Method and device for collecting inclination parameters of unmanned minecart

Abstract

The invention relates to the field of unmanned driving technology, and specifically discloses a method for collecting tilt parameters of an unmanned mine car. The method includes acquiring the size data of the mine, generating a scene model according to a preset scale, and acquiring the position of the mine car. data, generate a mapping rectangle according to the position data of the mine car, and insert the mapping rectangle into the scene model; obtain the task list of the mine car, determine the working path of the mine car according to the task link list, and determine the working path of the mine car according to the mapping rectangle Determining an image acquisition angle with the working path; receiving image information including a reference object acquired according to the image acquisition angle sent by the acquisition end, and generating tilt parameters according to the image information. The invention acquires external images in real time and analyzes the images to obtain tilt parameters. Compared with the adjustment process based on gyroscopes, the invention has sufficient precision, strong stability, and extremely low cost, which is convenient for popularization and use.

Description

technical field [0001] The invention relates to the field of unmanned driving technology, in particular to a method and device for acquiring tilt parameters of an unmanned mining vehicle. Background technique [0002] Research data shows that under the theoretical state of reasonable consideration of relevant factors, 7 unmanned mining vehicles can replace the workload of at least 9 vehicles of the same model, reduce fuel costs by 6%, and reduce tire wear by more than 7.5%, including saving labor costs Yields included increased by 49%. Therefore, future mining vehicles will be transformed to unmanned driving. [0003] Many of the work tasks of mine carts are transportation tasks. Most of the transported items are fluid solids, such as sediment. These items are easy to scatter, especially when the road surface has a slope. Therefore, it is necessary to obtain the inclination degree of the mine cart in real time. . [0004] The traditional method of obtaining tilt parameter...

AI Technical Summary

Problems solved by technology

[0004] The traditional method of obtaining tilt parameters is mostly done by means of a high-precision gyroscope, and there are many small stones on the road surface of the mine. These small stones will make the measurement process of tilt parameters extremely unstable. If you want to measure the tilt angle exactly It can make the mine cart stop, which is feasible in the working process of the mine cart, but it is obviously inappropriate in the transportation process; therefore, it is very difficult to design a tilt parameter acquisition scheme with sufficient accuracy but low sensitivity. Significant

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