Method and device for fast obtaining course angle of trackless vehicle in underground roadway environment

Abstract

The invention provides a method and a device for fast obtaining a course angle of a trackless vehicle in an underground roadway environment. The method comprises the steps that in a self coordinate system of the trackless vehicle, a plurality of corresponding distances between a coordinate origin and a plurality of points on the peripheral roadway wall in different angle directions are measured; the course angle of the trackless vehicle is calculated according to measurement results. The device comprises a distance detecting module and a course angle calculating module, wherein the distance detecting module is used for measuring the corresponding distances between the coordinate origin and the points on the peripheral roadway wall in different angle directions in the self coordinate system of the trackless vehicle, and the course angle calculating module is used for calculating the course angle of the trackless vehicle according to the measurement results. The method and the device can realize the self obtaining of the course angle of the trackless vehicle in the underground roadway environment, and are particularly applicable to unmanned autonomous running vehicles.

Description

technical field

[0001] The invention relates to mining engineering, in particular to a method and device for quickly acquiring the heading angle of a trackless vehicle in an underground roadway environment. Background technique

[0002] In recent years, with the massive consumption of mineral resources, the situation faced by the development of surface and shallow mineral resources has become increasingly severe. It is getting worse and worse, and at the same time, there are uncertain risk factors such as roof fall, which inevitably brings certain safety and risks to the personnel engaged in mining and transportation equipment. Vigorously developing unmanned trackless transport vehicles or remote control transport vehicles has already It will become the development trend of underground mining technology in the future, and related technologies based on remote control technology, because the transmission of underground data is easily disturbed, the reliability will decline. C...

Examples

Embodiment 1

[0040] The embodiment of the present invention proposes a method for quickly acquiring the heading angle of a trackless vehicle in an underground roadway environment, the method comprising:

[0041] In the trackless vehicle's own coordinate system, measure several corresponding distances between points on the surrounding roadway walls in several different angle directions and the coordinate origin;

[0042] The heading angle of the trackless vehicle is calculated according to the measurement results.

[0043] This method is different from the GPS differential technology or the heading angle measurement technology based on the inertial unit. It mainly uses the distance measurement data as the calculation basis, and obtains the heading angle through a series of calculations.

[0044] First, you need to determine the coordinate system in which to measure. Because it is necessary to calculate the heading angle at each moment during the running of the trackless vehicle, it is nece...

Embodiment 2

[0069] The embodiment of the present invention proposes a device for quickly acquiring the heading angle of a trackless vehicle in an underground roadway environment, the device includes:

[0070] The distance detection module is used to measure several corresponding distances between points on the surrounding roadway walls in several different angle directions and the coordinate origin in the trackless vehicle's own coordinate system;

[0071] The heading angle calculation module is used to calculate the heading angle of the trackless vehicle according to the measurement results.

[0072] in:

[0073] The distance detection module includes a laser ranging scanner, which is used to perform the measurement in a laser scanning ranging manner.

[0074] The distance detection module includes a horizontal distance detection module for performing the measurement on a predetermined horizontal plane in the trackless vehicle's own coordinate system.

[0075] The device further includ...

technical field

[0001] The invention relates to mining engineering, in particular to a method and device for quickly acquiring the heading angle of a trackless vehicle in an underground roadway environment. Background technique

[0002] In recent years, with the massive consumption of mineral resources, the situation faced by the development of surface and shallow mineral resources has become increasingly severe. It is getting worse and worse, and at the same time, there are uncertain risk factors such as roof fall, which inevitably brings certain safety and risks to the personnel engaged in mining and transportation equipment. Vigorously developing unmanned trackless transport vehicles or remote control transport vehicles has already It will become the development trend of underground mining technology in the future, and related technologies based on remote control technology, because the transmission of underground data is easily disturbed, the reliability will decline. C...

Examples

Embodiment 1

[0040] The embodiment of the present invention proposes a method for quickly acquiring the heading angle of a trackless vehicle in an underground roadway environment, the method comprising:

[0041] In the trackless vehicle's own coordinate system, measure several corresponding distances between points on the surrounding roadway walls in several different angle directions and the coordinate origin;

[0042] The heading angle of the trackless vehicle is calculated according to the measurement results.

[0043] This method is different from the GPS differential technology or the heading angle measurement technology based on the inertial unit. It mainly uses the distance measurement data as the calculation basis, and obtains the heading angle through a series of calculations.

[0044] First, you need to determine the coordinate system in which to measure. Because it is necessary to calculate the heading angle at each moment during the running of the trackless vehicle, it is nece...

Embodiment 2

[0069] The embodiment of the present invention proposes a device for quickly acquiring the heading angle of a trackless vehicle in an underground roadway environment, the device includes:

[0070] The distance detection module is used to measure several corresponding distances between points on the surrounding roadway walls in several different angle directions and the coordinate origin in the trackless vehicle's own coordinate system;

[0071] The heading angle calculation module is used to calculate the heading angle of the trackless vehicle according to the measurement results.

[0072] in:

[0073] The distance detection module includes a laser ranging scanner, which is used to perform the measurement in a laser scanning ranging manner.

[0074] The distance detection module includes a horizontal distance detection module for performing the measurement on a predetermined horizontal plane in the trackless vehicle's own coordinate system.

[0075] The device further includ...

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