Underground unmanned trackless rubber-tyred vehicle with infrared top tracking and its driving control method

Abstract

The invention discloses an underground unmanned trackless rubber-tyred vehicle with infrared top tracking and its driving control method, including a sensing system, a control system, an execution system and a vehicle body, multiple sets of sensors in the sensing system and PLC electronics in the control system. Connection, the PLC is electrically connected to the vehicle controller VCU, and the VCU controls the electrical connection and control of the electric motor, steering motor and hydraulic oil pump in the vehicle's internal executive system through the drive circuit. The present invention installs a radar laser sensor on the front of the car, an infrared sensor on the roof, an ultrasonic sensor on both sides of the vehicle body and the rear of the vehicle, and a speed sensor on the rear driving wheel. By reasonably arranging the positions of these sensors on the vehicle body, the signal Feedback obtains the surrounding environment information, and then executes the appropriate driving mode according to the formulated driving control strategy. The vehicle unmanned driving system is safe and efficient, can effectively reduce the labor intensity of underground workers, and improve the efficiency and safety of underground auxiliary transportation systems.

Description

Technical field [0001] The present invention relates to a well-trail-free rubber wheel and a driving control method thereof, which belongs to a driving control method under a coal mine well. Background technique [0002] In recent years, with the rapid development of 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 is mainly focused on mining equipment intelligent and digital mines, and the overall mine auxiliary transportation system is still in semi-automated, semi-mechanized and artificial auxiliary transportation. The efficiency and safety have been great. Limit the production of mines. Therefore, the mine-assisted transportation system is an inevitable trend to intelligent and even unmanned development. [0003] Mine-free rubber wheels are an important form of a mine auxiliary transportation system that can be divided into two dri...

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

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