The invention relates to the field of intelligent control, and discloses an intelligent control system for unmanned driving of a mine electric locomotive, and the system comprises an environment sensing module which is used for collecting mine environment information, and generating a real-time environment model through a multi-sensor fusion technology; the positioning navigation module is connected with the environment sensing module and is used for performing path planning and dynamic path optimization according to the real-time environment model; the vehicle control module is connected with the positioning navigation module and the environment sensing module, and is used for controlling the operation of the electric locomotive and executing obstacle avoidance and dynamic adjustment operation; and the communication interface module is connected with the environment sensing module, the positioning navigation module and the vehicle control module. And global path planning is carried out by utilizing a weighted graph model through the positioning navigation module, and the path is optimized in real time by combining a dynamic planning method, so that the path can be dynamically adjusted to adapt to temporary changes of a mine environment, and the electric locomotive is ensured to always efficiently and safely reach a target position.
本申请涉及智能控制领域,公开了一种矿井电机车无人驾驶的智能控制系统,包括:环境感知模块,其用于采集矿井环境信息,并通过多传感器融合技术生成实时环境模型;定位导航模块,其与所述环境感知模块连接,用于根据实时环境模型进行路径规划与动态路径优化;车辆控制模块,其与所述定位导航模块和环境感知模块连接,用于控制电机车的运行,执行避障与动态调整操作;通信接口模块,其与所述环境感知模块、定位导航模块和车辆控制模块连接。通过定位导航模块,利用加权图模型进行全局路径规划,并结合动态规划方法对路径进行实时优化,以此能够动态调整路径以适应矿井环境的临时变化,确保电机车始终能够高效、安全地到达目标位置。
Unmanned intelligent control system for mine electric locomotive
一种矿井电机车无人驾驶的智能控制系统
2025-04-15
Patent
Electronic Resource
Chinese
IPC: | B61C Lokomotiven , LOCOMOTIVES / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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