煤矿无轨胶轮车无人驾驶系统设计与应用

Design and Application of Trackless Rubber-tyred Car Pilotless System in Coal Mine

受井下空间狭窄、光线不足等因素影响,采用人工驾驶的无轨胶轮车在井下运输过程中存在较多安全隐患。针对上述问题,提出一种基于无人驾驶的煤矿无轨胶轮车控制系统,采用多传感器融合监测实现对胶轮车运行环境感知,并对车辆转向、驱动电机进行自适应控制,实现井下胶轮车的自主避障与无人驾驶控制,有效提高煤矿辅助运输智能化水平。

In response to the many safety hazards and low transportation efficiency of traditional manual driven trackless rubber-tyred cars during underground transportation,the author proposes a coal mine trackless rubber-tyred car control system based on unmanned driving,using multi-sensor fusion monitoring to perceive the operating environment of the rubber-tyred car and adaptively controls the vehicle's steering and driving motor,which can achieve autonomous obstacle avoidance and unmanned driving control of underground rubber-tyred cars,and effectively improve the intelligence level of coal mine auxiliary transportation.