CN112255644A - Unmanned laser navigation system for multi-wheel rubber-tyred vehicle and control method thereof - Google Patents
Unmanned laser navigation system for multi-wheel rubber-tyred vehicle and control method thereof Download PDFInfo
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- CN112255644A CN112255644A CN202011105796.9A CN202011105796A CN112255644A CN 112255644 A CN112255644 A CN 112255644A CN 202011105796 A CN202011105796 A CN 202011105796A CN 112255644 A CN112255644 A CN 112255644A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- 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
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an unmanned laser navigation system for a multi-wheel rubber-tyred vehicle and a control method thereof, wherein the unmanned laser navigation system comprises an automatic driving control part and a vehicle part, the automatic driving control part comprises an HMI (human machine interface) and a main controller, and the HMI is connected with the main controller; the vehicle part comprises a rubber-tyred vehicle, an air braking system, a hydraulic steering mechanism, an electronic steering wheel and a power driving mechanism, wherein the air braking system, the hydraulic steering mechanism, the electronic steering wheel and the power driving mechanism are arranged on the rubber-tyred vehicle; generally, the invention avoids the problem that the manual control rubber-tyred vehicle is easy to collide in the process of advancing.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, relates to a driving laser navigation system and a control method thereof, and particularly relates to an unmanned laser navigation system for a multi-wheel rubber-tyred vehicle and a control method thereof.
Background
In the tunnel construction process, the multi-wheel rubber-tyred vehicle runs inside the shield machine and is used for transporting construction materials such as concrete prefabricated blocks, steel and concrete tanks, the space inside the shield machine is narrow and small, metal struts of the shield machine are arranged on two sides of the shield machine, and the multi-wheel rubber-tyred vehicle is long in vehicle body, difficult to operate manually and required to have an automatic driving function.
Disclosure of Invention
The invention aims to provide an unmanned laser navigation system for a multi-wheel rubber-tyred vehicle and a control method thereof, which can effectively solve the problems in the background technology and have extremely high use value.
The purpose of the invention is realized as follows: the unmanned laser navigation system for the multi-wheel rubber-tyred vehicle comprises an automatic driving control part and a vehicle part, wherein the automatic driving control part is connected with the vehicle part through a CAN bus;
the automatic driving control part comprises an HMI (human machine interface) and a main controller, wherein the HMI is connected with the main controller;
the vehicle part comprises a rubber-tyred vehicle, an air braking system, a hydraulic steering mechanism, an electronic steering wheel and a power driving mechanism, wherein the air braking system, the hydraulic steering mechanism, the electronic steering wheel and the power driving mechanism are installed on the rubber-tyred vehicle, the electronic steering wheel is connected with the hydraulic steering mechanism, the electronic steering wheel, the air braking system and the power driving mechanism are respectively connected with a main controller through CAN buses, a forward ranging sensor, a lateral ranging sensor and a backward ranging sensor are respectively installed on the periphery of the rubber-tyred vehicle, the forward ranging sensor, the lateral ranging sensor and the backward ranging sensor are respectively connected with the main controller, a speed sensor is installed on the rubber-tyred vehicle and is connected with the main controller, a forward laser radar is installed at two corners of a head of the rubber-tyred vehicle, a backward laser radar is installed at two corners of a tail of, the forward laser radar and the backward laser radar are respectively connected to the main controller.
The forward ranging sensor, the lateral ranging sensor and the backward ranging sensor are arranged at equal intervals.
The main controller is a single chip microcomputer.
A display screen is arranged on a front control panel of a cab of the rubber-tyred vehicle and connected to a main controller.
The HMI human-computer interface is installed on a front control panel of a rubber-tyred vehicle cab, a 'main power supply' button, a 'cab selection' button, a 'steering centering' button, a 'parking brake' button and a 'driving mode' button are arranged on the front control panel, and the 'main power supply' button, the 'cab selection' button, the 'steering centering' button, the 'parking brake' button and the 'driving mode' button are all connected to a main controller through a CAN bus.
After the driving mode button is pressed down, a starting icon, a stopping icon and an automatic reversing icon are displayed on the HMI man-machine interface, the starting icon is pressed down, and the rubber-tyred vehicle enters an automatic driving mode; after unloading is finished, triggering automatic reversing, and starting reversing the rubber-tyred vehicle; and pressing the stop icon to make the rubber-tyred vehicle exit the automatic driving mode.
A control method for a multi-wheel rubber-tyred vehicle unmanned laser navigation system comprises the following steps:
firstly, when a head of a rubber-tyred vehicle enters an inlet of a shield machine, a driver presses a 'driving mode' button, a 'start' icon, a 'stop' icon and a vehicle 3D model are displayed on an HMI human-computer interface, the 'start' icon is pressed, and the rubber-tyred vehicle enters an automatic driving mode;
secondly, when an automatic driving mode is triggered, the multi-wheel rubber-tyred vehicle unmanned laser navigation system takes over the rubber-tyred vehicle to operate, the forward ranging sensors, the lateral ranging sensors and the backward ranging sensors around the rubber-tyred vehicle detect the distance between the periphery of the rubber-tyred vehicle and the vertical column of the shield tunneling machine in real time, the relative position and the accurate distance of the inner side wall of the shield tunneling machine are obtained, coordinate points are established according to the obtained position of the rubber-tyred vehicle relative to the periphery, and the coordinate points are displayed on a display screen in real;
thirdly, the rubber-tyred vehicle is kept to run in the middle of the shield tunneling machine in the running process, namely, the distances between the two sides of the vehicle body and the inner side walls of the corresponding shield tunneling machine are kept to be equal, the main controller calculates whether the running track of the rubber-tyred vehicle deviates in real time and controls a steering mechanism of the rubber-tyred vehicle to adjust a steering angle in real time, and the vehicle is kept to run safely and stably;
fourthly, the distance between the vehicle head and the working surface is measured by the forward distance sensor, and when the set distance value is reached, the main controller controls the brake mechanism to stop stably;
and fifthly, after unloading is finished, triggering automatic reversing, returning the system to the entrance of the tunnel along the original track, pressing a stop icon on the HMI human-computer interface after the vehicle completely exits the shield machine, exiting the automatic driving mode of the rubber-tyred vehicle, and controlling the rubber-tyred vehicle by a driver.
The rubber-tyred vehicle moves at a constant speed in the shield tunneling machine, and the speed of the rubber-tyred vehicle is set to be 3-5 km/h.
The invention has the following beneficial effects: firstly, the front part of the vehicle body is provided with a forward ranging sensor, the tail part of the vehicle body is provided with a backward ranging sensor, and the two sides of the vehicle body are provided with lateral ranging sensors, so that the distance between the vehicle body of the rubber-tyred vehicle and the wall of the shield tunneling machine and the distance between the rubber-tyred vehicle and a strut of the shield tunneling machine in the advancing process can be measured, and the distance between the vehicle and the front working surface and the distance between the vehicle and the two sides of the shield tunneling machine are measured according to the ranging sensors, and the data are transmitted to a main; when the rubber-tyred vehicle normally runs in the shield machine, the vehicle is guaranteed to run along the middle of the shield machine so as to prevent the rubber-tyred vehicle and goods on the upper part of the rubber-tyred vehicle from colliding with the shield machine, therefore, the distance values measured by the lateral distance measuring sensors on two sides of the vehicle body are guaranteed to be equal in the running process, and if a distance difference value occurs, the main controller controls the steering mechanism to make corresponding steering operation so that the vehicle runs along the middle of the shield machine again. Secondly, the front laser radar is installed at the two corners of the head of the rubber-tyred vehicle, the rear laser radar is installed at the two corners of the tail of the vehicle, the front laser radar transmits laser pulses forward, the rear laser radar transmits laser pulses backward, the propagation direction of the laser pulses is parallel to the advancing direction of the vehicle body, when the front laser radar or the rear laser radar irradiates the support column of the shield tunneling machine, the vehicle body of the rubber-tyred vehicle is indicated to be deviated, and the main controller adjusts the vehicle body according to the deviation information. And thirdly, when the multi-wheel rubber-tyred vehicle approaches the inlet of the shield machine, the driving mode of the rubber-tyred vehicle is changed from manual operation to an automatic driving control mode, so that the automatic driving control system controls the rubber-tyred vehicle to run to the designated position of the working face and stop, and the rubber-tyred vehicle is driven out of the inner space of the shield machine after unloading is finished, thereby solving the problem of difficulty in manually operating the rubber-tyred vehicle in the shield machine in running.
Drawings
Fig. 1 is a schematic view of the frame structure of the present invention.
Fig. 2 is a front view structure schematic diagram of the rubber-tyred vehicle in the shield tunneling machine.
Fig. 3 is a schematic structural diagram of the rubber-tyred vehicle in the shield tunneling machine.
Fig. 4 is a front view of the control panel of the cab.
Fig. 5 is a schematic structural view of the rubber-tyred vehicle during normal running in the shield tunneling machine.
Fig. 6 is a schematic structural view of the rubber-tyred vehicle when the entire vehicle is laterally displaced.
Fig. 7 is a schematic structural diagram of the rubber-tyred vehicle when the forward lidar detects the strut.
Fig. 8 is a schematic structural view of the rubber-tyred vehicle when the support is detected by the backward lidar.
Fig. 9 is a schematic structural view of the rubber-tyred vehicle when both the forward and backward lidar detect the strut.
Arrows in fig. 5, 6, 7, 8, and 9 indicate signal transmission directions.
In the figure: 1. the shield machine comprises a shield machine 2, a rubber-tired vehicle 3, a stand column 4, a working face 5, a forward laser radar 6, a lateral distance measuring sensor 7, a backward laser radar 8, a backward distance measuring sensor 9 and a forward distance measuring sensor.
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1
As shown in the attached figures 1-9, the unmanned laser navigation system for the multi-wheel rubber-tyred vehicle comprises an automatic driving control part and a vehicle part, wherein the automatic driving control part is connected with the vehicle part through a CAN bus;
the automatic driving control part comprises an HMI (human machine interface) and a main controller, wherein the HMI is connected with the main controller, and the main controller is a single chip microcomputer;
the vehicle part comprises a rubber-tyred vehicle, an air braking system, a hydraulic steering mechanism, an electronic steering wheel and a power driving mechanism, wherein the air braking system, the hydraulic steering mechanism, the electronic steering wheel and the power driving mechanism are arranged on the rubber-tyred vehicle, the electronic steering wheel is connected with the hydraulic steering mechanism, the electronic steering wheel, the air braking system and the power driving mechanism are respectively connected with a main controller through CAN buses, a forward ranging sensor, a lateral ranging sensor and a backward ranging sensor are respectively arranged on the periphery of the rubber-tyred vehicle at equal intervals, the forward ranging sensor, the lateral ranging sensor and the backward ranging sensor are respectively connected with the main controller, a speed sensor is arranged on the rubber-tyred vehicle and is connected with the main controller, a forward laser radar is arranged at two corners of the head of the rubber-tyred vehicle, a backward laser radar is arranged at two corners of the tail, the forward laser radar and the backward laser radar are respectively connected to the main controller.
A display screen is arranged on a front control panel of a cab of the rubber-tyred vehicle and connected to a main controller.
The HMI human-computer interface is installed on a front control panel of a rubber-tyred vehicle cab, a 'main power supply' button, a 'cab selection' button, a 'steering centering' button, a 'parking brake' button and a 'driving mode' button are arranged on the front control panel, and the 'main power supply' button, the 'cab selection' button, the 'steering centering' button, the 'parking brake' button and the 'driving mode' button are all connected to a main controller through a CAN bus.
After the driving mode button is pressed down, a starting icon, a stopping icon and an automatic reversing icon are displayed on the HMI man-machine interface, the starting icon is pressed down, and the rubber-tyred vehicle enters an automatic driving mode; after unloading is finished, triggering automatic reversing, and starting reversing the rubber-tyred vehicle; and pressing the stop icon to make the rubber-tyred vehicle exit the automatic driving mode.
A control method for a multi-wheel rubber-tyred vehicle unmanned laser navigation system comprises the following steps:
firstly, when a head of a rubber-tyred vehicle enters an inlet of a shield machine, a driver presses a 'driving mode' button, a 'start' icon, a 'stop' icon and a vehicle 3D model are displayed on an HMI human-computer interface, the 'start' icon is pressed, and the rubber-tyred vehicle enters an automatic driving mode;
secondly, when an automatic driving mode is triggered, the multi-wheel rubber-tyred vehicle unmanned laser navigation system takes over the rubber-tyred vehicle to operate, the forward ranging sensors, the lateral ranging sensors and the backward ranging sensors around the rubber-tyred vehicle detect the distance between the periphery of the rubber-tyred vehicle and the vertical column of the shield tunneling machine in real time, the relative position and the accurate distance of the inner side wall of the shield tunneling machine are obtained, coordinate points are established according to the obtained position of the rubber-tyred vehicle relative to the periphery, and the coordinate points are displayed on a display screen in real;
thirdly, the rubber-tyred vehicle is kept to run in the middle of the shield tunneling machine in the running process, namely, the distances between the two sides of the vehicle body and the inner side walls of the corresponding shield tunneling machine are kept to be equal, the main controller calculates whether the running track of the rubber-tyred vehicle deviates in real time and controls a steering mechanism of the rubber-tyred vehicle to adjust a steering angle in real time, and the vehicle is kept to run safely and stably;
fourthly, the distance between the vehicle head and the working surface is measured by the forward distance sensor, and when the set distance value is reached, the main controller controls the brake mechanism to stop stably;
and fifthly, after unloading is finished, triggering automatic reversing, returning the system to the entrance of the tunnel along the original track, pressing a stop icon on the HMI human-computer interface after the vehicle completely exits the shield machine, exiting the automatic driving mode of the rubber-tyred vehicle, and controlling the rubber-tyred vehicle by a driver.
The rubber-tyred vehicle moves at a constant speed in the shield tunneling machine, and the speed of the rubber-tyred vehicle is set to be 4 km/h.
When the invention is used: the automatic driving control part is connected with the vehicle part through a CAN bus, when a vehicle enters an inlet of the shield machine, a driver presses a driving mode button on the HMI man-machine interface, after the driving mode button is pressed, a start icon, a stop icon and an automatic reverse icon are displayed on the HMI man-machine interface, the start icon is pressed, and the rubber-tyred vehicle enters an automatic driving mode. In order to avoid collision between the rubber-tyred vehicle and goods loaded on the rubber-tyred vehicle and the shield machine, the rubber-tyred vehicle should travel along the center of the shield machine, that is, the two sides of the rubber-tyred vehicle should have equal distance to the side wall of the shield machine on the same side, and the distance values measured by the distance sensors on the two sides should be equal. When the rubber-tyred vehicle advances in the shield constructs the machine, the distance sensor of rubber-tyred vehicle both sides can real-time supervision rubber-tyred vehicle apart from shield constructs the distance between quick-witted lateral wall and the stand, and preceding distance sensor can real-time supervision rubber-tyred vehicle apart from the distance of working face to give main control unit with distance data transmission, main control unit carries out analysis, processing to data, and with the data information display of vehicle on the display screen. In the whole advancing process, the rubber-tyred vehicle is ensured to run at a constant speed, and the running speed is set to be 4 km/h. When the rubber-tyred vehicle travels to a preset position of a working surface (generally 5 meters away from the working surface), a 'parking brake' button is clicked, the vehicle stops, after unloading is finished, the 'parking brake' button is released, an 'automatic reversing' is triggered, and the rubber-tyred vehicle starts reversing; after the rubber-tyred vehicle is poured out of the shield machine, the stop icon is pressed, the rubber-tyred vehicle exits from the automatic driving mode, and manual control is changed into.
In the advancing process of the rubber-tyred vehicle, if the distance value measured by the lateral distance sensor on one side is greater than the distance value on the other side, the fact that the vehicle is wholly transversely deviated is indicated, the lateral distance sensor on one side detects that the distance from the side wall of the shield tunneling machine is too close, and the system controls the front wheel and the rear wheel of the vehicle to drive towards the other side, so that the vehicle integrally moves towards the other side, and the vehicle returns to the center.
At the in-process of marcing of rubber-tyred car, if the forward laser radar of vehicle detects the pillar, or the backward laser radar detects the pillar, or forward laser radar and backward laser radar all detect the pillar, show that the rubber-tyred car is at the in-process of marcing, and the automobile body has taken place the slant skew for the shield structure machine, then main control unit control electron steering wheel rotates, and electron steering wheel control hydraulic steering mechanism makes the vehicle return.
Generally, the invention has good controllability and automatic driving and navigation functions, can move the rubber-tyred vehicle in a narrow space, and avoids the problem that the rubber-tyred vehicle is easy to collide during the process of moving by manual control.
Claims (8)
1. The unmanned laser navigation system for the multi-wheel rubber-tyred vehicle comprises an automatic driving control part and a vehicle part, wherein the automatic driving control part is connected with the vehicle part through a CAN bus;
the method is characterized in that: the automatic driving control part comprises an HMI (human machine interface) and a main controller, wherein the HMI is connected with the main controller;
the vehicle part comprises a rubber-tyred vehicle, an air braking system, a hydraulic steering mechanism, an electronic steering wheel and a power driving mechanism, wherein the air braking system, the hydraulic steering mechanism, the electronic steering wheel and the power driving mechanism are installed on the rubber-tyred vehicle, the electronic steering wheel is connected with the hydraulic steering mechanism, the electronic steering wheel, the air braking system and the power driving mechanism are respectively connected with a main controller through CAN buses, a forward ranging sensor, a lateral ranging sensor and a backward ranging sensor are respectively installed on the periphery of the rubber-tyred vehicle, the forward ranging sensor, the lateral ranging sensor and the backward ranging sensor are respectively connected with the main controller, a speed sensor is installed on the rubber-tyred vehicle and is connected with the main controller, a forward laser radar is installed at two corners of a head of the rubber-tyred vehicle, a backward laser radar is installed at two corners of a tail of, the forward laser radar and the backward laser radar are respectively connected to the main controller.
2. The unmanned laser navigation system for the multi-wheel rubber-tyred vehicle of claim 1, wherein: the forward ranging sensor, the lateral ranging sensor and the backward ranging sensor are arranged at equal intervals.
3. The unmanned laser navigation system for the multi-wheel rubber-tyred vehicle of claim 1, wherein: the main controller is a single chip microcomputer.
4. The unmanned laser navigation system for the multi-wheel rubber-tyred vehicle of claim 1, wherein: a display screen is arranged on a front control panel of a cab of the rubber-tyred vehicle and connected to a main controller.
5. The unmanned laser navigation system for the multi-wheel rubber-tyred vehicle of claim 1, wherein: the HMI human-computer interface is installed on a front control panel of a rubber-tyred vehicle cab, a 'main power supply' button, a 'cab selection' button, a 'steering centering' button, a 'parking brake' button and a 'driving mode' button are arranged on the front control panel, and the 'main power supply' button, the 'cab selection' button, the 'steering centering' button, the 'parking brake' button and the 'driving mode' button are all connected to a main controller through a CAN bus.
6. The unmanned laser navigation system for the multi-wheel rubber-tyred vehicle of claim 5, wherein: after the driving mode button is pressed down, a starting icon, a stopping icon and an automatic reversing icon are displayed on the HMI man-machine interface, the starting icon is pressed down, and the rubber-tyred vehicle enters an automatic driving mode; after unloading is finished, triggering automatic reversing, and starting reversing the rubber-tyred vehicle; and pressing the stop icon to make the rubber-tyred vehicle exit the automatic driving mode.
7. A control method for a multi-wheel rubber-tyred vehicle unmanned laser navigation system comprises the multi-wheel rubber-tyred vehicle unmanned laser navigation system, and is characterized in that:
firstly, when a head of a rubber-tyred vehicle enters an inlet of a shield machine, a driver presses a 'driving mode' button, a 'start' icon, a 'stop' icon and a vehicle 3D model are displayed on an HMI human-computer interface, the 'start' icon is pressed, and the rubber-tyred vehicle enters an automatic driving mode;
secondly, when an automatic driving mode is triggered, the multi-wheel rubber-tyred vehicle unmanned laser navigation system takes over the rubber-tyred vehicle to operate, the forward ranging sensors, the lateral ranging sensors and the backward ranging sensors around the rubber-tyred vehicle detect the distance between the periphery of the rubber-tyred vehicle and the vertical column of the shield tunneling machine in real time, the relative position and the accurate distance of the inner side wall of the shield tunneling machine are obtained, coordinate points are established according to the obtained position of the rubber-tyred vehicle relative to the periphery, and the coordinate points are displayed on a display screen in real;
thirdly, the rubber-tyred vehicle is kept to run in the middle of the shield tunneling machine in the running process, namely, the distances between the two sides of the vehicle body and the inner side walls of the corresponding shield tunneling machine are kept to be equal, the main controller calculates whether the running track of the rubber-tyred vehicle deviates in real time and controls a steering mechanism of the rubber-tyred vehicle to adjust a steering angle in real time, and the vehicle is kept to run safely and stably;
fourthly, the distance between the vehicle head and the working surface is measured by the forward distance sensor, and when the set distance value is reached, the main controller controls the brake mechanism to stop stably;
and fifthly, after unloading is finished, triggering automatic reversing, returning the system to the entrance of the tunnel along the original track, pressing a stop icon on the HMI human-computer interface after the vehicle completely exits the shield machine, exiting the automatic driving mode of the rubber-tyred vehicle, and controlling the rubber-tyred vehicle by a driver.
8. A control method for an unmanned laser navigation system of a multi-wheel rubber-tyred vehicle is characterized by comprising the following steps: the rubber-tyred vehicle moves at a constant speed in the shield tunneling machine, and the speed of the rubber-tyred vehicle is set to be 3-5 km/h.
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| CN202011105796.9A CN112255644A (en) | 2020-10-15 | 2020-10-15 | Unmanned laser navigation system for multi-wheel rubber-tyred vehicle and control method thereof |
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| CN202011105796.9A CN112255644A (en) | 2020-10-15 | 2020-10-15 | Unmanned laser navigation system for multi-wheel rubber-tyred vehicle and control method thereof |
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| CN108407696A (en) * | 2018-05-08 | 2018-08-17 | 陕西同力重工股份有限公司 | The unmanned mine car in the special field of engineering transportation |
| CN207809371U (en) * | 2018-01-12 | 2018-09-04 | 厦门大学嘉庚学院 | A kind of unmanned trackless rubber-tyred vehicle control of underground coal mine |
| CN109542097A (en) * | 2018-10-24 | 2019-03-29 | 中国矿业大学 | The unmanned railless free-wheeled vehicle in underground and its travel control method of infrared top set tracking |
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2020
- 2020-10-15 CN CN202011105796.9A patent/CN112255644A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203958041U (en) * | 2014-07-11 | 2014-11-26 | 常州科研试制中心有限公司 | Anti-explosion electric rubber-tired cart dereliction formula electric-control system based on CAN bus |
| CN106515899A (en) * | 2016-11-24 | 2017-03-22 | 北京科技大学 | Intrinsic safety type unmanned transportation rubber-tyred vehicle for underground oxygen-free excavation roadway |
| CN207809371U (en) * | 2018-01-12 | 2018-09-04 | 厦门大学嘉庚学院 | A kind of unmanned trackless rubber-tyred vehicle control of underground coal mine |
| CN108407696A (en) * | 2018-05-08 | 2018-08-17 | 陕西同力重工股份有限公司 | The unmanned mine car in the special field of engineering transportation |
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