CN114523838A - 一种混动双向行驶无人驾驶矿用自卸车底盘 - Google Patents
一种混动双向行驶无人驾驶矿用自卸车底盘 Download PDFInfo
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/54—Transmission for changing ratio
- B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
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- B62D7/00—Steering linkage; Stub axles or their mountings
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- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
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Abstract
本发明公开了一种混动双向行驶无人驾驶矿用自卸车底盘,包括底盘、自卸车斗和前后无人驾驶模块,所述自卸车斗通过举升油缸与底盘连接,所述前后无人驾驶模块与底盘端部连接;底盘包括车架、驱动***和增程器,所述增程器由发电机与发动机组成,所述增程器与车架端部连接,所述增程器通过发动机带动发电机工作,所述驱动***通过悬架与车架连接,采用混合动力方案,增程器通过发动机带动发电机工作,采用两组驱动***,且在车架的两端对称布置;前后双电机驱动,确保车辆动力性的同时保证了车辆较高的续驶里程;实现双向行驶和全轮转向,解决了车辆在狭小空间调头难的问题,同时提升了作业效率和车辆行驶安全性。
Description
技术领域
本发明属于工程车辆技术领域,具体地说,本发明涉及一种混动双向行驶无人驾驶矿用自卸车底盘。
背景技术
矿用自卸车,用于矿场运输煤炭或矿石。矿用自卸车多为单方向行驶,将物料卸下的过程中需要调转车头再原路返回,车辆转场效率较低;物料卸载只能按一个方向进行,物料卸载不方便。
此外,传统矿用自卸车依靠人工驾驶,需要大量的人力,这对于地处偏远的矿区,无疑增加了更多的人力成本。
发明内容
本发明提供一种混动双向行驶无人驾驶矿用自卸车底盘,以解决上述背景技术中存在的问题。
为了实现上述目的,本发明采取的技术方案为:一种混动双向行驶无人驾驶矿用自卸车底盘,包括底盘、自卸车斗和前后无人驾驶模块,所述自卸车斗通过举升油缸与底盘连接,所述前后无人驾驶模块与底盘端部连接。
所述底盘包括车架、驱动***和增程器,所述增程器由发电机与发动机组成,所述增程器与车架端部连接,所述增程器通过发动机带动发电机工作,所述驱动***通过悬架与车架连接。
优选的,所述驱动***设有两组,且在车架的两端对称布置,所述驱动***包括驱动电机、第一传动轴、变速箱、第二传动轴、第一转向驱动桥、第三传动轴和第二转向驱动桥,所述驱动电机和变速箱通过悬置安装在车架上,所述驱动电机通过第一传动轴与变速箱连接,所述变速箱通过第二传动轴与第一转向驱动桥连接,所述第一转向驱动桥通过第三传动轴与第二转向驱动桥连接。
优选的,所述变速箱前进和倒退档位数相同。
优选的,所述车架两侧对称设有动力电池,且动力电池与发电机和驱动电机都是电性连接,所述增程器和动力电池一起给驱动电机供电,所述增程器给动力电池充电。
优选的,所述第一转向驱动桥和第二转向驱动桥采用转向油缸进行液压转向,所述发动机通过传动轴驱动油泵,且油泵从发动机取力驱动转向油缸运动进行转向。
优选的,所述前后无人驾驶模块具体包括融合感知子***、控制子***、远程子***、车交互子***和执行子***,所述控制子***包括自动驾驶控制***和整车控制器,所述自动驾驶控制***和整车控制器数据相通连接,所述融合感知子***与自动驾驶控制***通过数据信号线连接,所述远程子***、车交互子***和执行子***都与整车控制器连接。
所述融合感知子***包括激光雷达传感器、毫米波雷达传感器、超声波雷达传感器、前视摄像头、环视摄像头和组合导航***。
所述激光雷达传感器优选四个,分布在车辆的四周。
所述毫米波雷达传感器优选两个,分布在车辆的前后。
所述超声波雷达传感器优选十六个,分布在车辆的四周。
所述前视摄像头优选两个,分布在车辆前端。
所述环视摄像头优选四个,分布在车辆的四周。
所述组合导航***优选GPS/IMU/INS组成,配合着基站实现全天候、完全自主、不受外界干扰的全导航参数。
所述执行子***分为驱动***、转向***、制动***。
所述交互子***分为显示屏、灯光***、语音***组成。
所述远程子***由T-box、云端服务器、终端***组成。
采用以上技术方案的有益效果是:
1、本发明的混动双向行驶无人驾驶矿用自卸车底盘,采用混合动力方案,增程器通过发动机带动发电机工作,采用两组驱动***,且在车架的两端对称布置,所述驱动***包括驱动电机、第一传动轴、变速箱、第二传动轴、第一转向驱动桥、第三传动轴和第二转向驱动桥,所述驱动电机和变速箱通过悬置安装在车架上,所述驱动电机通过第一传动轴与变速箱连接,所述变速箱通过第二传动轴与第一转向驱动桥连接,所述第一转向驱动桥通过第三传动轴与第二转向驱动桥连接;前后双电机驱动,确保车辆动力性的同时保证了车辆较高的续驶里程。
所述车架两侧对称设有动力电池,且动力电池与发电机和驱动电机都是电性连接,所述增程器和动力电池一起给驱动电机供电,所述增程器给动力电池充电;节能环保的同时,解决了电动车需要频繁充电的问题。
2、本发明的混动双向行驶无人驾驶矿用自卸车底盘,所述变速箱前进和倒退档位数相同,实现双向行驶,无需掉头即可原路返回,提高了生产效率;所述第一转向驱动桥和第二转向驱动桥采用转向油缸进行液压转向,所述发动机上设有油泵,且油泵从发动机取力驱动转向油缸运动进行转向,实现全轮转向,解决了车辆在狭小空间调头难的问题,同时提升了作业效率和车辆行驶安全性。
3、本发明的混动双向行驶无人驾驶矿用自卸车底盘,采用无人驾驶***,减少了人力资源,提高了矿用自卸车的出勤效率,节约人力资源。
附图说明
图1是本发明的混动双向行驶无人驾驶矿用自卸车底盘装配图;
图2是驱动***装配图一;
图3是驱动***装配图二;
图4是发动机、发电机、油泵装配图;
图5是前后无人驾驶模块控制原理图;
其中:
1、底盘;2、自卸车斗;3、前后无人驾驶模块;
10、车架;10-1、动力电池;11、发动机;12、发电机;13、驱动***;13-1、驱动电机;13-2、第一传动轴;13-3、变速箱;13-4、第二传动轴;13-5、第一转向驱动桥;13-6、第三传动轴;13-7、第二转向驱动桥;14、增程器;
130、油泵;131、转向油缸。
具体实施方式
下面对照附图,通过对实施例的描述,对本发明的具体实施方式作进一步详细的说明,目的是帮助本领域的技术人员对本发明的构思、技术方案有更完整、准确和深入的理解,并有助于其实施。
如图1至图5所示,本发明是一种混动双向行驶无人驾驶矿用自卸车底盘,采用混合动力方案,增程器通过发动机带动发电机工作,采用两组驱动***,且在车架的两端对称布置;前后双电机驱动,确保车辆动力性的同时保证了车辆较高的续驶里程;实现双向行驶和全轮转向,解决了车辆在狭小空间调头难的问题,同时提升了作业效率和车辆行驶安全性。
具体的说,如图1至图5所示,包括底盘1、自卸车斗2和前后无人驾驶模块3,所述自卸车斗2通过举升油缸与底盘1连接,所述前后无人驾驶模块3与底盘1端部连接。
所述底盘1包括车架10、驱动***13和增程器14,所述增程器14由发电机12与发动机11组成,所述增程器14与车架10端部连接,所述增程器14通过发动机11带动发电机12工作,所述驱动***13通过悬架与车架10连接。
所述驱动***13设有两组,且在车架10的两端对称布置,所述驱动***13包括驱动电机13-1、第一传动轴13-2、变速箱13-3、第二传动轴13-4、第一转向驱动桥13-5、第三传动轴13-6和第二转向驱动桥13-7,所述驱动电机13-1和变速箱13-3通过悬置安装在车架10上,所述驱动电机13-1通过第一传动轴13-2与变速箱13-3连接,所述变速箱13-3通过第二传动轴13-4与第一转向驱动桥13-5连接,所述第一转向驱动桥13-5通过第三传动轴13-6与第二转向驱动桥13-7连接。
所述变速箱13-3前进和倒退档位数相同。
所述车架10两侧对称设有动力电池10-1,且动力电池10-1与发电机12和驱动电机13-1都是电性连接,所述增程器14和动力电池10-1一起给驱动电机13-1供电,所述增程器14给动力电池10-1充电。
所述第一转向驱动桥13-5和第二转向驱动桥13-7采用转向油缸131进行液压转向,所述发动机11上设有油泵130,且油泵130从发动机11取力驱动转向油缸131运动进行转向。
所述前后无人驾驶模块3具体包括融合感知子***、控制子***、远程子***、车交互子***和执行子***,所述控制子***包括自动驾驶控制***和整车控制器,所述自动驾驶控制***和整车控制器数据相通连接,所述融合感知子***与自动驾驶控制***通过数据信号线连接,所述远程子***、车交互子***和执行子***都与整车控制器连接。
所述融合感知子***包括激光雷达传感器、毫米波雷达传感器、超声波雷达传感器、前视摄像头、环视摄像头和组合导航***。
所述激光雷达传感器优选四个,分布在车辆的四周。
所述毫米波雷达传感器优选两个,分布在车辆的前后。
所述超声波雷达传感器优选十六个,分布在车辆的四周。
所述前视摄像头优选两个,分布在车辆前端。
所述环视摄像头优选四个,分布在车辆的四周。
所述组合导航***优选GPS/IMU/INS组成,配合着基站实现全天候、完全自主、不受外界干扰的全导航参数。
所述执行子***分为驱动***、转向***、制动***。
所述交互子***分为显示屏、灯光***、语音***组成。
所述远程子***由T-box、云端服务器、终端***组成。
以下用具体实施例对具体工作方式进行阐述:
实施例1:
本发明的混动双向行驶无人驾驶矿用自卸车底盘,通过前后无人驾驶模块3的测算和控制,在爬坡、坑洼路面等高负荷路况下行驶时,增程器14满负荷工作和动力电池10-1一起给两个驱动电机13-1供能,此时驱动力较大;当在低负荷工况行驶时,根据动力电池10-1电量情况,若电量较高,增程器14低负荷工作,以动力电池10-1为主要供能对象,若电量较低,以增程器14为主要供能对象,若电量低于警戒线,增程器14同时为动力电池10-1充电;当下坡制动时,驱动电机13-1参与制动,将制动能量回馈给动力电池10-1;节能环保的同时,解决了电动车需要频繁充电的问题。
采用混合动力方案,增程器14通过发动机11带动发电机12工作,采用两组驱动***13,且在车架10的两端对称布置,所述驱动***13包括驱动电机13-1、第一传动轴13-2、变速箱13-3、第二传动轴13-4、第一转向驱动桥13-5、第三传动轴13-6和第二转向驱动桥13-7,所述驱动电机13-1和变速箱13-3通过悬置安装在车架10上,所述驱动电机13-1通过第一传动轴13-2与变速箱13-3连接,所述变速箱13-3通过第二传动轴13-4与第一转向驱动桥13-5连接,所述第一转向驱动桥13-5通过第三传动轴13-6与第二转向驱动桥13-7连接;前后双电机驱动,确保车辆动力性的同时保证了车辆较高的续驶里程。
实施例2:
本发明的混动双向行驶无人驾驶矿用自卸车底盘,所述变速箱13-3前进和倒退档位数相同,实现双向行驶,无需掉头即可原路返回,提高了生产效率;所述第一转向驱动桥13-5和第二转向驱动桥13-7采用转向油缸131进行液压转向,所述发动机11上设有油泵130,且油泵130从发动机11取力驱动转向油缸131运动进行转向,实现全轮转向,解决了车辆在狭小空间调头难的问题,同时提升了作业效率和车辆行驶安全性。
实施例3:
本发明的混动双向行驶无人驾驶矿用自卸车底盘,采用无人驾驶***,减少了人力资源,提高了矿用自卸车的出勤效率,节约人力资源。
所述前后无人驾驶模块3具体包括融合感知子***、控制子***、远程子***、车交互子***和执行子***,所述控制子***包括自动驾驶控制***和整车控制器,所述自动驾驶控制***和整车控制器数据相通连接,所述融合感知子***与自动驾驶控制***通过数据信号线连接,所述远程子***、车交互子***和执行子***都与整车控制器连接。
自动驾驶控制***主要根据融合感知子***中的信号、执行子***反馈信号以及整车车辆状态信息完成整车自动驾驶指令的下发;整车控制器主要实现整车故障处理、车控功能的实现以及中央网关功能。
所述融合感知子***包括激光雷达传感器、毫米波雷达传感器、超声波雷达传感器、前视摄像头、环视摄像头和组合导航***。
所述激光雷达传感器优选四个,分布在车辆的四周,主要功能用于高精地图制作、障碍物识别和跟踪。
所述毫米波雷达传感器优选两个,分布在车辆的前后,主要功能用于中距离交通车辆和行人的检测。
所述超声波雷达传感器优选十六个,分布在车辆的四周,主要功能用于近距离和低矮障碍物探测,避免车辆周围近距离感知盲区。
所述前视摄像头优选两个,分布在车辆前端;所述环视摄像头优选四个,分布在车辆的四周;主要用于车道线、交通标示牌、红绿灯以及车辆、行人检测。
所述组合导航***优选GPS/IMU/INS组成,配合着基站实现全天候、完全自主、不受外界干扰的全导航参数。
所述执行子***分为驱动***、转向***、制动***;驱动***为串联混动方案,可达到长续航、低功耗、节能环保的目的;转向***分为前后液压转向,可达到无须掉头、减小转弯半径的目的;制动***优选气刹制动,制动压力大,提供整车安全。
所述交互子***分为显示屏、灯光***、语音***组成;实现警示路人、故障报警,车辆状态信息以及车辆调试显示功能。灯光***优选远近光灯、转向灯、制动灯、故障警示灯、昼间行车灯。
所述远程子***由T-box、云端服务器、终端***组成;T-box主要实现整车与云端服务器之间的信息交互,云端服务器接受终端***信息从而完成整车任务调度,云端服务器可接收整车状态信息完成整车故障诊断;终端***可满足用户在终端APP界面下完成对整车的控制及状态监控功能。
以上结合附图对本发明进行了示例性描述,显然,本发明具体实现并不受上述方式的限制,只要是采用了本发明的方法构思和技术方案进行的各种非实质性的改进;或未经改进,将本发明的上述构思和技术方案直接应用于其它场合的,均在本发明的保护范围之内。
Claims (6)
1.一种混动双向行驶无人驾驶矿用自卸车底盘,其特征在于:包括底盘(1)、自卸车斗(2)和前后无人驾驶模块(3),所述自卸车斗(2)通过举升油缸与底盘(1)连接,所述前后无人驾驶模块(3)与底盘(1)端部连接;
所述底盘(1)包括车架(10)、驱动***(13)和增程器(14),所述增程器(14)由发电机(12)与发动机(11)组成,所述增程器(14)与车架(10)端部连接,所述增程器(14)通过发动机(11)带动发电机(12)工作,所述驱动***(13)通过悬架与车架(10)连接。
2.根据权利要求1所述的一种混动双向行驶无人驾驶矿用自卸车底盘,其特征在于:所述驱动***(13)设有两组,且在车架(10)的两端对称布置,所述驱动***(13)包括驱动电机(13-1)、第一传动轴(13-2)、变速箱(13-3)、第二传动轴(13-4)、第一转向驱动桥(13-5)、第三传动轴(13-6)和第二转向驱动桥(13-7),所述驱动电机(13-1)和变速箱(13-3)通过悬置安装在车架(10)上,所述驱动电机(13-1)通过第一传动轴(13-2)与变速箱(13-3)连接,所述变速箱(13-3)通过第二传动轴(13-4)与第一转向驱动桥(13-5)连接,所述第一转向驱动桥(13-5)通过第三传动轴(13-6)与第二转向驱动桥(13-7)连接。
3.根据权利要求2所述的一种混动双向行驶无人驾驶矿用自卸车底盘,其特征在于:所述变速箱(13-3)前进和倒退档位数相同。
4.根据权利要求2所述的一种混动双向行驶无人驾驶矿用自卸车底盘,其特征在于:所述车架(10)两侧对称设有动力电池(10-1),且动力电池(10-1)与发电机(12)和驱动电机(13-1)都是电性连接,所述增程器(14)和动力电池(10-1)一起给驱动电机(13-1)供电,所述增程器(14)给动力电池(10-1)充电。
5.根据权利要求2所述的一种混动双向行驶无人驾驶矿用自卸车底盘,其特征在于:所述第一转向驱动桥(13-5)和第二转向驱动桥(13-7)采用转向油缸(131)进行液压转向,所述发动机(11)通过传动轴驱动油泵(130),且油泵(130)从发动机(11)取力驱动转向油缸(131)运动进行转向。
6.根据权利要求1所述的一种混动双向行驶无人驾驶矿用自卸车底盘,其特征在于:所述前后无人驾驶模块(3)具体包括融合感知子***、控制子***、远程子***、车交互子***和执行子***,所述控制子***包括自动驾驶控制***和整车控制器,所述自动驾驶控制***和整车控制器数据相通连接,所述融合感知子***与自动驾驶控制***通过数据信号线连接,所述远程子***、车交互子***和执行子***都与整车控制器连接;
所述融合感知子***包括激光雷达传感器、毫米波雷达传感器、超声波雷达传感器、前视摄像头、环视摄像头和组合导航***;
所述激光雷达传感器优选四个,分布在车辆的四周;
所述毫米波雷达传感器优选两个,分布在车辆的前后;
所述超声波雷达传感器优选十六个,分布在车辆的四周;
所述前视摄像头优选两个,分布在车辆前端;
所述环视摄像头优选四个,分布在车辆的四周;
所述组合导航***优选GPS/IMU/INS组成,配合着基站实现全天候、完全自主、不受外界干扰的全导航参数;
所述执行子***分为驱动***、转向***、制动***;
所述交互子***分为显示屏、灯光***、语音***组成;
所述远程子***由T-box、云端服务器、终端***组成。
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