The invention discloses an unmanned mine car autonomous unloading method based on laser perception. The method comprises the following steps that S1, a car travels to an unloading position; s2, the current inclination angle of the container is obtained through the laser point cloud; s3, configuring parameters according to the current cargo box angle and preset configuration parameters; s4, acquiring actions which should be executed by the vehicle at the current cargo box angle and the subsequent angle from the configuration parameter query; s5, planning and controlling gears and an accelerator of the vehicle; S6, acquiring actions, which should be executed at the current cargo box angle and the subsequent angle, of the cargo box 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, merging the vehicle control instruction and the container control instruction. Cheap and reliable lifting angle feedback is provided, and lifting control is carried out on the cargo box in cooperation with an unmanned controller.
本发明公开了一种基于激光感知的无人矿车自主卸料方法,包括如下步骤:S1、车辆行驶至卸料位;S2、通过激光点云获取货箱当前倾斜角度;S3、根据当前货箱角度以及预设的配置参数;S4、从配置参数查询中获取车辆在当前货箱角度及后续角度下应该执行的动作;S5、规划并控制车辆的挡位和油门:S6、从配置参数查询中获取货箱在当前货箱角度及后续角度下应该执行的动作;S7、计算货箱举升或下降的速度;S8、根据所需的货箱举升或下降的速度控制发动机油门;S9、合并车辆控制和货箱控制指令。本发明提供一个廉价而可靠的举升角度反馈,并配合无人驾驶控制器,对货箱进行升降控制。
Unmanned mine car autonomous unloading method based on laser sensing
一种基于激光感知的无人矿车自主卸料方法
18.10.2022
Patent
Elektronische Ressource
Chinesisch
IPC: | B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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