The invention relates to an automatic parking position setting method for an unmanned mine car. A parking area of the mine car is generally arrangedat a charging position according to a working environment of a mining area and working characteristics of the mine car, and the specific position is determined by an excavator and pavement conditions at a charging point. Therefore, GPS equipment is mounted on the excavator; the parking position of the mine car is determined according to the position and direction of the excavator. To be specific, the method comprises the following specific steps that: a walking body at the lower part of the excavator is fixed at a proper position; the upper revolving body of the excavator rotates to a proper loading position, the position and the direction arerecorded, coordinates of four point positions of mine car parking are obtained through a series of calculation; and when parking operation is conducted,determination and adjustment are carried out based on the length of a mechanical arm of the excavator if parking can not be performed at the position due to the road surface environment, so that parking and loading work is completed.
本发明涉及一种无人驾驶矿用车自动泊车位置设置方法,根据矿区工作环境与矿车工作特点,矿车的泊车区域一般位于装料处,具体位置是由挖掘机与装料点处路面状况确定的。因此,本发明在挖掘机上安装GPS设备,根据挖掘机的位置与方向确定矿车的泊车位置,具体步骤为:于合适的位置固定挖掘机下部行走体,挖掘机上部回转体旋转至合适的装料方位,记录此位置与方向,通过一系列计算得到矿车泊车的四个点位坐标,当进行泊车操作时,若发现该位置由于路面环境不能泊车,则根据挖掘机机械臂长度进行判断与调整,完成泊车与装料工作。
Automatic parking position setting method for unmanned mine car
一种无人驾驶矿用车自动泊车位置的设置方法
2020-05-12
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 |
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