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Navigation control method of underground automatic scraper

A control method and technology of a scraper, applied in the field of navigation control, can solve the problems of heavy burden on the measurement system and data transmission system, inability to perform trajectory estimation, etc., so as to overcome the difficulties of environmental measurement data and processing data, and reliably track the target path. , the effect of reducing dependence

Active Publication Date: 2010-05-26
BGRIMM MACHINERY & AUTOMATION TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0005] The navigation control process requires a large amount of real-time environmental measurement data, resulting in a heavy burden on the measurement system and data transmission system, and once the environmental measurement data is lost, the trajectory calculation cannot be performed, and the navigation control is immediately terminated

Method used

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  • Navigation control method of underground automatic scraper
  • Navigation control method of underground automatic scraper
  • Navigation control method of underground automatic scraper

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Embodiment Construction

[0029] The navigation control method of the underground autonomous scraper of the present invention, its preferred specific implementation is as follows figure 1 shown, including steps:

[0030] A. Taking the pre-planned trajectory of the scraper as the target path of the scraper, taking the actual trajectory of the location reference point P of the scraper as the tracking trajectory of the scraper, and the arc length of the curve along the target path the s m (k) Storage path curvature K m (k) series of values ​​and starting point heading angle Wherein, k is the number of sampling times, k=1, 2, 3, ..., using the sampling period T as the measurement and control interval;

[0031] Taking the heading angle on the target path Heading angle with the tracked trajectory The difference is defined as the heading angle deviation Use the positioning reference point P of the scraper and the point P projected on the target path by this point m The distance is defined as the la...

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Abstract

The invention discloses a navigation control method of an underground automatic scraper. The method comprises the following steps: firstly planning a target path; when a vehicle tracks the target path; according to the known initial deviation, forming a comprehensive feedback used as the input of a navigation controller, wherein the comprehensive feedback comprises the transversal position deviation, the course angle deviation and the course angle variation rate deviation; by combining the PID correction control, calculating the steering control command of the vehicle and inputting to an electro-hydraulic steering control system of the vehicle to change the steering angle of the vehicle; and accurately predicting the model by using the vehicle orbit formed in the navigation controller, and accurately calculating the deviation value between the track orbit and the target path of the vehicle; and then calculating new steering control commands by taking the deviation values as the feedback. By repeating the steps again and again, the vehicle can continuously track the target path, thereby realizing the automatic navigation of the underground scraper.

Description

technical field [0001] The invention relates to a navigation control technology, in particular to a navigation control method of an underground autonomous scraper. Background technique [0002] As the depth of underground mining increases, the mining conditions are getting worse and worse, and the threat to human safety is also increasing. Remote mining and automated mining technologies have emerged as the times require. The scraper is the key equipment for underground trackless mining. It realizes unmanned operation and autonomous driving of the scraper in the underground roadway, which can keep the operators away from the harsh and dangerous working environment underground, protect the safety of the scraper driver and improve mining operations. efficiency and reduce mining costs. The autonomous driving of the scraper must first solve the problem of positioning and navigation in the roadway. Although there are many researches on the positioning and navigation of ground ve...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/06
Inventor 石峰顾洪枢战凯冯孝华郭鑫周俊武李建国刘立冯茂林陈树新迟洪鹏
Owner BGRIMM MACHINERY & AUTOMATION TECH CO LTD
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