CN114296461A - Unmanned control method for dump truck - Google Patents
Unmanned control method for dump truck Download PDFInfo
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- CN114296461A CN114296461A CN202111656172.0A CN202111656172A CN114296461A CN 114296461 A CN114296461 A CN 114296461A CN 202111656172 A CN202111656172 A CN 202111656172A CN 114296461 A CN114296461 A CN 114296461A
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Abstract
The invention relates to the technical field of unmanned driving, in particular to an unmanned control method for a dumper, which reduces the danger of the dumper in the charging and discharging processes, increases the safety of the dumper in the using process, reduces the manual use, increases the transferring efficiency of the dumper and improves the practicability; inputting the loading position into a central processing unit, and planning a driving route by the central processing unit according to the position of the dump truck and the loading position; the dump truck drives to the loading area according to the driving route planned by the central processing unit; the dump truck is provided with a front and back induction radar which identifies obstacles around the dump truck so that the dump truck avoids temporary obstacles; the dump truck senses the position of the excavator, the sensed excavator position data are uploaded to the central processing unit, and the central processing unit plans a driving route according to the position of the dump truck and the position of the excavator.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an unmanned control method for a dump truck.
Background
The dump truck refers to a vehicle which unloads cargos by self through hydraulic or mechanical lifting. Also known as dump trucks. The device consists of an automobile chassis, a hydraulic lifting mechanism, a cargo compartment, a power take-off device and the like; the existing unmanned dumper has high danger in the loading, unloading and running processes and low safety in the loading process through the excavator.
Disclosure of Invention
In order to solve the technical problems, the invention provides the unmanned control method for the dump truck, which has the advantages of reducing the dangerousness of the dump truck in the loading and unloading processes, increasing the safety of the dump truck in the using process, reducing the manual use, increasing the transferring efficiency of the dump truck and improving the practicability.
The invention discloses an unmanned control method of a dump truck, which comprises the following steps:
s1, inputting the loading position into a central processing unit, and planning a driving route by the central processing unit according to the position of the dump truck and the loading position;
s2, the dump truck drives to the loading area according to the driving route planned by the central processing unit;
s3, a front and back induction radar is arranged on the dump truck, and the front and back induction radar identifies obstacles around the dump truck so that the dump truck avoids temporary obstacles;
s4, the dump truck senses the position of the excavator, the sensed excavator position data are uploaded to the central processing unit, and the central processing unit plans a driving route according to the position of the dump truck and the position of the excavator;
s5, when the dump truck travels to a region near the excavator, shooting the surrounding environment of the excavator through a binocular vision image positioning system, uploading the shooting result to a central processing unit, judging the surrounding environment of the excavator by the central processing unit, judging an optimal charging position, conveying the charging position to the dump truck, and when the dump truck travels to the charging position, charging the dump truck by the excavator;
s6, after the dump truck finishes loading, the central processing unit plans a driving route according to the position of the dump truck and the position of the unloading area;
s7, driving to a discharging area according to the driving route planned by the central processing unit, identifying a discharging environment through a binocular vision image positioning system, determining specific coordinates of discharging, and moving to a discharging position according to the coordinate dump truck;
and S8, after the dump truck moves to the unloading position, the central processing unit controls the dump truck to start the unloading lifting device, the lifting device unloads the materials in the hopper of the dump truck, after the unloading is finished, the central processing unit controls the dump truck to convey the coordinates of the parking lot to the dump truck, and the dump truck moves to the parking position according to the coordinates of the parking lot.
According to the unmanned control method of the dump truck, the 360-degree full-truck image is arranged on the dump truck.
The invention relates to an unmanned control method of a dump truck.
The invention discloses an unmanned control method of a dump truck.
The invention relates to an unmanned control method of a dumper.
According to the unmanned control method for the dump truck, the front and rear induction radars adopt the laser radar to induce the obstacle.
According to the unmanned control method for the dump truck, the identification line on the road is identified by the binocular vision image positioning system in the driving process of the dump truck, so that the dump truck keeps driving in the center of the road.
Compared with the prior art, the invention has the beneficial effects that:
the front obstacle and the rear obstacle of the dump truck are identified through the front induction radar and the rear induction radar, the safety of the dump truck in the running process is improved, the binocular vision image positioning system takes images of the surrounding environment of the excavator in the loading process of the dump truck, the safe position of loading is judged, the dangerousness of the dump truck in the loading and unloading process is reduced through unmanned driving, the safety of the dump truck in the using process is improved, manual use is reduced, the transferring efficiency of the dump truck is increased, and the practicability is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The invention relates to an unmanned control method of a dumper, which is characterized in that a central processing unit is provided with a touch screen control module, information can be input into the central processing unit through the touch screen control module, routes can be replanned according to different scenes through the information input, meanwhile, the central processing unit has a memory function on the information input by the touch screen control module, and through the memory function of the central processing unit, when the dumper is controlled to return to a place which is memorized by the central processing unit before to work, the route memory of the place stored in the central processing unit can be directly called through the touch screen control module, so that the dumper directly enters a working state, the step of recording the route again is omitted, and the dumper runs to a charging area according to a running route planned by the central processing unit;
the front and back induction radars are arranged on the dumper and used for identifying obstacles around the dumper so as to enable the dumper to avoid temporary obstacles,
the dump truck senses the position of the excavator, the position of the dump truck and the route planning process of the position of the excavator can be independently planned and written in the central processing unit, the position of the dump truck and the route planning process of the position of the excavator can be butted with a route planned by the central processing unit in advance according to the position of the dump truck and the loading position, and the route from the tail end of the memory route to the position of the excavator is directly written into the central processing unit through the touch screen control module on the basis of the memory route of the central processing unit, so that a complete route in the form of the dump truck can be realized;
when the dump truck travels to a region near the excavator, the surrounding environment of the excavator is shot through the binocular vision image positioning system, the shot result is uploaded to the central processing unit, the central processing unit judges the surrounding environment of the excavator, the optimal charging position is judged, the charging position is conveyed to the dump truck, the dump truck travels to the charging position, the excavator charges the dump truck, each camera of the binocular vision image positioning system of the dump truck is matched with the automatic cleaning mechanism, the automatic cleaning mechanism is internally provided with the control module, the cleaning frequency of the cleaning mechanism can be set through the control module, the effect of regularly cleaning the cameras of the binocular vision image positioning system can be achieved, and the use reliability of equipment is improved;
after the dump truck finishes loading, the central processing unit plans a driving route according to the position of the dump truck and the position of the unloading area, and the route planning process can be realized by matching with a memory route of the central processing unit;
driving to a discharging area according to a driving route planned by a central processing unit, identifying a discharging environment through a binocular vision image positioning system, determining specific coordinates of discharging, and moving a dumper to a discharging position according to the coordinates;
after the dump truck moves to the unloading position, the central processing unit controls the dump truck to start the unloading lifting device, the lifting device unloads materials in a hopper of the dump truck, and after unloading is completed, the central processing unit controls the dump truck to convey parking lot coordinates to the dump truck;
the front obstacle and the rear obstacle of the dump truck are identified through the front induction radar and the rear induction radar, the safety of the dump truck in the running process is improved, the binocular vision image positioning system takes images of the surrounding environment of the excavator in the loading process of the dump truck, the safe position of loading is judged, the dangerousness of the dump truck in the loading and unloading process is reduced through unmanned driving, the safety of the dump truck in the using process is improved, manual use is reduced, the transferring efficiency of the dump truck is increased, and the practicability is improved.
As a preferred aspect of the above embodiment, the dump truck is provided with a 360 ° full-vehicle image; through the setting, be convenient for discern tipper surrounding environment, increase the security in the tipper use, improve the practicality, can also use 360 degrees full car images to central processing unit's route and read the process, through 360 degrees full car images, can make central processing unit in route planning, the environment reads more accurate, high-efficient of process.
Preferably, the dump truck is provided with a constant-speed cruise system, and when the dump truck runs in an open area without obstacles, the dump truck runs at a constant speed by using the constant-speed cruise system; through above setting, increase the efficiency that the tipper was transported, increase the security that the tipper used, improve the practicality.
As a preferred aspect of the above embodiment, the dump truck is provided with an adaptive cruise system, and when there is a traveling vehicle in front of the dump truck, the adaptive cruise system is activated, and the dump truck travels with the vehicle according to the traveling speed of the front vehicle; through the arrangement, the transferring efficiency of the dump truck is increased, the use safety of the dump truck is increased, the practicability is improved, the route planning process of part of vehicles can be saved according to the actual condition when the route of the dump truck is planned through the self-adaptive cruise system, and the route from the dump truck to the position of the excavator can be planned only.
As the optimization of the above embodiment, the unloading lifting device adopts a hydraulic cylinder to drive the hopper to rotate, and the hydraulic cylinder drives the hopper to rotate for multiple times to unload materials; through the arrangement, the unloading effect of the dumper is improved, and the practicability is improved.
As a preferable mode of the above embodiment, the front and rear sensing radar senses the obstacle using a laser radar; through the arrangement, the identification of the dump truck to the barrier is increased, the running safety of the dump truck is increased, and the practicability is improved.
Preferably, in the running process of the dump truck, the identification line on the road is identified by the binocular vision image positioning system, so that the dump truck keeps running in the center of the road; through the arrangement, the driving safety of the dump truck is improved, and the practicability is improved.
The invention discloses an unmanned control method of a dump truck, which comprises the following steps of:
s1, inputting the loading position into a central processing unit, and planning a driving route by the central processing unit according to the position of the dump truck and the loading position;
s2, the dump truck drives to the loading area according to the driving route planned by the central processing unit;
s3, a front and back induction radar is arranged on the dump truck, and the front and back induction radar identifies obstacles around the dump truck so that the dump truck avoids the obstacles;
s4, the dump truck senses the position of the excavator, the sensed excavator position data are uploaded to the central processing unit, and the central processing unit plans a driving route according to the position of the dump truck and the position of the excavator;
s5, when the dump truck travels to a region near the excavator, shooting the surrounding environment of the excavator through a binocular vision image positioning system, uploading the shooting result to a central processing unit, judging the surrounding environment of the excavator by the central processing unit, judging an optimal charging position, conveying the charging position to the dump truck, and when the dump truck travels to the charging position, charging the dump truck by the excavator;
s6, after the dump truck finishes loading, the central processing unit plans a driving route according to the position of the dump truck and the position of the unloading area;
s7, driving to a discharging area according to the driving route planned by the central processing unit, identifying a discharging environment through a binocular vision image positioning system, determining specific coordinates of discharging, and moving to a discharging position according to the coordinate dump truck;
and S8, after the dump truck moves to the unloading position, the central processing unit controls the dump truck to start the unloading lifting device, the lifting device unloads the materials in the hopper of the dump truck, after the unloading is finished, the central processing unit controls the dump truck to convey the coordinates of the parking lot to the dump truck, and the dump truck moves to the parking position according to the coordinates of the parking lot.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The unmanned control method of the dump truck is characterized by comprising the following steps of:
s1, inputting the loading position into a central processing unit, and planning a driving route by the central processing unit according to the position of the dump truck and the loading position;
s2, the dump truck drives to the loading area according to the driving route planned by the central processing unit;
s3, a front and back induction radar is arranged on the dump truck, and the front and back induction radar identifies obstacles around the dump truck so that the dump truck avoids temporary obstacles;
s4, the dump truck senses the position of the excavator, the sensed excavator position data are uploaded to the central processing unit, and the central processing unit plans a driving route according to the position of the dump truck and the position of the excavator;
s5, when the dump truck travels to a region near the excavator, shooting the surrounding environment of the excavator through a binocular vision image positioning system, uploading the shooting result to a central processing unit, judging the surrounding environment of the excavator by the central processing unit, judging an optimal charging position, conveying the charging position to the dump truck, and when the dump truck travels to the charging position, charging the dump truck by the excavator;
s6, after the dump truck finishes loading, the central processing unit plans a driving route according to the position of the dump truck and the position of the unloading area;
s7, driving to a discharging area according to the driving route planned by the central processing unit, identifying a discharging environment through a binocular vision image positioning system, determining specific coordinates of discharging, and moving to a discharging position according to the coordinate dump truck;
and S8, after the dump truck moves to the unloading position, the central processing unit controls the dump truck to start the unloading lifting device, the lifting device unloads the materials in the hopper of the dump truck, after the unloading is finished, the central processing unit controls the dump truck to convey the coordinates of the parking lot to the dump truck, and the dump truck moves to the parking position according to the coordinates of the parking lot.
2. The unmanned control method for the dump truck according to claim 1, wherein the dump truck is provided with a 360 ° full-truck image.
3. The unmanned control method for the dump truck according to claim 1, wherein the dump truck is provided with a constant speed cruise system, and the dump truck travels at a constant speed by using the constant speed cruise system when traveling in an open area without obstacles.
4. The unmanned control method for the dump truck according to claim 1, wherein the dump truck is provided with an adaptive cruise system, and when a traveling vehicle is in front of the dump truck, the adaptive cruise system is started, and the dump truck travels with the vehicle according to a traveling speed of a preceding vehicle.
5. The unmanned control method for the dump truck as set forth in claim 1, wherein the unloading lift device uses a hydraulic cylinder to drive the hopper to rotate, and the hydraulic cylinder drives the hopper to rotate for several times to unload.
6. The unmanned control method for the dump truck according to claim 1, wherein the front and rear sensing radar senses the obstacle using a laser radar.
7. The unmanned control method for the dump truck according to claim 1, wherein the dump truck identifies the identification line on the road by a binocular vision image positioning system during driving so that the dump truck keeps driving in the center of the road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111656172.0A CN114296461A (en) | 2021-12-30 | 2021-12-30 | Unmanned control method for dump truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111656172.0A CN114296461A (en) | 2021-12-30 | 2021-12-30 | Unmanned control method for dump truck |
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| Publication Number | Publication Date |
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| CN114296461A true CN114296461A (en) | 2022-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111656172.0A Withdrawn CN114296461A (en) | 2021-12-30 | 2021-12-30 | Unmanned control method for dump truck |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116026351A (en) * | 2023-02-07 | 2023-04-28 | 上海伯镭智能科技有限公司 | Unmanned mine car route planning method and device and mine car |
-
2021
- 2021-12-30 CN CN202111656172.0A patent/CN114296461A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116026351A (en) * | 2023-02-07 | 2023-04-28 | 上海伯镭智能科技有限公司 | Unmanned mine car route planning method and device and mine car |
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Application publication date: 20220408 |
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