A control method, device, device and storage medium for an intelligent driving truck

Abstract

The present disclosure provides a control method for an intelligently driven truck, the method comprising: collecting angle information of a vehicle frame, angle information of a cargo box, position of the cargo box and movement direction of the cargo box, and collecting the angle information of the vehicle frame according to the collected angle information and the angle information of the cargo box to judge the state of the cargo box, and control the cargo box according to the state of the cargo box and the angle information of the collected frame, the angle information of the cargo box, the movement direction of the cargo box, and the position of the cargo box. In the present disclosure, the angle information of the vehicle is collected from time to time, and combined with the position information of the cargo box, it can not only avoid the inaccuracy of the position feedback of the cargo box due to the chattering / error of the angle of the cargo box, but also can accurately identify the position of the cargo box; it can also monitor the frame in real time. When the pitch angle or roll angle exceeds the limit threshold, the lifting or lowering of the bucket is stopped, which greatly improves the performance of the cargo box control of the intelligent driving vehicle.

Description

technical field [0001] The present disclosure belongs to the field of intelligent driving, and in particular relates to a control method, device, device and storage medium for an intelligently driven truck. Background technique [0002] The intelligent driving minecart plays an important role in the smart mine. It can be said that the intelligent driving minecart is the key part of the final realization of the smart mine. For the mine cart, its ultimate role in the mine is the transportation operation, the core task of which is loading and unloading. During the unloading process, the cargo box must be lifted. For the intelligent driving mining truck, since it is unmanned, the intelligent driving system needs to automatically and accurately identify the status of the cargo box in real time during the lifting process of the cargo box, so as to carry out the lifting of the cargo box. Precise control to avoid risks caused by incorrect identification of container status. [000...

AI Technical Summary

Problems solved by technology

[0003] At present, the lifting system is more concentrated on the specific lifting system design, and there is basically no design on how to accurately identify the lifting state of the container. However, for intelligent driving mining vehicles, it is necessary to achieve high performance and high safety container lifting. Real-time and accurate identification of the container status is the premise

In the prior art, only the angle sensor is used to collect the lifting angle of the cargo box, but it is based on the manual driving vehicle. For the intelligent driving mine car, due to the acquisition error and chattering of the angle sensor, the actual vehicle test process Misjudgment of the state of the container often occurs in the vehicle, either the container has not reached the lifting peak and the lifting is stopped early, or the container is not lowered to the bottom and the lowering bucket is stopped early, resulting in dangerous driving while holding the container. Once the angle sensor fails and fails, the status of the cargo box will not be recognized, and the current job task will not be completed

However, correcting the tilt of the cargo box by vibrating the cargo box has limitations. It has a certain effect on the center of gravity shift caused by the bonding and freezing of the cargo box, but it cannot solve the inclination of the parking ground of the vehicle itself. At the same time, if the tilt caused by the loose ground during the unloading process, Vibrating the cargo box increases the risk of the vehicle tipping over

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