The purpose of the present invention is to provide a mine vehicle autonomous travel system that, when a non-detection region is generated within a region to be detected by an external detection sensor, can appropriately handle the cause of the non-detection region, and can suppress a decrease in the working efficiency of a mine vehicle. Therefore, the controller establishes a corresponding relation between the three-dimensional point cloud acquired by the external detection sensor and the point cloud picture, calculates the position change of the external detection sensor based on the measurement result of the vehicle position measurement sensor, and determines the position change of the external detection sensor under the condition that the external detection sensor fails to acquire the three-dimensional point cloud to be acquired. And a control unit that extracts a region of the point cloud as a non-detection region, determines the cause of the non-detection region on the basis of whether or not the position of the non-detection region in the point cloud changes in accordance with a change in the position of the vehicle, and determines the operation of the vehicle in accordance with the cause of the non-detection region.
本发明的目的为,提供一种矿山车辆自律行驶系统,其在应该由外界探测传感器探测的区域内产生非探测区域的情况下,能够相对于该非探测区域所产生的起因进行恰当处置,抑制矿山车辆的作业效率降低。为此,控制器将外界探测传感器获取到的三维点云与点云图建立对应关系,基于车辆位置测量传感器的测量结果来计算所述外界探测传感器的位置变化,在所述外界探测传感器未能获取应该获取的三维点云的情况下,将所述点云图的区域作为非探测区域而提取,基于所述点云图中的所述非探测区域的位置是否根据车辆的位置变化而变化,来判断所述非探测区域的起因,并根据所述非探测区域的起因决定所述车辆的动作。
Self-discipline driving system of mine vehicle
矿山车辆自律行驶系统
2025-04-15
Patent
Electronic Resource
Chinese
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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