Underground unmanned trackless rubber wheel vehicle having infrared top tracking function, and driving control method of underground unmanned trackless rubber wheel vehicle

Abstract

The invention discloses an underground unmanned trackless rubber wheel vehicle having the infrared top tracking function, and a driving control method of the underground unmanned trackless rubber wheel vehicle. The underground unmanned trackless rubber wheel vehicle comprises a sensing system, a control system, an execution system and a vehicle body. A plurality of groups of sensors in the sensingsystem are electrically connected with a PLC in the control system. The PLC is electrically connected with a vehicle controller (VCU). The VCU is electrically connected with an electric motor, a steering motor and a hydraulic oil pump in the internal execution system of the vehicle through a driving circuit so as to control the electric motor, the steering motor and the hydraulic oil pump. According to the invention, a radar laser sensor is installed on the head of the vehicle body, and an infrared sensor is installed on the top of the vehicle body. Ultrasonic sensors are installed on the twosides and the tail of the vehicle body. A speed sensor is installed on the rear driving wheel of the vehicle body. Through reasonably arranging the positions of the above sensors on the vehicle body,the information of the surrounding environment is acquired by means of the signal feedback. After that, a proper driving mode is executed according to a formulated driving control strategy. The wholevehicle unmanned driving system is safe and efficient, and the labor intensity of underground workers can be effectively relieved. The efficiency and the safety of the underground auxiliary transportation system are improved.

Description

technical field [0001] The invention relates to an underground unmanned trackless rubber-tyred vehicle with infrared top tracking and a driving control method thereof, belonging to the technical field of underground auxiliary transportation in coal mines. Background technique [0002] In recent years, with the rapid development of intelligence in all walks of life, the coal industry is also moving towards intelligent equipment and manufacturing and intelligent mines. However, at present, the intelligent construction of domestic coal mines mainly focuses on the intelligentization of mining equipment and digital mines. The overall mine auxiliary transportation system is still in the backward status of semi-automated, semi-mechanized and manual-assisted transportation, and its efficiency and safety have been greatly improved. Restricted mine production. Therefore, it is an inevitable trend in the future that mine auxiliary transportation systems will develop towards intelligen...

AI Technical Summary

Problems solved by technology

For example, the patent application number is 201611067840.5, and the title is "Unmanned driving system and method for underground mine locomotive based on high-precision positioning and navigation terminal". The vehicle is driven by a human. This invention obtains the position of the underground vehicle by taking the average of the results of the two positioning modules, but the GPS signal is extremely unstable in the mine, and the radio frequency positioning technology it uses has poor anti-interference ability, resulting in relatively large positioning errors

The patent application number is 201510342268.8, and the title is "A Driving Positioning System and Method for an Underground Unmanned Scraper". It discloses an underground unmanned vehicle that uses the deviation of the heading angle and the speed of the vehicle transmission shaft for positioning, but The invention has a single way of avoiding obstacles in the mine, and the deviation of positioning by using the deviation of the heading angle is too large, so it can only be applied to roadways with simple driving routes and few curves

Images