A 360° self-adaptive loading and unloading unmanned mining dump truck and its control method

Abstract

The invention discloses a 360° self-adaptive loading and unloading unmanned mining dump truck and its control method, including a vehicle frame, a power system, a 360° self-adaptive rotating platform and a cargo box, the cargo box is set at 360° self-adaptive rotation On the platform, the 360° self-adaptive rotating platform is set on the frame, and the power system is installed on the frame; the control box is set at the front end of the frame; the perception and positioning system is composed of vehicle positioning devices and environmental perception sensors, and is arranged in different positions of the vehicle body Above; power system is divided into electric drive subsystem and auxiliary subsystem. The invention innovatively designs the car body structure, realizes the increase of the cargo capacity of the cargo box and multi-directional loading of goods, cancels the cab, designs three major systems of positioning perception, path planning, and motion control, and realizes unmanned operation of the mine car, greatly reducing Labor costs and man-made accidents are minimized, the efficiency of mine transportation is improved, and the construction of intelligent mines is promoted.

Description

technical field [0001] The invention relates to a mining dump truck, in particular to a 360° self-adaptive loading and unloading driverless mining dump truck and a control method thereof. Background technique [0002] ‌The coal industry is one of my country's pillar industries, which has provided driving force for China's economic development for a long time. In 2019, coal production still ranks first in the world. With the research and development of high-tech and its application in coal mining, the efficiency and safety of coal mining are also constantly improving. In terms of open-pit mining, off-highway mining dump trucks (mine trucks) have always been the main force for ore transportation, and they have the characteristics of complex structure, high technical content, and high price. For traditional manned dump trucks, the cockpit needs to be reserved in the body structure, and necessary safety protection should be carried out to increase the overall cost of the vehicl...

AI Technical Summary

Problems solved by technology

For example: (1) Patent 201811408803.5 proposes a mining truck obstacle detection system and detection method, which only arranges sensors at the front and rear of the truck, without considering unexpected situations such as sudden falling rocks on both sides of the truck body; (2) Patent 202010045047.5 proposes A mining truck unloading method and system for an unmanned transportation system in an open-pit mine, which can only realize loading in one direction, and does not monitor whether ore remains in the container after unloading, so it is difficult to realize unmanned operation; (3) Patent 201711343813.0 proposes a An unmanned mining wide-body truck, only a simple transformation of the mining truck, failed to carry out the overall design and planning of the dump truck, and the reliability and stability are insufficient; (4) Patent 201711343813.0 proposes the environment perception of the autonomous driving mining dump truck The system and mining dump truck are also transformations of traditional vehicles. The layout of the sensors does not take into account the situation on the side, and there are risks; (5) Patent 202010862620.1 proposes an unmanned mining electric drive dump truck, which involves the entire production Dispatch management system, there is no uniqueness in the unmanned transformation of dump trucks, and there is no structural design for mining trucks

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