An unmanned mining car parking control method based on parking control points

Abstract

The invention discloses a parking control method for an unmanned mine car based on a parking control point. The specific steps include acquiring road information of a mine and positioning information of an excavator; determining a turning control point of the mining car according to the positioning information of the excavator; The closest point of the main road of the excavator; use the obtained closest point of the main road of the excavator to determine the junction point and the return junction point of the mine car; at the same time, determine the reversing control point of the mine car according to the turning control point and the junction point of the mine car. By acquiring the road information of the mine and the positioning point information of the excavator, the present invention selects control points with different functions in the process of the mine car parking path to accurately guide the mine car, thereby controlling the mine car to park more accurately when parking. At the loading point, it solves the problem that the reversing distance increases due to the mining point gradually moving away from the main road, and it is impossible to guarantee the failure of parking when encountering obstacles during the reversing process, improving the success rate of parking and the overall parking efficiency.

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, during the mine parking and loading process, the unmanned mining trucks drive directly to the excavator positioning point by reversing at the transfer point. This parking method will cause many problems, such as: as the excavator continues to During the operation, the mining point is getting farther and farther from the main road, and the speed of reversing is very slow, which affects the entire loading and parking efficiency; in addition, the connection between the transfer point and the positioning point of the excavator is not in the direction of the excavator, although the excavator is facing the direction of the excavator. There are no obstacles upwards, but there is no guarantee that obstacles will be encountered during reversing,...

AI Technical Summary

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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