Method of underground scooptram autonomous travel, obstacle avoidance motion control and target path planning

A target path and autonomous driving technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the difficulty in planning the target path of the underground roadway, the increase in the amount of data of the target path stored by the autonomous driving controller, and the lack of solutions, etc. question

Active Publication Date: 2013-07-10
BEIJING GENERAL RES INST OF MINING & METALLURGY +1
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  • Application Information

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Problems solved by technology

[0006] In order to reduce the cost of underground roadway development, the shape and size of the underground roadway generally allow a certain degree of irregularity, which brings difficulties...

Method used

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  • Method of underground scooptram autonomous travel, obstacle avoidance motion control and target path planning
  • Method of underground scooptram autonomous travel, obstacle avoidance motion control and target path planning
  • Method of underground scooptram autonomous travel, obstacle avoidance motion control and target path planning

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specific Embodiment approach

[0034] The preferred embodiment of the autonomous driving and obstacle avoidance motion control and target path planning method of the underground scraper of the present invention is:

[0035] Used to control the main target path and the local obstacle avoidance target path planned by the underground scraper tracking, the method includes the following main steps:

[0036] A. Plan the main target path and local obstacle avoidance target path of the underground LHD according to the conditions of the underground roadway. m (k) store the main target path curvature K m (k) series of values, arc length s along the main target path curve m (k) Store the starting point s of the local obstacle avoidance target path mbb (i) and termination point s mbe (i) and the lateral deviation displacement δ of the local obstacle avoidance target path relative to the main target path b0 (i), the main target path and the local obstacle avoidance target path are stored in the storage medium of the...

specific Embodiment

[0085] In this embodiment, the KCY-2YK underground scraper is taken as the control object, and the autonomous driving and obstacle avoidance motion control of the underground scraper is carried out, as well as the main target path and local obstacle avoidance target path planning. The specific implementation steps are as follows:

[0086] The invention firstly defines the relevant parameters needed for the motion control of the underground scraper, and deduces a group of equations reflecting the relationship of the parameters. The schematic diagram of the main target path, local obstacle avoidance target path, tracking trajectory and related parameters of the underground LHD in the roadway is shown in figure 1 . The X-Y coordinate system is established with the road surface as the coordinate plane, the midpoint of the driving axle in front of the LHD is selected as the positioning reference point of the LHD, and the projection point P of this point on the X-Y coordinate plane...

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Abstract

The invention discloses a method of underground scooptram autonomous travel, obstacle avoidance motion control and target path planning. Firstly a main target path is planned according to underground tunnel conditions. Then a local obstacle avoidance target path which is attached on the main target path is planned, main target path data, an initial point, a termination point and offset distance data relative to the main target path of the local obstacle avoidance target path are stored in a scooptram controller. A transverse position deviation, a course angle deviation and a course angle deviation change rate are calculated through measuring data of a measuring system or a track prediction model, the three deviations form comprehensive deviation feedback signals through a fusion rule, the comprehensive deviation feedback signals serve as the input quantity of proportion integration differentiation (PID) corrective control, a control command is input to an electric-hydraulic proportional steering control system of the scooptram, a vehicle is driven to steer and track the target path, underground scooptram autonomous navigation and the obstacle avoidance motion control are achieved, and the method is convenient to use, flexible and reliable.

Description

technical field [0001] The invention relates to an autonomous driving and obstacle avoidance control technology, in particular to an autonomous driving and obstacle avoidance motion control and target path planning method of an underground scraper. Background technique [0002] As the existing mineral resources are gradually fully transferred to underground mining, and are developing towards deep and difficult-to-mining ore bodies, the scale of mining is gradually increasing, the mining conditions are getting worse and worse, and the threat to human safety is also increasing. And born. The underground scraper is the key equipment for underground trackless mining. It realizes the unmanned operation and autonomous driving of the underground scraper in the underground tunnel, which can keep the operators away from the harsh and dangerous working environment underground, protect the safety of the scraper driver and improve Mining operation efficiency and reduce mining costs. T...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
Inventor 石峰顾洪枢战凯冯孝华郭鑫李建国段辰玥陈强
Owner BEIJING GENERAL RES INST OF MINING & METALLURGY
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