CN112340688A - Unmanned refueling system for underground explosion-proof vehicle - Google Patents
Unmanned refueling system for underground explosion-proof vehicle Download PDFInfo
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- CN112340688A CN112340688A CN202011241272.2A CN202011241272A CN112340688A CN 112340688 A CN112340688 A CN 112340688A CN 202011241272 A CN202011241272 A CN 202011241272A CN 112340688 A CN112340688 A CN 112340688A
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- refueling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
- B67D7/08—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
- B67D2007/043—Moveable
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
Abstract
The invention discloses an unmanned refueling system for an underground explosion-proof vehicle, which comprises a control center system, a monitoring system, an oil supply system, a refueling machine vehicle and a positioning navigation system. After the oiling machine vehicle is filled with oil liquid from an oil supply system oil tank through a hydraulic pump, the oiling machine vehicle is matched with a carrying camera to carry out visual identification and avoid obstacles according to a planned path and moves to an oiling working point. And after the refueling work is finished, the refueling mechanical vehicle is controlled to return to the refueling station for refueling to rest or continue to execute a new task issued by the system. This unmanned refueling system of explosion-proof car in pit passes through linkage cooperation intelligent control, can accurate completion refueling work, and the operation is smooth swift, reduces staff's work load, improves the efficiency of work greatly, and is fast, with low costs, low in labor strength, reliability height, solves many problems such as inefficiency, intensity of labour is big, the reliability is poor under present complicated geological conditions coal mine environment, has improved on-the-spot working condition greatly, satisfies intelligent working method's demand.
Description
Technical Field
The invention belongs to the technical field of coal mine equipment, and particularly relates to an unmanned refueling system for an underground explosion-proof vehicle.
Background
At present, with the development of mining technology, various underground transportation technologies are in endless, and the quality of the transportation technology directly determines the underground working efficiency of a coal mine. However, in a coal mine environment with complex geological conditions, auxiliary systems in all aspects are not perfect, when the underground explosion-proof vehicle is not full of oil, the explosion-proof vehicle needs to return to an oil filling place or be manually transported to be filled with oil, a large amount of manpower and material resources need to be used, the work is heavy and not intelligent enough, and a certain danger exists in a work site.
Therefore, it is necessary to design an unmanned refueling system for a downhole explosion-proof vehicle to solve the above problems.
Disclosure of Invention
Based on the defects in the prior art, the technical problem solved by the invention is to provide the underground explosion-proof vehicle unmanned refueling system, the oil quantity is monitored by a control center system and a monitoring system, the positioning navigation technology and the refueling machine vehicle system are matched for bidirectional communication, the positioning and route planning of the working process of the refueling machine vehicle are realized, the transportation progress is recorded into a display, the whole refueling working process is clear and definite, the underground material intelligent distribution requirement is met, the manual working strength is reduced, and the intelligent degree of underground coal mine operation is improved.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides an unmanned refueling system for an underground explosion-proof vehicle, which comprises a control center system, a monitoring system, an oil supply system, a refueling machine vehicle and a positioning navigation system, wherein the control center system is connected with the monitoring system; the positioning navigation system receives the refueling signal of the control center system, performs real-time positioning navigation and autonomous path planning, and sends real-time information to the display while sending the information to the refueling machine vehicle; the control center system transmits the refueling signal to the refueling machine vehicle, the refueling machine vehicle is filled with oil liquid from an oil tank of the oil supply system through the hydraulic pump, and the refueling machine vehicle is controlled to move to a refueling working point to perform refueling work according to a planned path; the oiling machine vehicle controls the camera carried by the oiling machine vehicle to perform visual identification, the effects of avoiding obstacles and identifying the oil conveying port of the explosion-proof vehicle are achieved, and unmanned oiling work is completed.
By the above, the requirements of underground unmanned refueling work under complex geological conditions are met by scheduling the refueling machine vehicle, visual identification obstacle avoidance, route planning and positioning, real-time supervision and control and matching with various regulation and control of a control center system.
Preferably, the controller sends a signal or sends out information of a liquid level sensor of the monitoring system to inform that oil is needed to be added, the processed result is transmitted into the control center system, and the output signal of the control center system is continuously analyzed and processed.
By last, through the unmanned refueling system of explosion-proof car in the pit can be to refueling machine vehicle unified control, level sensor improves the work accuracy through visual identification to explosion-proof car real-time oil mass monitoring. And the real-time positioning navigation enables the system to have better environmental adaptability, and high-precision positioning can be realized even in a dynamic environment. The oiling working process is stable, the operation is smooth and fast, and the work consistency is strong. The unmanned refueling system for the underground explosion-proof vehicle can well meet the requirements of continuity, standardization, intellectualization and less humanization of underground work. The underground working conditions of the coal mine with complex geology are more convenient, safe and reliable, and the working efficiency is high. The labor cost is saved, the time and the labor are saved, the working strength is reduced, and the intelligent requirement is met.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following detailed description is given in conjunction with the preferred embodiments, together with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
FIG. 1 is a flow chart of the operation of the control center system of the present invention;
FIG. 2 is a block flow diagram of the unmanned fueling process of the present invention;
FIG. 3 is a flow chart of liquid level signal acquisition and detection according to the present invention;
fig. 4 is a schematic structural diagram of the refueling machine vehicle of the invention.
In the figure, 1-oil inlet, 2-oil supply tank, 3-camera, 4-oil pipeline, 5-chassis.
Detailed Description
Other aspects, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which form a part of this specification, and which illustrate, by way of example, the principles of the invention. In the referenced drawings, the same or similar components in different drawings are denoted by the same reference numerals.
As shown in fig. 1 to 4, the invention provides an unmanned refueling system for an underground explosion-proof vehicle, which is mainly applied to refueling work of the explosion-proof vehicle under complex geological conditions, the refueling work is regulated and controlled aiming at the underground environment, oil can be accurately transported to a corresponding position, the transportation progress can be monitored in real time, and the intelligent requirement is met. The underground explosion-proof vehicle unmanned refueling system comprises a control center system, a monitoring system, a fuel supply system, a refueling machine vehicle and a positioning navigation system, and when the explosion-proof vehicle applies for refueling or a liquid level sensor of the monitoring system detects that refueling is needed, a worker applies for refueling to the system through a controller of the underground explosion-proof vehicle unmanned refueling system. The wireless serial port remote communication sends out signals, and the signals are transmitted to a control center system through a terminal signal receiver. And after receiving the signals, the control center system respectively sends the working instructions to the oil supply system, the oiling machine vehicle and the positioning navigation system. After receiving the signals, the positioning navigation system carries out path planning according to the required material points, simultaneously carries out real-time positioning on the oiling machine vehicle through two-way communication, and inputs feedback information into a display, thereby realizing supervision and regulation of oiling work. After the oiling machine vehicle receives the signal, in the oil tank of oil feeding system, the hydraulic pump extracts oil, and the driving motor controls the oiling machine vehicle to go to the oiling working point according to the planning path, thereby completing the whole unmanned oiling process.
The invention can ensure that the oiling work of the underground explosion-proof vehicle of the coal mine is more convenient and quicker, the degree of manual participation is lower, the underground work of the coal mine is safer, the labor cost and the labor intensity of workers are reduced, and the time is saved. The supervision system is added, so that the work is more accurate, reliable and efficient; the positioning navigation system with bidirectional communication enables workers to clearly and definitely work, and the intelligent requirements of field work under complex geological conditions are met.
The working process of the unmanned refueling system for the underground explosion-proof vehicle is as follows:
as shown in fig. 2, 3 and 4, the liquid level sensor detects the oil amount in the oil tank of the explosion-proof vehicle, transmits a liquid level signal into the system, and the control center system transmits the signal into the filter through the receiving module to be processed, then performs code modulation on the analog signal through the modulator, and converts the analog signal into a digital signal through a/D conversion. After the digital signal is decoded and demodulated by the demodulator, the data is transmitted to the control center system. When the liquid level sensor detects that the liquid level value is lower than the set lowest liquid level value or a worker applies for oiling through the system controller, the oiling machine vehicle starts to work.
Firstly, the oiling machine vehicle extracts oil from an oil tank of an oil supply system through a hydraulic pump, the oil enters an oil supply tank 2 through an oil inlet 1, and then a chassis 5 is driven by a driving motor to control the oiling machine vehicle to move to an oiling working point along a planned path of a positioning navigation system. The camera 3 is started to recognize and avoid the obstacle when the mobile terminal starts to move to the working point, so that the effect of stable operation is achieved. After arriving and refuel the operating point, camera 3 carries out visual identification to explosion-proof car oil delivery mouth, and after discerning the oil delivery mouth, oil pipeline 4 inserts and refuels work in explosion-proof car oil delivery mouth. When the liquid level sensor detects that the set highest liquid level value is reached, the oiling is stopped, and the oil pipeline 4 is pulled out to finish unmanned oiling. The chassis 5 drives the refueling machine vehicle to return to a refueling station for refueling and rest, or continuously executes a new task issued by the system.
The unmanned refueling system for the underground explosion-proof vehicle enables refueling work of the explosion-proof vehicle under a coal mine with complex geological conditions to be safer and more reliable, autonomously plans a working route through navigation positioning, is matched with a supervisory system and bidirectional communication for real-time feedback, enables refueling work to be clearer, is high in working continuity and more efficient, and meets intelligent requirements.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (2)
1. An unmanned refueling system for an underground explosion-proof vehicle is characterized by comprising a control center system, a monitoring system, an oil supply system, a refueling machine vehicle and a positioning navigation system;
the positioning navigation system receives the refueling signal of the control center system, performs real-time positioning navigation and autonomous path planning, and sends real-time information to the display while sending the information to the refueling machine vehicle;
the control center system transmits the refueling signal to the refueling machine vehicle, the refueling machine vehicle is filled with oil liquid from an oil tank of the oil supply system through the hydraulic pump, and the refueling machine vehicle is controlled to move to a refueling working point to perform refueling work according to a planned path;
the oiling machine vehicle controls the camera carried by the oiling machine vehicle to perform visual identification, so that the effects of avoiding obstacles and identifying the oil conveying port of the explosion-proof vehicle are achieved, and unmanned oiling work is completed.
2. The unmanned refueling system of the underground explosion-proof vehicle as claimed in claim 1, wherein the controller sends a signal or sends out information of a liquid level sensor of the monitoring system to inform that refueling is required, the processed result is transmitted to the control center system, and the output signal of the control center system is continuously analyzed and processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241272.2A CN112340688A (en) | 2020-11-09 | 2020-11-09 | Unmanned refueling system for underground explosion-proof vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241272.2A CN112340688A (en) | 2020-11-09 | 2020-11-09 | Unmanned refueling system for underground explosion-proof vehicle |
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| CN112340688A true CN112340688A (en) | 2021-02-09 |
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| CN202011241272.2A Pending CN112340688A (en) | 2020-11-09 | 2020-11-09 | Unmanned refueling system for underground explosion-proof vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114268651A (en) * | 2021-12-22 | 2022-04-01 | 韶关市均能石化股份有限公司 | Cloud-based underground intelligent oil supply method and system for mine |
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| CN102497477A (en) * | 2011-12-13 | 2012-06-13 | 芜湖罗比汽车照明系统有限公司 | Cell phone system for vehicle monitoring |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114268651A (en) * | 2021-12-22 | 2022-04-01 | 韶关市均能石化股份有限公司 | Cloud-based underground intelligent oil supply method and system for mine |
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