The invention provides a dry bulk cargo cabin automatic driving cabin cleaning machine based on a priori map, which comprises a shovel conveying mechanism, a transportation mechanism and a mechanical arm mechanism, an automatic driving system of the cabin cleaning machine adopts a main industrial personal computer and an auxiliary industrial personal computer structure, and the shovel conveying mechanism, the transportation mechanism and the mechanical arm mechanism are connected with the main industrial personal computer through a vehicle end controller. The main industrial personal computer is responsible for task scheduling and path planning, the auxiliary industrial personal computer is responsible for calculation of the sensing and positioning module, the automatic driving system of the cabin cleaning machine carries out path planning based on a prior map, the front, back, left and right cargo conditions are sensed through the sensing module, tasks are distributed according to the cargo conditions, and the cabin cleaning machine is controlled. The actions of material shoveling, heightening and path planning are carried out by controlling the shovel conveying mechanism, the conveying mechanism and the mechanical arm mechanism. The cabin cleaning machine has an automatic driving function and can replace a loading machine and an excavator, manpower is liberated, the operation efficiency is improved, and the operation safety is improved.
本发明提供一种一种基于先验地图的干散货船舱自动驾驶清舱机,包括运铲机构、运输机构、机械臂机构,清舱机的自动驾驶系统采用主工控机、副工控机结构,运铲机构、运输机构、机械臂机构通过车端控制器与主工控机连接,主工控机负责任务调度以及路径规划,副工控机负责感知和定位模块的计算,清舱机的自动驾驶系统基于先验地图进行路径规划,并通过感知模块感知前后左右的货物情况,根据货物情况分发任务,通过对运铲机构、运输机构、机械臂机构控制进行铲料,放高,路径规划的动作。本清舱机具备自动驾驶的功能,可以替代装载机和挖掘机,解放人力,提高作业效率,并提高作业的安全性。
Dry bulk cargo cabin automatic driving cabin cleaning machine based on prior map
一种基于先验地图的干散货船舱自动驾驶清舱机
2024-05-14
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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