Trackless rubber-tyred vehicle intelligent onboard system, downhole vehicle dispatching system and control method

Abstract

The invention discloses a trackless rubber-tyred vehicle intelligent onboard system, a downhole vehicle dispatching system and a control method. The trackless rubber-tyred vehicle intelligent onboardsystem is characterized in that a trackless rubber-tyred vehicle is equipped with an explosion-proof control cabinet which is divided into a main cavity, a power supply cavity and a wiring cavity; themain cavity is provided therein with a power management module, an information exchange module, an isolation module, and inertial navigation module, a data acquisition and preprocessing module, a positioning and environment modeling module and a planning control module; an intrinsic safety sensing module, an explosion-proof sensing module and a bottom-layer controller are arranged outside the explosion-proof control cabinet. The downhole vehicle dispatching system includes wireless sensor network anchor nodes disposed at different positions of a roadway, a positioning device carried by a downhole person, a downhole monitoring camera, and a dispatching system server. Based on the trackless rubber-tyred vehicle intelligent onboard system and the downhole vehicle dispatching system, an operation control method of the trackless rubber-tyred vehicle is constructed. The invention realizes the autonomous driving and intelligent dispatching of the trackless rubber-tyred vehicle, and improvesthe safety and high efficiency of the auxiliary transportation.

Description

technical field [0001] The invention belongs to the field of coal mine auxiliary transportation equipment, and in particular relates to an intelligent on-board system of a trackless rubber-tyred vehicle, an underground vehicle dispatching system and a control method. Background technique [0002] Coal mine auxiliary transportation equipment is responsible for the transportation of various production materials including personnel, materials, tools, equipment, gangue, etc. in addition to coal transportation. It is an important and indispensable equipment for coal mine production enterprises. Trackless rubber-tyred vehicles work in various panels and alleys for the transportation of personnel and equipment or the shoveling of materials and equipment. With the improvement of coal mining conditions in our country, in mines with better conditions, this type of equipment can be driven directly from the ground along the inclined shaft into the lanes of each panel. Trackless rubber-...

AI Technical Summary

Problems solved by technology

At present, the ground unmanned driving system does not have products and designs that can meet such requirements, and cannot be directly applied to the underground environment;

[0007] (2) The illumination of the underground environment is low, and there are coal dust, dust, water vapor, etc. in the working scene, which will have a great impact on the performance of vision, laser, infrared, ultrasonic and other sensors, relying on a single type of sensor for perception and positioning reliability insufficient;

[0008] (3) The underground roadways are intricate and cannot be positioned using GPS and other equipment used by ground unmanned vehicles, and the signals sent by sensors used for communication and perception may be shielded, absorbed, and have multi-path effects, which give auxiliary transport vehicles reliable Positioning and perception safety bring huge challenges. Remote control of vehicles directly from the dispatching room may cause safety accidents due to communication interruptions. The vehicle itself needs to have autonomous perception, local motion planning and control capabilities

[0009] (4) The working scene of coal mine auxiliary transport vehicles is complex, the roadway width and drivable area, turning and avoiding range are limited, there may be obstacles such as miners, moving vehicles, stationary equipment, etc., which brings great difficulty to the autonomous driving of the vehicle, and only relies on the vehicle Self-perceived and controlled, when there is a meeting of vehicles, temporary addition of vehicles, etc., one of the vehicles needs to retreat to the nearest avoidance space, which reduces the overall auxiliary transportation efficiency, so an intelligent dispatching system for unified dispatch is required;

[0010] (5) At present, the dispatching system of the underground dispatching room is mainly to monitor the basic information of personnel and equipment status. The monitoring of trackless rubber-tyred vehicles and other vehicles is usually fixed-point monitoring by cameras, and the accurate position of the vehicles cannot be continuously obtained, and the current dispatching The strategy is only for simple task planning, and cannot provide guidance for the optimal path and task planning of the vehicle, and cannot further improve the efficiency of underground auxiliary transportation from the trajectory planning and control level of the vehicle itself

On the other hand, it is necessary to have a highly automated and intelligent dispatching system for unified planning and management of underground trackless rubber-tyred vehicle auxiliary transportation

At this stage, ground and other types of vehicle intelligent driving systems do not have the above capabilities, and cannot be directly used in such environments

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