The invention provides an unmanned mine car unloading anti-overturning method and system, and belongs to the field of engineering vehicle control. The method specifically comprises the steps that the head original angle and the container original angle of the unmanned mine car to be unloaded are collected and obtained; respectively filtering the head original angle and the container original angle to obtain a head filtering angle and a container filtering angle; when the position of the unmanned mine car is static and the container is lifted, the inclination angle of the container is acquired according to a first unit frequency, and the inclination angle of the container is filtered; a first threshold value is preset, when the filtered cargo tank inclination angle is larger than the first threshold value, the vehicle head inclination angle is acquired according to the second unit frequency, and the vehicle head inclination angle is filtered; and a second threshold value is preset, and when the filtered vehicle head inclination angle is larger than the second threshold value, it is judged that the unmanned mine vehicle has the tipping risk, and lifting is stopped. According to the invention, the cost is reduced, and the rollover risk of the unmanned mine car can be more objectively and accurately pre-judged.
本发明提供一种无人矿车卸料防翻方法及系统,属工程车辆控制领域。具体包括:采集获得待卸料的无人矿车的车头原始角度及货箱原始角度;对车头原始角度及货箱原始角度分别进行滤波,获得车头滤波角度及货箱滤波角度;当无人矿车位置静止并进行货箱举升时,按第一单位频率采集获得货箱倾斜角度,并对货箱倾斜角度进行滤波;预设第一阈值,当滤波后的货箱倾斜角度大于第一阈值时,按第二单位频率采集获得车头倾斜角度,并对车头倾斜角度进行滤波;预设第二阈值,当滤波后的车头倾斜角度大于第二阈值时,判定无人矿车存在倾翻风险,停止举升。本发明不仅降低成本,并且能够更客观且精准的预判无人矿车的翻车风险。
Unloading anti-overturning method and system for unmanned mine car
一种无人矿车卸料防翻方法及系统
2024-04-16
Patent
Electronic Resource
Chinese
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