An automatic driving control system of a trackless equipment in an underground mine

By combining environmental and dynamic data, an automatic driving control system has been developed to address the stability and safety issues of underground mining equipment under complex working conditions, enabling efficient and safe operation in narrow tunnels.

CN122431335APending Publication Date: 2026-07-21山金重工有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
山金重工有限公司
Filing Date
2026-05-18
Publication Date
2026-07-21

AI Technical Summary

Technical Problem

Existing automatic driving control technologies fail to adequately consider the risks of road slippage, the physical boundaries of hydraulic actuators, and the dynamic geometric characteristics of articulated vehicle bodies when dealing with complex working conditions in underground mines, resulting in poor vehicle driving stability, limited execution of control commands, and insufficient safety during passage.

Method used

The system employs a data acquisition and processing module to acquire environmental and dynamic data, a vehicle dynamics state reconstruction module to calculate the hydraulic actuation capability boundary and the road surface slip energy dissipation state, a dynamic spatial envelope generation module to construct the effective spatial range, and a nonlinear model predictive control module to generate the optimal control sequence, ensuring that the control commands conform to the vehicle's actuation capability and environmental constraints.

Benefits of technology

It improves the safety and stability of trackless equipment in complex, narrow and low-adhesion mine roadways, avoids accidents caused by side slip or scraping, and improves the accuracy and adaptability of the control system.

✦ Generated by Eureka AI based on patent content.

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Abstract

The application discloses an automatic driving control system of a trackless equipment in an underground mine, and belongs to the technical field of automatic driving of mine vehicles, which is used for acquiring geometric information of a roadway environment and motion and power parameters of the vehicle; a vehicle dynamics state reconstruction module is used for solving a vehicle hydraulic execution capability boundary and a road surface slip energy dissipation state; a dynamic space envelope generation module is used for combining the roadway environment information and the slip energy dissipation state to perform nonlinear inward contraction on a physical boundary of the roadway; and a nonlinear model predictive control module is used for solving an optimal control sequence which simultaneously satisfies the hydraulic execution capability boundary and an effective space range, and driving a vehicle execution mechanism. The application dynamically corrects the roadway geometric constraint by using the road surface slip energy dissipation state, constructs the effective space range which changes with the vehicle stability, makes the control algorithm reserve a correction space when planning, and prevents the vehicle from sliding and colliding on the low adhesion coefficient road surface.
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