Research On Unmanned System For Mine Trackless Rubber Wheel Vehicle

In recent years, with the rapid development of science and technology, unmanned vehicles have become a new research hot spot in automotive field, and it is the mainstream direction of future development of automobile industry. Unmanned drive system is an integrated system of a series of technologies, such as: navigation and localization, situational awareness, path planning, behavioral decision control technology, etc. Foreign experts have began researching unmanned vehicles since 1950's. Current researches about unmanned vehicles focus more on highway and city road environment. The particular environment,however, has few mentioned.Mine trackless rubber wheel vehicle is an important part of the coal mine auxiliary transportation?It is the bottleneck of restricting coal mines and the production efficiency. The mine auxiliary transportation work environment is relatively bad, belongs to high risk environment, how to implement its unmanned, reduce property loss and personnel casualty rate, reduce the transportation cost, improve the efficiency of mining operation, has important application prospect and strategic value. Research on unmanned system for mine trackless rubber wheel car in this dissertation is specially applied to underground tunnel.The design of mechanical structure is based on current trackless rubber wheel car, which includes steering mechanism, pedal mechanism and shift mechanism. Using motor to replace artificial operation realize the unmanned driving operation. As we all know, the underground environment is very poor, it can't use GPS to locate vehicle position and visual sensor obstacle avoidance method is difficult to achieve. The system use ultrasonic sensors and laser radar sensor to perceive road environment information, hall sensor to measure car speed, position sensor to detect the shifting handle location information. The system uses 51 single chip microcomputer as the main control unit of the control system, realize the control of unmanned rubber wheel car driving operation.At last, on the basis of fuzzy control and fuzzy adaptive PID control theory, using MATLAB software to establish the fuzzy control and fuzzy adaptive PID control simulation model of the control system for the steering motor. The results show that this design can realize vehicle's steering rapidly and smoothly, satisfy the requirement of the unmanned vehicle driving.