Method and device for fast obtaining course angle of trackless vehicle in underground roadway environment

Abstract

The invention provides a method and a device for fast obtaining a course angle of a trackless vehicle in an underground roadway environment. The method comprises the steps that in a self coordinate system of the trackless vehicle, a plurality of corresponding distances between a coordinate origin and a plurality of points on the peripheral roadway wall in different angle directions are measured; the course angle of the trackless vehicle is calculated according to measurement results. The device comprises a distance detecting module and a course angle calculating module, wherein the distance detecting module is used for measuring the corresponding distances between the coordinate origin and the points on the peripheral roadway wall in different angle directions in the self coordinate system of the trackless vehicle, and the course angle calculating module is used for calculating the course angle of the trackless vehicle according to the measurement results. The method and the device can realize the self obtaining of the course angle of the trackless vehicle in the underground roadway environment, and are particularly applicable to unmanned autonomous running vehicles.

Description

technical field [0001] The invention relates to mining engineering, in particular to a method and device for quickly acquiring the heading angle of a trackless vehicle in an underground roadway environment. Background technique [0002] In recent years, with the massive consumption of mineral resources, the situation faced by the development of surface and shallow mineral resources has become increasingly severe. It is getting worse and worse, and at the same time, there are uncertain risk factors such as roof fall, which inevitably brings certain safety and risks to the personnel engaged in mining and transportation equipment. Vigorously developing unmanned trackless transport vehicles or remote control transport vehicles has already It will become the development trend of underground mining technology in the future, and related technologies based on remote control technology, because the transmission of underground data is easily disturbed, the reliability will decline. C...

AI Technical Summary

Problems solved by technology

In the existing downhole heading angle acquisition technology, the inertial unit relies on the sensitive three-axis steering acceleration rate of the vehicle system, converts the angular speed through time integration, and then integrates to obtain the turned angle. In practical applications, due to each integration Both use the value of the previous cycle, so there is a problem of error accumulation, and the error needs to be cleared

Others such as magnetic sensors are susceptible to magnetic interference in underground metal mines and cannot be used normally. Moreover, the acquisition process of the heading angle of the vehicle is relatively complicated and the processing speed is very slow.

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