Automatic cabin cleaning system of unmanned bulldozing machine

Abstract

The invention discloses an automatic cabin cleaning system of an unmanned bulldozer. A mode switching module acquires control instruction information of a central control system of the unmanned bulldozer in real time and automatically selects to send a data instruction to a motion planning module or an automatic target point generation module through a finite-state machine; under the area automatic mode instruction, the automatic target point generation module generates a target point set of the unmanned bulldozer according to the material area information, and under the single target point mode instruction, the target points obtained by the mode switching module from the central control system are put into the target point set; the motion planning module obtains a target point set, simultaneously takes out target points from the target point set one by one to generate a path for the unmanned bulldozer to reach the current target point, and sends a control instruction to an unmanned bulldozer execution system after executing a motion strategy; the safety guarantee module obtains the cabin distance and IMU information of the sensing and positioning system in real time, monitors the motion state of the motion module at the same time, and generates a safety control instruction after executing an escape strategy under a dangerous condition.

Description

technical field [0001] The invention belongs to the field of intelligent robots, in particular to the field of automatic cabin cleaning operations of an unmanned pusher. Background technique [0002] The importance of vehicle automation is rapidly increasing as the industry's need for and awareness of job safety, productivity, and improved vehicle utilization, coupled with labor shortages, is increasing. The push rake is a necessary equipment for the ship's bulk cargo cleaning operation and to improve the ship's turnover rate (Jin Dan, Ji Youchang, Jin Shan. Design and Research of Push Rake [J]. Engineering Machinery, 2013,44(11):9- 12.), due to the monotonous working environment and long working time, the staff are prone to fatigue, and the environment in the cabin is dangerous. For example, when the grab ship unloader repeatedly grabs materials from the cabin, the staff may be distracted. ACCIDENT. [0003] Due to the structural design of the cargo ship, the opening of t...

AI Technical Summary

Problems solved by technology

At present, there is still no good application example for the automatic cleaning of the cabin with an unmanned rake. Therefore, it is very necessary to propose an automatic cabin cleaning system for unmanned rakes.

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