CN115195563A - Unmanned mine car autonomous unloading method based on laser sensing - Google Patents
Unmanned mine car autonomous unloading method based on laser sensing Download PDFInfo
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Abstract
The invention discloses an unmanned mine car autonomous unloading method based on laser sensing, which comprises the following steps: s1, driving a vehicle to a discharging position; s2, acquiring the current inclination angle of the container through laser point cloud; s3, according to the current container angle and preset configuration parameters; s4, acquiring the action which the vehicle should execute under the current container angle and the subsequent angle from the configuration parameter query; s5, planning and controlling gears and an accelerator of the vehicle: s6, acquiring actions to be executed by the container under the current container angle and the subsequent angle from the configuration parameter query; s7, calculating the lifting or descending speed of the container; s8, controlling an engine throttle according to the required lifting or descending speed of the container; and S9, combining vehicle control and cargo box control instructions. The invention provides a cheap and reliable lifting angle feedback and is matched with an unmanned controller to control the lifting of a cargo box.
Description
Technical Field
The invention belongs to the field of unmanned mine car unloading, and particularly relates to an unmanned mine car autonomous unloading method based on laser sensing.
Background
The existing unmanned mine car is provided with an inclination angle sensor on a mine car box body to sense the lifting angle of the box body, the angle is connected with a can bus of a chassis and then transmitted to an automatic driving controller through a VCU (video command unit) module, and the automatic driving controller controls the lifting and descending of the box body according to the angle, and has the following main defects:
1. because the road is uneven, the value of the inclination angle sensor can not accurately reflect the lifting angle between the box body and the frame;
2. the data link is too long from the tilt angle sensor to the can bus, to the VCU module and to the automatic driving controller, so that the hardware cost is increased, and the system reliability is reduced;
based on the problems, the unmanned mine car autonomous unloading method based on laser sensing is provided.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an unmanned mine car autonomous unloading method based on laser sensing.
In order to achieve the purpose, the invention provides the following technical scheme:
an unmanned mine car autonomous unloading method based on laser sensing comprises the following steps:
s1, a vehicle runs to a discharging position, whether discharging conditions are met or not is judged, whether the vehicle reaches the discharging position or not is determined through a GPS, and whether discharging is allowed or not is obtained through a vision sensing module according to the conditions around the vehicle body;
s2, acquiring the current inclination angle of the container through laser point cloud, and meanwhile, calculating to obtain the lifting angle of the container;
s3, inquiring current and subsequent vehicle actions and container actions to be executed according to the current container angle and preset configuration parameters;
s4, acquiring actions to be executed by the vehicle at the current container angle and the subsequent angle from the configuration parameter query;
s5, planning and controlling gears and an accelerator of the vehicle, which are specifically as follows:
1) If the action is stop, planning the speed to be 0, the accelerator to be 0 and the P gear to be engaged within the time according to the stop time;
2) If the action is forward movement, planning a straight line distance with the speed from 0 m/s to m/s and then to 0 m/s according to the forward distance;
s6, acquiring actions to be executed by the container under the current container angle and the subsequent angle from the configuration parameter query;
s7, calculating the lifting or descending speed of the container, specifically as follows:
calculating the configured angular velocity of the container which should move according to the angle and the time of the container which need to move in the configuration table:
configuring angular velocity = (stop angle-start angle)/action time;
s8, controlling an engine throttle according to the required lifting or descending speed of the container, which specifically comprises the following steps:
1) Calculating a perceived angular velocity from the perceived angle:
perceived angular velocity = (angle of current frame-angle of previous frame)/time interval of two frames
2) Calculating a difference value between the configured angular speed and the sensed angular speed, and correspondingly controlling the engine throttle;
and S9, combining the vehicle control instruction and the container control instruction, combining and summarizing the vehicle control instruction and the container control instruction, and sending the combined vehicle control instruction and the container control instruction to the drive-by-wire chassis to finish the autonomous unloading of the unmanned mine car.
Preferably, the method for calculating the lifting angle of the container in step S2 includes:
scanning the bottom of the container through a multi-line laser radar, and calculating a plane equation of the bottom through a plane fitting method; when the angle of the container is 0, fitting a plane as a calibrated initial plane, setting the normal vector of the initial plane as (a 0, b0, c 0), and when the container is lifted or lowered, calculating an included angle between the fitted bottom plane and the initial plane, namely the lifting angle of the container.
Preferably, the fitting of one plane as a calibrated initial plane specifically includes:
1) Calibrating a strip-shaped area at the bottom of the container along the left side and the right side of the central axis, irradiating a plurality of laser beams to the bottom, and only selecting points in the strip-shaped area;
2) Performing plane fitting on points in the strip region to obtain plane normal vectors (a, b, c), and adopting the following procedures:
randomly selecting three points (x) from the calibration area 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 ,z 3 )；
From these three points, a plane equation is determined: ax + by + cz + d =0, where the coefficients of the plane equation are:
a=(y 2 -y 1 )*(z 3 -z 1 )-(z 2 -z 1 )*(y 3 -y 1 )
b=(z 2 -z 1 )*(x 3 -x 1 )-(x 2 -x 1 )*(z 3 -z 1 )
c=(x 2 -x 1 )*(y 3 -y 1 )-(y 2 -y 1 )*(x 3 -x 1 )
d=-(a*x 1 +b*y 1 +c*z 1 )；
3) Calculate the distance value Dis of all other points (x, y, z) to the plane:
Dis=
if the distance value Dis is smaller than the threshold value T, the points are considered to be points on the same plane, the set of all the points is marked as an inner point set I, and the number of the inner points is marked as N;
4) Flow 1), 2) and 3) doing K times, and selecting the number of interior points to be N max Maximum set of inner points I max ；
At an inner point set I max Randomly selecting 3 points, calculating a plane, calculating the distances from all the points in the calibration area to the plane, counting the number of internal points with the distance value smaller than a threshold value T, and if the number of the internal points is larger than N max Then assign a new set of inliers to I max New number of interior points is given by N max ；
5) Repeat step 4) M times, the largest set of inliers I max The corresponding plane (a, b, c, d) is the plane corresponding to the container, and the (a, b, c) is the normal vector;
method of setting initial planeVector v1 (a 0, b0, c 0), plane normal vector v2 (a, b, c) detected in real time, and the lifting angle is the angle between the two normal vectors:
。
preferably, scanning the bottom of the cargo box through a multi-line laser radar specifically comprises:
with laser radar towards installation directly over for the frame, the transverse distance of establishing radar central point and box center of rotation is L, and the box height that the radar perception arrived is h, and it is good to mark in advance, and the box height that the radar perception arrived when box lifting angle is 0 is h0, then real-time lifting angle is:
preferably, the vehicle operation in step S3 includes: advancing and stopping; the container action includes: lifting, stopping and descending.
Preferably, in step S8, a difference between the configured angular velocity and the sensed angular velocity is calculated, and the engine throttle is correspondingly controlled, where the specific calculation method is as follows:
let the time interval of control be Deltat, and the difference between the angular velocity and the perceived angular velocity be E at the K-th time interval k ；
The scaling value at the Kth time interval is K p* E k ，
The integral adjustment value is:
；
the differential adjustment value is:
；
the throttle value at the kth time interval is then:
if the minimum value of the known throttle is 0 and the maximum value is 100, the output throttle value is as follows:
If Uk < 0，U k = 0；
Else if U k > 100，U k = 100；
Else，U k = U k ；
by adjusting K p ，K i ，K d Controlling the engine throttle to control the angle of the cargo box, wherein K p Adjusting gain, K, for the comparison i To integrate the gain, K d Is the differential gain.
Preferably, the GPS positioning system in step S1 includes:
the system comprises a wake-up module, a power supply module, a control module, a GPRS module, a GPS/Beidou positioning module and a server;
the control module adopts a series of single chip microcomputer systems, the awakening module comprises Hall sensors arranged on wheels of the vehicle, and the Hall sensors acquire wheel motion signals and transmit the wheel motion signals to the single chip microcomputer systems;
the single chip microcomputer system receives the awakening signal and controls the power supply module to awaken the GPS/Beidou positioning module and the GPRS module; the GPS/Beidou positioning module acquires positioning information and transmits the positioning information to the series of single chip microcomputer systems;
the single chip microcomputer system is connected with the internet through a GPRS module and uploads positioning information and alarm information to a server;
the single chip microcomputer system and the GPS/Beidou positioning module are arranged in a shell, the GPS/Beidou positioning module is connected with an antenna arranged outside the shell through a lead, and the antenna is a direct-insert type onboard ceramic antenna; the power module supplies power to the awakening module, the single chip microcomputer system, the GPRS module and the GPS/Beidou positioning module.
Preferably, the visual sensing module in step S1 is specifically an infrared camera, the infrared camera includes a lens, a photosensitive element, and a signal processing element, external light is focused on the photosensitive element through the lens, the photosensitive element is electrically connected to the signal processing element, and an output end of the signal processing element outputs an analog signal or a digital signal.
Preferably, a lamp dynamic light supplementing unit is further arranged in the infrared camera, and the lamp dynamic light supplementing unit comprises a photosensitive chip and is used for detecting image information of a shot picture and judging the brightness degree of the picture; the ISP image processing module is used for receiving the signal fed back by the photosensitive chip, processing image information and outputting a light supplementing control signal; the PWM control module is used for receiving the control signal output by the ISP image module and outputting a light supplementing driving signal with different duty ratios; and the infrared light supplement lamp device is used for receiving light supplement driving signals with different duty ratios and emitting light supplement with different brightness.
The invention has the technical effects and advantages that: compared with the traditional mine car autonomous unloading method, the unmanned mine car autonomous unloading method based on laser sensing uses a new technical means to provide cheap and reliable lifting angle feedback and is matched with an unmanned controller to carry out lifting control on a container.
Drawings
FIG. 1 is a schematic view of an installation of a lidar in an embodiment of the invention;
FIG. 2 is a flow chart of lift control according to an embodiment of the present invention;
FIG. 3 is a flow chart of an embodiment of the present invention for controlling engine throttle based on a desired cargo box lifting or lowering speed.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention provides a laser sensing-based unmanned mine car autonomous unloading method as shown in figures 1-3, before the method of the embodiment is realized, as shown in figure 1, a laser radar is installed at one point selected from a frame, such as a point A or a point B, the change of a lifting angle of a container is sensed through irradiation of the laser radar on the container, and the angle is transmitted to an automatic driving controller, so that the ascending or descending of the container is controlled, and the method comprises the following steps:
s1, a vehicle runs to a discharging position, whether discharging conditions are met or not is judged, whether the vehicle reaches the discharging position or not is determined through a GPS, and whether discharging is allowed or not is obtained through a vision sensing module according to the conditions around the vehicle body;
the GPS positioning system described in step S1 includes:
the system comprises a wake-up module, a power supply module, a control module, a GPRS module, a GPS/Beidou positioning module and a server;
the control module adopts a series of single chip microcomputer systems, the awakening module comprises Hall sensors arranged on wheels of the vehicle, and the Hall sensors acquire wheel motion signals and transmit the wheel motion signals to the single chip microcomputer systems;
the single chip microcomputer system receives the awakening signal and controls the power supply module to awaken the GPS/Beidou positioning module and the GPRS module; the GPS/Beidou positioning module acquires positioning information and transmits the positioning information to the series of single chip microcomputer systems;
the single chip microcomputer system is connected with the internet through a GPRS module and uploads positioning information and alarm information to a server;
the visual sensing module in the step S1 is specifically an infrared camera, the infrared camera includes a lens, a photosensitive element, and a signal processing element, external light is focused on the photosensitive element through the lens, the photosensitive element is electrically connected to the signal processing element, and an output end of the signal processing element outputs an analog signal or a digital signal;
the infrared camera is also internally provided with a lamp dynamic light supplementing unit, and the lamp dynamic light supplementing unit comprises a photosensitive chip and is used for detecting the image information of the shot picture and judging the brightness degree of the picture; the ISP image processing module is used for receiving the signal fed back by the photosensitive chip, processing image information and outputting a light supplementing control signal; the PWM control module is used for receiving the control signal output by the ISP image module and outputting a light supplement driving signal with different duty ratios; the infrared light supplement lamp device is used for receiving light supplement driving signals with different duty ratios and emitting light supplement with different brightness;
the single chip microcomputer system and the GPS/Beidou positioning module are arranged in a shell, the GPS/Beidou positioning module is connected with an antenna arranged outside the shell through a lead, and the antenna is a direct-insert type onboard ceramic antenna; the power supply module supplies power to the awakening module, the single chip microcomputer system, the GPRS module and the GPS/Beidou positioning module;
s2, acquiring the current inclination angle of the container through laser point cloud, and meanwhile, calculating to obtain the lifting angle of the container; the method for calculating the lifting angle of the container in the step S2 comprises the following steps:
scanning the bottom of the container through a multi-line laser radar, and calculating a plane equation of the bottom through a plane fitting method; when the angle of the container is 0, fitting a plane as a calibrated initial plane, setting the normal vector of the initial plane as (a 0, b0, c 0), and when the container rises or falls, calculating an included angle between the fitted bottom plane and the initial plane, namely the included angle can be used as the lifting angle of the container;
the fitting of one plane as a calibrated initial plane specifically comprises the following steps:
1) Marking a strip-shaped area at the bottom of the container along the left side and the right side of the central axis, irradiating a plurality of laser beams to the bottom, and only selecting points in the strip-shaped area;
2) Performing plane fitting on points in the strip region to obtain plane normal vectors (a, b, c), and adopting the following procedures:
randomly selecting three points (x) from the calibration area 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 ,z 3 )；
From these three points, a plane equation is determined: ax + by + cz + d =0, where the coefficients of the plane equation are:
a=(y 2 -y 1 )*(z 3 -z 1 )-(z 2 -z 1 )*(y 3 -y 1 )
b=(z 2 -z 1 )*(x 3 -x 1 )-(x 2 -x 1 )*(z 3 -z 1 )
c=(x 2 -x 1 )*(y 3 -y 1 )-(y 2 -y 1 )*(x 3 -x 1 )
d=-(a*x 1 +b*y 1 +c*z 1 )；
3) Calculate the distance value Dis of all other points (x, y, z) to the plane:
Dis=
if the distance value Dis is smaller than the threshold value T (for example, T =0.2 cm), it is considered as a point on the same plane, the set of all the points is marked as an inner point set I, and the number of the inner points is marked as N;
4) Flow 1), 2), 3) doing K (for example, K = 10) times, and selecting the number of interior points as N max Maximum set of inner points I max ；
At an inner point set I max Randomly selecting 3 points, calculating a plane, calculating the distance from all the points in the calibration area to the plane, counting the number of inner points with the distance value smaller than a threshold value T (such as T =0.2 cm), and if the number of the inner points is larger than N max Then assign a new set of inliers to I max New number of interior points is given by N max ；
5) Repeating the step 4) M times, and obtaining the maximum inner point set I max The corresponding plane (a, b, c, d) is the plane corresponding to the container, and the (a, b, c) is the normal vector;
setting an initial plane normal vector v1 (a 0, b0, c 0) and a plane normal vector v2 (a, b, c) detected in real time, wherein the lifting angle is an included angle between the two normal vectors:
；
through multi-thread laser radar scanning packing box bottom, specifically do:
with laser radar towards installation directly over for the frame, the transverse distance of establishing radar central point and box center of rotation is L, and the box height that the radar perception arrived is h, and it is good to mark in advance, and the box height that the radar perception arrived when box lifting angle is 0 is h0, then real-time lifting angle is:
s3, inquiring current and subsequent vehicle actions and container actions to be executed according to the current container angle and preset configuration parameters;
the vehicle operation described in step S3 includes: advancing and stopping; the container action includes: lifting, stopping and descending;
the unmanned mine car is in different unloading places, different unloading methods need to be configured, the unloading method comprises the steps of lifting angles, lifting speeds, fixed point unloading, walking unloading, and different unloading effects can be obtained through a lifting configuration table, and the following table shows that:
| vehicle motion | Container actuation | Packing case initial angle (degree) | Packing case stop angle (degree) | Distance of vehicle motion (m) | Freight box action time(s) |
| Stop | Lifting device | 0 | 25 | 0 | 3 |
| Stop | Stop | 25 | 25 | 0 | 2 |
| Forward | Stop | 25 | 25 | 2 | 2 |
| Stop | Lifting device | 25 | 45 | 0 | 3 |
| Stop | Descend | 45 | 0 | 0 | 5 |
S4, acquiring the action which the vehicle should execute under the current container angle and the subsequent angle from the configuration parameter query;
s5, planning and controlling gears and an accelerator of the vehicle, which are specifically as follows:
1) If the action is stop, planning the speed to be 0, the accelerator to be 0 and the P gear to be engaged within the time according to the stop time;
2) If the action is forward movement, planning a straight line distance with the speed from 0 m/s to m/s and then to 0 m/s according to the forward distance;
s6, acquiring actions to be executed by the container under the current container angle and the subsequent angle from the configuration parameter query;
s7, calculating the lifting or descending speed of the cargo box, which is specifically as follows:
calculating the configured angular velocity of the container which should move according to the angle and the time of the container which need to move in the configuration table:
configuring angular velocity = (stop angle-start angle)/action time;
s8, controlling an engine throttle according to the required lifting or descending speed of the container, which specifically comprises the following steps:
1) Calculating a perceived angular velocity from the perceived angle:
perceived angular velocity = (angle of current frame-angle of previous frame)/time interval of two frames
2) Calculating a difference value between the configured angular speed and the sensed angular speed, and correspondingly controlling the engine throttle;
in step S8, a difference between the configured angular velocity and the sensed angular velocity is calculated, and the engine throttle is correspondingly controlled, wherein the specific calculation method is as follows:
let the time interval of control be Deltat, and the difference between the angular velocity and the perceived angular velocity be E at the K-th time interval k ；
The scaling value at the Kth time interval is K p* E k ，
The integral adjustment value is:
；
the differential adjustment value is:
；
the throttle value at the kth time interval is then:
if the minimum value of the known throttle is 0 and the maximum value is 100, the output throttle value is as follows:
If Uk < 0，U k = 0；
Else if U k > 100，U k = 100；
Else，U k = U k ；
3) By adjusting K p ，K i ，K d The throttle of the engine is controlled, so that the angle of the cargo box is controlled; wherein, K p Adjusting gain, K, for comparison i To integrate the gain, K d Is the differential gain;
and S9, combining the vehicle control instruction and the container control instruction, combining and summarizing the vehicle control instruction and the container control instruction, and sending the combined and summarized vehicle control instruction and the container control instruction to the wire-controlled chassis to finish the autonomous unloading of the unmanned tramcar.
In conclusion: compared with the traditional mine car autonomous unloading method, the unmanned mine car autonomous unloading method based on laser sensing provides cheap and reliable lifting angle feedback by a new technical means, and is matched with an unmanned controller to carry out lifting control on a container.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (9)
1. An unmanned mine car autonomous unloading method based on laser sensing is characterized by comprising the following steps:
s1, a vehicle runs to a discharging position, whether discharging conditions are met or not is judged, whether the vehicle reaches the discharging position or not is determined through a GPS, and whether discharging is allowed or not is obtained through a vision sensing module according to the conditions around the vehicle body;
s2, acquiring the current inclination angle of the container through laser point cloud, and meanwhile, calculating to obtain the lifting angle of the container;
s3, inquiring current and subsequent vehicle actions and container actions to be executed according to the current container angle and preset configuration parameters;
s4, acquiring actions to be executed by the vehicle at the current container angle and the subsequent angle from the configuration parameter query;
s5, planning and controlling gears and an accelerator of the vehicle, which are specifically as follows:
1) If the action is stop, planning the speed to be 0, the accelerator to be 0 and the P gear to be engaged within the time according to the stop time;
2) If the action is forward movement, planning a straight line distance with the speed from 0 m/s to m/s and then to 0 m/s according to the forward distance;
s6, acquiring actions to be executed by the container under the current container angle and the subsequent angle from the configuration parameter query;
s7, calculating the lifting or descending speed of the cargo box, which is specifically as follows:
calculating the configured angular velocity of the container which should move according to the angle and the time of the container which need to move in the configuration table:
configuring angular velocity = (stop angle-start angle)/action time;
s8, controlling an engine accelerator according to the required lifting or descending speed of the cargo box, which comprises the following steps:
1) Calculating a perceived angular velocity from the perceived angle:
perceptual angular velocity = (angle of current frame-angle of last frame)/time interval of two frames;
2) Calculating a difference value between the configured angular speed and the sensed angular speed, and correspondingly controlling the engine throttle;
and S9, combining the vehicle control instruction and the container control instruction, combining and summarizing the vehicle control instruction and the container control instruction, and sending the combined vehicle control instruction and the container control instruction to the drive-by-wire chassis to finish the autonomous unloading of the unmanned mine car.
2. The unmanned mine car autonomous unloading method based on laser perception according to claim 1, characterized in that: the method for calculating the lifting angle of the container in the step S2 comprises the following steps:
scanning the bottom of the container through a multi-line laser radar, and calculating a plane equation of the bottom through a plane fitting method; when the angle of the container is 0, fitting a plane as a calibrated initial plane, setting the normal vector of the initial plane as (a 0, b0, c 0), and when the container is lifted or lowered, calculating an included angle between the fitted bottom plane and the initial plane, namely the lifting angle of the container.
3. The unmanned mine car autonomous unloading method based on laser sensing of claim 2, characterized in that: the fitting of one plane is used as a calibrated initial plane, and specifically comprises the following steps:
1) Calibrating a strip-shaped area at the bottom of the container along the left side and the right side of the central axis, irradiating a plurality of laser beams to the bottom, and only selecting points in the strip-shaped area;
2) Performing plane fitting on points in the strip region to obtain plane normal vectors (a, b, c), and adopting the following procedures:
from calibrationRandomly selecting three points (x) in the region 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 ,z 3 )；
From these three points, a plane equation is determined: ax + by + cz + d =0, where the coefficients of the plane equation are:
a=(y 2 -y 1 )*(z 3 -z 1 )-(z 2 -z 1 )*(y 3 -y 1 )
b=(z 2 -z 1 )*(x 3 -x 1 )-(x 2 -x 1 )*(z 3 -z 1 )
c=(x 2 -x 1 )*(y 3 -y 1 )-(y 2 -y 1 )*(x 3 -x 1 )
d=-(a*x 1 +b*y 1 +c*z 1 )；
3) Calculate the distance value Dis of all other points (x, y, z) to the plane:
Dis=
if the distance value Dis is smaller than the threshold value T, the points are considered to be points on the same plane, the set of all the points is marked as an inner point set I, and the number of the inner points is marked as N;
4) Flow 1), 2) and 3) are performed for K times, and the number of selected interior points is N max Maximum set of inner points I max ；
At an inner point set I max Randomly selecting 3 points, calculating a plane, calculating the distances from all the points in the calibration area to the plane, counting the number of internal points with the distance value smaller than a threshold value T, and if the number of the internal points is larger than N max Then assign a new set of inliers to I max New number of interior points is given by N max ；
5) Repeating the step 4) M times, and obtaining the maximum inner point set I max The corresponding plane (a, b, c, d) is the plane corresponding to the container, and the (a, b, c) is the normal vector;
let initial plane normal vector v1 (a 0)B0, c 0), a plane normal vector v2 (a, b, c) detected in real time, and the lifting angle is an included angle between the two normal vectors:
。
4. the unmanned mine car autonomous unloading method based on laser perception according to claim 2, characterized in that: through multi-thread laser radar scanning packing box bottom, specifically do:
with laser radar towards installation directly over for the frame, the transverse distance of establishing radar central point and box center of rotation is L, and the box height that the radar perception arrived is h, and it is good to mark in advance, and the box height that the radar perception arrived when box lifting angle is 0 is h0, then real-time lifting angle is:
5. the unmanned mine car autonomous unloading method based on laser sensing of claim 1, characterized in that: the vehicle action described in step S3 includes: advancing and stopping; the container action includes: lifting, stopping and descending.
6. The unmanned mine car autonomous unloading method based on laser perception according to claim 1, characterized in that: in step S8, a difference between the configured angular velocity and the sensed angular velocity is calculated, and the engine throttle is correspondingly controlled, wherein the specific calculation method is as follows:
let the time interval of control be Deltat, and the difference between the angular velocity allocated at the Kth time interval and the sensed angular velocity be E k ；
The scaling value at the Kth time interval is K p* E k ，
The integral adjustment value is:
；
the differential adjustment value is:
；
the throttle value at the kth time interval is then:
if the minimum value of the known throttle is 0 and the maximum value is 100, the output throttle value is as follows:
If Uk < 0，U k = 0；
Else if U k > 100，U k = 100；
Else，U k = U k ；
by adjusting K p ，K i Kd value, controlling the engine throttle and thus the angle of the cargo box, wherein K p Adjusting gain, K, for comparison i To integrate the gain, K d Is the differential gain.
7. The unmanned mine car autonomous unloading method based on laser sensing of claim 1, characterized in that: the GPS positioning system described in step S1 includes:
the system comprises a wake-up module, a power supply module, a control module, a GPRS module, a GPS/Beidou positioning module and a server;
the control module adopts a series of single chip microcomputer systems, the awakening module comprises Hall sensors arranged on wheels of the vehicle, and the Hall sensors acquire wheel motion signals and transmit the wheel motion signals to the single chip microcomputer systems;
the single chip microcomputer system receives the awakening signal and controls the power supply module to awaken the GPS/Beidou positioning module and the GPRS module; the GPS/Beidou positioning module acquires positioning information and transmits the positioning information to the series of single chip microcomputer systems;
the single chip microcomputer system is connected with the internet through a GPRS module and uploads positioning information and alarm information to a server;
the single chip microcomputer system and the GPS/Beidou positioning module are arranged in a shell, the GPS/Beidou positioning module is connected with an antenna arranged outside the shell through a lead, and the antenna is a direct-insert type onboard ceramic antenna; the power module supplies power to the awakening module, the single chip microcomputer system, the GPRS module and the GPS/Beidou positioning module.
8. The unmanned mine car autonomous unloading method based on laser perception according to claim 1, characterized in that: the visual sensing module in the step S1 is specifically an infrared camera, the infrared camera includes a lens, a photosensitive element, and a signal processing element, external light is focused on the photosensitive element through the lens, the photosensitive element is electrically connected to the signal processing element, and an output end of the signal processing element outputs an analog signal or a digital signal.
9. The unmanned mine car autonomous unloading method based on laser perception according to claim 8, characterized in that: the infrared camera is also internally provided with a lamp dynamic light supplementing unit, and the lamp dynamic light supplementing unit comprises a photosensitive chip and is used for detecting the image information of the shot picture and judging the brightness degree of the picture; the ISP image processing module is used for receiving the signal fed back by the photosensitive chip, processing image information and outputting a light supplement control signal; the PWM control module is used for receiving the control signal output by the ISP image module and outputting a light supplement driving signal with different duty ratios; and the infrared light supplement lamp device is used for receiving light supplement driving signals with different duty ratios and emitting light supplement with different brightness.
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