The invention belongs to the technical field of unmanned driving, and particularly discloses an unmanned mine truck carriage control system based on an IMU (inertial measurement unit) sensor, which comprises a mine truck, and the mine truck drives a hydraulic lifting rod through a hydraulic station to enable a carriage to rotate along a rotating shaft. The hydraulic station controls extension and contraction of the hydraulic lifting rod through a lifting hydraulic proportional valve and a descending hydraulic proportional valve; a cab of the mining truck is internally provided with a vehicle machine system used for controlling the mining truck to execute tasks, the vehicle machine system is at least used for controlling the running path of the mining truck and issuing compartment lifting or descending signals, the bottom of a compartment is provided with an IMU sensor, and the vehicle machine system is connected with the IMU sensor and a hydraulic station. Based on the system, the invention further provides an unmanned mine truck carriage control method based on the IMU sensor, the lifting angle of the mine truck carriage can be detected in real time, whether the ground where the mine truck is located before lifting is relatively horizontal or not can be detected, and abnormal accidents such as side tipping caused by the change of the gravity center of the vehicle cannot be caused.
本发明属于无人驾驶技术领域,具体公开了一种基于IMU传感器的无人矿卡车厢控制系统,包括矿用卡车,矿用卡车通过液压站带动液压升降杆以使得车厢沿一转轴转动,液压站通过举升液压比例阀和下降液压比例阀控制液压升降杆的伸长和收缩;矿用卡车的驾驶舱内设置有用于控制矿用卡车执行任务的车机系统,车机系统至少用于控制矿用卡车的行驶路径和下发车厢举升或下降信号,车厢底部设置有IMU传感器,车机系统分别与IMU传感器和液压站连接。基于该系统,本发明还提供了一种基于IMU传感器的无人矿卡车厢控制方法,不仅可以实时检测矿卡车厢举升角度,还可以检测矿卡在举升前所处的地面是否相对水平,不会导致由于车辆重心变化导致的侧倾等异常事故。
Unmanned mine truck carriage control system and method based on IMU sensor
一种基于IMU传感器的无人矿卡车厢控制系统及方法
2024-06-28
Patent
Electronic Resource
Chinese
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