Two-way positioning and parking control method and device for mining vehicles

Abstract

The invention provides a two-way positioning and parking control method for a mining vehicle, which comprises: acquiring the positioning data and position and attitude information of the mining vehicle in real time, and determining the real-time position information and real-time attitude information of the mining vehicle; The parking map, combined with real-time location information and real-time attitude information, determines the real-time driving deviation of the mining vehicle; according to the real-time driving deviation, the trajectory tracking of the mining vehicle is automatically controlled, so that the mining vehicle can follow the preset parking map corresponding to the The reference path and reference state are used to complete two-way positioning and parking. The invention provides that the driving deviation of the mining vehicle can be obtained through the real-time position information and real-time attitude information of the mining vehicle combined with the preset parking map, and the two-way positioning and parking process of the mining vehicle is completed by correcting the driving deviation. The invention realizes automatic two-way parking of mining vehicles, greatly saves manpower, reduces parking difficulty, improves parking precision, and improves mine transportation efficiency.

Description

technical field [0001] The present invention relates to the field of vehicle control, in particular to a method and device for two-way positioning and parking control for mining vehicles. Background technique [0002] In the current mining of open-pit mines, since the parking point of the mining vehicle is basically at the position of the unloading point, and the unloading point basically does not change, the parking position is relatively fixed. At present, the driver manually adjusts the direction of the car, and reaches the designated parking point (unloading point) after several pose adjustments. Moreover, due to the large size of the mining vehicle and the existence of many dead zones, it is more difficult to accurately park the vehicle. There will always be a deviation in the position of the stop, and there is no guarantee that the position of the stop will be appropriate every time. [0003] Therefore, the present invention provides a two-way positioning and parking ...

AI Technical Summary

Problems solved by technology

At present, the driver manually adjusts the direction of the car, and reaches the designated parking point (unloading point) after multiple pose adjustments. Due to the large size of the mining vehicle, there are many dead zones, so it is difficult to park accurately. There will always be a deviation in the stop position, and there is no guarantee that the stop position is appropriate every time

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