CN114047768A - Unmanned system based on combined navigation underground transport vehicle - Google Patents
Unmanned system based on combined navigation underground transport vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses an unmanned system based on a combined navigation underground transport vehicle, which comprises a transport vehicle body, an underground roadway, a positioning module, a control module and a communication module. The carrier vehicle body includes explosion-proof drive-by-wire chassis module, frame, orientation module and sets up the sensor on the frame, and orientation module is including being used to lead module, vision navigation module, magnetism nail navigation module, and the underworkings includes two kinds of road surface conditions on road surface an and road surface b, and control module includes central processing unit, industrial computer, battery and block terminal, and communication module includes a plurality of network base stations in the pit, looped netowrk switch, aboveground network switch, two optical fiber looped netowrk and ground control center. The invention adopts a chargeable storage battery without a dragging cable as a power source, adopts pure electric drive without pollutant emission, adopts four-hub motor drive technology to improve the flexibility and maneuverability of the whole vehicle, adopts a combined navigation mode to be suitable for underground multi-path running, and realizes automation and intellectualization.
Description
Technical Field
The invention relates to an autonomous transport tool, in particular to an unmanned system based on a combined navigation underground transport vehicle.
Background
At present, the underground unmanned technology is rapidly developed, most developed coal mine robots are wheel type or crawler type, such as a shed-erecting robot, a carrying robot, a small-sized inspection robot and the like, and once an operation fault occurs, return maintenance is needed or the coal mine robots are required to move to a specified explosion-proof charging chamber for charging when power is insufficient, a transport vehicle is required to complete a transportation task. The transport vehicle is widely applied to short-distance transportation of various goods or tools, can reduce transportation cost and improve working efficiency, and particularly has important practical significance for researching underground unmanned transport vehicles.
At present, most underground coal mine robots adopt an explosion-proof diesel engine or a hydraulic motor as a power source for driving, and a considerable part of robots drag heavy cables during working, so that serious inconvenience is brought to the working, and the running cost is correspondingly increased. The patent application number 202110657358.1 is named as 'an invention patent of a pneumatic crawler type multifunctional transport vehicle and a method', the scheme adopts compressed air as a power source, has high reliability and small maintenance amount, but lacks intelligence, and has large self weight and is difficult to realize real unmanned driving. The patent application number is 201611067840.5, and is named as 'an unmanned driving system and method of an underground mining locomotive with a high-precision positioning navigation terminal'. The system adopts the GPS positioning module to carry out underground positioning, but does not consider the problem that the underground GPS positioning signal is weak, so that the positioning is inaccurate and the electric locomotive drifts.
Meanwhile, the transportation mode that most robot transport vechicles adopted is the guide rail formula, and although the transportation ability and commonality are good, nevertheless do not possess the flexibility, lay the guide rail in the pit and taken up the space utilization in underworkings greatly moreover, thereby it is difficult to popularize other intelligent coal mine robot in some roadways and realize automatic purpose of subtracting people.
Disclosure of Invention
The main object of the present invention is to provide an unmanned system based on a combined navigation downhole carrier vehicle, which can effectively overcome or at least partially solve the above-mentioned problems in the background art.
The invention provides the following technical scheme: an unmanned system based on a combined navigation underground transport vehicle comprises a transport vehicle body, an underground roadway, a positioning module, a control module and a communication module; the carrier vehicle body comprises an explosion-proof wire control chassis module, a frame, a positioning module and a sensor arranged on the frame.
Preferably, the explosion-proof wire control chassis module comprises four explosion-proof wheels, four hub motors and four electromagnetic brakes, wherein the four hub motors and the four electromagnetic brakes are respectively arranged on the explosion-proof wheels; the four electromagnetic brakes are symmetrically distributed above the axle and are arranged on the inner side of the frame about the central axis of the vehicle body, the steel plate springs are arranged below the frame and are hinged with the frame, and the axle is fixedly connected with the steel plate spring suspensions; install layer board, front bumper, rear bumper, front beam and rear frame member on the frame, its characterized in that, frame and layer board fixed connection, frame fixed connection has front beam and rear frame member, the layer board is used for bearing middle-size and small-size coal mine robot, front and rear bumper both ends are drawn in, install respectively at the front and back of frame.
The positioning module comprises an inertial navigation module, a visual navigation module and a magnetic nail navigation module.
Preferably, the inertial navigation module is used for measuring the acceleration of the vehicle body under an inertial reference system and obtaining the speed, the attitude and the position information of the carrier through integral operation.
Preferably, the visual navigation module mainly comprises a binocular depth camera, and is characterized in that the binocular depth camera is mounted on the front bumper and is symmetrical about a vehicle body central axis, and is used for acquiring pose information of the vehicle body under a navigation coordinate, performing information fusion by adopting Kalman filtering, acquiring final pose information of the vehicle body, and correcting accumulated errors of inertial navigation to ensure navigation positioning accuracy.
Preferably, the magnetic nail navigation module comprises a magnetic grid ruler, an auxiliary magnetic grid ruler, a magnetic resistance sensor, a speedometer, an RFID reader-writer and magnetic nails distributed on the mine road at equal intervals; the magnetic grid ruler is characterized by consisting of 20 magnetic resistance sensors which are arranged in a straight line at equal intervals; the magnetic grid ruler is arranged at the position 20-40cm away from the ground surface under the front cross beam of the frame, is symmetrical about the axis of the vehicle body, is used for measuring the magnetic field intensity of the magnetic nail lane in the vertical direction and feeds back the magnetic field intensity to the controller; the auxiliary magnetic grid ruler is arranged at a position 20-40cm away from the ground under the rear cross beam of the frame and is symmetrical about the axis of the vehicle body and is used for timely correcting the deviation by matching with the vehicle body, so that the precision and the reliability of a navigation system are ensured; the odometer is arranged below the front suspension and used for measuring the speed and the mileage of the vehicle body and feeding the speed and the mileage back to the controller; the RFID reader-writer is used for reading RFID label information, feeding the RFID label information back to the controller and simultaneously switching a vehicle body navigation mode; the magnetic nail lane is composed of magnetic nails at equal intervals, wherein the coordinate and magnetic pole orientation of each magnetic nail are known and constitute a magnetic nail map to be stored in the navigation controller.
Preferably, the sensor comprises an infrared sensor, a short-distance collision radar, a wide-angle camera and an explosion-proof vehicle lamp. The infrared sensor, the short-distance collision radar, the wide-angle camera and the explosion-proof vehicle lamp are all arranged on the vehicle frame bumper; the infrared sensor is arranged at the position, close to the right end, of the front bumper 2/3 and used for detecting pedestrians to guarantee driving safety; the four short-distance collision radars are respectively arranged on the end faces of the front bumper and the rear bumper and are used for detecting whether the distance between the front side and the rear side of the vehicle body and the obstacle is within a preset safety distance or not, so that the driving of the transport vehicle is immediately judged and responded, and information is fed back to a ground control center to reduce the occurrence of driving accidents; the wide-angle camera is mounted at the left end of the front bumper 1/3 and used for viewing the surrounding environment and uploading the surrounding environment to a ground control center to monitor the running state of the transport vehicle in real time and control the advancing of the transport vehicle. The anti-explosion car lamps are two, the two anti-explosion car lamps are symmetrically distributed and installed on the front bumper relative to the central axis of the car body, and one of the anti-explosion car lamps is installed between the short-distance collision radar and the wide-angle camera.
Preferably, the underground roadway comprises two road conditions, namely a road a and a road b, wherein the road a is a rugged and soft road without concrete pavement, and the road b is a good road with concrete pavement; the magnetic nails with equal intervals are arranged on the road surface b, RFID labels are arranged at junctions of the magnetic nails and the road surface a, and the RFID labels can be read and identified by an RFID reader-writer arranged on the transport vehicle and are used for switching visual inertial integrated navigation and magnetic inertial integrated navigation modes, so that switching between stable transportation and quick movement is realized.
Preferably, the control module comprises a central processing unit, an industrial personal computer, a storage battery and a distribution box, the industrial personal computer is arranged between the front cross beam and the front bumper, the storage battery is arranged below the frame in the middle, the central processing unit is arranged behind the front cross beam, and the distribution box is arranged between the central processing unit and the storage battery. The central processing unit is connected with the infrared sensor, the short-distance collision radar, the binocular depth camera, the navigation module, the industrial personal computer and the distribution box, the industrial personal computer is connected with the hub motor and the electromagnetic brake, and the distribution box is connected with the storage battery, the infrared sensor, the short-distance collision radar, the binocular depth camera, the wide-angle camera, the explosion-proof car lamp, the hub motor and the electromagnetic brake.
Preferably, the communication module comprises a plurality of underground network base stations, an underground ring network switch, a double-optical-fiber ring network and a ground control center. The ground control center comprises an operation table, a main switch and a monitoring table, wherein the double-optical-fiber looped network is connected with the underground looped network switch and the aboveground looped network switch, the main switch is connected with the aboveground looped network switch and is simultaneously connected with the operation table and the monitoring table respectively, and the network base station is in wireless connection with the underground looped network switch and the antenna on the transport vehicle.
The technical scheme provided by the embodiment of the disclosure has the following beneficial effects:
1. compared with the prior art, the underground transport vehicle adopts the chargeable storage battery without a dragging cable as a power source and pure electric drive without pollutant discharge, thereby effectively reducing the pollution to the environment.
2. Compared with the prior art, the underground transport vehicle adopts the leaf spring suspension, effectively lightens the damage that road surface impact caused the in-wheel motor and with low costs, bearing capacity is strong, easy maintenance and on this basis with more shaft type of repacking again can improve whole car bearing capacity greatly.
3. Compared with the prior art, the underground transport vehicle does not adopt guide rail transportation, and the four-hub motor driving technology is adopted to drive the underground transport vehicle, so that the maneuvering flexibility of the whole vehicle can be greatly improved, the structure of the whole vehicle is simplified, and the manufacturing cost is reduced.
4. Compared with the prior art, the underground transport vehicle adopts a magnetic nail inertial navigation and visual inertial navigation combined navigation mode, is suitable for underground multi-path running, reduces labor cost and can realize automation and intellectualization.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required to be used in the description of the embodiments will be briefly introduced below.
FIG. 1 is a schematic view of an unmanned system based on a combined navigation downhole transport vehicle provided by an embodiment of the disclosure;
FIG. 2 is a schematic illustration of a body axis of a transporter provided by an embodiment of the disclosure;
FIG. 3 is a schematic view of a structure of a chassis of a body of a transport vehicle provided by an embodiment of the disclosure;
FIG. 4 is a block diagram of a vehicle unmanned system provided by an embodiment of the disclosure;
fig. 5 is a flowchart of vehicle operation steps provided by the embodiment of the present disclosure.
The symbols in the drawings represent the following meanings:
1. a carrier vehicle body; 2. an underground roadway; 3. a positioning module; 4. a control module; 5. a communication module; 12. An explosion-proof wire controlled chassis module; 13. a frame; 14. a sensor; 121. an explosion-proof wheel; 122. a hub motor; 123, four electromagnetic brakes; 124. an axle; 125. a leaf spring suspension; 131. a support plate; 132. a front bumper; 133. a rear bumper; 134. a front cross member; 135. a rear cross member; 31. an inertial navigation module; 32. a visual navigation module; 33. a magnetic nail navigation module; 322. a binocular depth camera; 331. a magnetic grid ruler; 332. an auxiliary magnetic grid ruler; 333. a magnetoresistive sensor; 334. an odometer; 335. an RFID reader; 336. an RFID tag; 337. magnetic nails; 151. an infrared sensor; 152. a short-range collision radar; 153. a wide-angle camera; 154. An explosion-proof vehicle lamp; 2-1, a road surface a; 2-2, pavement b; 41. a central processing unit; 42. an industrial personal computer; 43. A storage battery; 44. a distribution box; 51. a vehicle-mounted antenna; 52. a plurality of network base stations underground; 53. an underground looped network switch; 54. an aboveground ring network switch; 55. a double optical fiber ring network; 56. a ground control center; 561. an operation table; 562. a master switch; 563. a monitoring station.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1-4 show an unmanned system based on a combined navigation downhole transport vehicle.
With reference to fig. 1, the invention discloses an unmanned system based on a combined navigation underground transport vehicle, which comprises a transport vehicle body 1, an underground roadway 2, a positioning module 3, a control module 4 and a communication module 5.
With reference to fig. 2 and 4, the transportation vehicle body 1 includes an explosion-proof wire-controlled chassis module 12, a frame 13, a positioning module 3, and a sensor 14 disposed on the frame.
The explosion-proof wire control chassis module 12 comprises four explosion-proof wheels 121, four in-wheel motors 122 and four electromagnetic brakes 123, wherein the four in-wheel motors 122 and the four electromagnetic brakes 123 are respectively installed on the explosion-proof wheels 121, the explosion-proof wire control chassis module further comprises an axle 124 and a leaf spring suspension 125, the electromagnetic brakes 123 are four and are symmetrically distributed above the axle 124 about the central axis of the vehicle body and are installed on the inner side of the vehicle frame 13, the leaf spring is installed below the vehicle frame 13 and is hinged with the vehicle frame 13, and the axle 124 is fixedly connected with the leaf spring suspension 125.
In the above implementation, the leaf spring suspension 125 connects the axle 124 and the frame 13, and not only bears the load impact of the explosion-proof wheel 121 on the frame 13 to effectively reduce the damage of the road impact on the hub motor 122, but also has the advantages of low cost, high bearing capacity, convenient maintenance and suitability for severe underground conditions.
A support plate 131, a front bumper 132, a rear bumper 133, a front cross beam 134 and a rear cross beam 135 are mounted on the frame 13; the coal mine robot is characterized in that the frame 13 is fixedly connected with a supporting plate 131, and the supporting plate 131 is used for bearing a small and medium coal mine robot; the front bumper 132 and the rear bumper 133 are folded at two ends and are respectively installed at the front and rear parts of the frame 13.
The positioning module 3 comprises an inertial navigation module 31, a visual navigation module 32 and a magnetic nail navigation module 33;
the inertial navigation module 31 is used for measuring the acceleration of the vehicle body under an inertial reference system, and obtaining the speed, the attitude and the position information of the carrier through integral operation.
The visual navigation module 132 mainly comprises a binocular depth camera 321 and is characterized in that the binocular depth camera 321 is mounted on the front bumper 132 and is symmetrical about a vehicle body central axis, and is used for acquiring pose information of a vehicle body under a navigation coordinate, fusing the acquired information by adopting Kalman filtering to acquire final pose information of the vehicle body, correcting accumulated errors of inertial navigation and ensuring navigation and positioning accuracy.
The magnetic nail navigation module 33 comprises a magnetic grid ruler 331, an auxiliary magnetic grid ruler 332, a magnetic resistance sensor 333, a speedometer 334, an RFID reader-writer 335, an RFID label 336 and magnetic nails 337 distributed on the mine road at equal intervals; the magnetic grid ruler 331 is composed of 20 magnetic resistance sensors 333 which are arranged in a straight line at equal intervals; the magnetic grid ruler 332 is arranged at the position 20-40cm away from the ground under the front cross beam 134, is symmetrical about the axis of a vehicle body, is used for measuring the magnetic field intensity of a magnetic nail lane in the vertical direction and is fed back to a controller; the auxiliary magnetic grid ruler 332 is arranged at the position 20-40cm away from the ground under the rear cross beam of the frame and is symmetrical about the axis of the vehicle body, and is used for timely correcting the deviation by matching with the vehicle body to ensure the precision and the reliability of a navigation system; the odometer 334 is arranged below the front cross beam 134 and used for measuring the speed and the mileage of the vehicle body and feeding back the speed and the mileage to the controller; the RFID reader 335 is configured to read RFID tag information, feed the RFID tag information back to the controller, and switch a navigation mode; the downhole roadway 2 is comprised of equally spaced magnetic nails 337, each of which has known coordinates and magnetic pole orientations and constitutes a map of the magnetic nails stored in the navigation controller.
The sensors 15 include an infrared sensor 151, a short-range collision radar 152, a wide-angle camera 153, and explosion-proof vehicle lights 154. The infrared sensor 151, the short-distance collision radar 152, the wide-angle camera 153 and the explosion-proof vehicle lamp 154 are all arranged on a vehicle frame bumper; the infrared sensor 151 is installed at 2/3 of the front bumper 132 near the right end, and is used for detecting pedestrians to ensure the driving safety; four short-distance collision radars 152 are respectively arranged on the end faces of the front and rear bumpers and used for detecting whether the distance between the front and rear sides of the vehicle body and the obstacle is within a preset safety distance or not, so that the running of the transport vehicle is judged and responded immediately, and information is fed back to a ground control center to reduce the occurrence of driving accidents; the wide-angle camera 153 is mounted at 1/3 near the left end of the front bumper 132 for viewing the surrounding environment and uploading to the ground control center 56 for real-time monitoring of the vehicle's operating conditions and control of the vehicle's travel. The explosion-proof vehicle lights 154 are two, and are characterized in that the two explosion-proof vehicle lights 154 are symmetrically arranged on the front bumper 132 about the central axis of the vehicle body, and one of the explosion-proof vehicle lights is arranged between the short-distance collision radar 152 and the wide-angle camera 153.
The underground roadway 2 comprises two road conditions of a road surface a 2-1 and a road surface b 2-2, wherein the road surface a 2-1 is a rugged and soft road surface without concrete pavement, and the road surface b 2-2 is a good road surface with concrete pavement; the magnetic nails with equal intervals are arranged on the road surface b 2-2, the RFID tags 336 are arranged at the junctions of the magnetic nails and the road surface a 2-1, and the RFID tags 336 can be read and identified by RFID readers 335 arranged on the transport vehicle and are used for switching the modes of visual inertial integrated navigation and magnetic inertial integrated navigation, so that the switching between stable transportation and quick movement is realized.
The control module 4 comprises a central processor 41, an industrial personal computer 42, a storage battery 43 and a distribution box 44, wherein the industrial personal computer 42 is arranged between a front cross beam 134 and a front bumper 132, the storage battery 43 is arranged below the vehicle frame 13 in the center, the central processor 41 is arranged behind the front cross beam 134, and the distribution box 44 is arranged between the central processor 41 and the storage battery 43. Central processing unit 41 links to each other with infrared sensor 151, closely collision radar 152, binocular depth camera 321, orientation module 3, industrial computer 42, block terminal 44, industrial computer 42 links to each other with in-wheel motor 122 and electromagnetic braking ware 123, and block terminal 44 links to each other 123 with battery 43, infrared sensor 151, closely collision radar 152, binocular depth camera 321, wide angle camera 153, explosion-proof car light 154, in-wheel motor 122 and electromagnetic braking ware.
Referring to fig. 1, the communication module 5 includes a vehicle-mounted antenna 51, a plurality of network base stations 52 in a downhole, a ring network switch 53 in the downhole, a ring network switch 54 in the uphole, a dual-fiber ring network 55, and a ground control center 56. The vehicle-mounted antenna 51 is mounted on the vehicle body 101, and the ground control center 56 includes an operation desk 561, a main switch 562 and a monitoring desk 563; the dual optical fiber looped network 55 is connected with the underground looped network switch 53 and the aboveground looped network switch 54, the main switch 562 is connected with the aboveground looped network switch 54 and is also respectively connected with the operating station 561 and the monitoring station 563, and the network base station 53 is wirelessly connected with the underground looped network switch 53 and the vehicle-mounted antenna 51.
According to fig. 5, the navigation run of the underground carrier vehicle comprises the following steps:
step 1: the system is initialized and detected, after the ground control center 56 sends an operation instruction and transmits the operation instruction to the central processing unit 41 through the communication system, the whole vehicle starts self-checking to check whether each module is normal, meanwhile, the central processing unit 41 controls the distribution box 44 to supply power to each electrical appliance, if the self-checking is normal, the following steps are carried out, and if not, the operation is stopped to wait for the maintenance of personnel.
Step 2: when the whole vehicle is started, the central processor 41 controls the explosion-proof vehicle lamp 154 to be turned on and illuminate the underground environment, controls the wide-angle camera 153 to be turned on and acquire surrounding image information, and simultaneously uploads the acquired image information to the monitoring station 563 of the ground control center 56 through the vehicle-mounted antenna 51 via the communication module 5; the ground monitoring station 563 sends an operation control command to the central processing unit 41 of the transport vehicle according to the environment of the transport vehicle and the ground operating station 561, and then sends the operation control command to the industrial personal computer 42 through the CAN bus, so as to control the operation of the in-wheel motor 122 and the electromagnetic brake 123.
And step 3: the ground control center 56 judges the initial position of the transport vehicle according to the road information acquired by the wide-angle camera 153 in real time, and selects a proper navigation method for positioning.
And 4, step 4: the whole vehicle travels according to the expected planned movement path. The central processing unit 41 performs positioning by using different navigation modes according to the condition that the transport vehicle is on two different road surfaces, codes the positioning information according to the combined navigation by combining the information acquired by each vehicle-mounted sensor and then transmits the information to the central processing unit 41, the information is processed and analyzed by the processing unit and then a control instruction is sent to the industrial personal computer 42, and meanwhile, the industrial personal computer 42 converts the position, the speed and the course information into control signals of the hub motor 122 and the electromagnetic brake 123 so as to achieve the purpose of controlling the driving and the braking of the wheels.
Further, the integrated navigation positioning method comprises the following situations:
s1: when the initial position of the transport vehicle is on the road surface b 2-2, the whole vehicle is started, the magnetic nail navigation module 33 and the inertial navigation module 31 participate in navigation positioning, the visual navigation module 32 is in a closed state, and the whole vehicle is controlled to automatically move according to the expected planned movement path according to the magnetic nail 337 positioning information identified by the magnetic resistance sensor 333 and the inertial navigation module 31 integrated with Kalman filtering and by combining the information of each vehicle-mounted sensor 14.
S2: when the initial position of the transport vehicle is on the road surface a 2-1, the whole transport vehicle is started, the visual navigation module 32 and the inertial navigation module 31 participate in positioning, the magnetic nail navigation module 33 is in a closed state, and the relative position and posture information of the vehicle body and the inertial navigation module 31 integrated with Kalman filtering are obtained according to the binocular depth camera 322 and are combined with the information of each vehicle-mounted sensor 14, so that the whole transport vehicle is controlled to autonomously advance according to the expected planned movement path.
S3: when the transport vehicle steps into the road surface a 2-1 from the road surface b 2-2, the information of the RFID tag 336 arranged on the mine road is identified through the RFID reader-writer 335 arranged on the vehicle body, the received signal is transmitted to the central processing unit 41 as a navigation switching instruction, the magnetic nail navigation module 33 is closed, the visual navigation module 32 and the inertial navigation module 31 are controlled to participate in positioning, the relative position and posture information of the vehicle body are obtained according to the binocular depth camera 322, the inertial navigation module 31 integrated with Kalman filtering is combined with the information of each vehicle-mounted sensor 14, and the whole vehicle is controlled to automatically move according to the movement path expected to be planned.
S4: when the transport vehicle steps into a road b 2-2 from a road a 2-1, firstly, the posture of the vehicle body is corrected in advance according to image information acquired by the visual navigation module 32, the central axis of the vehicle body is kept on a magnetic nail track as much as possible, when an RFFID reader 335 mounted on the vehicle body identifies RFID tag 336 information arranged on a mine road, a received signal is transmitted to the central processing unit 41 as a switching navigation instruction, then the visual navigation module 32 is closed, the magnetic nail navigation module 33 and the inertial navigation module 31 are opened and participate in the positioning of the whole vehicle, and the whole vehicle is controlled to autonomously advance according to a movement path expected to be planned according to the magnetic nail positioning information identified by the magnetic resistance sensor 333 and the inertial navigation module 31 fused with Kalman filtering and combined with the information of each vehicle-mounted sensor 14.
Further, in the driving process, the infrared sensor 151, the wide-angle camera 153 and the short-distance collision radar 152 detect a front obstacle, the infrared sensor 151 detects whether a pedestrian passes through the front, when the pedestrian passes through, the central processor 41 sends a control instruction to the industrial personal computer 42 through the CAN bus, the industrial personal computer 42 controls the hub motor 122 and the electromagnetic brake 123 to work, the whole vehicle is decelerated and braked, and meanwhile the infrared sensor 151 CAN give an alarm after detecting the pedestrian. When the pedestrian passes and the whole vehicle is not hindered to run, the infrared sensor 151 gives an alarm and releases, and the vehicle runs normally; when no pedestrian is in front, the vehicle runs according to the underground specified speed per hour.
Further, during the driving process, the central processing unit 41 monitors the state information of the magnetic nail navigation module 33, the visual navigation module 32 and the inertial navigation module 31 in real time. When the vehicle runs with the road surface b 2-2, when the magnetic nail navigation module 33 breaks down, the central processing unit 41 controls the visual navigation module 32 and the inertial navigation module 31 to work; when the visual navigation module 32 has a fault while the vehicle is running on the road a 2-1, the central processor 41 sends a control instruction to the ground control center 56, and the ground operation console 561 controls the whole vehicle to run.
Finally, it should be noted that: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be mechanical or electrical connected, or may be communication between two elements, and may be directly connected, and "upper," "lower," "left," and "right" are used merely to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may be changed;
furthermore, the above embodiments are only optional embodiments of the present disclosure, and it should be noted that the embodiments of the present disclosure are not limited to two-axis type, and can be modified into three-axis or more than three-axis wheeled electric vehicles, so that all modifications made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (7)
1. An unmanned system based on a combined navigation underground transport vehicle comprises a transport vehicle body (1), an underground roadway (2), a positioning module (3), a control module (4) and a communication module (5); the method is characterized in that: the carrier vehicle body (1) comprises an explosion-proof wire control chassis module (12), a vehicle frame (13), a positioning module (3) and a sensor (14) arranged on the vehicle frame.
2. The unmanned system based on combination navigation underground transport vehicle of claim 1, wherein: the explosion-proof wire control chassis module (12) comprises four explosion-proof wheels (121), four hub motors (122) respectively arranged on the wheels, four electromagnetic brakes (123), an axle (124) and a leaf spring suspension (125); the electromagnetic brakes (123) are symmetrically distributed above the axle (124) about the central axis of the vehicle body and are arranged on the inner side of the vehicle frame (13), the leaf spring suspension (125) is arranged below the vehicle frame (13) and is hinged with the vehicle frame (13), and the axle (124) is fixedly connected with the leaf spring suspension (125). Install layer board (131), front bumper (132), rear bumper (133), front beam (134) and rear beam (135) on frame (13), its characterized in that: the frame (13) is fixedly connected with the supporting plate (131), and two ends of the front bumper (132) and the rear bumper (133) are folded and respectively installed at the front and rear parts of the frame (13).
3. The unmanned system based on combination navigation underground transport vehicle of claim 1, wherein: the positioning module (3) comprises an inertial navigation module (31), a visual navigation module (32) and a magnetic nail navigation module (33); the inertial navigation module (31) is used for measuring the acceleration of the vehicle body under an inertial reference system and obtaining the speed, the attitude and the position information of the carrier through integral operation; the visual navigation module (32) mainly comprises a binocular depth camera (321), and is characterized in that: the binocular depth camera (321) is mounted on the front bumper (132) and is symmetrical about a vehicle body central axis; the magnetic nail navigation module (33) comprises a magnetic grid ruler (331), an auxiliary magnetic grid ruler (332), a magnetic resistance sensor (333), a speedometer (334), an RFID reader-writer (335) and magnetic nails (337) distributed on the mine tunnel at equal intervals; the method is characterized in that: the magnetic grid ruler (331) consists of 20 magnetic resistance sensors (333) which are arranged in a straight line at equal intervals; the method is characterized in that: the magnetic grid ruler (331) is arranged right below the front cross beam (134) and 20-40cm away from the ground and is symmetrical about the axis of the vehicle body; the auxiliary magnetic grid ruler (332) is arranged right below the rear cross beam (135) and 20-40cm away from the ground and is symmetrical about the axis of the vehicle body; the odometer (334) is used for measuring the speed and the mileage of the vehicle body and feeding back to the controller; the RFID reader-writer (335) is arranged below the front cross beam (134), is symmetrical about the axis of the vehicle body, is used for reading RFID label information, feeds the RFID label information back to the controller, and is used for switching the navigation mode of the vehicle body; the magnetic nails (337) are paved on the underground roadway (2) at equal intervals.
4. The unmanned system based on combination navigation underground transport vehicle of claim 1, wherein: the sensor (14) comprises an infrared sensor (151), a short-distance collision radar (152), a wide-angle camera (153) and an explosion-proof vehicle lamp (154). The infrared sensor (151), the short-distance collision radar (152), the wide-angle camera (153) and the explosion-proof car lamp (154) are all arranged on the front bumper (132); the infrared sensor (151) is installed at 2/3, close to the right end, of the front bumper (132); four short-distance collision radars (152) are respectively arranged at the end surfaces of the front bumper (132) and the rear bumper (133); the wide-angle camera (153) is mounted to 1/3 of the front bumper (132) near the left end. The anti-explosion vehicle lamps (154) are arranged symmetrically about the central axis of the vehicle body and are respectively arranged on the front bumper, and one of the anti-explosion vehicle lamps is arranged between the short-distance collision radar and the wide-angle camera.
5. The unmanned system based on combination navigation underground transport vehicle of claim 1, wherein: the underground roadway (2) comprises a pavement a (2-1) and a pavement b (2-2), and the pavement a (2-1) is a rugged and soft pavement paved without concrete; the road surface b (2-2) is a good road surface paved with concrete, the road surface a (2-1) is not provided with magnetic nails, the road surface b (2-2) is provided with the magnetic nails at equal intervals, the junction of the magnetic nails (337) and the road surface a (2-1) is provided with an RFID label (336), and the RFID label (336) can be read and identified by an RFID reader-writer (335) arranged on a transport vehicle and is used for switching a visual navigation and inertial navigation combined navigation mode, a magnetic nail navigation and inertial navigation combined navigation mode, and switching between stable transportation and quick movement is realized.
6. The unmanned system based on combination navigation underground transport vehicle of claim 1, wherein: control module (4) include central processing unit (41), industrial computer (42), battery (43) and block terminal (44), and industrial computer (42) set up between front beam (134) and front bumper (132), and battery (43) are arranged in the frame (13) below centrally, and central processing unit (41) are arranged in front beam (134) rear, and block terminal (44) are arranged between central processing unit (41) and battery (43). Central processing unit (41) link to each other with infrared sensor (151), closely collide radar (152), binocular depth camera (321), orientation module (3), industrial computer (42), block terminal (44), industrial computer (42) link to each other with in-wheel motor (122) and electromagnetic braking ware (123), and block terminal (44) link to each other with battery (43), infrared sensor (151), closely collide radar (152), binocular depth camera (321), wide angle camera (153), explosion-proof car light (154), in-wheel motor (122) and electromagnetic braking ware (123).
7. The unmanned system based on combination navigation underground transport vehicle of claim 1, wherein: the communication module (5) comprises a plurality of underground network base stations (52), an underground looped network switch (53), an aboveground looped network switch (54), a double-fiber looped network (55) and a ground control center (56). The method is characterized in that: the ground control center comprises an operation console (561), a main switch (562) and a monitoring console (563), the double-optical-fiber looped network (55) is connected with the underground looped network switch (53) and the aboveground looped network switch (54), the main switch (562) is connected with the aboveground looped network switch (54) and is simultaneously connected with the operation console (561) and the monitoring console (563) respectively, and the network base station (52) is in wireless connection with the underground looped network switch (53) and the vehicle-mounted antenna (51).
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| CN202111595099.0A CN114047768A (en) | 2021-12-24 | 2021-12-24 | Unmanned system based on combined navigation underground transport vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114571489A (en) * | 2022-05-06 | 2022-06-03 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Be applied to intelligent robot of patrolling and examining of railway bridge |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114571489A (en) * | 2022-05-06 | 2022-06-03 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Be applied to intelligent robot of patrolling and examining of railway bridge |
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