| Trackless rubber tire vehicles are an important form of mine auxiliary transportation system.According to the different power sources,they can be divided into two types: explosion-proof diesel engine and explosion-proof motor.With its advantages of cleanness,high efficiency and small size,the battery trackless rubber tire vehicle will be the main development direction of the future trackless transportation vehicles.Trackless rubber tire vehicles face problems such as poor working environment,inadequate lighting,and complicated transportation roads when working underground.As a result,the vehicles driven by personnel are full of uncertainties,resulting in high accident rates.The driverless technology safety and high-efficiency characteristics of the underground transportation system are urgently needed.The application on the road vehicles has gradually matured,but the research on the underground driverless technology is still in its infancy.The design of the driverless system of the battery trackless rubber tire vehicle is carried out for the underground coal mine working condition and the roadway characteristics.The research results have important theoretical significance and practical value for the development of driverless trackless rubber tire vehicle and the improvement of efficiency and safety of mine auxiliary transportation system.By taking WLR-9 trackless rubber tire vehicle as the prototype,combined with the actual working conditions of underground roadway,the vehicle was designed and reformed,and the control strategy suitable for roadway driving was worked out.Finally,the driverless driving system was validated by the combination of software simulation and model test.Firstly,based on the underground roadway conditions and the design standards of trackless rubber tire vehicle,the underground driverless system is divided into a sensing system,a control system and an execution system for overall design.Secondly,according to the parameter structure of the vehicle model and the working condition of the roadway,various sensor models and installation positions of the sensing system are determined,and the explosion-proof treatment is performed.Based on the original vehicle control system,the industrial computer is processed to process the sensing system signal,and the internal mechanical components of the execution system are transformed into electrical direct control.Thirdly,based on the characteristics and driving requirements of the driverless trackless rubber tire vehicle,the combination of the infrared sensor and the camera,the combination of the laser radar sensor and the camera are used to solve the problem of tracking and obstacle avoidance encountered by the vehicle under the underground driving,and the design is based on Model-predicted path planning algorithm to establish a downhole driver control strategy.Finally,CarSim and MATLAB/Simulink are used to establish the vehicle model,trajectory tracking model,planning trajectory model and underground vehicle model,and the driverless model test system for underground roadway is built.The simulation and test results are analyzed and verified.The results show that the trajectory tracking effect of the unmanned driving system is good.The maximum instantaneous offset is only 0.078 m at 25 km/h speed,which can meet the requirements of underground driving.The system has strong recognition ability for obstacles in front of the vehicle.When the current side encounters small obstacles,the vehicle can advance 2s ahead.Deceleration plans a new path to avoid,and then returns to the predetermined trajectory;when encountering an oncoming car in a single lane,it can start braking deceleration 4s ahead of time,then turn into the evasion squat to avoid the car;encounter the opposite car in the double lane It can start braking and stop in 4s ahead of time,and then start driving after the vehicle is away from the vehicle;verify the rationality and feasibility of the driverless trackless rubber tire vehicle designed. |
PDF Full Text Request