The invention discloses an automatic operation method of an underground mine trackless rubber-tyred vehicle, which relates to the technical field of mine vehicles, and is characterized in that a plurality of distance measuring sensors are mounted in the front, side and rear directions of the vehicle to sense the environment around the vehicle, and automatic steering and collision avoidance are realized by combining a PID (Proportion Integration Differentiation) control algorithm; all-dimensional perception of the surrounding environment of the vehicle is achieved, the distance change detected by the distance measuring sensor at the intersection is utilized, specific identification logic is combined, identification of different types of intersections is achieved, the vehicle is guided to correctly execute a turning command, and the stability and robustness of the vehicle are ensured through application of a PID control algorithm. And the turning path of the vehicle on one transportation route is optimized by using the counting variable, so that the turning operation can be carried out according to the preset path plan in the automatic driving process, and the vehicle can autonomously drive according to the set path plan.

    本发明公开了一种地下矿山无轨胶轮车辆自动运行方法,涉及矿山车辆技术领域,本发明在车辆的前、侧、后四个方向安装多个测距传感器来感知车辆周围的环境,并结合PID控制算法来实现自动转向和避免碰撞,实现对车辆周围环境的全方位感知,利用测距传感器在交岔口处检测的距离变化,结合特定的识别逻辑,实现对不同类型交岔口的识别,指导车辆正确执行转弯命令,采用PID控制算法的运用确保了车辆的稳定性和鲁棒性,再通过使用计数变量来优化车辆在一条运输路线上的转弯路径,可以实现自动化行驶过程中按照预设的路径规划进行转弯操作,从而使车辆能够按照设定的路线规划自主行驶。


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    Title :

    Automatic operation method for underground mine trackless rubber-tyred vehicle


    Additional title:

    一种地下矿山无轨胶轮车辆自动运行方法


    Contributors:
    LI XIAOQUAN (author) / SUN YUNJIE (author)

    Publication date :

    2023-11-24


    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 / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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