The invention discloses a mining trackless rubber-tyred vehicle unmanned driving system based on SLAM (Simultaneous Localization and Mapping). The mining trackless rubber-tyred vehicle comprises a camera, a laser radar sensor, wheels, a brake, a motor, a whole vehicle controller, a motor controller, a storage battery, a battery management system and a motor. The trackless rubber-tyred vehicle is driven by the wheel-side motors, steering and braking are both achieved through a drive-by-wire system, a camera and a laser radar sensor are selected to form a sensing system, and a control system and an execution system of the vehicle are processed; a trackless rubber-tyred vehicle unmanned driving system is designed through a front-end scanning module, a loopback control module, a rear-end optimization module and a mapping navigation module based on the SLAM technology, autonomous navigation is achieved in combination with a whole vehicle control unit, the efficiency of a trackless rubber-tyred vehicle is greatly improved, the transportation cost can be reduced, the production safety of a coal mine is guaranteed to a certain degree, and the safety of the coal mine is improved. And the method has wide application prospect and strategic value for underground unmanned transportation.

    本发明公开了一种基于SLAM的矿用无轨胶轮车无人驾驶系统。该一种矿用无轨胶轮车包括相机、激光雷达传感器、车轮、制动器、电机、整车控制器、电机控制器、蓄电池、电池管理系统、电动机。本发明中的无轨胶轮车采用轮边电机驱动,转向和制动均采用线控系统,通过选用相机和激光雷达传感器组成感知系统,并对车辆的控制系统和执行系统进行处理,再基于SLAM技术通过前端扫描模块、回环控制模块、后端优化模块和建图导航模块设计了无轨胶轮车无人驾驶系统,结合整车控制单元实现自主导航,使得无轨胶轮车效率大大提高,不仅能够降低运输成本,在一定程度上保证了煤矿的生产安全,而且对井下无人运输具有广阔的应用前景和战略价值。


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    Title :

    Mining trackless rubber-tyred vehicle unmanned driving system based on SLAM


    Additional title:

    一种基于SLAM的矿用无轨胶轮车无人驾驶系统


    Contributors:
    WANG XUANYAO (author) / TAO ENZE (author) / PENG SIYING (author)

    Publication date :

    2024-02-06


    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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