CN111572559B - Interaction method for intelligent follow-up shovel of unmanned mine card in loading area - Google Patents
Interaction method for intelligent follow-up shovel of unmanned mine card in loading area Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W4/02—Services making use of location information
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- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/12—Trucks; Load vehicles
- B60W2300/125—Heavy duty trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention provides an interaction method of intelligent following shovel in a loading area based on an unmanned mine card by combining the advantages of unmanned technology and the requirement of cooperative operation of a mine car and a shovel.
Description
Technical Field
The invention belongs to the technical field of unmanned driving of mining transport vehicles, and particularly relates to an intelligent shovel following interaction method for an unmanned mine card in a loading area.
Background
Mineral aggregate loading is one of important links in the production operation flow of a mining area, a forklift is required to control a shovel arm to excavate and load the mineral aggregate into a mine car box groove on the basis of safe positioning of the mine car and the forklift, the mine car is used for safely transporting the mineral aggregate out of a destination, and the whole loading process depends on close cooperative matching of the mine car and the forklift. Most of the prior mine car and forklift cooperative schemes are manual scheduling and control, the loading efficiency is low, the safety coefficient is small, and the economic development of the current mine production and operation is severely restricted.
With the advance and continuous breakthrough of high and new technologies such as big data, sensors, 5G communication, artificial intelligence and the like, the unmanned technology is gradually mature, and the autonomous, controllable, high-efficiency and high-guarantee superiority characteristics of the unmanned technology are matched with the construction targets of 'digital type, benefit type, environment-friendly type, learning type, innovation type and safety type' of mines. The unmanned technology integrates a V2X communication technology, a vehicle-mounted sensing technology, a decision planning technology and an intelligent control technology, can realize autonomous control of the mine car and automatic loading cooperative cooperation with a forklift, and guarantees the orderliness, high efficiency and safety of a loading process.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an intelligent shovel following interaction method based on an unmanned mine card in a loading area by combining the advantages of the unmanned technology and the requirement of cooperative operation of a mine car and a shovel, so as to improve the loading efficiency of mineral aggregates in the mining area, and the specific technical scheme of the invention is as follows:
an interaction method based on an intelligent following shovel of an unmanned mine card in a loading area is characterized in that a first vehicle-mounted terminal, a vehicle sensing module, a vehicle control module and a first vehicle positioning module are installed on the unmanned mine card, a second vehicle-mounted terminal, a mine car parking angle command module and a second vehicle positioning module are installed on a forklift, wherein,
the first vehicle-mounted terminal is used for communicating with a forklift and controlling the unmanned mine card to autonomously complete cooperative loading operation with the forklift; the vehicle sensing module comprises a camera and a millimeter wave radar and is used for sensing surrounding environment information in real time in the running process of the vehicle; the vehicle control module is used for receiving a vehicle-mounted terminal control instruction and controlling the unmanned mine card to autonomously run; the first vehicle positioning module is a GPS antenna installed on the unmanned mine card, is connected with the input end of the first vehicle-mounted terminal and is used for positioning the unmanned mine card;
the second vehicle-mounted terminal is used for communicating with the unmanned mine card; the mine car parking angle command module is used for determining a parking angle of the unmanned mine card relative to a forklift shovel arm and sending the parking angle to the first vehicle-mounted terminal; the second vehicle positioning module is a GPS antenna installed on the forklift shovel arm, is connected with the input end of the second vehicle-mounted terminal, and is used for determining the course angle of the forklift shovel arm;
the interaction method of the intelligent shovel comprises the following steps:
s1: the unmanned mine card arrives at an entrance of a loading area and is queued to enter the loading area;
s2: a first unmanned mine card at the entrance of the loading area sends inquiry information of whether the loading area is allowed to enter or not to a second vehicle-mounted terminal in the loading area;
s3: the second vehicle-mounted terminal receives the inquiry information, the driver controls the forklift to run to the position for excavating the mineral aggregate to control the shovel arm to excavate the mineral aggregate, and the shovel arm heading information psi of the second vehicle positioning module is receivedc；
S4: according to the terrain of a loading area, a forklift driver clicks a mine car parking angle option on a second vehicle-mounted terminal screen to determine the most suitable mine car driving-in angle theta relative to the forklift, and the mine car parking angle option is set by a mine car parking angle commanding module, and the method comprises the following steps:
s4-1: taking a forklift arm as a datum line, wherein the datum line is 0 degree, the maximum angle in the anticlockwise direction is +90 degrees, and the minimum angle in the clockwise direction is-90 degrees;
s4-2: dividing the range of 0 to +90 into n equal parts, wherein the included degree value of 0 to +90 degrees is 0 degrees, 90 degrees/n, 2 to 90 degrees/n, 90 degrees and 90 degrees;
equally dividing the range of-90 to 0 by n, the degree values included in-90 to 0 are 0 °, -90 °/n, -2 x 90 °/n., -90 °;
s4-3: the n in the step S4-2 is determined by a basic angle adjusting module in the mine car parking angle commanding module, the default value of the n is 2, the basic angle adjusting module is provided with a plus sign button and a minus sign button, the plus sign button can increase the value of the n when being pressed, and the minus sign button can decrease the value of the n when being pressed;
s5: according to the heading information psi of the blade armcDetermining the docking course psi of the unmanned mine card according to the mine car driving-in angle thetakI.e. psik＝ψc-θ；
S6: the method for determining the parking position of the unmanned mine card comprises the following steps:
s6-1: determining the parking position of the center of the unmanned mine card box groove:
s6-1-1: controlling a bucket to dig up mineral materials by a forklift arm, and tilting the bucket to a height which is a safe distance away from the unmanned mine truck box groove;
s6-1-2: heading psi for rotating shovel arm to unmanned mine cardkAt the moment, the bucket is vertically projected to a coordinate position of a geodetic coordinate system, namely a parking position of the center of the unmanned mine truck box groove;
s6-2: the docking position of the unmanned mine card box slot center determined at step S6-1 and the docking heading ψ of the unmanned mine card determined at step S5kThe forklift is specified to face the front of the unmanned mine card back to the forklift;
s7: the second vehicle-mounted terminal makes the unmanned mine card stop at a course psikThe parking position of the center of the unmanned mine card box slot is sent to a first vehicle-mounted terminal of a first unmanned mine card at the entrance of the loading area;
s8: a first vehicle-mounted terminal of a first unmanned mine card at an entrance of a loading area plans an expected driving path under the constraints of terrain and road conditions of the current loading area by using a current position as a starting point and a received parking position as an end point through information processing;
s9: the vehicle sensing module of the unmanned mine card senses surrounding road conditions in real time, and the vehicle control module controls the vehicle body to run to a stopping position along an expected running path;
s10: the forklift driver clicks the plus and minus sign buttons on the basic angle adjusting module again to adjust the parking angle option of the mine car, selects the mine car driving-in angle theta to correct the parking course psi of the unmanned mine cardkThe parking position sends the correction result to the first vehicle-mounted terminal, so that the unmanned mine card controls the vehicle body according to the correction result until the expected result of a forklift driver is met;
s11: and after the unmanned mine card is fully loaded, the unmanned mine card is taken out of the loading area.
Furthermore, the communication mode of the unmanned mine card and the forklift is 5G or 4G.
The invention has the beneficial effects that:
1. the method of the invention realizes the automatic cooperation of the mine car and the forklift operation, and overcomes the defects of low efficiency and high error caused by manual participation in mine car scheduling and control;
2. according to the method, a forklift driver determines the parking angle of the mine car according to the loading habit of the forklift driver, and the automatic operation flow of the mine car is monitored, so that the unmanned mine card is more in line with the operation habit of human beings;
3. the invention is a product combining high and new technologies such as big data, sensors, 5G communication, artificial intelligence and the like, and fully responds to the current concept of mine intelligent development.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic diagram of a mining shovel-finding interaction system according to the present invention;
FIG. 3 is a mine car parking angle command module according to the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
As shown in fig. 1-2, an interactive method based on an intelligent follow-up shovel of an unmanned mine card in a loading area, the unmanned mine card is a combination of unmanned technology and a mine car, a first vehicle-mounted terminal, a vehicle sensing module, a vehicle control module and a first vehicle positioning module are installed on the unmanned mine card, a second vehicle-mounted terminal, a mine car parking angle commanding module and a second vehicle positioning module are installed on the mine car, wherein,
the first vehicle-mounted terminal is used for communicating with a forklift and controlling the unmanned mine card to autonomously complete cooperative loading operation with the forklift; the vehicle sensing module comprises a camera and a millimeter wave radar and is used for sensing the surrounding environment information in real time in the running process of the vehicle; the vehicle control module is used for receiving a vehicle-mounted terminal control instruction and controlling the unmanned mine card to autonomously run; the first vehicle positioning module is a GPS antenna installed on the unmanned mine card, is connected with the input end of the first vehicle-mounted terminal and is used for positioning the unmanned mine card;
the second vehicle-mounted terminal is used for communicating with the unmanned mine card; the mine car parking angle command module is used for determining a parking angle of the unmanned mine card relative to a forklift shovel arm and sending the parking angle to the first vehicle-mounted terminal; the second vehicle positioning module is a GPS antenna arranged on the forklift shovel arm, is connected with the input end of the second vehicle-mounted terminal and is used for determining the course angle of the forklift shovel arm;
the interaction method of the intelligent circulating shovel comprises the following steps:
s1: the unmanned mine card arrives at an entrance of a loading area and is queued to enter the loading area;
s2: a first unmanned mine card at the entrance of the loading area sends inquiry information of whether the loading area is allowed to enter or not to a second vehicle-mounted terminal in the loading area;
s3: the second vehicle-mounted terminal receives the inquiry information, the driver controls the forklift to run to the position for excavating the mineral aggregate to control the shovel arm to excavate the mineral aggregate, and the shovel arm heading information psi of the second vehicle positioning module is receivedc；
S4: according to the terrain of a loading area, a forklift driver clicks a mine car parking angle option on a second vehicle-mounted terminal screen to determine the most suitable mine car driving-in angle theta relative to the forklift, and the mine car parking angle option is set by a mine car parking angle commanding module, and the method comprises the following steps:
s4-1: taking a forklift arm as a datum line, wherein the datum line is 0 degree, the maximum angle in the anticlockwise direction is +90 degrees, and the minimum angle in the clockwise direction is-90 degrees;
s4-2: dividing the range of 0 to +90 into n equal parts, wherein the included degree value of 0 to +90 degrees is 0 degrees, 90 degrees/n, 2 to 90 degrees/n, 90 degrees and 90 degrees;
equally dividing the range of-90 to 0 by n, the degree values included in-90 to 0 are 0 °, -90 °/n, -2 x 90 °/n., -90 °;
s4-3: the n in the step S4-2 is determined by a basic angle adjusting module in the mine car parking angle commanding module, the default value of the n is 2, the basic angle adjusting module is provided with a plus sign button and a minus sign button, the plus sign button can increase the value of the n when being pressed, and the minus sign button can decrease the value of the n when being pressed;
s5: according to the heading information psi of the blade armcDetermining the docking course psi of the unmanned mine card according to the mine car driving-in angle thetakI.e. psik＝ψc-θ；
S6: the method for determining the parking position of the unmanned mine card comprises the following steps:
s6-1: determining the parking position of the center of the unmanned mine truck box slot (namely the central position of the rear carriage):
s6-1-1: the forklift shovel arm controls the bucket to dig up mineral aggregate, and the bucket is tilted to a height which is a safe distance (generally, a safe distance value is determined by a driver according to experience) from the unmanned mine truck box groove;
s6-1-2: heading psi for rotating shovel arm to unmanned mine cardkAt the moment, the bucket is vertically projected to a coordinate position of a geodetic coordinate system, namely a parking position of the center of the unmanned mine truck box groove;
s6-2: the docking position of the unmanned mine card box slot center determined at step S6-1 and the docking heading ψ of the unmanned mine card determined at step S5kThe forklift is specified to face the front of the unmanned mine card back to the forklift;
s7: the second vehicle-mounted terminal makes the unmanned mine card stop at a course psikThe parking position of the center of the unmanned mine card box slot is sent to a first vehicle-mounted terminal of a first unmanned mine card at the entrance of the loading area;
s8: a first vehicle-mounted terminal of a first unmanned mine card at an entrance of a loading area plans an expected driving path under the constraints of terrain and road conditions of the current loading area by using a current position as a starting point and a received parking position as an end point through information processing;
s9: the vehicle sensing module of the unmanned mine card senses surrounding road conditions in real time, and the vehicle control module controls the vehicle body to run to a stopping position along an expected running path;
s10: the forklift driver clicks the plus and minus sign buttons on the basic angle adjusting module again to adjust the parking angle option of the mine car, selects the mine car driving-in angle theta to correct the parking course psi of the unmanned mine cardkThe parking position sends the correction result to the first vehicle-mounted terminal, so that the unmanned mine card controls the vehicle body according to the correction result until the expected result of a forklift driver is met;
s11: and after the unmanned mine card is fully loaded, the unmanned mine card is taken out of the loading area.
The communication mode of the unmanned mine card and the forklift is 5G or 4G.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. An interaction method based on an intelligent following shovel of an unmanned mine card in a loading area is characterized in that a first vehicle-mounted terminal, a vehicle sensing module, a vehicle control module and a first vehicle positioning module are installed on the unmanned mine card, a second vehicle-mounted terminal, a mine car parking angle command module and a second vehicle positioning module are installed on a forklift, wherein,
the first vehicle-mounted terminal is used for communicating with a forklift and controlling the unmanned mine card to autonomously complete cooperative loading operation with the forklift; the vehicle sensing module comprises a camera and a millimeter wave radar and is used for sensing surrounding environment information in real time in the running process of the vehicle; the vehicle control module is used for receiving a vehicle-mounted terminal control instruction and controlling the unmanned mine card to autonomously run; the first vehicle positioning module is a GPS antenna installed on the unmanned mine card, is connected with the input end of the first vehicle-mounted terminal and is used for positioning the unmanned mine card;
the second vehicle-mounted terminal is used for communicating with the unmanned mine card; the mine car parking angle command module is used for determining a parking angle of the unmanned mine card relative to a forklift shovel arm and sending the parking angle to the first vehicle-mounted terminal; the second vehicle positioning module is a GPS antenna installed on the forklift shovel arm, is connected with the input end of the second vehicle-mounted terminal, and is used for determining the course angle of the forklift shovel arm;
the interaction method of the intelligent shovel comprises the following steps:
s1: the unmanned mine card arrives at an entrance of a loading area and is queued to enter the loading area;
s2: a first unmanned mine card at the entrance of the loading area sends inquiry information of whether the loading area is allowed to enter or not to a second vehicle-mounted terminal in the loading area;
s3: the second vehicle-mounted terminal receives the inquiry information, the driver controls the forklift to run to the position for excavating the mineral aggregate to control the shovel arm to excavate the mineral aggregate, and the shovel arm heading information psi of the second vehicle positioning module is receivedc；
S4: according to the terrain of a loading area, a forklift driver clicks a mine car parking angle option on a second vehicle-mounted terminal screen to determine the most suitable mine car driving-in angle theta relative to the forklift, and the mine car parking angle option is set by a mine car parking angle commanding module, and the method comprises the following steps:
s4-1: taking a forklift arm as a datum line, wherein the datum line is 0 degree, the maximum angle in the anticlockwise direction is +90 degrees, and the minimum angle in the clockwise direction is-90 degrees;
s4-2: dividing the range of 0 to +90 into n equal parts, wherein the included degree value of 0 to +90 degrees is 0 degrees, 90 degrees/n, 2 to 90 degrees/n, 90 degrees and 90 degrees;
equally dividing the range of-90 to 0 by n, the degree values included in-90 to 0 are 0 °, -90 °/n, -2 x 90 °/n., -90 °;
s4-3: the n in the step S4-2 is determined by a basic angle adjusting module in the mine car parking angle commanding module, the default value of the n is 2, the basic angle adjusting module is provided with a plus sign button and a minus sign button, the plus sign button can increase the value of the n when being pressed, and the minus sign button can decrease the value of the n when being pressed;
s5: according to the heading information psi of the blade armcAngle of approach of mine carDegree theta determines the docking heading psi of the unmanned mine cardkI.e. psik＝ψc-θ；
S6: the method for determining the parking position of the unmanned mine card comprises the following steps:
s6-1: determining the parking position of the center of the unmanned mine card box groove:
s6-1-1: controlling a bucket to dig up mineral materials by a forklift arm, and tilting the bucket to a height which is a safe distance away from the unmanned mine truck box groove;
s6-1-2: heading psi for rotating shovel arm to unmanned mine cardkAt the moment, the bucket is vertically projected to a coordinate position of a geodetic coordinate system, namely a parking position of the center of the unmanned mine truck box groove;
s6-2: the docking position of the unmanned mine card box slot center determined at step S6-1 and the docking heading ψ of the unmanned mine card determined at step S5kThe forklift is specified to face the front of the unmanned mine card back to the forklift;
s7: the second vehicle-mounted terminal makes the unmanned mine card stop at a course psikThe parking position of the center of the unmanned mine card box slot is sent to a first vehicle-mounted terminal of a first unmanned mine card at the entrance of the loading area;
s8: a first vehicle-mounted terminal of a first unmanned mine card at an entrance of a loading area plans an expected driving path under the constraints of terrain and road conditions of the current loading area by using a current position as a starting point and a received parking position as an end point through information processing;
s9: the vehicle sensing module of the unmanned mine card senses surrounding road conditions in real time, and the vehicle control module controls the vehicle body to run to a stopping position along an expected running path;
s10: the forklift driver clicks the plus and minus sign buttons on the basic angle adjusting module again to adjust the parking angle option of the mine car, selects the mine car driving-in angle theta to correct the parking course psi of the unmanned mine cardkThe parking position sends the correction result to the first vehicle-mounted terminal, so that the unmanned mine card controls the vehicle body according to the correction result until the expected result of a forklift driver is met;
s11: after the unmanned mine card is fully loaded, the unmanned mine card is taken out of a loading area;
the communication mode of the unmanned mine card and the forklift is 5G or 4G.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010294551.9A CN111572559B (en) | 2020-04-15 | 2020-04-15 | Interaction method for intelligent follow-up shovel of unmanned mine card in loading area |
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