CN-116659907-B - Front wheel corner calibration device and method for unmanned mining dumper

CN116659907BCN 116659907 BCN116659907 BCN 116659907BCN-116659907-B

Abstract

The invention discloses a front wheel corner calibration device and method for an unmanned mining dumper, which comprises a fixing part, a corner sensor, a clamping part, a transmission mechanism and a calibration mechanism, wherein the fixing part is used for being connected with a shell of a vehicle, the corner sensor is fixed at the bottom of the fixing part and used for measuring the corner of a wheel of the vehicle and realizing the calibration of the sensor of the vehicle through the measured corner, the clamping part is used for clamping and fixing the end face of the wheel, the transmission mechanism is used for connecting a measuring end of the corner sensor and the clamping part so as to transmit corner information of the wheel to the corner sensor, the calibration of the steering sensor of the vehicle is performed, the corner parameter with higher precision can be obtained, the navigation control precision can be improved, the rotating angle of the front wheel can be directly measured, the actual value is used for calibrating the vehicle-mounted steering sensor, after the vehicle is used for a period of time, the deviation of corner data is increased due to the problems of deformation of a connecting pin, the position movement, the leakage of a steering cylinder and the like, the calibration of the steering sensor is performed, and the navigation control precision can be improved.

Inventors

SONG TIANFANG
ZHOU HUIHUI
CHEN CHUANG
WANG JUNHUA
ZHANG WEI

Assignees

北京踏歌智行科技有限公司
内蒙古电投能源股份有限公司

Dates

Publication Date: 20260512
Application Date: 20230529

Claims (5)

1. Front wheel corner calibration device of unmanned mining dumper, characterized by comprising: A fixing portion for connecting with a housing of the vehicle; the rotation angle sensor (2) is fixed at the bottom of the fixed part and is used for measuring the rotation angle of the wheels of the vehicle and calibrating the sensor of the vehicle through the measured rotation angle; The clamping part is used for clamping and fixing the end face of the wheel; The transmission mechanism (3) is used for connecting the measuring end of the rotation angle sensor (2) and the clamping part so as to transmit rotation angle information of the wheel to the rotation angle sensor (2); the level gauge (8) is respectively arranged on the fixing part and the clamping part and is used for determining whether the fixing part and the rotation angle sensor (2) are adjusted to be in a horizontal state or not; The fixing portion includes: The bottom of the fixed platform is assembled with the rotation angle sensor (2); The magnet (1) is arranged at the top of the fixed platform and is used for fixing the fixed platform on the shell, and the magnet is adsorbed below the shell above the wheels; the transmission mechanism (3) comprises: one end of the supporting rod is connected with the measuring end; the inner wall of the sleeve is in sliding connection with the other end of the supporting rod, and one end, far away from the rotation angle sensor (2), of the sleeve is connected with the clamping part; the clamping portion includes: the clamping platform is connected with the sleeve, a through hole is formed in the clamping platform, and the axis of the through hole is perpendicular to the axis of the measuring end; The clamping assembly is rotationally connected with the through hole and used for clamping and fixing the end face of the wheel; The joint of the clamping platform and the sleeve and the joint of the supporting rod and the measuring end are respectively provided with a cross universal joint coupler; The clamping assembly includes: The middle part of the screw rod (6) is rotationally connected with the sleeve, and threads of the screw rod (6) are symmetrically arranged along the middle part of the screw rod (6); the screw rod (6) is characterized by comprising two side arms (7), wherein screw holes matched with the screw threads are formed in the tops of the side arms (7), and the side arms (7) are provided with extension plates along the axial direction perpendicular to the screw rod (6); wherein the opposite surfaces of the two extension plates are perpendicular to the axis of the screw rod (6).
2. The front wheel corner calibration device for the unmanned mining dumper according to claim 1, wherein the side wall of the supporting rod is provided with a limit rib along the axial direction of the supporting rod, and the inner wall of the sleeve is provided with a chute matched with the limit rib.
3. The front wheel corner calibration device for the unmanned mining dumper according to claim 2, wherein the fixed platform and the clamping platform are fixedly assembled with a level meter (8) respectively.
4. The front wheel rotation angle calibration device for the unmanned mining dumper according to claim 3, wherein a hand wheel (5) is arranged at one end of the screw rod (6), and/or The clamping platform is provided with a fixing hole communicated with the through hole, the inner wall of the fixing hole is in threaded connection with a fixing rod, one end of the fixing rod, which is far away from the screw rod (6), is provided with a knob (4), and/or The gravity center of the side arm (7) transversely corresponds to the extension plate.
5. The front wheel corner calibration method for the unmanned mining dumper is characterized by comprising the following steps of: S1, rotating a hand wheel (5) on a screw rod (6) to enable two side arms (7) to move reversely, placing the device at the center above a wheel when the distance between the two side arms (7) is larger than the width of the wheel, and determining the level of the adjusting screw rod (6) by observing a level meter (8); S2, adsorbing the strong magnet (1) below a shell above the wheel, locking a nut on a screw after a fixed platform is horizontal, determining the level of the rotation angle sensor (2) by observing a level meter (8), and fixing one end of the device by a transmission mechanism (3) in a vertical state; S3, rotating a hand wheel (5) on the screw rod (6) to enable the two side arms (7) to clamp the wheel, fixing the other end of the device, and driving the fixing rod to abut against the screw rod (6) by using the knob (4) and connecting a cable of the rotation angle sensor; s4, rotating the wheel to make circular arc movement on a horizontal plane, synchronously driving the clamping part to move, counteracting the arc movement of the wheel through the sliding fit of the support rod and the sleeve and the rotation of the two hinge seats, and transmitting the angle rotation of the wheel to the measuring end of the rotation angle sensor (2) through the clamping part and the transmission mechanism; s5, calibrating a sensor of the vehicle through a numerical value measured by the rotation angle sensor (2); Wherein the method is carried out by the device of any one of claims 1-4.

Description

Front wheel corner calibration device and method for unmanned mining dumper Technical Field The invention relates to the technical field of mining dumpers, in particular to a front wheel corner calibration device and method for an unmanned mining dumper. Background The steering system adopts closed loop control, and the existing sensor mainly comprises an external stay wire sensor arranged on a steering cylinder, an external magnetic telescopic sensor arranged on the steering cylinder, an internal magnetic telescopic sensor arranged on the steering cylinder, and a magneto-resistance type angle sensor and an angle encoder arranged on a master pin. The wheel rotation angle data obtained by measuring the travel of the steering cylinder are calculated according to the obtained sensor value and the size of the steering mechanism, the manufacturing error of the steering mechanism and the abrasion of the revolute pair in the using process lead to the increase of the clearance, so that the theoretical value and the actual wheel rotation angle have errors, and the main pin rotation angle data are used, so that the deviation exists between the main pin rotation angle and the wheel rotation angle because the main pin is provided with the inward inclination and the backward inclination. In the unmanned control system of the mining dump truck, the steering angle measurement precision of wheels can influence the navigation control precision, and steering angle precision misalignment can cause unmanned navigation misalignment and even collision. Therefore, the front wheel rotation angle calibration device and method for the unmanned mining dumper are provided to solve the problems. Disclosure of Invention The invention aims to provide a front wheel rotation angle calibration device and method for an unmanned mining dumper, which are used for solving or improving at least one of the technical problems. In view of the foregoing, a first aspect of the present invention is to provide a front wheel rotation angle calibration device for an unmanned mining dump truck. The second aspect of the invention provides a front wheel corner calibration method for an unmanned mining dumper. The invention provides a front wheel corner calibration device of an unmanned mining dumper, which comprises a fixing part, a corner sensor, a clamping part and a transmission mechanism, wherein the fixing part is used for being connected with a shell of a vehicle, the corner sensor is fixed at the bottom of the fixing part and used for measuring the corner of the wheel of the vehicle and calibrating the sensor of the vehicle through the measured corner, the clamping part is used for clamping and fixing the end face of the wheel, and the transmission mechanism is used for connecting the measuring end of the corner sensor and the clamping part so as to transmit the corner information of the wheel to the corner sensor. According to the front wheel rotation angle calibration device for the unmanned mining dumper, after the manufacturing or the transformation of the unmanned mining dumper is completed, the rotation angle parameters with higher precision can be obtained by calibrating the vehicle steering sensor, the navigation control precision is improved, the rotation angle of the front wheel can be directly measured, and the vehicle-mounted steering sensor is calibrated by using an actual value; After the vehicle is used for a period of time, due to the problems of deformation of the connecting pin, position movement, increase of leakage of the steering cylinder and the like, the deviation of the corner data is increased, and the device is used for calibrating the vehicle steering sensor, so that the navigation control precision can be improved. In addition, the technical scheme provided by the embodiment of the invention can also have the following additional technical characteristics: In any one of the above technical schemes, the fixing part comprises a fixing platform, a magnet and a magnet, wherein the bottom of the fixing platform is assembled with the rotation angle sensor, and the magnet is arranged at the top of the fixing platform and is used for fixing the fixing platform on the shell. According to the technical scheme, the rotation angle sensor and the magnet are connected through the fixed platform, the fixed platform is supported by the fixed platform, so that the measurement interference of the magnet to the rotation angle sensor can be reduced, and meanwhile, the magnet can be used for adsorbing the ferroalloy part of the car body, so that the fixed platform can be fixed more conveniently; the magnet sets up at least one along fixed platform's circumference, specifically the magnet is followed fixed platform's circumference equidistant sets up four, can make fixed platform atress even so that more steady is fixed. In any technical scheme, the transmission mechanism comprises a supporting rod, a sleeve and a sleeve, wherein one end of the