CN112947496A - Unmanned trackless rubber-tyred vehicle standardized transportation platform and control method thereof - Google Patents
Unmanned trackless rubber-tyred vehicle standardized transportation platform and control method thereof Download PDFInfo
- Publication number
- CN112947496A CN112947496A CN202110487267.8A CN202110487267A CN112947496A CN 112947496 A CN112947496 A CN 112947496A CN 202110487267 A CN202110487267 A CN 202110487267A CN 112947496 A CN112947496 A CN 112947496A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- steering
- chassis
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000008569 process Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000007499 fusion processing Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 claims description 2
- 241000282414 Homo sapiens Species 0.000 claims 1
- 230000008447 perception Effects 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 3
- 238000007689 inspection Methods 0.000 abstract description 2
- 239000003245 coal Substances 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 239000008186 active pharmaceutical agent Substances 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—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
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
-
- 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a driverless trackless rubber-tyred vehicle standardized transportation platform and a control method thereof, wherein the driverless trackless rubber-tyred vehicle standardized transportation platform comprises a chassis, rubber wheels, an intelligent sensing system, an autonomous anti-collision system, an intelligent control system, an execution system and a carrying platform; the loading platform adopts a flat plate type design, a cab is omitted, the quality of the whole vehicle is reduced, and the vehicle-mounted quality of the whole vehicle is improved; the object carrying platform adopts a standardized design, not only can be assembled with a standardized object carrying container, but also can be loaded with an inspection device or a rescue device, and has the characteristics of multiple functions and wide application; the intelligent sensing system is adopted to identify road conditions, and the intelligent control system is used to control the running, braking, steering and other actions of the trackless rubber-tyred vehicle, so that unmanned driving is realized.
Description
Technical Field
The invention relates to a transportation platform, in particular to a driverless trackless rubber-tyred vehicle standardized transportation platform and a control method thereof.
Background
The coal mine underground auxiliary transportation refers to the transportation of materials, personnel, equipment, ores and the like in the mining process. The trackless rubber-tyred vehicle is an important form in the mine auxiliary transportation system, is mainly used for the transportation of underground coal mine personnel, equipment, materials and the like, and has the advantages of wide application, high transportation efficiency, large traction force, flexibility and the like compared with the traditional auxiliary transportation equipment. The popularization and use of the mining trackless rubber-tyred vehicle make the underground transportation system become more high-efficient stable while, also alleviateed operating personnel's the amount of labour greatly, but underground work environment is abominable, the illumination is insufficient, road conditions is poor, road conditions are complicated, and the trackless rubber-tyred vehicle that the tradition adopted personnel to drive has a great deal of uncertain factor, leads to trackless rubber-tyred vehicle transportation accident to take place frequently. Meanwhile, the transportation equipment in China is various, the loading containers are different and have no compatibility, the transportation is time-consuming and labor-consuming in the process, and if the auxiliary transportation continuity and the loading container standardization are realized, the coal mine transportation system has multiple economic and social benefits such as people reduction, efficiency improvement, safety promotion and the like, and is also an important direction of technical innovation of the coal industry and necessary requirement for high-quality development.
The unmanned vehicle is a technology which enables a vehicle to sense the surrounding environment by means of a sensor and a computer, acts at the next moment according to the surrounding environment and the vehicle autonomously completes the action, has the technical characteristics of automation, high efficiency and safety, is urgently needed by the underground transportation system at present, and has gradually matured in application of the unmanned vehicle on a road vehicle after years of development. At present, the underground trackless rubber-tyred vehicle has been partially researched in the aspects of an intelligent vehicle-mounted system, unmanned positioning and system scheduling. The invention discloses a patent with the patent application number of 201810095006.X, namely an intelligent vehicle-mounted system of a trackless rubber-tyred vehicle, an underground vehicle dispatching system and a control method, and the scheme is characterized in that the intelligent transformation is carried out on the traditional trackless rubber-tyred vehicle, a cab is reserved, no space advantage is brought, the simultaneous operation under various road conditions cannot be realized, and the limitation is realized; the invention relates to a positioning method and a positioning system for an unmanned light trackless rubber-tyred passenger car, which is disclosed by the patent application number of 202010566242.2, wherein the name is 'positioning method and system for the unmanned light trackless rubber-tyred passenger car'. The invention has the patent application number of 202010566243.7 and is named as an invention patent of 'an underground unmanned material transporting vehicle control system', and discloses an unmanned control system comprising a plurality of material transporting vehicles.
In summary, the current solution for intelligent driving of underground vehicles is basically based on the transformation of the current vehicles or the unmanned design of vehicles with single purposes, and the standardized transportation platform of the unmanned trackless rubber-tyred vehicle designed by the scheme is arranged on the platform in a standardized mode and is used for being arranged on a standardized container.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a driverless trackless rubber-tyred vehicle standardized transportation platform and a control method thereof, so as to solve the technical problems.
In order to achieve the purpose, the invention adopts the technical scheme that: a driverless trackless rubber-tyred vehicle standardized transportation platform comprises a chassis and rubber wheels, wherein the rubber wheels are arranged in front of and behind the chassis, two front wheels are steering wheels and are connected through a steering pull rod, and two rear wheels are driving wheels and are internally provided with a hub motor; the intelligent collision avoidance system further comprises an intelligent sensing system, an autonomous collision avoidance system, an intelligent control system, an execution system and an object carrying platform; the carrying platform is arranged on the chassis, and a loading container is arranged above the carrying platform;
the intelligent control system comprises an electric control device and an industrial personal computer, wherein the electric control device and the industrial personal computer are both arranged on the chassis and are positioned in the loading platform; the electric control device comprises a vehicle control unit VCU, a brake motor controller, a steering motor controller and a driving motor controller, wherein the brake motor controller, the steering motor controller and the driving motor controller are all connected with the vehicle control unit VCU;
the intelligent sensing system comprises a fisheye camera, a multi-line laser radar, a depth camera, a millimeter wave radar and a UWB positioning tag, the fisheye camera is respectively arranged on the front side, the rear side, the left side and the right side of the chassis, the multi-line laser radar is respectively arranged on the left front side and the right front side of the chassis, the depth camera is respectively arranged on the central axis of the front side and the rear side of the chassis, the millimeter wave radar and the UWB positioning tag are respectively arranged on the central axis of the front side of the chassis, and the fisheye camera, the multi-line laser radar, the depth camera, the millimeter wave radar and the UWB positioning tag are all connected with an;
the autonomous anti-collision system comprises ultrasonic sensors, the ultrasonic sensors are arranged on the front side, the rear side, the left side and the right side of the chassis, and the ultrasonic sensors are connected with the VCU of the vehicle control unit through a CAN bus;
the executing system comprises a brake motor, a steering motor, a hub motor and a storage battery, wherein the brake motor, the steering motor and the storage battery are all arranged on the chassis, the steering motor is connected with the steering pull rod, the brake motor is connected with the brake valve, and the brake motor, the steering motor and the hub motor are respectively and electrically connected with the brake motor controller, the steering motor controller and the driving motor controller.
Further, the loading container is divided into a standard container, a loading tray and a tank-shaped container, the loading container of a proper type can be selected according to needs, a clamping groove is formed in the loading platform, a clamping block matched with the clamping groove is arranged on the bottom surface of the loading container, and the clamping block is matched with the clamping groove to achieve installation and disassembly of the loading container and the loading platform.
Further, still include light, indicator and brake light, indicator and brake light set up on the chassis and all are connected with vehicle control unit VCU, set up the light source to better satisfy the environment use in the pit.
A control method for a standard transportation platform of a driverless rubber-tyred vehicle comprises the following control steps:
the method comprises the following steps: the intelligent sensing system senses the surrounding environment information, acquires path information and barrier information and sends data frame information to an industrial personal computer in the intelligent control system;
step two: the intelligent sensing system utilizes point cloud information generated by the multi-line laser radar to be matched with an underground global high-precision map, and is assisted with a UWB positioning technology to realize real-time positioning of the vehicle;
step three: the industrial personal computer receives the image information and the data frame information, performs fusion processing, and sends the processed information to the VCU;
step four: the VCU of the vehicle controller gives instructions according to the state information of the whole vehicle, the road condition information and the state of the vehicle-mounted accessories, and the actuating mechanism finishes driving, steering and braking;
step five: when the vehicle breaks down or encounters an obstacle and cannot be avoided, the industrial personal computer sends an alarm to the remote control center in time, and the working personnel can carry out remote operation on the vehicle through the remote control platform.
Furthermore, in the first step, the multi-line laser radars on the left side and the right side emit multiple laser beams to detect obstacles in front and on the left side and the right side, the front depth camera and the rear depth camera respectively sense image information and distance information of surrounding obstacles, the millimeter wave radar is used for acquiring dynamic target detection in front of the vehicle, and the sensor transmits acquired data to the industrial personal computer in real time; in the second step, the multi-beam laser emitted by the multi-line laser radar can acquire point cloud information of the surrounding environment and is matched with a pre-generated underground three-dimensional SLAM map to obtain position information of the vehicle, meanwhile, a vehicle-mounted UWB positioning tag sends a signal to a UWB base station built along a roadway, the position of the positioning tag is obtained by using a TOF algorithm, and the final position information of the vehicle is obtained by combining with SLAM positioning; in the third step, the industrial personal computer carries out real-time synchronous processing on the received information of each sensor, and when the sensor detects an obstacle or a pedestrian, local path planning is timely adjusted according to self positioning and is timely sent to a VCU (vehicle control unit); in the fourth step, the VCU of the vehicle controller sends control information to the hub motor, the steering motor and the braking motor to finish the speed regulation, steering and braking of the vehicle; and fifthly, constructing a digital twin platform in the remote control center for manual remote operation under special conditions, wherein when the underground vehicle encounters an obstacle and cannot avoid the obstacle or the vehicle breaks down, the vehicle gives an alarm to the remote control center, and a worker can visually see the condition of the vehicle through a remote operation interface and select the remote control vehicle or go to the field for processing.
Compared with the prior art, the invention cancels the cab, reduces the quality of the whole vehicle, improves the vehicle-mounted quality, and improves the space utilization rate to the maximum extent, improves the transportation capacity and saves the cost because all available spaces on the chassis are completely provided with the standardized carrying containers; the intelligent sensing system is adopted to identify road conditions, and the intelligent control system is used to control the running, braking, steering and other actions of the truck, so that unmanned driving is realized, manpower is saved, and meanwhile, the risk caused by operation errors of a driver in a severe underground environment is avoided; the system has redundant sensing sensors, overcomes the safety problem of sensing by a single sensor, and also has multilayer safety protection measures, wherein when a sensing layer fails, the autonomous anti-collision system can control the vehicle in time, so that the safety of the vehicle is fully ensured; the standardized container clamping groove is formed in the loading platform and used for fixing a standardized loading container, the bottom of the standardized loading container is provided with the positioning clamping block which is matched with the clamping groove, the standardized loading platform for underground coal mine transportation and various standardized container carriers are designed, a mine car required by traditional auxiliary transportation is replaced, the loading container can be separated from a car body base, the container bases with the same specification have interchangeability, the loading and unloading efficiency is improved, the labor and the efficiency are reduced, and the development of a continuous transportation mode combining trackless rubber-tyred car transportation and other underground transportation modes can be effectively promoted; the inspection device or the rescue device can be loaded, and the purpose of one vehicle and multiple purposes is really achieved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic structural view of the present invention;
FIG. 4 is a schematic view of the structure of the chassis of the present invention;
FIG. 5 is a schematic structural diagram of an electric control device according to the present invention;
FIG. 6 is a schematic plan view of the objective table of the present invention;
FIG. 7 is a schematic view of a compact loading container (loading tray) configuration;
FIG. 8 is a schematic view showing the structure of a medium sized loading container (a tank-shaped container);
FIG. 9 is a schematic view of a large loading container (standard container) structure;
in the figure: 0. a chassis; 1. a fisheye camera; 2. a multiline laser radar; 3. a depth camera; 4. a millimeter wave radar; 5. a UWB positioning tag; 6. an ultrasonic sensor; 7. a vehicle-mounted lighting lamp; 8. a turn signal light; 9. a brake light; 10. braking the motor; 11. a steering motor; 12. an electric control device; 1201. a vehicle control unit VCU; 1202. a brake motor controller; 1203. a steering motor controller; 1204. a drive motor controller; 13. a hub motor; 14. an industrial personal computer; 15. a storage battery; 16. a rubber wheel; 17. a carrier platform; 18. loading a container; 19. a steering tie rod; 20. and a brake valve.
Detailed Description
The invention will be further explained with reference to the drawings.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a technical solution: the device comprises a chassis 0 and rubber wheels 16, wherein the rubber wheels 16 are arranged in front of and behind the chassis 0, the two front wheels are steering wheels and are connected through a steering pull rod 19, and the two rear wheels are driving wheels and are internally provided with a hub motor 13; the system further comprises an intelligent sensing system, an autonomous anti-collision system, an intelligent control system, an execution system and an object carrying platform 17. The loading platform 17 is arranged on the chassis 0, and a loading container 18 is arranged above the loading platform 17.
As shown in fig. 4 and 5, the intelligent control system includes an electric control device 12 and an industrial personal computer 14, and both the electric control device 12 and the industrial personal computer 14 are arranged on the chassis 0 and are located in the loading platform 17; the electric control device 12 comprises a vehicle control unit VCU1201, a brake motor controller 1202, a steering motor controller 1203 and a drive motor controller 1204, wherein the brake motor controller 1202, the steering motor controller 1203 and the drive motor controller 1204 are all connected with the vehicle control unit VCU 1201; the industrial personal computer 14 is provided with a DS evidence theory fusion module, and can perform combined calculation on information acquired by the multi-line laser radar 2, the depth camera 3, the millimeter wave radar 4 and the UWB positioning tag 5 to obtain a fusion result;
as shown in fig. 1 to 3, the intelligent sensing system includes a fisheye camera 1, a multi-line laser radar 2, a depth camera 3, a millimeter wave radar 4 and a UWB positioning tag 5; the fisheye cameras 1 are respectively arranged on the front side, the rear side, the left side and the right side of the chassis 0, and the fisheye cameras 1 have a driving recording function and a cloud storage function; the fisheye camera 1 is controlled by a 360-degree look-around controller, images collected by the four cameras are spliced to obtain environmental information around the vehicle, and the environmental information is uploaded to a remote control center so that workers can observe the environmental information in real time; the multiline laser radars 2 are respectively arranged on the left front side and the right front side of the chassis 0, the two multiline laser radars 2 upload the point cloud data of the underground roadway collected by the multiline laser radars to the industrial personal computer 14, and the industrial personal computer 14 builds the underground environment three-dimensional SLAM map in a fusion processing mode; the depth camera 3 is respectively arranged on the central axis of the front side face and the rear side face of the chassis 0, the millimeter wave radar 4 and the UWB positioning tag 5 are both arranged on the central axis of the front side face of the chassis 0, and the fisheye camera 1, the multi-line laser radar 2, the depth camera 3, the millimeter wave radar 4 and the UWB positioning tag 5 are all connected with the industrial personal computer 14.
As shown in fig. 1 and 3, the autonomous collision avoidance system includes ultrasonic sensors 6, the ultrasonic sensors 6 are mounted on the front, rear, left and right sides of the chassis 0, and the ultrasonic sensors 6 are connected with a vehicle control unit VCU1201 through a CAN bus; setting a threshold value of the ultrasonic sensor 6 in advance, and when the ultrasonic sensor 6 senses that an obstacle exists in a threshold value range, the VCU1201 of the vehicle control unit issues an emergency braking instruction, and each executing component immediately stops acting; when the obstacles in the ultrasonic threshold range are cleaned, the planning layer replans the path and drives the vehicle to run.
As shown in fig. 4, the execution system includes a brake motor 10, a steering motor 11, an in-wheel motor 13 and a storage battery 15, the brake motor 10, the steering motor 11 and the storage battery 15 are all disposed on the chassis 0, the steering motor 11 is connected with a steering pull rod 19, the brake motor 10 is connected with a brake valve 20, and the brake motor 10, the steering motor 11 and the in-wheel motor 13 are respectively electrically connected with a brake motor controller 1202, a steering motor controller 1203 and a driving motor controller 1204.
As shown in fig. 6, standard slots are provided on the carrier platform 17 for fixing the loading containers 18, and each container unit occupies 3 sets of slots to realize positioning on the carrier platform 17. Three critical dimensions L, W, d are used to characterize the specifications of carrier platform 17 and loading container 18, wherein: l is the length of the container unit, W is the width of the container unit, and d is the distance between two adjacent container units. The standard width of the container is uniformly set as W, and as shown in fig. 7 to 9, three specifications of loading tray-small (S), pot-shaped container-medium (M) and standard container-large (B) are set according to the number of the card slot groups occupied, wherein: the S-type occupies 1 group of card slots, the M-type occupies 2 groups of card slots, and the B-type occupies 4 groups of card slots. On this unit basis, according to the nimble combination of actual demand, can realize the multiple transportation combination mode of different specification containers, include: s, 2S, 3S and 4S; m, 2M; b; s + M, 2S + M, and the like.
The vehicle can run on the track and the ground, and the control method comprises the following steps:
the method comprises the following steps: the multi-line laser radars 2 on the left side and the right side of the chassis 0 emit multiple laser beams to detect obstacles in front of a vehicle and on the left side and the right side of the vehicle, the front depth camera 3 and the rear depth camera 3 sense image information and distance information of surrounding obstacles respectively, the millimeter wave radars 4 are used for acquiring dynamic target detection in front of the vehicle, and the sensors transmit acquired data frame information to the industrial personal computer 14 in real time.
Step two: the multi-beam laser emitted by the multi-line laser radar 2 can acquire the point cloud information of the surrounding environment and match with a pre-generated underground three-dimensional SLAM map to obtain the position information of the vehicle, meanwhile, the vehicle-mounted UWB positioning label 5 sends a signal to a UWB base station built along a roadway, the position of the positioning label is obtained by using a TOF algorithm, and the final position information of the vehicle is obtained by combining with SLAM positioning.
Step three: the industrial personal computer 14 performs real-time synchronous processing on the received information of each sensor, and when the sensor detects an obstacle or a pedestrian, the local path planning is timely adjusted according to self positioning, and the local path planning is timely sent to the VCU1201 of the vehicle controller.
Step four: the VCU1201 of the vehicle control unit sends control information to the hub motor 13, the steering motor 11 and the brake motor 10 to complete the running, steering and braking of the vehicle.
The safety distance between the vehicle and the obstacle is set in the industrial personal computer 14: the safe distance in front of the driving direction is d 1; the left side safety distance in the driving direction is d 2; the right side safe distance in the traveling direction is d 3. The distance of the front obstacle detected by the multi-line laser radar 2, the depth camera 3 and the millimeter wave radar 4 in real time is D1; the distances of the left and right obstacles in the driving direction, which are detected by the multi-line laser radar 2 and the ultrasonic sensor 6 in real time, are respectively D2 and D3.
The multi-line laser radar 2, the depth camera 3, the millimeter wave radar 4 and the ultrasonic sensor 6 send real-time detection results to the industrial personal computer 14, and the industrial personal computer 14 performs fusion processing on data transmitted by the sensors to obtain final results and compares the final results with set safety distances.
The first condition is as follows: when D1> D1, D2> D2 and D3> D3, the vehicle normally runs by the following specific processes: the industrial personal computer 14 transmits a control signal to the vehicle control unit VCU1201, the vehicle control unit VCU1201 analyzes the signal and transmits the signal to the driving motor controller 1204, and the driving motor controller 1204 analyzes a driving instruction and controls the output torque and the rotating speed of the hub motor 13 to complete the driving and the speed regulation of the vehicle.
Case two: when one of the data D1, D2 and D3 is not larger than the corresponding safe distance and can not be avoided by detour, the vehicle stops running, and the specific process is as follows: on the first hand, the industrial personal computer 14 issues an instruction to the vehicle control unit VCU1201 through the CAN line, the vehicle control unit VCU1201 sends a signal to the driving motor controller 1204 and the braking motor controller 1202, the driving motor controller 1204 analyzes the instruction and controls the hub motor 13 to output a reverse torque, and the braking motor controller 1202 analyzes the instruction and controls the braking motor 10 to output different torques, so as to control the opening degree of the braking valve and realize deceleration braking. In the third aspect, the industrial personal computer 14 sends an alarm to the control center through the wireless signal receiving and sending unit, so that the worker can visually see the condition of the vehicle through the remote operation interface and select to remotely control the vehicle or go to the field for processing.
Case three: when one of the data D1, D2 and D3 is not larger than the corresponding safety distance, but the vehicle can avoid by-pass, the specific process is as follows: on the first hand, the industrial personal computer 14 issues an instruction to the vehicle control unit VCU1201 through the CAN line, the vehicle control unit VCU1201 sends a signal to the driving motor controller 1204, the braking motor controller 1202 and the steering motor controller 1203, the driving motor controller 1204 analyzes the instruction and controls the hub motor 13 to output a reverse torque, the braking motor controller 1202 analyzes the instruction and controls the braking motor 10 to output different torques, and further controls the opening degree of the braking valve to realize deceleration; when D2< D2 and D3> D3, the steering motor controller 1203 analyzes a right steering command and controls the steering motor 11 to turn right, the steering motor 11 drives the steering pull rod 19 to act through the steering pump, and the steering pull rod 19 drives the steering wheel to turn right to complete right-turn bypassing; when D2> D2 and D3< D3, the steering motor controller 1203 analyzes the left steering command and controls the steering motor 11 to turn left, the steering motor 11 drives the steering rod 19 to act through the steering pump, and the steering rod 19 drives the steering wheel to turn left, so that left-turning and bypassing are completed.
Step five: a digital twin platform is built in a remote control center and used for manual remote operation under special conditions, when an underground vehicle encounters an obstacle and cannot avoid the obstacle or the vehicle breaks down, the vehicle sends an alarm to the remote control center, a worker can visually see the condition of the vehicle through a remote operation interface and select the remote control vehicle or go to a field for processing.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (10)
1. A driverless trackless rubber-tyred vehicle standardized transportation platform comprises a chassis (0) and rubber wheels (16), wherein two front wheels are steering wheels and are connected through a steering pull rod (19), and two rear wheels are driving wheels and are internally provided with a hub motor (13); the method is characterized in that: the intelligent collision avoidance system further comprises an intelligent sensing system, an autonomous collision avoidance system, an intelligent control system, an execution system and an object platform (17);
the object carrying platform (17) is arranged on the chassis (0), and a loading container (18) is arranged above the object carrying platform (17);
the intelligent control system comprises an electric control device (12) and an industrial personal computer (14), wherein the electric control device (12) and the industrial personal computer (14) are both arranged on the chassis (0) and are positioned in the object platform (17); the electric control device (12) comprises a vehicle control unit VCU (1201), a brake motor controller (1202), a steering motor controller (1203) and a drive motor controller (1204), wherein the brake motor controller (1202), the steering motor controller (1203) and the drive motor controller (1204) are all connected with the vehicle control unit VCU (1201);
the intelligent sensing system comprises a fisheye camera (1), a multi-line laser radar (2), a depth camera (3), a millimeter wave radar (4) and a UWB positioning tag (5), wherein the fisheye camera (1) is respectively arranged on the front side, the rear side, the left side and the right side of a chassis (0), the multi-line laser radar (2) is respectively arranged on the front left side and the front right side of the chassis (0), the depth camera (3) is respectively arranged on the central axis of the front side and the rear side of the chassis (0), the millimeter wave radar (4) and the UWB positioning tag (5) are both arranged on the central axis of the front side of the chassis (0), and the fisheye camera (1), the multi-line laser radar (2), the depth camera (3), the millimeter wave radar (4) and the UWB positioning tag (5) are all connected with an industrial personal computer (14);
the autonomous anti-collision system comprises ultrasonic sensors (6), the ultrasonic sensors (6) are arranged on the front side, the rear side, the left side and the right side of the chassis (0), and the ultrasonic sensors (6) are connected with a VCU (1201) of the whole vehicle controller through a CAN bus;
the execution system comprises a brake motor (10), a steering motor (11), a hub motor (13) and a storage battery (15), wherein the brake motor (10), the steering motor (11) and the storage battery (15) are all arranged on a chassis (0), the steering motor (11) is connected with a steering pull rod (19), the brake motor (10) is connected with a brake valve (20), and the brake motor (10), the steering motor (11) and the hub motor (13) are respectively electrically connected with a brake motor controller (1202), a steering motor controller (1203) and a driving motor controller (1204).
2. A driverless trackless rubber-tyred vehicle standardized transport platform according to claim 1, wherein the loading containers (18) are divided into three types, standard containers, loading trays and tank containers.
3. The unmanned standardized transportation platform for trackless rubber-tyred vehicles of claim 1, further comprising a lighting lamp (7), a turn light (8) and a brake light (9), wherein the lighting lamp (7), the turn light (8) and the brake light (9) are arranged on the chassis (0) and are all connected with the VCU (1201) of the vehicle control unit.
4. The unmanned standardized transportation platform for trackless rubber-tyred vehicles of claim 1, wherein the carrier platform (17) is provided with a slot.
5. A driverless trackless rubber-tyred vehicle standardized transport platform according to claim 4, wherein the bottom surface of the loading container (18) is provided with a latch fitting with a latch groove.
6. The method for controlling the unmanned trackless rubber-tyred vehicle standardized transport platform according to any one of claims 1 to 5, characterized in that:
the method comprises the following steps: the intelligent sensing system senses the surrounding environment information, acquires path information and barrier information and sends data frame information to an industrial personal computer (14) in the intelligent control system;
step two: the intelligent perception system utilizes the multi-line laser radar (2) to generate point cloud information to be matched with an underground global high-precision map, and is assisted with a UWB positioning technology to realize real-time positioning of the vehicle;
step three: the industrial personal computer (14) receives the image information and the data frame information, performs fusion processing on the image information and the data frame information, and sends the processed information to the VCU (1201) of the whole vehicle controller;
step four: the VCU (1201) of the vehicle controller issues instructions according to the state information of the whole vehicle, the road condition information and the state of the vehicle-mounted accessories, and the executing mechanism finishes driving, steering and braking;
step five: when the vehicle breaks down or encounters an obstacle and cannot be avoided, the industrial personal computer (14) sends an alarm to the remote control center in time, and a worker can remotely operate the vehicle through the remote control platform.
7. The method for controlling the unmanned trackless rubber-tyred vehicle standardized transportation platform according to claim 6, wherein in the first step, the multi-line laser radar (2) on the left and right sides emits a plurality of laser beams to detect the obstacles in front and on the left and right sides, the front and rear depth cameras (3) respectively sense the image information and distance information of the surrounding obstacles, the millimeter wave radar (4) is used for acquiring the dynamic target detection in front of the vehicle, and the sensor transmits the acquired data to the industrial personal computer (14) in real time; in the second step, the multi-beam laser emitted by the multi-line laser radar (2) can acquire the point cloud information of the surrounding environment and match the point cloud information with a pre-generated underground three-dimensional SLAM map to obtain the position information of the vehicle, meanwhile, the vehicle-mounted UWB positioning tag (5) sends a signal to a UWB base station built along a roadway, the position of the positioning tag is obtained by using a TOF algorithm, and the final position information of the vehicle is obtained by combining with SLAM positioning.
8. The method for controlling the unmanned trackless rubber-tyred vehicle standardized transport platform according to claim 7, wherein in the third step, the industrial personal computer (14) synchronously processes the received information of each sensor in real time, and when the sensor detects an obstacle or a pedestrian, the local path plan is timely adjusted according to self positioning and is timely sent to the vehicle control unit VCU (1201).
9. The method for controlling the standardized transportation platform of the unmanned trackless rubber-tyred vehicle as claimed in claim 7, wherein in the fourth step, the vehicle control unit VCU (1201) sends control information to the hub motor (13), the steering motor (11) and the brake motor (10) to complete the speed regulation, steering and braking of the vehicle.
10. The method for controlling the unmanned trackless rubber-tyred vehicle standardized transportation platform according to claim 7, wherein in the fifth step, a digital twin platform is built in the remote control center for remote operation by human beings under special conditions, when the underground vehicle encounters an obstacle and cannot avoid the obstacle or the vehicle has a fault, the vehicle gives an alarm to the remote control center, and a worker can visually see the condition of the vehicle through a remote operation interface and select the remote control vehicle or go to a field for processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110487267.8A CN112947496A (en) | 2021-05-05 | 2021-05-05 | Unmanned trackless rubber-tyred vehicle standardized transportation platform and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110487267.8A CN112947496A (en) | 2021-05-05 | 2021-05-05 | Unmanned trackless rubber-tyred vehicle standardized transportation platform and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112947496A true CN112947496A (en) | 2021-06-11 |
Family
ID=76233695
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110487267.8A Pending CN112947496A (en) | 2021-05-05 | 2021-05-05 | Unmanned trackless rubber-tyred vehicle standardized transportation platform and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112947496A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460049A (en) * | 2021-08-06 | 2021-10-01 | 中国矿业大学 | Robot-driven underground crossheading transportation trackless rubber-tyred vehicle and control method thereof |
| CN114379671A (en) * | 2021-11-23 | 2022-04-22 | 安徽仓擎机器人有限公司 | Mixed operation device of dull and stereotyped intelligent carrier in harbour |
| CN114801954A (en) * | 2022-03-23 | 2022-07-29 | 南京智电汽车研究院有限公司 | Unmanned mining vehicle body and mining vehicle comprising same |
| CN115454057A (en) * | 2022-08-24 | 2022-12-09 | 中国矿业大学 | Digital twin intelligent control modeling system and method for coal mine robot group |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108345305A (en) * | 2018-01-31 | 2018-07-31 | 中国矿业大学 | Railless free-wheeled vehicle intelligent vehicle-mounted system, underground vehicle scheduling system and control method |
| CN109059942A (en) * | 2018-08-22 | 2018-12-21 | 中国矿业大学 | A kind of high-precision underground navigation map building system and construction method |
| 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 |
| CN110033497A (en) * | 2018-01-11 | 2019-07-19 | 灵动科技（北京）有限公司 | Region labeling method, apparatus, electronic equipment and computer readable storage medium |
| CN111824180A (en) * | 2020-06-29 | 2020-10-27 | 安徽海博智能科技有限责任公司 | Unmanned mine car automatic driving control system with fusion obstacle avoidance function |
| CN112319653A (en) * | 2020-09-30 | 2021-02-05 | 中国煤炭科工集团太原研究院有限公司 | Trackless auxiliary transport robot for underground coal mine |
| CN112373465A (en) * | 2020-12-01 | 2021-02-19 | 常州科研试制中心有限公司 | Auxiliary driving system of trackless rubber-tyred vehicle and control method |
-
2021
- 2021-05-05 CN CN202110487267.8A patent/CN112947496A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110033497A (en) * | 2018-01-11 | 2019-07-19 | 灵动科技（北京）有限公司 | Region labeling method, apparatus, electronic equipment and computer readable storage medium |
| CN108345305A (en) * | 2018-01-31 | 2018-07-31 | 中国矿业大学 | Railless free-wheeled vehicle intelligent vehicle-mounted system, underground vehicle scheduling system and control method |
| CN109059942A (en) * | 2018-08-22 | 2018-12-21 | 中国矿业大学 | A kind of high-precision underground navigation map building system and construction method |
| 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 |
| CN111824180A (en) * | 2020-06-29 | 2020-10-27 | 安徽海博智能科技有限责任公司 | Unmanned mine car automatic driving control system with fusion obstacle avoidance function |
| CN112319653A (en) * | 2020-09-30 | 2021-02-05 | 中国煤炭科工集团太原研究院有限公司 | Trackless auxiliary transport robot for underground coal mine |
| CN112373465A (en) * | 2020-12-01 | 2021-02-19 | 常州科研试制中心有限公司 | Auxiliary driving system of trackless rubber-tyred vehicle and control method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460049A (en) * | 2021-08-06 | 2021-10-01 | 中国矿业大学 | Robot-driven underground crossheading transportation trackless rubber-tyred vehicle and control method thereof |
| CN114379671A (en) * | 2021-11-23 | 2022-04-22 | 安徽仓擎机器人有限公司 | Mixed operation device of dull and stereotyped intelligent carrier in harbour |
| CN114801954A (en) * | 2022-03-23 | 2022-07-29 | 南京智电汽车研究院有限公司 | Unmanned mining vehicle body and mining vehicle comprising same |
| CN115454057A (en) * | 2022-08-24 | 2022-12-09 | 中国矿业大学 | Digital twin intelligent control modeling system and method for coal mine robot group |
| CN115454057B (en) * | 2022-08-24 | 2023-11-10 | 中国矿业大学 | Digital twin intelligent management and control modeling system and method for coal mine machine crowd |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112947496A (en) | Unmanned trackless rubber-tyred vehicle standardized transportation platform and control method thereof | |
| US11927956B2 (en) | Methods for transitioning between autonomous driving modes in large vehicles | |
| EP3575173B1 (en) | A vehicle with autonomous driving capability | |
| CN104149782A (en) | Automatic driving system of magnetic-navigation based multi-sensor fusion intelligent vehicle | |
| CN113022408B (en) | 360-degree self-adaptive loading and unloading unmanned mining dump truck and control method thereof | |
| US10723370B1 (en) | Self-driving single-car train system | |
| CN104442452A (en) | Unmanned electric trackless three-direction stacking forklift truck | |
| EP3833590A1 (en) | Railway vehicle system and method for improving the safety of a railway vehicle | |
| EP3833591A1 (en) | Railway drone vehicle and railway vehicle system | |
| CN110803009A (en) | Bidirectional driving electric truck capable of automatically driving | |
| WO2021021427A1 (en) | Methods for transitioning between autonomous driving modes in large vehicles | |
| CN113085917B (en) | Wheel-rail combined type unmanned underground continuous transport vehicle and control method thereof | |
| CN210852627U (en) | Vehicle capable of automatically controlling running | |
| KR102045126B1 (en) | Method And Apparatus for Providing Auto Shipping by using Autonomous Vehicle | |
| CN204110029U (en) | A kind of personal vehicle system of the Multi-sensor Fusion intelligent vehicle based on magnetic navigation | |
| CN113467346A (en) | Automatic driving robot for underground railway vehicle and control method thereof | |
| SK50212008A3 (en) | Method of automated motor vehicle driving on roads and system conveyance | |
| EP3472030B1 (en) | Vehicle with non-physically coupled sections | |
| CN114047768A (en) | Unmanned system based on combined navigation underground transport vehicle | |
| CN211809002U (en) | Bidirectional driving electric truck capable of automatically driving | |
| CA3109404C (en) | Self-driving single-car train system | |
| JP7113056B2 (en) | Vehicles with autonomous driving capabilities | |
| CN210555249U (en) | Laser navigation handling device | |
| CN116424367A (en) | Vehicle and unmanned control method and system thereof | |
| GB2598794A (en) | Controlling or monitoring a remote controlled vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210611 |
|
| RJ01 | Rejection of invention patent application after publication |