阅读说明：本技术 一种轮速传感器系统、无人驾驶矿车及控制方法 (Wheel speed sensor system, unmanned mine car and control method ) 是由 鲍时超 潘伟 秦晓驹 殷亮子 朱旭晖 李新明 吴志国 于 2020-06-30 设计创作，主要内容包括：本发明公开了一种轮速传感器系统、无人驾驶矿车及控制方法,包括：轮速传感器；轮速控制器模块,所述轮速控制器模块与所述轮速传感器以电缆连接,用于获取轮速传感器输出的脉冲信号,并能够将脉冲信号转化为轮速信号；定位模块,所述定位模块能够实时采集定位信息；域控制器模块,所述域控制器模块接收轮速控制器模块输出的轮速信号和所述定位模块的实时定位信号,并能够实时输出对车辆的控制信号,所述域控制器模块与所述轮速控制器模块以及所述定位模块之间都是通过CAN总线进行信号传输。本发明能够检测无人驾驶矿车在行驶中各车轮的工况,提高无人驾驶矿车的精确性和可靠性。(The invention discloses a wheel speed sensor system, an unmanned mine car and a control method, wherein the wheel speed sensor system comprises the following steps: a wheel speed sensor; the wheel speed controller module is connected with the wheel speed sensor through a cable, is used for acquiring a pulse signal output by the wheel speed sensor and can convert the pulse signal into a wheel speed signal; the positioning module can acquire positioning information in real time; the domain controller module receives a wheel speed signal output by the wheel speed controller module and a real-time positioning signal of the positioning module and CAN output a control signal to a vehicle in real time, and the domain controller module, the wheel speed controller module and the positioning module are in signal transmission through a CAN bus. The invention can detect the working condition of each wheel of the unmanned mine car during running, and improve the accuracy and reliability of the unmanned mine car.)

1. A wheel speed sensor system, comprising:

a wheel speed sensor (3);

the wheel speed controller module (2) is connected with the wheel speed sensor through a cable, is used for acquiring a pulse signal output by the wheel speed sensor and can convert the pulse signal into a wheel speed signal;

a positioning module (5) capable of collecting positioning information in real time;

and the domain controller module (6) is used for receiving the wheel speed signal output by the wheel speed controller module and the real-time positioning signal of the positioning module and outputting a control signal to the vehicle in real time.

2. A wheel speed sensor system according to claim 1, characterized in that the wheel speed sensor is a magneto-electric wheel speed sensor and the relative position of the wheel speed sensor is equipped with a ring gear (4).

3. The wheel speed sensor system according to claim 1, wherein the positioning module comprises a satellite positioning module (51) and an inertial directional positioning module (52), and the positioning module acquires satellite positioning signals and inertial directional positioning signals and converts the signals into real-time positioning signals to output.

4. The wheel speed sensor system of claim 1, wherein the domain controller module and the wheel speed controller module and the alignment module are in signal communication via a CAN bus.

5. A method of controlling an unmanned mining vehicle, comprising:

step S1: the wheel speed sensor acquires a pulse signal and feeds back the pulse signal;

step S2: the wheel speed controller module receives the pulse signal and feeds back a wheel speed signal of the unmanned mine car in real time according to the pulse signal;

step S3: the positioning module collects real-time position information of the unmanned mine car in real time and feeds back a real-time positioning signal;

step S4: the domain controller module receives the wheel speed signal and the real-time positioning signal, and outputs a control signal for the unmanned mine car by judging the wheel speed signal and the real-time positioning signal.

6. The method for controlling an unmanned mining vehicle, according to claim 5, wherein the step S3 collects real-time position information, uses the positioning information of the satellite positioning module and the positioning information of the inertial orientation positioning module for real-time accurate positioning by simultaneously collecting the positioning information of the satellite positioning module and the positioning information of the inertial orientation positioning module, and feeds back a real-time positioning signal.

7. The method of claim 5, wherein the step S4 is performed by the domain controller module according to the wheel speed signal and the positioning signal to control the driving track and speed of the unmanned mining vehicle.

8. The method of claim 7, wherein the controlling of the vehicle speed includes accelerating, decelerating, stopping, and waiting.

9. An unmanned mining vehicle, comprising:

a vehicle body (1);

a wheel (7); and

the wheel is assembled on the vehicle body and applied with a wheel speed sensor system and control method of an unmanned tramcar according to any one of claims 1 to 8.

Technical Field

The invention relates to the technical field of unmanned driving, in particular to a wheel speed sensor system, an unmanned mine car and a control method.

Background

With the rapid development and the gradual maturity of the unmanned technology, a sensing layer, a decision layer, a control layer and an execution layer included in the unmanned technology become a hot direction for industrial research. Various types of unmanned vehicles are increasingly researched, and various research results are shown. The unmanned driving technology of the high-speed vehicle meets the bottleneck, and the technical breakthrough is difficult to realize in a short period. But the unmanned technology of the mine car with the low-speed closed scene is more feasible. The common mine car is low in running speed and free of the regulatory requirements of road vehicles, each wheel is not provided with a wheel speed sensor system, the speed of the car is judged by only adopting a rotating speed signal of an output shaft of a transmission, and the control of the car is realized through the speed signal. The method cannot detect the working condition of each wheel in real time, cannot accurately control the motion state of the unmanned mine car, and cannot accurately position the mine car due to signal loss of the positioning module.

Disclosure of Invention

In view of the above, the invention provides a wheel speed sensor system, an unmanned mine car and a control method, which can solve the problems that the working condition of wheels cannot be detected during the running of the unmanned mine car, the running of the unmanned mine car cannot be accurately controlled, and the accurate positioning of the unmanned mine car is easy to lose. To solve the problems set forth in the background art described above.

In order to achieve the purpose, the invention provides the following technical scheme:

a wheel speed sensor system comprising:

a wheel speed sensor;

the wheel speed controller module is connected with the wheel speed sensor through a cable, is used for acquiring a pulse signal output by the wheel speed sensor and can convert the pulse signal into a wheel speed signal;

the positioning module can acquire positioning information in real time;

and the domain controller module receives the wheel speed signal output by the wheel speed controller module and the real-time positioning signal of the positioning module and can output a control signal for the vehicle in real time.

Further, the wheel speed sensor is a magnetoelectric wheel speed sensor, and a ring gear is assembled at a relative position of the wheel speed sensor.

Furthermore, the positioning module comprises a satellite positioning module and an inertial directional positioning module, and the positioning module acquires satellite positioning signals and inertial directional positioning signals and converts the signals into real-time positioning signals to be output.

Furthermore, the domain controller module, the wheel speed controller module and the positioning module are all in signal transmission through CAN buses.

A method of controlling an unmanned mining vehicle, comprising:

step S1: the wheel speed sensor acquires a pulse signal and feeds back the pulse signal;

step S2: the wheel speed controller module receives the pulse signal and feeds back a wheel speed signal of the unmanned mine car in real time according to the pulse signal;

step S3: the positioning module collects real-time position information of the unmanned mine car in real time and feeds back a real-time positioning signal;

step S4: the domain controller module receives the wheel speed signal and the real-time positioning signal, and outputs a control signal for the unmanned mine car by judging the wheel speed signal and the real-time positioning signal.

Further, the step S3 collects real-time position information, and simultaneously collects positioning information of the satellite positioning module and positioning information of the inertial positioning module for real-time accurate positioning, and feeds back a real-time positioning signal.

Further, in the step S4, the domain controller module controls the driving track and the speed of the unmanned mine car according to the wheel speed signal and the positioning signal.

Further, the control of the vehicle speed includes acceleration, deceleration, stop waiting.

An unmanned mining vehicle comprising:

a vehicle body;

a wheel; and

The wheels are assembled to the vehicle body and employ a wheel speed sensor system and control method for the unmanned mine vehicle as described above.

Compared with the prior art, the invention has the beneficial effects that: the control precision is high, the maintenance is convenient, the working condition states of all wheels of the unmanned mine car in the motion process can be detected in real time, the accurate positioning performance can be provided for the unmanned mine car, and the accuracy performance and the reliability of the motion control of the unmanned mine car are improved.

Drawings

FIG. 1 is a schematic view of a wheel speed sensor system for an unmanned mining vehicle according to the present invention;

FIG. 2 is a block diagram of a wheel speed sensor system for an unmanned mining vehicle according to the present invention

FIG. 3 is a schematic representation of the steps of the unmanned mine vehicle control method of the present invention.

In the figure: 1. a vehicle body; 2. a wheel speed controller module; 3. a wheel speed sensor; 4. a ring gear; 5. a positioning module; 51. a satellite positioning module; 52. an inertial directional positioning module; 6. a domain controller module; 7. and (7) wheels.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, in the present embodiment, a wheel speed sensor system includes a wheel speed sensor 3, a wheel speed controller module 2, a ring gear 4, a positioning module 5, and a domain controller module 6.

The wheel speed sensor 3 is equipped with a ring gear 4 at a relative position, and outputs a pulse signal by collecting a pulse signal generated after its relative movement. The wheel speed sensor 3 is a magnetoelectric wheel speed sensor.

The wheel speed controller module 2 can obtain a pulse signal output by the wheel speed sensor 3 and convert the pulse signal into a wheel speed state signal;

the positioning module 5 comprises a satellite positioning module 51 and an inertial directional positioning module 52, and acquires satellite positioning signals and inertial directional positioning signals, converts the signals into real-time positioning signals and outputs the signals in real time.

The domain controller module 6 receives the wheel speed state signal output by the wheel speed controller module 2 and the real-time positioning signal of the positioning module 5, converts the signals into wheel speed control signals and outputs the signals to the wheel speed controller module 2. And the signal transmission is carried out between the domain controller module 6 and the wheel speed controller module 2 and between the domain controller module 5 and the positioning module 2 through a CAN bus.

In this embodiment, a control method of an unmanned mine car includes:

Step S1: the wheel speed sensor acquires a pulse signal generated by relative movement with the gear ring and feeds back the pulse signal;

step S2: the wheel speed controller module receives the pulse signals transmitted by each wheel speed sensor, performs signal real-time feedback according to the pulse signals, and transmits and feeds back the wheel speed signals of the unmanned mine car;

step S3: the positioning module collects the positioning information of the unmanned mine car fed back by the satellite positioning module and the inertial positioning module in real time and transmits a real-time positioning signal.

Step S4: the domain controller module receives the wheel speed signal and the real-time positioning signal, and outputs a running track of the unmanned mine car and a control signal of the car speed by judging the wheel speed signal and the real-time positioning signal. The control of the vehicle speed includes acceleration, deceleration, stop waiting, or the like.

In this embodiment, an unmanned mine car includes

The vehicle body 1, the wheel 7, and the wheel 7 are mounted on the vehicle body 1 and applied with a wheel speed sensor system and a control method as described in any of the above.

The working process is as follows: the wheel speed sensor collects pulse signals of the gear ring and transmits the pulse signals to the wheel speed sensor controller for real-time calculation and analysis, and then transmits the signals to the unmanned domain controller; meanwhile, the positioning module transmits the specific position information of the unmanned mine car to the unmanned domain controller, and the unmanned domain controller can more accurately determine the specific position information of the unmanned mine car through the information of the comprehensive positioning module and the wheel speed sensor controller so as to accurately control the unmanned mine car.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.