CN112947397A - Automatic driving method of shuttle car and shuttle car - Google Patents
Automatic driving method of shuttle car and shuttle car Download PDFInfo
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- CN112947397A CN112947397A CN201911253494.3A CN201911253494A CN112947397A CN 112947397 A CN112947397 A CN 112947397A CN 201911253494 A CN201911253494 A CN 201911253494A CN 112947397 A CN112947397 A CN 112947397A
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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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
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Abstract
The application discloses an automatic driving method of a shuttle car and the shuttle car, wherein the automatic driving method comprises the following steps: acquiring a traveling route of the shuttle car and characteristic information of the traveling route, wherein the characteristic information comprises a mark on the traveling route; identifying a mark on the traveling route from the characteristic information, and searching a first operation instruction corresponding to the shuttle car at the mark; and controlling the shuttle car to automatically drive according to the first operation instruction. Through this kind of mode, can realize the autopilot of shuttle car, improve production efficiency and can reduce the human cost.
Description
Technical Field
The application relates to the technical field of shuttle cars, in particular to an automatic driving method of a shuttle car and the shuttle car.
Background
The shuttle car is a special vehicle for transporting coal in an underground horizontal roadway. One end of the roadway is a continuous mining machine for loading, the other end of the roadway is a coal unloading point for unloading coal, the shuttle vehicle loads the continuous mining machine, the continuous mining machine runs to the coal unloading point in the roadway after loading is finished, the shuttle vehicle unloads the coal at the coal unloading point, and the continuous mining machine continuously conveys the coal to the coal unloading point through reciprocating motion.
The inventor of the application finds that misoperation is easy to occur in manual driving and the shuttle car is easy to collide with a roadway and a continuous mining machine in long-term work, so that the service life of parts of the shuttle car is influenced; and the noise in the tunnel is great, and under the influence of noise, whether someone is in the route of going is difficult to discern to the navigating mate, easily takes place accident.
Disclosure of Invention
The application provides an automatic driving method of a shuttle car, which can realize automatic driving of the shuttle car, thereby improving the safety of personnel, improving the production efficiency and prolonging the service life of the shuttle car.
In order to solve the technical problem, the application adopts a technical scheme that: provided is an automatic driving method of a shuttle car, the automatic driving method including: acquiring a traveling route of the shuttle car and characteristic information of the traveling route, wherein the characteristic information comprises a mark on the traveling route; identifying a mark on the traveling route from the characteristic information, and searching a first operation instruction corresponding to the shuttle car at the mark; and controlling the shuttle car to automatically drive according to the first operation instruction.
Wherein, the step of searching for the first operation instruction corresponding to the shuttle car at the mark further comprises the following steps: transmitting an ultrasonic signal; receiving a feedback signal, and confirming the position of the obstacle according to the feedback signal; the first control command is adjusted according to the position of the obstacle.
Wherein, the step of searching for the first operation instruction corresponding to the shuttle car at the mark further comprises the following steps: acquiring the position of a shuttle car; searching a second operation instruction corresponding to the shuttle car at the position; matching the second operation instruction with the first operation instruction; and if the second operation instruction is successfully matched with the first operation instruction, controlling the shuttle car to automatically drive according to the first operation instruction.
Wherein the step of obtaining the characteristic information on the travel route includes: and shooting an image on the travelling route through a camera on the shuttle car so as to acquire the characteristic information of the travelling route.
Wherein, the automatic driving method further comprises: measuring a three-dimensional graph of a traveling route by laser ranging; and avoiding obstacles or re-planning the travel route according to the three-dimensional graph of the travel route.
Before the step of obtaining the traveling route of the shuttle car and the characteristic information of the traveling route, the automatic driving method further comprises the following steps: judging whether the shuttle car works off-line; and if the shuttle car is determined to be off-line, running on the travelling route through manual driving and marking the characteristic information on the travelling route.
The marks on the traveling route can be a single-piece mark sheet or continuously arranged picture-type mark belts.
Wherein, the first end of route of marcing is provided with first figure, and the second end of route of marcing is provided with the second figure.
In order to solve the above technical problem, another technical solution adopted by the present application is: provided is a shuttle car including: the electric control pedal is used for braking; the first electric control valve is used for controlling steering; the second electric control valve is used for controlling the lifting oil cylinder; the camera is used for shooting images of the travelling route; the automatic driving system comprises a sensor and a processor, wherein the processor is connected with an electric control pedal, a first electric control valve, a second electric control valve, a camera and the sensor, and is used for realizing the automatic driving method of the shuttle car in any embodiment.
Wherein, the sensor includes at least: the rotating speed sensor is positioned on a hub speed reducer of the shuttle car; the displacement sensor is positioned on a manual operation handle of the shuttle car; and the ultrasonic ranging sensor is arranged on the body of the shuttle car.
The beneficial effects of the embodiment of the application are that: different from the prior art, the automatic driving method of the shuttle car in the application comprises the steps of firstly obtaining the traveling route of the shuttle car and the characteristic information of the traveling route, identifying the mark of the traveling route from the characteristic information, confirming the position of the shuttle car according to the mark, then finding out the operation instruction corresponding to the shuttle car at the mark, and automatically driving the shuttle car according to the operation instruction.
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Fig. 1 is a schematic flow chart of a first embodiment of an automatic driving method of a shuttle car provided by the present application;
fig. 2 is a schematic flowchart of an embodiment of correcting a first operation instruction in the automatic driving method of the shuttle car provided by the present application;
FIG. 3 is a schematic flow chart diagram of a second embodiment of a method of automated driving of a shuttle car provided herein;
fig. 4 is a schematic structural diagram of an embodiment of the shuttle car provided by the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be noted that the following examples are only illustrative of the present application, and do not limit the scope of the present application. Likewise, the following examples are only some examples and not all examples of the present application, and all other examples obtained by a person of ordinary skill in the art without any inventive step are within the scope of the present application.
The mode of manual driving the shuttle car not only has the potential safety hazard of personnel, influences the life of the shuttle car, but also reduces the overall production efficiency. In order to solve the above technical problem, the present application provides an automatic driving method of a shuttle car, including:
s11: the method comprises the steps of obtaining a traveling route of the shuttle car and characteristic information of the traveling route, wherein the characteristic information comprises marks on the traveling route.
The method comprises the steps of presetting a traveling route of the shuttle car and designating an expansion end of the shuttle car, wherein the expansion end designates the traveling direction of the shuttle car. In a particular embodiment, the shuttle car travel path is between the continuous miner and the crusher. The shuttle car takes materials from the continuous mining machine and then arrives at the crusher for unloading. In other embodiments, the travel route may also be other designated routes.
The travel route is provided with a mark to identify the travel route. The shuttle car can provide a reference for its automatic driving by recognizing the above-mentioned mark while traveling on the traveling route. The shuttle car firstly self-checks voltage, hydraulic system pressure and camera signals before automatic driving, and then starts to walk after the self-checking is passed so as to ensure that the shuttle car can be safely driven.
In one embodiment, the image on the traveling route can be shot through a camera on the shuttle car to acquire the characteristic information of the traveling route. Specifically, two or more monocular/multiocular cameras are added at least at the head and tail of the shuttle car so as to shoot images or videos of the travelling route in the travelling process of the shuttle car. Optionally, cameras can be arranged on two sides of the shuttle car respectively to acquire characteristic information on the travelling route in a wider range, and the travelling safety of the shuttle car is improved. The specific setting position of the camera can be selected according to actual conditions, and is not limited specifically here.
The characteristic information may be information such as an image or video of the travel route captured while the shuttle car is traveling. When the shuttle car travels, images on the traveling route can be acquired according to a preset frequency, for example, one image is acquired in 1s, and the images on the traveling route can also be acquired in 2s or 5 s. And then the acquired image is used as characteristic information. In another embodiment, the shuttle car can record a video about the traveling route continuously while traveling, and the recorded video is used as the characteristic information. The characteristic information comprises a mark on the travel route.
In one specific embodiment, continuous picture type mark belts can be arranged on the traveling route, namely, mark information is arranged on two sides of the whole traveling route like zebra crossings on a road, so as to define the range for the automatic traveling of the shuttle car. By the method, the driving range of the shuttle car can be clearly divided, and the driving safety can be improved. Alternatively, a continuous picture type mark belt can be arranged on one side of the traveling route, in this way, the shuttle car can only refer to the mark information on one side for traveling, and in this way, the cost can be saved. The picture element type mark belt can be made of light reflecting materials so as to facilitate the identification of the shuttle car. The pattern of the picture type mark tape can be selected according to actual conditions as long as the shuttle car can recognize the pattern.
In another embodiment, the mark on the travel route can also be a single piece type mark piece arranged at a specific position on the travel route, and the single piece type mark piece can be arranged on the travel route at intervals for the shuttle car to identify. Preferably, the one-piece marker band is only placed where the shuttle car has special operations, such as placing the one-piece marker band where the shuttle car needs to turn or where deceleration is needed to provide a reference for shuttle car travel. The single-piece type mark piece can be made of a reflective material so as to be identified by the shuttle car.
In other alternative embodiments, the picture mark tape and the one-piece mark sheet can be combined to mark the traveling route, and the safety of the shuttle vehicle can be improved.
Further, the marks on the traveling route further comprise a first mark and a second mark, the first mark is arranged at the first end of the traveling route, the second mark is arranged at the second end of the traveling route, and the first mark is different from the second mark so as to distinguish the end point position of the traveling route. The first mark and the second mark can be two-dimensional codes or characteristic graphs so as to mark the position of the travel route. Optionally, the shuttle car can also receive remote control signals at the two ends of the traveling route to perform scram or other operations.
Preferably, before the shuttle car runs, whether the shuttle car works offline is judged so as to evaluate whether the shuttle car is in a normal running state. Specifically, the video characteristic information of the traveling route and the shuttle car running record are read firstly. If the operation record of the shuttle car is found to be abnormal, such as in work, the control system is powered off or does not operate for more than a preset time, so that the shuttle car is in a state of stopping working, the shuttle car is confirmed to be off-line. If the shuttle car is determined to work offline, the shuttle car is operated on the traveling route through manual driving, and the characteristic information on the traveling route is marked, so that the safe driving of the shuttle car is ensured.
Specifically, if the shuttle car is determined to be off-line, the shuttle car enters a trial run marking mode. Firstly, the identification of the traveling route and passing marks of the continuous miner and the crusher is confirmed, then a path pattern is selected, and the pattern can be added by self. The driver drives and runs once manually, the system marks the characteristic information in the running video after running, the running video with the mark is replayed, and the driver can enter the automatic driving mode after confirming that the accuracy of the characteristic information is higher than a standard. By the method, the safety of automatic driving of the shuttle car is improved.
S12: and identifying a mark on the traveling route from the characteristic information, and searching a first operation instruction corresponding to the shuttle car at the mark.
In the process of moving the shuttle car, identifying a mark on the moving route from the acquired characteristic information of the moving route, and finding out a first operation instruction corresponding to the shuttle car at the mark. For example, a deceleration mark is identified in the running process of the shuttle car, the first operation instruction corresponding to the deceleration mark is to reduce the running speed of the shuttle car to 10 km/h or 5 km/h, and the like, and the setting is specifically carried out according to the road condition and the driving condition. For example, a turning mark is identified at a place where the shuttle car needs to turn, and the first operation instruction of the corresponding shuttle car at the turning mark can be 20 degrees for left turning or 30 degrees for right turning, and the like. The setting can be specifically carried out according to the actual road condition.
Specifically, a first database may be established in advance, and the first database stores therein an identifier of the travel route and a first operation instruction corresponding to the shuttle car at the identifier. The mark and the related information of the first operation instruction corresponding to the mark can be added into the first database in a manual input mode to form the first database. In another embodiment, the shuttle car can be manually driven to run on the running route, the mark of the running route is identified through a video identification technology, the manual operation instruction of the shuttle car when the shuttle car runs at the mark is obtained, the manual operation instruction is used as the first operation instruction for automatic driving of the shuttle car, and the mark and the manual operation instruction corresponding to the mark are saved to obtain the first database. When the shuttle car runs, after a certain mark is identified, a first operation instruction corresponding to the mark can be directly searched in the first database.
In order to improve the driving safety of the shuttle car, the first operation instruction can be adjusted in time according to the actual situation so as to avoid obstacles or adjust a route. In order to correct the first operating instruction of the shuttle car according to the actual driving situation, in another embodiment, as shown in fig. 2, after the first operating instruction corresponding to the shuttle car at a certain mark is acquired, the automatic driving method further includes:
s121: an ultrasonic signal is transmitted.
When the shuttle car advances according to the route of prearranged marcing, in order to guarantee the safety of the shuttle car, the obstacle avoidance or the route re-planning can be carried out by combining the ultrasonic ranging. Alternatively, a plurality of ultrasonic distance measuring sensors may be provided on both sides of the shuttle car body, or a plurality of ultrasonic distance measuring sensors may be disposed on each of the front, rear, left, and right sides of the shuttle car body, and the ultrasonic distance measuring sensors transmit ultrasonic signals to detect the obstacle situation around the shuttle car when the shuttle car is traveling along a preset route. While traveling, the ultrasonic ranging sensor emits an ultrasonic signal to detect position information of an obstacle.
And S122, receiving the feedback signal, and confirming the position of the obstacle according to the feedback signal.
When the shuttle car walks, the ultrasonic sensor can be in a running state all the time, and after the ultrasonic sensor receives the feedback signal, the position of the barrier is judged according to the feedback signal, so that the distance and the direction of the barrier from the shuttle car can be determined according to the feedback signal.
S123: the first control command is adjusted according to the position of the obstacle.
After the ultrasonic sensor detects the obstacle, whether the first operation instruction is correct or not can be judged according to the distance and the direction of the obstacle, if the first operation instruction is possibly touched by the obstacle through operation to cause a safety accident, the first operation instruction is timely adjusted to avoid the obstacle or plan a circuit again to avoid the safety accident. Specifically, the left and right obstacles of the shuttle car can be judged according to the feedback signals of the left and right sides of the shuttle car, so that the left and right steering of the shuttle car can be adjusted; the position of the barrier at the head and the tail of the shuttle car can be judged according to the feedback signals of the sensors at the head and the tail of the shuttle car, so that the shuttle car is adjusted to run at a reduced speed or stop running.
In the embodiment, the obstacle avoidance is carried out on the shuttle vehicle according to the ultrasonic distance measurement during running, so that the running safety of the shuttle vehicle can be improved. In other embodiments, a three-dimensional graph of the traveling route can be measured through laser ranging, and when the shuttle car automatically travels, the three-dimensional graph can be combined to adjust the first operation instruction so as to avoid obstacles or plan the traveling route again, so that the shuttle car can travel more safely and reliably.
S13: and controlling the shuttle car to automatically drive according to the first operation instruction.
And after the first operation instruction is acquired, controlling the shuttle car to automatically drive according to the first operation instruction. Alternatively, the shuttle car may also receive a remote control signal to temporarily change the travel command.
Different from the prior art, the automatic driving method of the shuttle car in the application comprises the steps of firstly obtaining the traveling route of the shuttle car and the characteristic information of the traveling route, identifying the mark of the traveling route from the characteristic information, confirming the position of the shuttle car according to the mark, then finding out the operation instruction corresponding to the shuttle car at the mark, and automatically driving the shuttle car according to the operation instruction. In addition, in this embodiment, the shuttle car can utilize the laser ranging sensor to keep away the barrier or plan the route again when autopilot, can improve the security that the shuttle car went more.
Referring to fig. 3, fig. 3 is a schematic flowchart of a second embodiment of an automatic driving method for a shuttle car according to the present application, the automatic driving method specifically includes:
s31: the method comprises the steps of obtaining a traveling route of the shuttle car and characteristic information of the traveling route, wherein the characteristic information comprises marks on the traveling route.
Step S31 is the same as step S11, and is not repeated here.
S32: and identifying a mark on the traveling route from the characteristic information, and searching a first operation instruction corresponding to the shuttle car at the mark.
Step S32 is the same as step S12, and is not repeated here.
And S33, acquiring the position of the shuttle car.
In one embodiment, the shuttle vehicle can calculate the position information of the shuttle vehicle according to a walking algorithm when the shuttle vehicle is in running. Specifically, when the shuttle car runs on a preset running route, the running distance and the running angle information of the shuttle car can be calculated through the displacement sensor and the angle sensor, and the position of the shuttle car can be calculated according to the running distance and the running angle information.
In another embodiment, the location of the shuttle car may be obtained directly from a GPS location system. In order to avoid the situation that the positioning is not accurate enough and the positioning drifts, the position of the shuttle car can be corrected by using an AGPS positioning system so as to obtain more accurate position information.
In still another embodiment, the position of the shuttle car can be obtained through wireless positioning technology, and particularly, a wireless positioning base station can be arranged on the traveling route of the shuttle car so as to quickly and accurately obtain the position information of the shuttle car.
In other alternative embodiments, the position information of the shuttle car can be acquired through an inertial navigation system, the inertial navigation system can be directly installed on the shuttle car, the operation does not depend on external information, energy is not radiated to the outside, and the shuttle car is not easily interfered.
In the present application, the position information of the shuttle car in the traveling direction may be acquired by a certain means, and is not specifically limited herein.
And S34, searching a second operation instruction corresponding to the shuttle car at the position.
And searching a second operation instruction corresponding to the shuttle car at the position. Optionally, the shuttle car is manually driven before being automatically driven, manual operation instructions of the shuttle car at different positions are recorded to establish a second database, the second database comprises the position information of the shuttle car and the manual driving instruction of the shuttle car corresponding to the position information, and the manual driving instruction is used as the second operation instruction when the shuttle car is automatically driven. That is, in this embodiment, the shuttle car may obtain the corresponding second operation instruction through the memory of manual driving.
And S35, matching the second operation instruction with the first operation instruction.
And matching and comparing the second operation instruction acquired through the position information with the first operation instruction acquired through the mark to judge whether the automatic driving of the shuttle car is safe or not. In a specific embodiment, when the first operation instruction and the second operation instruction are completely the same, the first operation instruction and the second operation instruction may be considered to be matched, and when the first operation instruction and the second operation instruction are different, the first operation instruction and the second operation instruction may be considered to be unmatched. For example, the second operation instruction corresponding to the shuttle car at a certain position is 90-degree left turn, and the first operation instruction obtained through the mark recognition is accelerated straight walking, and at this time, the second operation instruction is not matched with the first operation instruction; if the second operation command corresponding to the shuttle car at this position is a 90 degree left turn, and the first operation command acquired by the mark recognition at this position is also a 90 degree left turn, the first operation command and the second operation command may be considered to match.
In another embodiment, when the difference between the first operation instruction and the second operation instruction is within a preset range, the first operation instruction and the second operation instruction may also be considered to be matched, and when the difference between the first operation instruction and the second operation instruction is greater than the preset range, the first operation instruction and the second operation instruction may be considered not to be matched. For example, when the first operation command is turned left by 12 degrees and the second operation command is turned left by 11 degrees, the first operation command and the second operation command may be considered to be matched, and when the first operation command is turned left by 12 degrees and the second operation command is turned left by 90 degrees or turned right, the first operation command and the second operation command may be considered to be unmatched. The preset range of the specific difference can be set according to actual conditions, and is not particularly limited herein.
And S36, if the second operation instruction is successfully matched with the first operation instruction, controlling the shuttle car to automatically drive according to the first operation instruction.
When the first operation instruction and the second operation instruction are successfully matched, the first operation instruction may be regarded as a safety instruction, and the shuttle car may be automatically driven according to the first operation instruction, where the step of automatically driving the shuttle car according to the first operation instruction is the same as step S13 in the first embodiment, and is not described herein again.
In another embodiment, when the first operation instruction and the second operation instruction are not matched successfully, the verification can be performed in other manners, for example, the safety of the first operation instruction or the second operation instruction is verified in a laser ranging manner, so as to obtain a correct instruction for the shuttle car to run. When the first operating instruction and the second operating instruction acquired through laser ranging cannot avoid the obstacle, the driving safety can be ensured through an emergency stop mode.
Different from the prior art, the automatic driving method of the shuttle car in the application comprises the steps of firstly obtaining the traveling route of the shuttle car and the characteristic information of the traveling route, identifying the mark of the traveling route from the characteristic information, confirming the position of the shuttle car according to the mark, then finding out the operation instruction corresponding to the shuttle car at the mark, and automatically driving the shuttle car according to the operation instruction. In addition, in the embodiment, the second operation instruction is acquired through the position of the shuttle car, and the shuttle car is controlled according to the matching condition of the first operation instruction and the second operation instruction, so that the running safety of the shuttle car can be higher.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the shuttle car provided by the present application, and the shuttle car includes an electric control pedal 45 for braking; a first electric control valve 43 for controlling the steering of the shuttle car, and a second electric control valve 44 for controlling the lift cylinder; the cameras 46 are used for shooting images of a traveling route, the cameras 46 are at least positioned at the head and the tail of the shuttle car, in another embodiment, a plurality of cameras 46 can be arranged around the body of the shuttle car so as to more comprehensively acquire surrounding road conditions in the driving process of the shuttle car, wherein the cameras 46 can be monocular or multi-view cameras; a sensor 42 located on the vehicle body; the processor 41 is connected with the electronic control pedal 45, the first electronic control valve 43, the second electronic control valve 44, the sensor 42 and the camera 46, and the processor 41 is used for being matched with the electronic control pedal 45, the first electronic control valve 43, the second electronic control valve 44, the camera 46 and the sensor 42 to achieve the automatic driving method of the shuttle car in any one of the embodiments. For an automatic driving method of a shuttle car, please refer to fig. 1-3 and related text descriptions, which are not described herein again.
Specifically, the sensors 42 include a rotation speed sensor, a displacement sensor, an ultrasonic sensor, and the like, and the type and number of the sensors 42 may be specifically set according to the need of the shuttle car to realize automatic driving. The rotating speed sensor is positioned on a hub reducer of the shuttle car so as to acquire the running speeds of four tires of the shuttle car; the displacement sensor or the steering angle sensor is positioned on a manual operation handle of the shuttle car to acquire the steering radius of the shuttle car during steering; and the ultrasonic ranging sensor is arranged on the body of the shuttle car, and the shuttle car can decelerate to stop or adjust a walking route when the distance between the ultrasonic ranging sensor and the obstacle is close.
The shuttle car of this embodiment has carried out corresponding improvement for prior art's shuttle car to make the shuttle car can carry out autopilot according to the autopilot method of any embodiment of the aforesaid, promptly, the shuttle car that this application provided can realize autopilot, reduces the human cost, promotes the life of shuttle car, improves personnel's security, and can improve production efficiency.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. An automatic driving method of a shuttle car, characterized in that the automatic driving method comprises:
acquiring a traveling route of the shuttle car and characteristic information of the traveling route, wherein the characteristic information comprises marks on the traveling route;
identifying the mark on the traveling route from the characteristic information, and searching a first operation instruction corresponding to the shuttle car at the mark;
and controlling the shuttle car to automatically drive according to the first operation instruction.
2. The autopilot method of claim 1 wherein the step of locating a first operating instruction corresponding to the shuttle car at the indicia further comprises, after the step of locating a first operating instruction corresponding to the shuttle car:
transmitting an ultrasonic signal;
receiving a feedback signal, and confirming the position of an obstacle according to the feedback signal;
adjusting the first control instruction according to the position of the obstacle.
3. The autopilot method of claim 2 wherein the step of locating a first operating instruction corresponding to the shuttle car at the indicia further comprises, after the step of locating a first operating instruction corresponding to the shuttle car:
acquiring the position of the shuttle car;
searching a second operation instruction corresponding to the shuttle car at the position;
matching the second operation instruction with the first operation instruction;
and if the second operation instruction is successfully matched with the first operation instruction, controlling the shuttle car to automatically drive according to the first operation instruction.
4. The automatic driving method according to claim 2, wherein the step of acquiring the characteristic information on the travel route includes:
shooting an image on the travelling route through a camera on the shuttle car so as to acquire the characteristic information of the travelling route.
5. The automated driving method according to claim 1, further comprising:
measuring a three-dimensional graph of the travelling route by laser ranging;
and avoiding obstacles or re-planning the travel route according to the three-dimensional graph of the travel route.
6. The automatic driving method according to claim 1, wherein the step of acquiring the travel route of the shuttle car and the characteristic information of the travel route is preceded by the automatic driving method further comprising:
judging whether the shuttle car works off-line;
and if the shuttle car is determined to be off-line, running on the travelling route by manual driving and marking the characteristic information on the travelling route.
7. The automated driving method of claim 1, wherein the markings on the travel path are a one-piece marking sheet or a continuously disposed picture marking tape.
8. The autopilot method of claim 1 wherein a first end of the route of travel is provided with a first marker and a second end of the route of travel is provided with a second marker.
9. A shuttle car, characterized in that, the shuttle car includes:
the electric control pedal is used for braking; the first electric control valve is used for controlling steering; the second electric control valve is used for controlling the lifting oil cylinder; the camera is used for shooting images of the travelling route; a sensor and a processor, wherein the processor is used for processing the data,
the processor is connected with the electric control pedal, the first electric control valve, the second electric control valve, the camera and the sensor, and is used for realizing the automatic driving method of the shuttle car as claimed in any one of claims 1 to 8.
10. The shuttle car of claim 9, wherein the sensors include at least: the rotating speed sensor is positioned on a hub speed reducer of the shuttle car; the displacement sensor is positioned on a manual operation handle of the shuttle car; and the ultrasonic ranging sensor is arranged on the body of the shuttle car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911253494.3A CN112947397B (en) | 2019-12-09 | 2019-12-09 | Automatic driving method of shuttle car and shuttle car |
Applications Claiming Priority (1)
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