矿用无人驾驶电动皮卡车底层设计与整车改造.pdfVIP

煤炭工程 第54卷第10期 COALENGINEERING Vol.54,No.10 doi:10.11799/ce202210035 矿用无人驾驶电动皮卡车底层设计与整车改造 薛忠新，欧阳敏² ，毕跃起3，杨斐文² ，范生军，王峰，吉强”，侯刚² （1.陕煤集团神木张家弗矿业有限公司，陕西榆林719313；2.中煤科工开采研究院有限公司，北京100013； 3.山西天地煤机装备有限公司，山西太原030032） 摘要：针对煤矿井下无人驾驶技术需求，设计了CAN总线控制的整车控制系统，并对整车 各个控制执行单元实现的具体功能进行设计，具体包括驱动电机、制动系统、电池管理系统、人员 接管控制逻辑、甲烷气体报警系统、灯光、喇叭等驾驶辅助设备等的功能设计，对山西天地煤机装 备有限公司的WLR-9 （A）型电动皮卡车进行整车改造和应用程序的开发，并在张家煤矿进行地面 与井下无人驾驶测试。测试结果表明CAN总线控制的整车底盘的稳定性与可靠性能够满足煤矿井 下工况环境要求。 关键词：电动皮卡车；CAN总线；电液控制系统；无人驾驶 中图分类号：TD525 文献标识码：A Bottom design and vehicle transformation of electric pickup truck suitable for unmanned driving XUE Zhong-xin, OUYANG Min², BI Yue-qi°, YANG Fei-wen², FAN Sheng-jun, WANG Feng, JI Qiang, HOU Gang (1. Shanxi Coal Group Shenmu Zhangjiamao Mining Co. , Ltd. , Yulin 719313, China; 2.China Coal MiningResearch Institute Co., Ltd.,Beijing 100013, China; 3.Shanxi Tiandi Coal Machinery Equipment Co., Ltd., Taiyuan 030032, China) Abstract: Each link of coal mine auxiliary transportation system needs the participation of a large number of personnel, which has become a key problem against underground safety and unmanned development of coal mine. According to the technical requirements of unmanned driving in coal mine, the vehicle control system controlled by CAN bus was designed, and the specific functions realized by each control execution unit of the vehicle were designed, including the functional design of driving auxiliary equipment such as driving motor, braking system, batery management system, personnel takeover control logic, methane gas alarm system, light, horn, etc. The wlr-9 Co. , Ltd. was transformed and th