hb are subjected to secondary treatment by adopting a braking control humanoid control strategy and combining the speed, the load and the fault level, so that the final electric braking percentage and hydraulic braking percentage are obtained, and the final electric braking percentage and the final hydraulic braking percentage are sent to an electric braking execution unit and a hydraulic braking execution unit of the unmanned mining card, so that safe and economic braking treatment is realized, and the risk of severe shock and even rollover of the vehicle caused by braking too strong is greatly reduced. The secondary treatment in the embodiment of the invention refers to the secondary treatment of Teb and Thb by adopting an anti-man control strategy to process and combining the information of vehicle speed, load, fault level and the like to apply braking inputs with different pressures to different tires so as to realize the braking control of a skilled driver. Specific: and simulating the same working condition, so that an experienced old driver executes corresponding braking treatment, and a plurality of test units perform modeling analysis on data information acquired in real time to find an optimal form of braking application so as to apply the braking.

In a specific implementation manner of the embodiment of the invention, the unmanned mining card steering safety control system method further comprises the following steps:

And a fault alarm unit in the steering failure control module is utilized to send out warning to the surrounding through the changes of different colors and different periods of the mode lamp according to the steering failure grade output by the steering failure judging module. Specifically, when the unmanned mining card fails, the failure alarm unit gives an alarm to the surroundings through the changes of different colors and different periods of the mode lamp according to the steering failure grade output by the data processing unit. More specifically, the unmanned mining cards are respectively provided with three groups of mode lamps at the left front part, the right front part and the rear part, so that surrounding vehicles with people are far away from avoidance, and the accident rate can be greatly reduced.

Example 4

Based on example 3, the difference between the present example and example 3 is: the unmanned mining card steering safety control system method further comprises the following steps:

And obtaining the radius of the vehicle fault protection ring by using the fault processing unit according to the vehicle speed, the radius of the vehicle circumcircle, the vehicle idle load mass, the total vehicle loading mass and the steering failure quantification value output by the steering failure judging system in the transverse control information received by the data processing unit, wherein the calculation formula of the radius of the vehicle fault protection ring is as follows:

wherein R _pr is the radius of the protection ring, V is the vehicle speed, R is the radius of the vehicle circumscribing circle, M is the idle load mass of the vehicle, M _r is the total mass of the vehicle when the vehicle is loaded, M and n are both the vehicle speed coefficients, S _max is the maximum braking distance, k is the maximum braking distance coefficient, and E is the steering failure quantized value;

and marking the size and the position of the received fault vehicle protection ring (the position information of the vehicle protection ring) into a map in real time by utilizing a cluster center which is respectively connected with the data acquisition module and the steering failure control module, planning the highest speed limit of the vehicle at different points of the map, and finally transmitting the task path planned in real time and the state information of the task path to the data acquisition module of each unmanned mine card in formation. In the implementation process, the cluster center carries out mutual exclusion processing on the received position coordinates and the sizes of the protection rings of different vehicles: if the radius of the protection ring of the vehicle A is 15 meters and the radius of the protection ring of the vehicle B is 20 meters, if the two vehicles run in opposite directions, the protection rings of the vehicle A and the vehicle B are increased to 35 meters, and the same-direction running is not affected. The highest speed limit of the vehicle at different points of the map is planned because the speed of the vehicle is not allowed to run at too high in different road sections, such as friction coefficient of the road, curvature radius of the path, road condition and the like, otherwise, safety accidents can be generated. The position information of the vehicle protection ring is given based on inertial navigation of the vehicle itself.

Specifically, the cluster center is configured to receive steering health status information of the vehicles in the jurisdiction, where the steering health status information mainly includes: the vehicle steering system state information sent by the data acquisition module and the vehicle fault information (mainly refers to whether the steering failure quantized value output by the steering failure judgment module and the heartbeat value of the vehicle controller are positive) sent by the steering failure judgment module, and a traffic control instruction is generated according to the steering health condition information and the map information of the managed vehicle (for example, the fault vehicle is limited in speed, the speed limit is lower when the load is larger, and the parking guidance is carried out when the load is serious, so as to plan a parking route); the vehicle status information and the vehicle fault information include, but are not limited to, vehicle position, speed, load, guard ring size, and the like. The cluster center generates traffic control instructions according to steering health condition information and map information of the vehicles in jurisdiction, and monitors and dispatches unmanned mining cards in the system in real time, so that the occurrence rate of collision faults is greatly reduced. Specific: the received fault vehicle protection ring size and position marks are injected into a map in real time, the highest speed limit of the vehicle at different points of the map is planned, and finally the task path planned in real time and state information (such as heartbeat information, indicating that the cluster center is in a healthy state and a sent command is reliable) of the vehicle are finally sent to each unmanned mining card data acquisition module in the formation, and particularly, the method is shown in fig. 5.

The cluster center also sends the heartbeat state information of the cluster center to each vehicle in jurisdiction in real time so as to judge the reliability of information and commands sent by the cluster center.

The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (14)

1. An unmanned mining card steering safety control system, comprising:

the data acquisition module is used for acquiring steering system state information, steering angle sensor information and transverse control information and sending the steering system state information, the steering angle sensor information and the transverse control information to the steering failure judgment module;

The steering failure judging module is used for respectively generating a corresponding steering system fault processing strategy, a steering angle sensor fault processing strategy and a transverse error fault processing strategy based on the received steering system state information, the steering angle sensor information and the transverse control information, and giving a steering failure grade and a corresponding steering failure quantized value based on each processing strategy;

The steering failure level and the corresponding steering failure quantized value dynamically change along with the change of time, and the steering failure level only rises and limits the change of the steering failure quantized value;

the steering failure control module is used for generating a corresponding braking strategy according to the steering failure quantized value output by the steering failure judging module, giving out final electric braking and hydraulic braking percentages and controlling a braking executing mechanism of the unmanned mining card.

2. The unmanned mining card steering safety control system of claim 1, wherein: the steering failure determination module includes:

The data processing unit is used for judging a steering system fault grade according to the steering system state information, determining a steering system fault processing strategy, judging a sensor fault grade according to the wheel turning angle sensor information, determining a wheel turning angle sensor fault processing strategy, judging a transverse error fault grade according to the transverse control information and determining a transverse error fault processing strategy;

And the decision output unit is used for carrying the processing strategy output by the data processing unit into a decision output algorithm after filtering processing, and finally giving a steering failure grade and a corresponding steering failure quantized value, wherein each steering failure grade corresponds to the steering failure quantized value in different ranges.

3. The unmanned mining card steering safety control system of claim 2, wherein: the steering system fault level, the sensor fault level and the transverse error fault level all comprise: warning, minor fault, general fault, severe fault;

when the fault level is warning, the corresponding processing strategy is speed limiting;

when the fault level is a slight fault, the corresponding processing strategy is speed reduction;

When the fault level is a general fault, the corresponding processing strategy is slowly stopped;

when the fault level is a serious fault, the corresponding processing strategy is scram.

4. The unmanned mining card steering safety control system of claim 2, wherein the steering failure control module comprises:

The fault processing unit is used for executing different braking strategies according to the steering failure quantized value output by the steering failure judging module and giving out final electric braking and hydraulic braking percentages; the braking strategy includes:

When E is more than 0 and less than or equal to E ₁, only partial electric braking output is obtained, and the electric braking percentage output is as follows: teb=a ₁ ×e%,0 < Teb is less than or equal to t1, and the hydraulic brake output percentage is 0, wherein E is a steering failure quantized value, E ₁ is an upper limit value of E when only electric brake is executed, teb is an electric brake percentage, a ₁ is an empirical coefficient, and t1 is an upper limit value of Teb when only electric brake output is executed; when E ₁＜E≤E₂ is the full electric brake output, the electric brake percentage output is: teb=100%, and the hydraulic brake output percentage is 0, wherein E ₂ is the upper limit value of E when the electric brake is executed;

When E ₂＜E≤E₃ is applied, the electric braking percentage output is as follows: teb=100%, and the hydraulic brake output percentage is T _hb＝b₁*(E-E₂)％,0＜T_hb less than or equal to T2, wherein E ₃ is the upper limit value of E when the full electric brake and part of hydraulic brake output are executed, T _hb is the hydraulic brake output percentage, b ₁ is the experience coefficient, and T2 is the upper limit value of T _hb when the full electric brake and part of hydraulic brake output are executed;

When E ₃ is less than E and less than or equal to 100, the electric braking output and the full hydraulic braking output are respectively that: teb=100%, and the hydraulic braking output percentage is T _hb＝100％,0＜E₁＜E₂＜E₃ < 100;

and adopting a brake control humanoid control strategy, combining the speed, the load and the fault level to perform secondary treatment on the electric brake percentage T _eb and the hydraulic brake percentage T _hb, obtaining final electric brake and hydraulic brake percentages, and sending the final electric brake and hydraulic brake percentages to an electric brake executing unit and a hydraulic brake executing unit of the unmanned mining card.

5. The unmanned mining card steering safety control system of claim 4, wherein: the fault processing unit is further configured to obtain a radius of a vehicle fault protection ring according to the vehicle speed, the radius of a vehicle circumcircle, the empty load mass of the vehicle, the total load mass of the vehicle and the steering failure quantization value output by the steering failure judging system in the lateral control information received by the data processing unit, and a calculation formula of the radius of the vehicle fault protection ring is as follows:

Wherein R _pr is the radius of the protection ring, V is the vehicle speed, R is the radius of the vehicle circumscribing circle, M is the vehicle no-load mass, M _r is the total mass when the vehicle is loaded, M and n are both vehicle speed coefficients, S _max is the maximum braking distance, k is the maximum braking distance coefficient, and E is the steering failure quantized value.

6. The unmanned mining card steering safety control system of claim 5, wherein: the unmanned mining card steering safety control system also comprises a cluster center which is respectively connected with the data acquisition module and the steering failure control module;

The steering failure control module dynamically delimits a fault vehicle protection ring according to the steering failure quantized value and the vehicle speed, and uploads the fault vehicle protection ring and the position information to a cluster center in real time;

The cluster center marks the size and the position of the fault vehicle protection ring into the map synchronously, modifies a new task path generated by the original task path of the vehicle based on the size and the position of the fault vehicle protection ring, simultaneously plans the highest speed limit of the vehicle at different points of the map, and finally sends the new task path of each vehicle, the highest speed limit of the vehicle at different points of the map and the state information of the highest speed limit to the vehicle to a data acquisition module of a corresponding unmanned mine card in the formation.

7. An unmanned mining card steering safety control system according to claim 1 or 4, wherein: the steering failure control module includes:

And the fault alarm unit is used for sending a warning to the surrounding through the changes of different colors and different periods of the mode lamp according to the steering failure grade output by the steering failure judging module.

8. An unmanned mining card steering safety control system method is characterized by comprising the following steps:

the method comprises the steps that a data acquisition module is used for acquiring steering system state information, steering angle sensor information and transverse control information, and transmitting the steering system state information, the steering angle sensor information and the transverse control information to a steering failure judgment module;

The steering failure judging module is used for respectively generating a corresponding steering system fault processing strategy, a steering angle sensor fault processing strategy and a transverse error fault processing strategy based on the received steering system state information, the steering angle sensor information and the transverse control information, and giving a steering failure grade and a corresponding steering failure quantized value based on each processing strategy;

The steering failure level and the corresponding steering failure quantized value dynamically change along with the change of time, and the steering failure level only rises and limits the change of the steering failure quantized value;

And generating a corresponding braking strategy by utilizing the steering failure control module according to the steering failure quantized value output by the steering failure judging module, and giving out the final electric braking and hydraulic braking percentage for controlling the braking executing mechanism of the unmanned mining card.

9. The unmanned mining card steering safety control system method according to claim 8, wherein: the steering failure judging module comprises a data processing unit and a decision output unit; the method for giving the steering failure grade and the corresponding steering failure quantized value comprises the following steps:

the data processing unit is used for judging the fault grade of the steering system according to the state information of the steering system, determining a steering system fault processing strategy, judging the fault grade of the sensor according to the information of the wheel turning sensor, determining a wheel turning sensor fault processing strategy, judging the transverse error fault grade according to the transverse control information and determining a transverse error fault processing strategy;

and the decision output unit is used for carrying the processing strategy output by the data processing unit into a decision output algorithm after filtering processing, and finally giving out steering failure grades and corresponding steering failure quantized values, wherein each steering failure grade corresponds to the steering failure quantized values in different ranges.

10. The unmanned mining card steering safety control system method according to claim 9, wherein: the steering system fault level, the sensor fault level and the transverse error fault level all comprise: warning, minor fault, general fault, severe fault;

when the fault level is warning, the corresponding processing strategy is speed limiting;

when the fault level is a slight fault, the corresponding processing strategy is speed reduction;

When the fault level is a general fault, the corresponding processing strategy is slowly stopped;

when the fault level is a serious fault, the corresponding processing strategy is scram.

11. The unmanned mining card steering safety control system method according to claim 9, wherein: the steering failure control module includes: the fault processing unit is used for executing different braking strategies according to the steering failure quantized value output by the steering failure judging module and giving out final electric braking and hydraulic braking percentages; the braking strategy includes: when E is more than 0 and less than or equal to E ₁, only partial electric braking output is obtained, and the electric braking percentage output is as follows: teb=a ₁ ×e%,0 < Teb is less than or equal to t1, and the hydraulic brake output percentage is 0, wherein E is a steering failure quantized value, E ₁ is an upper limit value of E when only electric brake is executed, teb is an electric brake percentage, a ₁ is an empirical coefficient, and t1 is an upper limit value of Teb when only electric brake output is executed; when E ₁＜E≤E₂ is the full electric brake output, the electric brake percentage output is: teb=100%, and the hydraulic brake output percentage is 0, wherein E ₂ is the upper limit value of E when the electric brake is executed;

When E ₂＜E≤E₃ is applied, the electric braking percentage output is as follows: teb=100%, and the hydraulic brake output percentage is T _hb＝b₁*(E-E₂)％,0＜T_hb less than or equal to T2, wherein E ₃ is the upper limit value of E when the full electric brake and part of hydraulic brake output are executed, T _hb is the hydraulic brake output percentage, b ₁ is the experience coefficient, and T2 is the upper limit value of T _hb when the full electric brake and part of hydraulic brake output are executed;

When E ₃ is less than E and less than or equal to 100, the electric braking output is full electric braking+full hydraulic braking output, and the electric braking percentage output is as follows: teb=100%, and the hydraulic braking output percentage is T _hb＝100％,0＜E₁＜E₂＜E₃ < 100;

and adopting a brake control humanoid control strategy, combining the speed, the load and the fault level to perform secondary treatment on the electric brake percentage T _eb and the hydraulic brake percentage T _hb, obtaining final electric brake and hydraulic brake percentages, and sending the final electric brake and hydraulic brake percentages to an electric brake executing unit and a hydraulic brake executing unit of the unmanned mining card.

12. The unmanned mining card steering safety control system method of claim 11, wherein: the unmanned mining card steering safety control system method further comprises the following steps:

And obtaining the radius of the vehicle fault protection ring by using the fault processing unit according to the vehicle speed, the radius of the vehicle circumcircle, the vehicle idle load mass, the total vehicle loading mass and the steering failure quantification value output by the steering failure judging system in the transverse control information received by the data processing unit, wherein the calculation formula of the radius of the vehicle fault protection ring is as follows:

Wherein R _pr is the radius of the protection ring, V is the vehicle speed, R is the radius of the vehicle circumscribing circle, M is the vehicle no-load mass, M _r is the total mass when the vehicle is loaded, M and n are both vehicle speed coefficients, S _max is the maximum braking distance, k is the maximum braking distance coefficient, and E is the steering failure quantized value.

13. The unmanned mining card steering safety control system method according to claim 12, wherein: the unmanned mining card steering safety control system method further comprises the following steps:

dynamically defining a fault vehicle protection ring according to the steering failure quantized value and the vehicle speed by utilizing a steering failure control module, and uploading the fault vehicle protection ring and position information to a cluster center in real time;

And marking the size and the position of the fault vehicle protection ring into a map by using a cluster center respectively connected with the data acquisition module and the steering failure control module, modifying a new task path generated by an original task path of the vehicle based on the size and the position of the fault vehicle protection ring, simultaneously planning the highest speed limit of the vehicle at different points of the map, and finally transmitting the new task path of each vehicle, the highest speed limit of the vehicle at different points of the map and the state information of the highest speed limit of the vehicle to the data acquisition module of the corresponding unmanned mine card in the formation.

14. The unmanned mining truck steering safety control system method of claim 9, the unmanned mining card steering safety control system is characterized by further comprising the following steps:

and a fault alarm unit in the steering failure control module is utilized to send out warning to the surrounding through the changes of different colors and different periods of the mode lamp according to the steering failure grade output by the steering failure judging module.