Research and application of unmanned driving platform of shuttle truck for continuous excavation working face
In order to solve the problems of inconvenient supervision,high driving labor intensity,and low transportation efficiency of shuttle truck for continuous excavation working face in Jinjie Coal Mine,an unmanned driving platform for shuttle truck in continuous excavation working face was built.By collecting data from sensors such as visual cameras,millimeter wave radar,laser radar,and inertial IMU,SLAM of the vehicle operating environment was established.Through recognizing lane lines and road edge information by intelligent cameras,the expected driving boundary of the vehicle was obtained.Combined with inertial measurement units to obtain vehicle posture information,a global path map was planned to enable shuttle trucks in continuous excavation working faces to travel normally along preset trajectories,which achieved unmanned driving,improved the overall operating efficiency of the continuous excavation working face,and ensured personal safety on site.
continuous excavation working faceshuttle truckenvironmental perceptionpath planningautonomous driving
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