The invention relates to a mining electric locomotive unmanned driving system based on a UWB technology. The system is composed of a cab control module (a vehicle control unit VCU and an industrial personal computer), a UWB positioning base station module, a sensing system module (an ultrasonic sensor, a speed sensor, an infrared sensor and a laser radar sensor), a motor driving module (a power system, a steering system and a braking system) and a power module. The system utilizes a cab control module to sense roadway wall distance information collected by an ultrasonic sensor, mining electric locomotive real-time speed information collected by a speed sensor, path tracking information collected by an infrared sensor and obstacle position size information collected by a laser radar sensor in a system module; according to the distance position information of the UWB positioning base station to the label, the vehicle control unit VCU and the industrial personal computer perform judgment and decision according to the received environment information; and related control instructions are generated according to different position environments where the mining electric locomotive is located, so that a power system, a steering system and a braking system in the motor driving module perform corresponding actions, and a whole set of unmanned driving system for autonomous operation, autonomous obstacle avoidance and autonomous speed regulation of the mining electric locomotive is formed.
本发明涉及一种基于UWB技术的矿用电机车无人驾驶系统,所述系统由驾驶室控制模块(整车控制器VCU、工控机)、UWB定位基站模块、感知系统模块(超声波传感器、速度传感器、红外传感器、激光雷达传感器)、电机驱动模块(动力系统、转向系统和制动系统)以及电源模块组成。该系统利用驾驶室控制模块通过感知系统模块中超声波传感器采集到的巷道壁距离信息、速度传感器采集到的矿用电机车实时速度信息、红外传感器采集到的路径循迹信息、激光雷达传感器采集到的的障碍物位置大小信息,以及通过UWB定位基站到达标签的距离位置信息,整车控制器VCU和工控机针对所接收到的环境信息进行判断决策,并针对矿用电机车所处的不同位置环境进而产生相关的控制指令使电机驱动模块中的动力系统、转向系统和制动系统进行相应的动作,进而形成矿用电机车自主运行、自主避障、自主调速的一整套无人驾驶系统。
Mining electric locomotive unmanned driving system based on UWB technology
一种基于UWB技术的矿用电机车无人驾驶系统
2021-06-04
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge |
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