A wheel-rail composite unmanned underground continuous transport vehicle and its control method

Abstract

The invention discloses a wheel-rail composite unmanned underground continuous transport vehicle and its control method, including an unmanned driving system, an autonomous conversion system of "sky rail-ground rail-ground" and a transport vehicle body; the transport vehicle The body includes chassis, loading platform and rubber rail compound wheel; the unmanned driving system includes multi-line laser radar, depth camera, millimeter wave radar, camera, UWB positioning tag, ultrasonic sensor, industrial computer and vehicle controller. On the chassis and connected with the industrial control electromechanical; the "sky rail - ground rail - ground" autonomous conversion system includes a hydraulic column and a driving brake device. The bottom of the hydraulic column is set on the chassis, and the top of the hydraulic column is equipped with a driving brake device. The present invention can run under three kinds of underground road conditions: sky rail, ground rail and ground, and can realize autonomous switching between sky rail-roadway surface, sky rail-ground rail and roadway surface-ground rail.

Description

technical field [0001] The invention relates to an underground continuous transport vehicle, in particular to a wheel-rail composite unmanned underground continuous transport vehicle and a control method thereof. Background technique [0002] The underground road conditions of coal mines are extremely complex, and different road conditions often require different transportation equipment. According to the different characteristics of underground road conditions, the main auxiliary transportation equipment includes electric locomotives, monorail cranes and trackless rubber-tyred vehicles. Among them, electric locomotives are mainly used in horizontal long and straight lanes where tracks can be laid, and trackless rubber-tyred vehicles are mainly used for large slopes and uneven roads. Roadways suitable for laying tracks, and some roadways require the use of monorail cranes. It is precisely because of this complexity that almost all coal mines cannot realize the continuous tr...

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Problems solved by technology

[0004] As far as the current status of underground auxiliary transportation is concerned, although the research on trackless rubber-tyred vehicles, monorail cranes and electric locomotives has matured, research on underground multi-road condition adaptive transportation vehicles has not yet been carried out. Further, for such vehicles, unmanned Driving is not even involved, and the study of adaptive transport vehicles under various road conditions of "sky rail-ground rail-roadway ground" can realize continuous transportation of one vehicle on the bottom without multiple transfers, which can greatly improve the efficiency of coal mine underground transportation , and the study of unmanned driving technology for wheel-rail composite transport vehicles will greatly improve the safety of the transportation system and accelerate the construction of intelligent mines

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