Underground unmanned transport vehicle robot control method

Abstract

The invention belongs to the technical field of unmanned driving, and discloses an underground unmanned transport vehicle robot control method, which is characterized by comprising the following stepsof S1, classifying underground transport vehicles, and respectively arranging sensor modules on the vehicles according to the precision levels of the vehicles; s2, judging the running mode of the vehicle, and when the vehicle runs in a single-vehicle mode, obtaining other vehicle information through communication between the vehicle and other underground vehicles, calculating the relative distance and speed between the current vehicle and the other vehicles, carrying out calculation decision making through a vehicle control unit, and controlling vehicle behaviors ; when the vehicle runs in amotorcade mode, enabling a first vehicle in the motorcade to control the running speed of the vehicle according to the current vehicle speed and the distance between the first vehicle and the surrounding vehicles, and sending control information to other vehicles in the motorcade to control the other vehicles in the motorcade to keep synchronous with the first vehicle. Unmanned driving of variousunderground vehicles can be achieved, and the safety of unmanned driving is improved.

Description

technical field [0001] The invention belongs to the field of unmanned driving technology, and relates to a robot control method for an underground unmanned transport vehicle. Background technique [0002] Mine transportation refers to the transportation of materials, personnel, equipment and ores during the mining process. Mine transport vehicles are an important part of the mine production system due to their frequent operation, large transport volume and long running distance. Due to the harsh conditions of the mine, the dim light, and the obstructed vision of the driver of the transport vehicle, it is a high-risk workplace, and safety is the primary consideration. With the continuous progress of society, labor costs are becoming higher and higher, and fewer and fewer people are willing to work in the harsh environment of the mine. The problem that the mine needs to solve urgently. [0003] In my country's mine production accidents, mine transportation accidents account...

AI Technical Summary

Problems solved by technology

[0004]The existing unmanned driving system starts from a single vehicle layout sensor, and needs to install multiple types of sensors on all underground vehicles to determine the precise position detection of the vehicle to realize the unmanned driving function , high vehicle cost

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