CN107346134B - Unmanned control method and device for underground mining articulated vehicle - Google Patents
Unmanned control method and device for underground mining articulated vehicle Download PDFInfo
- Publication number
- CN107346134B CN107346134B CN201710757053.1A CN201710757053A CN107346134B CN 107346134 B CN107346134 B CN 107346134B CN 201710757053 A CN201710757053 A CN 201710757053A CN 107346134 B CN107346134 B CN 107346134B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- memory storage
- path memory
- difference value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000005065 mining Methods 0.000 title claims abstract description 19
- 230000005055 memory storage Effects 0.000 claims abstract description 38
- 238000005070 sampling Methods 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 6
- 238000002372 labelling Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Artificial Intelligence (AREA)
- Medical Informatics (AREA)
- Game Theory and Decision Science (AREA)
- Evolutionary Computation (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned control method for an articulated vehicle for underground mining, which comprises the steps of firstly manually simulating driving once by an experienced driver in a roadway, recording corresponding information and storing the information into a path memory storage module; taking the difference value of the course angles in two adjacent sampling periods as a judgment criterion, and judging whether the vehicle runs in a steering mode or a straight line mode; dividing an unmanned driving route of a vehicle which is fixedly reciprocated into a plurality of area sections by taking a straight line and a turning direction as boundary lines; marking each divided region segment from the starting point; when the vehicle is controlled to be unmanned, starting from a starting point, the control processing module controls the vehicle to run according to corresponding speed and steering according to the speed information, the attitude information and the position information stored in the path memory storage module. The method can conveniently realize the unmanned control of the articulated vehicle, and the working device related to the control process has simple structure and stable and reliable working process.
Description
Technical Field
The invention relates to the technical field of underground mining articulated vehicles, in particular to an unmanned control method and device for underground mining articulated vehicles.
Background
At present, the mining of mineral resources is gradually shifted to underground and extends to the deep part, the underground working environment is worse and worse along with the continuous increase of the depth, meanwhile, the underground mining transport equipment also has uncertain roof fall and other dangerous factors, certain safety risk is inevitably brought to personnel working in the mining transport equipment, and the underground mining transport equipment is taken as important equipment in the underground trackless mining process, namely, the unmanned technology research of underground mining articulated vehicles becomes a trend.
In underground practical application, due to the fact that roadway environments are bent and narrow, vehicles are mainly hinged in a front-back mode in consideration of maneuvering performance, the main driving environment of the hinged vehicles is the underground roadway environment, reciprocating motion is carried out between a special loading point and a special unloading point, the driving area and the route are relatively fixed, and therefore repetitive work is achieved for unmanned driving, and a control solution for the unmanned driving is absent in the prior art.
Disclosure of Invention
The invention aims to provide an unmanned control method and device for an articulated vehicle for underground mines.
A method of unmanned control of an articulated vehicle for an underground mine, the method comprising:
step 2, analyzing the data of the path memory storage module, and judging whether the vehicle is in steering driving or straight driving by taking the difference value of course angles in two adjacent sampling periods as a judgment criterion;
step 4, from the starting point, labeling each divided region segment, and respectively corresponding the speed information, the attitude information and the position information stored in the path memory storage module according to each region segment;
and 6, controlling the vehicle to autonomously run in each zone according to the corresponding parameters in the path memory storage module by analogy until the whole unmanned driving process is completed at the end point.
The specific process of the step 2 is as follows:
taking the difference value of the course angles in two adjacent sampling periods as a judgment criterion, and presetting a threshold value of the difference value;
if the difference value of the two consecutive sampling periods exceeds the threshold value, judging that the vehicle is in steering operation, and confirming that the vehicle turns left and right through the positive and negative of the difference value;
and if the difference value of two continuous sampling periods does not exceed the threshold value, judging that the vehicle runs in a straight line.
In the step 5, the process of controlling the vehicle to run by the control processing module is specifically as follows:
firstly, obtaining the position information of a vehicle by using a positioning module;
comparing the obtained position information with the position information stored in the path memory storage module, and controlling the vehicle to run according to the corresponding speed and steering stored in the path memory storage module if the difference value of the two is within a set allowable range;
if the difference value of the two positioning data is not in the set allowable range, continuously searching the adjacent positioning data in the path memory storage module until the difference value of the two positioning data is in the set allowable range;
and if the positioning data information in each area section is traversed, the difference value of the positioning data information and the positioning data information is still found not to be in the set allowable range, and the unmanned driving is ended.
An articulated vehicle unmanned control device for underground mining, the device comprises a positioning module, a vehicle information detection module, a speed module, a path memory storage module and a control processing module, wherein:
the positioning module is arranged in an underground roadway and used for detecting the position information of the articulated vehicle in real time;
the vehicle information detection module is used for acquiring key attitude parameters of a vehicle body in real time in the vehicle driving process;
the speed module is used for detecting the real-time running speed of the vehicle;
the path memory storage module is used for storing data and position data information of various sensors in the running process of the vehicle and storing the data and the position data information according to certain combination arrangement;
and the control processing module is used for controlling the vehicle to run according to corresponding speed and steering according to the speed information, the attitude information and the position information stored in the path memory storage module.
The position information is position coordinates of the vehicle relative to a starting point in a roadway and is divided into transverse position coordinates and longitudinal position coordinates.
The key attitude parameters comprise articulation angles before and after the articulated vehicle and a vehicle body course angle.
According to the technical scheme provided by the invention, the unmanned control of the articulated vehicle can be conveniently realized by using the method, and the working device related to the control process has a simple structure and is stable and reliable in working process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an unmanned control method for an articulated vehicle for underground mining provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention will be further described in detail with reference to the accompanying drawings, and fig. 1 is a schematic flow chart of an unmanned control method of an articulated vehicle for underground mining provided by the embodiment of the invention, wherein the method comprises the following steps:
in the step, in the process of manual driving, the driving process ensures that the control of speed and steering is in a better state, namely the working efficiency of the vehicle is in a higher state.
Step 2, analyzing the data of the path memory storage module, and judging whether the vehicle is in steering driving or straight driving by taking the difference value of course angles in two adjacent sampling periods as a judgment criterion;
in the step, the specific process is as follows:
taking the difference value of the course angles in two adjacent sampling periods as a judgment criterion, and presetting a threshold value of the difference value;
if the difference value of the two consecutive sampling periods exceeds the threshold value, judging that the vehicle is in steering operation, and confirming that the vehicle turns left and right through the positive and negative of the difference value;
and if the difference value of two continuous sampling periods does not exceed the threshold value, judging that the vehicle runs in a straight line.
step 4, starting from the starting point, labeling each divided region segment (for example, labeled as 1 …, n), and respectively corresponding the speed information, the attitude information and the position information stored in the path memory storage module according to each region segment;
in this step, the process of controlling the vehicle to run by the control processing module is specifically as follows:
firstly, obtaining the position information of a vehicle by using a positioning module;
comparing the obtained position information with the position information stored in the path memory storage module, and controlling the vehicle to run according to the corresponding speed and steering stored in the path memory storage module if the difference value of the two is within a set allowable range;
if the difference value of the two positioning data is not in the set allowable range, continuously searching the adjacent positioning data in the path memory storage module until the difference value of the two positioning data is in the set allowable range;
and if the positioning data information in each area section is traversed, the difference value of the positioning data information and the positioning data information is still found not to be in the set allowable range, and the unmanned driving is ended.
And 6, controlling the vehicle to autonomously run in each zone according to the corresponding parameters in the path memory storage module by analogy until the whole unmanned driving process is completed at the end point.
Based on the above method, an embodiment of the present invention further provides an unmanned control device for an articulated vehicle for underground mining, and as shown in fig. 2, the device provided by the embodiment of the present invention includes a positioning module, a vehicle information detection module, a speed module, a path memory storage module, and a control processing module, where:
the positioning module is arranged in an underground roadway and used for detecting the position information of the articulated vehicle in real time;
the vehicle information detection module is used for acquiring key attitude parameters of a vehicle body in real time in the vehicle driving process;
the speed module is used for detecting the real-time running speed of the vehicle; the method is mainly obtained by calculating through an odometer arranged on a transmission shaft;
the path memory storage module is used for storing data and position data information of various sensors in the running process of the vehicle and storing the data and the position data information according to certain combination arrangement; in specific implementation, the path segmentation can be realized by combining data of adjacent sampling periods;
and the control processing module is used for controlling the vehicle to run according to corresponding speed and steering according to the speed information, the attitude information and the position information stored in the path memory storage module.
In a specific implementation, the position information is position coordinates of the vehicle in the roadway relative to a starting point, and the position coordinates are divided into transverse position coordinates and longitudinal position coordinates.
The key attitude parameters include the articulation angle of the articulated vehicle (with the articulation sensor mounted at the articulation point) in front of and behind it, and the vehicle body heading angle (calculated directly from the gyroscope or by other means of back-stepping).
In summary, according to the method and the device provided by the embodiment of the invention, the unmanned control of the articulated vehicle can be conveniently realized, and the device has a simple structure and a stable and reliable working process.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. An articulated vehicle driverless control method for an underground mine, the method comprising:
step 1, firstly, an experienced driver drives manually between a shoveling point and a loading and unloading point in a roadway once, and in the process of manual driving, speed information, attitude information and position information in the process of manual driving are respectively recorded in a certain sampling period and stored in a path memory storage module;
step 2, analyzing the data of the path memory storage module, and judging whether the vehicle is in steering driving or straight driving by taking the difference value of course angles in two adjacent sampling periods as a judgment criterion;
step 3, dividing the unmanned driving route of the vehicle which is fixedly reciprocated into a plurality of area sections by taking the straight line and the steering as boundary lines;
step 4, from the starting point, labeling each divided region segment, and respectively corresponding the speed information, the attitude information and the position information stored in the path memory storage module according to each region segment;
step 5, when the vehicle is controlled to carry out unmanned driving, starting from a starting point, the control processing module controls the vehicle to run according to corresponding speed and steering according to the speed information, the attitude information and the position information stored in the path memory storage module; the process of controlling the vehicle to run by the control processing module specifically comprises the following steps:
firstly, obtaining the position information of a vehicle by using a positioning module; comparing the obtained position information with the position information stored in the path memory storage module, and controlling the vehicle to run according to the corresponding speed and steering stored in the path memory storage module if the difference value of the two is within a set allowable range; if the difference value of the two positioning data is not in the set allowable range, continuously searching the adjacent positioning data in the path memory storage module until the difference value of the two positioning data is in the set allowable range; if the positioning data information in each area section is traversed, the difference value of the positioning data information and the positioning data information is still found not to be within the set allowable range, and the unmanned driving is ended;
and 6, controlling the vehicle to autonomously run in each zone according to the corresponding parameters in the path memory storage module by analogy until the whole unmanned driving process is completed at the end point.
2. The unmanned control method for the underground mining articulated vehicle according to claim 1, wherein the specific process of the step 2 is as follows:
taking the difference value of the course angles in two adjacent sampling periods as a judgment criterion, and presetting a threshold value of the difference value;
if the difference value of the two consecutive sampling periods exceeds the threshold value, judging that the vehicle is in steering operation, and confirming that the vehicle turns left and right through the positive and negative of the difference value;
and if the difference value of two continuous sampling periods does not exceed the threshold value, judging that the vehicle runs in a straight line.
3. An articulated vehicle unmanned control device for underground mining, which is characterized by comprising a positioning module, a vehicle information detection module, a speed module, a path memory storage module and a control processing module, wherein:
the positioning module is arranged in an underground roadway and used for detecting the position information of the articulated vehicle in real time;
the vehicle information detection module is used for acquiring key attitude parameters of a vehicle body in real time in the vehicle driving process;
the speed module is used for detecting the real-time running speed of the vehicle;
the path memory storage module is used for storing data and position data information of various sensors in the running process of the vehicle and storing the data and the position data information according to certain combination arrangement;
the control processing module is used for controlling the vehicle to run according to corresponding speed and steering according to the speed information, the attitude information and the position information stored in the path memory storage module, and the specific process is as follows: firstly, obtaining the position information of a vehicle by using a positioning module; comparing the obtained position information with the position information stored in the path memory storage module, and controlling the vehicle to run according to the corresponding speed and steering stored in the path memory storage module if the difference value of the two is within a set allowable range; if the difference value of the two positioning data is not in the set allowable range, continuously searching the adjacent positioning data in the path memory storage module until the difference value of the two positioning data is in the set allowable range; and if the positioning data information in each area section is traversed, the difference value of the positioning data information and the positioning data information is still found not to be in the set allowable range, and the unmanned driving is ended.
4. The unmanned ground mining articulated vehicle control unit of claim 3,
the position information is position coordinates of the vehicle relative to a starting point in a roadway and is divided into transverse position coordinates and longitudinal position coordinates.
5. The unmanned ground mining articulated vehicle control unit of claim 3,
the key attitude parameters comprise articulation angles before and after the articulated vehicle and a vehicle body course angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757053.1A CN107346134B (en) | 2017-08-29 | 2017-08-29 | Unmanned control method and device for underground mining articulated vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710757053.1A CN107346134B (en) | 2017-08-29 | 2017-08-29 | Unmanned control method and device for underground mining articulated vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107346134A CN107346134A (en) | 2017-11-14 |
| CN107346134B true CN107346134B (en) | 2020-05-12 |
Family
ID=60258270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710757053.1A Active CN107346134B (en) | 2017-08-29 | 2017-08-29 | Unmanned control method and device for underground mining articulated vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107346134B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109164412A (en) * | 2018-07-06 | 2019-01-08 | 北京矿冶科技集团有限公司 | A kind of assisted location method based on beacon identification |
| CN109032140A (en) * | 2018-07-27 | 2018-12-18 | 江苏盛海智能科技有限公司 | A kind of unmanned vehicle tracking drive manner and terminal |
| CN109445430A (en) * | 2018-10-19 | 2019-03-08 | 安徽信息工程学院 | A kind of automated guided vehicle |
| CN109615855A (en) * | 2018-12-10 | 2019-04-12 | 北京新能源汽车股份有限公司 | A kind of recognition methods, storage medium and car-mounted terminal changing driving behavior |
| CN110687909A (en) * | 2019-10-09 | 2020-01-14 | 中山安信通机器人制造有限公司 | Task type hotel robot automatic patrol monitoring method |
| CN111137325B (en) * | 2019-12-30 | 2022-04-29 | 北京易控智驾科技有限公司 | Calibration device and method for loading position of unmanned system in mining area |
| CN111379206A (en) * | 2020-03-19 | 2020-07-07 | 三一汽车制造有限公司 | Road roller control method and road roller control system |
| CN113671962B (en) * | 2021-08-20 | 2023-11-21 | 湘潭大学 | Transverse control method of unmanned articulated sweeper |
| CN113619605B (en) * | 2021-09-02 | 2022-10-11 | 盟识(上海)科技有限公司 | Automatic driving method and system for underground mining articulated vehicle |
| CN114115260A (en) * | 2021-11-22 | 2022-03-01 | 河北优控新能源科技有限公司 | Vehicle model building and path tracking control method of automatic driving articulated vehicle |
| CN116012972A (en) * | 2022-12-15 | 2023-04-25 | 悦享雄安科技有限公司 | Vehicle track processing method and vehicle track processing device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7463972B2 (en) * | 2003-09-26 | 2008-12-09 | Aisin Aw Co., Ltd. | Navigation apparatus and method |
| CN101713999B (en) * | 2009-11-18 | 2011-09-07 | 北京矿冶研究总院 | Navigation control method of underground autonomous scraper |
| DK2703925T3 (en) * | 2011-04-28 | 2021-05-10 | Positec Power Tools Suzhou Co Ltd | AUTOMATIC WORK SYSTEM, AUTOMATIC WALKING DEVICE AND CONTROL METHOD THEREOF |
| CN104070516A (en) * | 2013-03-25 | 2014-10-01 | 华北电力大学（保定） | Transformer substation inspection method and transformer substation inspection robot |
| US9915546B2 (en) * | 2013-05-17 | 2018-03-13 | Telenav, Inc. | Navigation system with route correction mechanism and method of operation thereof |
| CN106200642B (en) * | 2016-08-05 | 2018-12-11 | 上海电力学院 | A kind of realizing route automatic Memory and the two-wheeled balance car of reproduction independently go on patrol method |
| CN106200648B (en) * | 2016-09-13 | 2023-07-18 | 天津科技大学 | Intelligent freight car with path memory function |
| CN107037818A (en) * | 2017-06-22 | 2017-08-11 | 奇瑞汽车股份有限公司 | A kind of path following method of pilotless automobile |
-
2017
- 2017-08-29 CN CN201710757053.1A patent/CN107346134B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107346134A (en) | 2017-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107346134B (en) | Unmanned control method and device for underground mining articulated vehicle | |
| CN106864454B (en) | Method and device for assisting a maneuvering process of a motor vehicle | |
| US7392151B2 (en) | Initializing position and direction of mining vehicle | |
| EP3782000B1 (en) | A method for controlling a string of vehicles | |
| US9594376B2 (en) | Method and system for driving a mining and/or construction machine in a safe manner without the risk of collision | |
| CN111797780B (en) | Vehicle following track planning method, device, server and storage medium | |
| CN103217978A (en) | Control method for implementing coordinated operation of multiple vehicle groups of hydraulic heavy duty truck | |
| CN108196552A (en) | A kind of GPS vision navigation systems of intelligent carriage | |
| US20060069471A1 (en) | Method for automatically guiding a mining machine | |
| CN111538331A (en) | Reaction type navigation method of underground unmanned articulated vehicle | |
| CN111634331B (en) | Steering control method, device and system for automatic driving vehicle | |
| CN110562251A (en) | automatic driving method and device | |
| CN113727899A (en) | Method for at least partially automatically guiding a motor vehicle | |
| CN106272434B (en) | One-key return control method and system for inspection robot | |
| Azizi et al. | Autonomous control and navigation of a lab-scale underground mining haul truck using LiDAR sensor and triangulation-feasibility study | |
| CN104272209A (en) | Method and system for manoeuvring a mobile mining machine in a tunnel and a mobile mining machine | |
| CN114482183A (en) | Control method of excavating machinery and excavating machinery | |
| US10232851B2 (en) | Travel track creation device, method, and program, and driving assistance device and system | |
| US10597080B2 (en) | Method and device for operating a motor vehicle traveling driverlessly within a parking facility | |
| CN112519783B (en) | Method and system for generating bottom-up smooth track of intelligent driving | |
| CN101701821A (en) | Underground navigation device with positioning function and scraper | |
| CN115214775B (en) | Steering wheel neutral position adjusting method, device, equipment and medium | |
| CN103223960B (en) | Straight travelling coordination and steering control method for roadway trackless type hydraulic truck | |
| JP2017194764A (en) | Automatic traveling method, and automatic traveling transport vehicle and automatic traveling system utilizing the same | |
| CN112612276B (en) | Steering wheel control system, method and device, computer equipment and AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |