Control method for implementing coordinated operation of multiple vehicle groups of hydraulic heavy duty truck

Abstract

The invention relates to a control method for implementing coordinated operation of multiple vehicle groups of a hydraulic heavy duty truck, which can be used for implementing unmanned automatic driving of a roadway trackless wheel-type hydraulic heavy duty truck. Positions between vehicle bodies and a roadway are determined by applying an ultrasonic distance measurement principle; various information of the truck, which is measured by ultrasonic distance measurement sensors, is transmitted to a central processor; information of the truck relative to the roadway, such as a vehicle body speed, a steering angle, a traveling track and a path, is calculated by the processor according to a set program; the position information is uploaded to a CAN (Controller Area Network) bus system for being called by a next truck; a next truck processor downloads posture information of a previous truck from a CAN bus; according to the posture information of the previous truck, the processor operates geometrical parameters required for tracking the movement track of the previous truck according to a control program so as to determine the movement track of the next truck and fulfill the aim that the next trunk automatically tracks the previous truck, thereby implementing steering control of the split heavy duty transportation truck.

Description

technical field [0001] The invention belongs to the technical field of measurement and control, and relates to a control method for realizing the coordinated operation of multiple groups of hydraulic trucks, which can realize unmanned automatic driving of roadway trackless wheeled hydraulic trucks. Background technique [0002] In mining, heavy mining and supporting equipment under the mine often need to be transported and transferred to the working face by hydraulic trucks. Due to the complex terrain of the roadway and the narrow space, it is difficult to control the hydraulic truck during the transportation of equipment. The existing underground roadway hydraulic trucks are driven manually. During the actual operation, the special environment of the underground roadway can easily affect the driver. Due to the narrow space of the underground roadway, the driver must maintain a high degree of concentration for a long time. If the control is improper, the truck may scratch a...

AI Technical Summary

Problems solved by technology

Due to the complex terrain of the roadway and the narrow space, it is difficult to control the hydraulic truck during the transportation of equipment

The existing underground roadway hydraulic trucks are driven manually. During the actual operation, the special environment of the underground roadway can easily affect the driver

Due to the narrow space of the underground roadway, the driver must maintain a high degree of concentration for a long time. If the control is improper, the truck may scratch and collide with the roadway wall or hydraulic support equipment, and even cause major safety accidents such as roadway collapse.

Therefore, the driving of the existing underground roadway hydraulic trucks has high requirements for personnel and high risks, and it is difficult to ensure safe production under special conditions in the mine

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