Reactive navigation control method for underground mining vehicle

Abstract

The invention provides a reactive navigation control method for an underground mining vehicle. The reactive navigation control method comprises establishing a front axle pose state vector estimation value model of a next moment based on a vehicle hinge joint, a front axle midpoint, front axle velocity, front axle yaw angular velocity, front axle turning radius, a rear axle midpoint, rear axle velocity, rear axle yaw angular velocity and rear axle turning radius; establishing a course deviation angle model; establishing an articulated vehicle front axle center position deviation model; establishing a turning angle control model which comprises a safety prediction model and a fuzzy control algorithm; and establishing an articulated vehicle velocity control model, and controlling the underground mining vehicle based on the articulated vehicle velocity control model.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a reactive navigation control method for an underground mining vehicle. Background technique [0002] With the development of technology, the mining equipment used in the underground mining industry has realized trackless and hydraulic, and is developing in the direction of large-scale and intelligent. Most of the existing underground mining vehicles are trackless articulated structures, so the autonomous navigation control technology of articulated vehicles is the key to realize the intelligence and automation of underground metal mining equipment. [0003] The existing autonomous navigation technology of underground mining vehicles can be divided into the following two types: reactive navigation and absolute navigation; [0004] Among them, the absolute navigation needs to pre-define a set of paths in the navigation system (ie, path planning) and know the absolute coordinat...

AI Technical Summary

Problems solved by technology

[0007] The navigation control method does not fully consider the kinematics and dynamics characteristics of the articulated vehicle. A path needs to be planned before navigation. In order to make the planned path reasonable, the kinematic characteristics of the vehicle need to be considered when planning the path, which increases the early stage of navigation control. Workload; navigation requires accurate vehicle positioning information, so it is necessary to install positioning equipment at the "key points" of the roadway. In large and complex underground mines, the number of "key points" is very large, which requires a large number of positioning equipment. It will greatly increase the cost of navigation, and due to the limitation of the width and height of the underground roadway, the installation of positioning equipment will be greatly restricted; in navigation, the method of "dead reckoning" is proposed to reduce the installation of positioning equipment, but "navigation Dead reckoning” also needs to install corresponding sensors on the vehicle to collect the information of the underground roadway wall. Due to the unevenness of the underground roadway wall, the information required for dead reckoning itself will also have a large error, which will increase navigation. The error of bit calculation, and this error will be accumulated, and the final calculated result may not be used

The shortcomings of the above-mentioned navigation control technology also reflect the shortcomings of the absolute navigation itself

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