Unmanned mine car parking control method based on parking control points
A parking control and unmanned driving technology, which is applied in the direction of control devices, vehicle components, external condition input parameters, etc., can solve the problems of affecting the loading and parking efficiency, parking failure, and parking inaccuracy, so as to improve the success rate and overall parking efficiency
Active Publication Date: 2021-11-02
安徽海博智能科技有限责任公司
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Problems solved by technology
[0002] At present, in the process of parking and loading unmanned mine vehicles in the mine, they are directly reversed at the handover point to the positioning point of the excavator. This parking method will cause many problems, such as: as the excavator continues to move During operation, the mining point is getting farther and farther away from the main road, and the speed of reversing is very slow, which affects the efficiency of the entire loading and parking; in addition, the connection point between the transfer point and the positioning point of the excavator is not in the direction of the excavator, although the excavator is facing There are no obstacles in the upward direction, but there is no guarantee that obstacles will be encountered when reversing and passing the car, which will lead to parking failure. Secondly, if the reversing distance is too far, it will also cause parking inaccuracy
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[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0045] The driving process of the unmanned mine car is divided into two stages. The first stage is to follow the main road from the unloading point under the mountain to the mine loading area. The second stage is to find a suitable vehicle on the mine. handover point, transfer the tracking control of unmanned mining vehicles to loading and parking control (ALP) for path planning, and guide the mining vehicles to simulate manual driving by designing several reas...
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The invention discloses an unmanned mine car parking control method based on parking control points. The unmanned mine car parking control method comprises the specific steps: acquiring road information of a mine and positioning information of an excavator; determining a turning control point of the mine car and a nearest point of an excavator main road according to the excavator positioning information; determining a junction point and a return trip junction point of the mine car by using the obtained nearest point of the main road of the excavator; and determining a reversing control point of the mine car according to the turning control point and the mine car intersection point. By acquiring the road information of the mine and the positioning point information of the excavator, the control points with different functions are selected in the parking path process of the mine car to accurately guide the mine car, so that the mine car can be controlled to more accurately stop at the loading point during parking, and the problems that the reversing distance is increased in that the mining point is gradually far away from the main road, the parking fails when encountering obstacles during reversing are solved, and the parking success rate and the overall parking efficiency are improved.
Description
technical field [0001] The invention relates to the technical field of unmanned mining vehicles, in particular to a parking control method for unmanned mining vehicles based on parking control points. Background technique [0002] At present, in the process of parking and loading unmanned mine vehicles in the mine, they are directly reversed at the handover point to the positioning point of the excavator. This parking method will cause many problems, such as: as the excavator continues to move During operation, the mining point is getting farther and farther away from the main road, and the speed of reversing is very slow, which affects the efficiency of the entire loading and parking; in addition, the connection point between the transfer point and the positioning point of the excavator is not in the direction of the excavator, although the excavator is facing There are no obstacles in the upward direction, but there is no guarantee that obstacles will be encountered when r...
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Patent Timeline
Login to View More IPC IPC(8): B60W60/00B60W30/06B60W30/18B60W40/10
CPCB60W60/001B60W30/06B60W30/18145B60W30/18036B60W40/10B60W2552/00B60W2554/404
Inventor 熊焱飞潘伟李泉秦晓驹陆盼杨浩
Owner 安徽海博智能科技有限责任公司