The invention relates to the technical field of mine car unmanned driving, and particularly discloses an automatic parking method and device for an unmanned mine car. Whether the mine car is in the pre-parking space or not is judged by acquiring the running position of the current mine car in real time; when the current mine car is located in the pre-parking space, the current mine car is in communication connection with a front mine car in the pre-parking space, and parking position data of the front mine car is obtained; the parking position is corrected, and a corrected position is generated; and a parking route is generated, and the current mine car is controlled to be automatically parked according to the parking route. After the current mine car enters the pre-parking space, the parking position of the front mine car which completes automatic parking and drives out is obtained, the parking position is corrected, the corrected position is generated, route planning is carried out according to the corrected position, automatic parking is carried out according to the planned parking route, the parking position does not need to be reselected and judged every time, and the parking efficiency of the unmanned mine car is improved.

    本发明涉及矿车无人驾驶技术领域,具体公开了一种无人驾驶矿车的自动泊车方法及装置。本发明通过实时获取当前矿车的行驶位置,判断是否处于预泊车空间;在所述当前矿车处于预泊车空间时,与所述预泊车空间内的前位矿车进行通信连接,获取所述前位矿车的泊车位置数据;对所述泊车位置进行修正,生成修正位置;生成泊车路线,控制所述当前矿车按照所述泊车路线进行自动泊车。能够在当前矿车进入预泊车空间之后,获取完成自动泊车并驶出的前位矿车的泊车位置,并对泊车位置进行修正,生成修正位置,根据修正位置进行路线规划,按照规划的泊车路线进行自动泊车,无需每次重新选择和判断泊车位置,提高无人驾驶矿车的泊车效率。


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    Title :

    Automatic parking method and device for unmanned mine car


    Additional title:

    一种无人驾驶矿车的自动泊车方法及装置


    Contributors:
    HU XINYI (author) / YANG YANG (author)

    Publication date :

    2022-02-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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