The invention discloses a mining truck unloading method and system for an unmanned transportation system of a surface mine. The method comprises steps that a map is issued to a mining truck through acluster dispatching center, and the truck is made to drive to an unloading point for unloading according to the map information; when a retaining wall is changed or encounters a temporary barrier which is not registered, the mining truck arrives at an unloading area, a radar is used for sensing the environment, when it is detected that the barrier exists at a certain distance behind the center ofrear tires, whether the barrier is the retaining wall or not is judged, if yes, an instruction is sent to the mining truck for unloading, if not, a new driving path is re-planned and sent to the mining truck; when the truck arrives at the unloading area and retreats to the target unloading point, the retreating speed of the truck suddenly becomes zero, and the speed is kept to be zero within a certain period of time, that the rear tires of the truck make contact with the retaining wall is shown. The method is advantaged in that triple insurance is provided for the mining truck to safely reachthe target unloading point through positioning, sensing and control.
本发明公开了一种露天矿山无人化运输系统的矿用卡车卸载方法及系统,通过机群调度中心给矿用卡车下发地图,卡车根据地图信息行驶到卸载点进行卸载。当挡土墙发生变化,或者遇到没有登记过的临时障碍物时,矿用卡车到达卸载区域,利用雷达进行环境感知,当检测到后轮胎中心后方一定距离有障碍物,判断该障碍物是否为挡土墙,如果是挡土墙,给矿用卡车发送指令进行卸载;如果不是挡土墙,重新规划新的行驶路径并发给矿用卡车。当卡车到达卸载区域后退至目标卸载点时,卡车后退速度突然变为零,且在一定时间内速度保持为零,则说明卡车后轮胎触碰到挡土墙。通过定位、感知、控制为矿用卡车能够安全的到达目标卸载点提供三重保险。
Mining truck unloading method and system for unmanned transportation system of surface mine
一种露天矿山无人化运输系统的矿用卡车卸载方法及系统
2020-06-09
Patent
Electronic Resource
Chinese
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