Method, device, system and computer equipment for unloading and docking mining trucks with adaptive retaining wall

By acquiring and analyzing point cloud data and adjusting the heading angle and docking distance of unmanned mining cards, the problem of difficulty in precise docking during retaining wall unloading is solved, and an efficient and accurate retaining wall unloading process is achieved.

CN114690765BActive Publication Date: 2025-03-28QINGDAO WAYTOUS INTELLIGENT ROBOTICS CO LTD
2 Cites 0 Cited by

Patent Information

Application Number
CN202110965892.9
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2021-08-23
Publication Date
2025-03-28
Estimated Expiration
2041-08-23

AI Technical Summary

Technical Problem

In the prior art, unmanned mine jams are difficult to achieve precise docking during the unloading of the retaining wall, mainly due to the inaccurate heading angle of the automatically generated unloading point and the inability to update the map in real time, resulting in the inability to track the boundary changes of the retaining wall.

Method used

By obtaining the position information of the preset unloading point, the distance between the center of the rear axle to the preset unloading point and the first preset distance, if it is less than, the point cloud data is obtained, the distance between the center of the rear wheel and the retaining wall is calculated, and the heading angle is adjusted to maintain the same direction as the normal direction of the retaining wall, and the rear wheel is controlled to park within the range of the second preset distance from the retaining wall.

Benefits of technology

It realizes accurate docking of mining cards, avoids the phenomenon of cargo container pressing on the retaining wall, ensures that the goods are completely unloaded, and saves the cost and labor costs of perceived equipment.

✦ Generated by Eureka AI based on patent content.
Patent Text Reader

Abstract

The present invention belongs to the field of unmanned driving technology, and relates to a method and device for adaptive unloading and docking of a mining truck at a retaining wall. The method comprises: obtaining the position information of a preset unloading point, obtaining the distance from the center of the rear axle of the mining truck to the preset unloading point according to the position information of the preset unloading point; comparing the distance with a first preset distance, and if the distance is less than the first preset distance, obtaining point cloud data including the ground and the retaining wall; obtaining the distance from the center of the two rear wheels of the mining truck and the center of the rear axle to the retaining wall according to the point cloud data; adjusting the heading angle of the mining truck to be consistent with the normal direction angle of the retaining wall according to the distance from the center of the two rear wheels of the mining truck to the retaining wall, and controlling the two rear wheels of the mining truck to dock within a range of a second preset distance from the retaining wall according to the distance from the center of the rear axle to the retaining wall, so that the left and right rear wheels of the mining truck dock close to the retaining wall.
Need to check novelty before this filing date? Find Prior Art