CN205787841U - A kind of unmanned transportation system of Underground Locomotive Carrier - Google Patents
A kind of unmanned transportation system of Underground Locomotive Carrier Download PDFInfo
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- CN205787841U CN205787841U CN201620559107.4U CN201620559107U CN205787841U CN 205787841 U CN205787841 U CN 205787841U CN 201620559107 U CN201620559107 U CN 201620559107U CN 205787841 U CN205787841 U CN 205787841U
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Abstract
The utility model discloses a kind of unmanned transportation system of Underground Locomotive Carrier, including a kind of unmanned transportation system of Underground Locomotive Carrier, it is characterised in that: include dispatching patcher, locomotive operation unit, more than 1 loading depot control unit, more than 1 discharge point control unit, CCTV camera, more than 1 trackside equipment control unit, communication system and traction power supply monitoring system.This utility model achieves dress ore deposit, transport, uninstall process run automatically, and transport project is automatically generated order by dispatching patcher.Which ensure the safe and highly efficient operation of electric locomotive, simplify operation, raising electric locomotive operating rate, raising Ore Yield.The work of Underground Locomotive Carrier driver, ore drawing work is united two into one by it, and ground is transferred to by down-hole in worker operating position, increases safety, avoids the generation of occupation disease, raising essential safety level, improves manual work environment.
Description
Technical field
This utility model relates to a kind of unmanned transportation system, and especially a kind of unmanned transport of Underground Locomotive Carrier is
System, belongs to mining and controls technical field.
Technical background
Underground mine Current in Underground Electric Locomotive Transport system is the aorta of mining conveying, and electric locomotive safe and highly efficient operation is ground
The key link produced.Along with the continuous expansion of scale, the Current in Underground Electric Locomotive Transport task being closely related with production are opened in underground
More and more heavier, security requirement is more and more higher.The transporting equipment used at present is required for pilot steering, building ring
Border, safety guarantee and conevying efficiency are all by bigger restriction, and therefore, the research to Underground Locomotive Carrier ground Remote has become
Urgent task for the mining industry of domestic underground.And ground maneuvers personnel cannot know the exact position that locomotive is real-time, the most logical
Cross transmitter receiver and get in touch with intercommunication with driver.
Domestic Underground Locomotive Carrier is pilot steering, and operational mode is: during dress ore deposit, every electric locomotive need to follow an ore drawing
Work carries out on-the-spot ore drawing, needs ore drawing work and electric locomotive driver constantly to carry out ditch the actions such as car, driving, ore drawing during ore drawing
Leading to, coordinate car, such efficiency is low, and potential safety hazard is big, and manual work environment is poor.After system is implemented, ground maneuvers personnel
The real-time exact position of locomotive can be grasped intuitively, improve efficiency and the reliability of scheduling.
Domestic indivedual mine development has gone out ground remote control driving, but control instruction when locomotive operation need artificially to
Fixed, the maximum of the present invention is not both automatic Pilot, and dispatching patcher calculates transport meter according to the production schedule and drop shaft Ore storage
Drawing, locomotive becomes and starts automatically to round transport at the route of system planning, during locomotive driving various instructions (speed, ring
Flute, illuminating lamp, lifting bow, track switch variation, parking etc.), all need not artificial given, be based entirely on program set in advance and send
Control instruction.It is also automatically that the rear locomotive that fed is rolled over automatically to car, ore drawing machine automatic charge that locomotive loads Ore at drop shaft
Return, when charging process is normal, need not manual intervention.Automatic discharging when arriving emptying point, discharging the most before goes charging after completing, past
Multiple circulation.
Utility model content
This utility model purpose is to provide a kind of unmanned transportation system of Underground Locomotive Carrier.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is:
A kind of unmanned transportation system of Underground Locomotive Carrier, including dispatching patcher, locomotive operation unit, 1 installed above
Loading depot loading depot control unit, more than 1 be contained in the discharge point control unit of discharge point, monitoring system, more than 1 rail
Other device control cell, 1 traction power supply monitoring system；Described loading depot is arranged at drop shaft；Described discharge point is arranged on master
Jing Chu；
Described dispatching patcher is arranged on ground maneuvers center, including MSE interface server, 1 installed above have scheduling soft
The control station of part, more than 1 engineer station, 2 data above servers and monitoring screen；Described data server includes 1
Primary data server and 1 preliminary data server；Described dispatching patcher is powered by uninterrupted power source；Described control station is used for
Set the driving mode of locomotive；Described driving mode includes automatic running pattern and remote controlled travelling pattern；Described control station provides
Control operation Man Machine Interface under locomotive telecontrol driving mode；Described control station display locomotive operating parameter and fault alarm
Information, and the interpersonal interactive interface of teleprocessing locomotive fault is provided；Described dispatcher software for according to each drop shaft material position and
Ore taste, sub-terrain mines daily output demand or shipping order automatically generate motive power control scheme and derive production report, control machine
Car spontaneous circulation runs；Described dispatcher software is additionally operable to logging machine car vehicle parameter and running orbit, calculating locomotive maintaining
Time；Described engineer station is used for configuring, diagnosing the unmanned transportation system of described Underground Locomotive Carrier；
Described locomotive operation unit includes control core unit, illuminating lamp, warning lamp, siren, baric systerm, location system
System, sensing system, contactless box and pantograph；Described locomotive operation unit is powered by uninterrupted power source；Described control core
Unit Real-time Collection locomotive running speed, according to locomotive position, the speed of service of automatic adjusting machine car；Described illuminating lamp, warning
Lamp, opening of siren are automatically controlled according to the running status of locomotive by control core unit；Described alignment system includes that axle encodes
Device and trackside beacon, the position of positioning vehicle under control core unit controls；Described baric systerm includes electromagnetic valve, sensor
And electric control box；Described electric control box controls gas circuit detected air pressure state under control core unit controls；Described connect
Tentaculum case is arranged in waterproof distribution box, including vacuum D.C. contactor or noble gas D.C. contactor；Pantograph assembly bag
Include direct current generator and coordinate worm type of reduction gearing；
Described loading depot control unit is arranged on loading depot, controls substation, drop shaft level-sensing device, dress ore deposit to car including loading depot
Location detector and ore drawing machine；
Described discharge point control unit is arranged on discharge point, controls substation, main shaft level-sensing device, derailing detection including discharge point
Instrument；
Video monitoring system include 1 video camera on the wall of underground transportation tunnel installed above, 1 installed above
Vehicle-mounted web camera on locomotive, it is arranged on loading depot video camera, the video camera being arranged on discharge point and DVR；
Described trackside equipment control unit includes that trackside equipment controls substation, derailer, goat；Described trackside equipment control
Substation processed connects derailer, goat and a wireless base station respectively；Described goat is arranged on track switch and derailer, in-orbit
Other equipment controls substation and controls lower control track switch and signal lights；
Described traction power supply monitoring system includes that the traction substation being connected with traction substation controls substation, for change
In electricity institute, the operation Parameter On-line monitoring of equipment remotely controls with ground；
Communication system includes optical fiber ring network, ground LAN, 1 wireless on the wall of underground transportation tunnel installed above
Base station and 1 onboard wireless mobile base station on locomotive installed above；Described each wireless base station is provided with beam antenna and optical fiber
Interface, has ethernet ring network switch function, along underworkings group optical fiber ring network；Described onboard wireless mobile base station and wireless base
Stand wireless connections；Described optical fiber ring network connects ground LAN by optical cable；Described each control station, engineer station, HD recording
Machine, monitoring screen, primary data server and preliminary data server are connected by LAN；Described each video camera, loading depot
Video camera, discharge point video camera connect DVR by optical fiber respectively.
The control core module of described locomotive operation unit is made up of vehicle-mounted operating board and PLC, described vehicle-mounted operating board and
PLC is bi-directionally connected；Described control core module is bi-directionally connected with baric systerm, alignment system and pantograph assembly respectively；Described
The outfan of sensing system connects the respective input of described control core module；The input of described contactless box connects institute
State the corresponding output end of control core module；Pantograph assembly includes limit switch and by its descending operation of DC MOTOR CONTROL
Pantograph, the state detecting pantograph under PLC control and the state change controlling pantograph；Pneumatic system includes Pneumatic sensing
Device and electromagnetic valve, detected air pressure state under PIC control；Described contactless box includes vacuum D.C. contactor and chopper, institute
The debugging pulse stating chopper is controlled to generate according to described Underground Locomotive Carrier real-time speed by PLC；Described alignment system includes axle
Encoder and trackside beacon.
Using technique scheme, the beneficial effects of the utility model are:
1, this utility model achieve Back ground Information digitized centralized displaying control, production and transport process visualization automatic
Changing, automatically analyze decision-making, production process reduces total construction object of human intervention, electric haulage system from the beginning of discharge point,
To the circulation round transport of main winding shaft, the principle that output grade is stable.Dispatching patcher is according to the storage capacity of each drop shaft in district, geology
Grade is set up digitized group and is joined ore deposit model；After district's drop shaft, carry out Remote (or automatic) dress ore deposit；By dispatching patcher certainly
Dynamic scheduling train, it is achieved pantograph automatic lifting, interval interior automatic running；Electric locomotive completes the circulations such as automatic unloading to discharge point
Workflow.
2, this utility model makes ground maneuvers personnel can grasp the real-time exact position of locomotive intuitively, improves scheduling
Efficiency and reliability；Which ensure the safe and highly efficient operation of electric locomotive, improve electric locomotive operating rate, raising Ore Yield.
3, the work of Underground Locomotive Carrier driver, two people of ore drawing work is completed by this utility model by a people, and fill ore deposit,
Transport, uninstall process need not human intervention, and transport project is automatically generated order by dispatching patcher.Operating position is turned by down-hole
Move on to ground, increase safety, improve manual work environment.
Accompanying drawing explanation
Fig. 1 is the theory diagram of this utility model embodiment 1；
Fig. 2 is the system construction drawing of locomotive operation unit in this utility model embodiment 1.
Detailed description of the invention
Embodiment 1:
The present embodiment is applied to take charge of battalion of family sub-terrain mines.Man battalion of department sub-terrain mines has 5 for filling slipping of ore deposit in underground 180 level
Well, for unloading the main shaft in ore deposit.Ore is by 14t electric locomotive headstock traction 8 joint 4m3Wagon box unloads to main shaft along rail transport from drop shaft
Ore, push-pull type reciprocation cycle is transported.Drop shaft is used as loading depot, and main shaft is used as discharge point.Mine car is side dump, and mine car is in unloading
Standing by curved track, when mine car rolls, side plate is opened, discharging simultaneously.
As it is shown in figure 1, a kind of unmanned transportation system of Underground Locomotive Carrier, including dispatching patcher, locomotive operation unit, 1
The individual loading depot control unit in loading depot installed above, more than 1 the discharge point control unit being contained in discharge point, monitoring system
System, more than 1 trackside equipment control unit, communication system and traction power supply monitoring system；Described loading depot is arranged at drop shaft；
Described discharge point is arranged at main shaft.Ground maneuvers center, is provided with UPS, power distribution cabinet, switch, DVR, data clothes
Business device, air-conditioning etc..Lay the optical cable of each equipment from machine room to down-hole.Drop shaft control chamber and traction substation are transformed, peace
Dress controls substation, is linked into overall communication system by optical cable, makes it to accept the Remote in control room and monitoring.
System is by four kinds of mode of operations.The first: native system combines higher level's MES system and gathers each drop shaft material position and Ore
Taste, company, for the demand of the sub-terrain mines daily output, automatically calculate locomotive in service quantity and the front drop shaft going to load, independently follow
Inscription of loop.This system can also comprehensively analyze locomotive state, calculates the time of electric locomotive maintaining.Ore deposit scheme is joined straight according to optimum
Connect the plan of arranging production, determine Ore drawing order and the ore drawing amount of each drop shaft, determine traffic coverage and the working line of electric locomotive.This
It it is the normal method of operation.The second: human intervention automatic Pilot, the transport project not calculated according to MES system, scheduling
Personnel directly set the dress ore deposit drop shaft of electric locomotive and unload position, ore deposit, the automatic reciprocating operation of electric locomotive, until drop shaft is vented, or unloading
Stand and expect that position is the fullest.The third: control room remote control mode manually drives electric locomotive, freely controls speed and direction, remote control liter
Fall bow, it is adaptable to temporarily move car.4th kind: locomotive also retains manual drive function in driver's cabin, locomotive body is installed small-sized
Control station and touch screen, driver can drive locomotive after detachment system control and arbitrarily travel.
There is sensor to detect the relative position of locomotive and ore drawing machine drain hopper in real time car dress ore deposit link at drop shaft, work as position
Alignment can be stopped with locomotive self-actuating brake during blowing, and ore drawing machine starts to fill ore deposit, and ore deposit is complete is continuing to load a mine car for dress, period ground
Face dispatcher, by video monitoring dress ore deposit process, can carry out manual intervention at any time.
The work of Underground Locomotive Carrier driver, ore drawing work being merged, operating position, is simplified to ground maneuvers center by down-hole
Operation, improves production efficiency, improves essential safety level, improve manual work environment.
When systems are functioning properly, can control locomotive operation with manpower intervention at any time, there is abnormal alarm in locomotive, runs
During when being in an emergency, locomotive automatic emergency stops.
Motor garage state is monitored, judges, the early warning information occurred is carried out sound, photoelectric alarm, improves various
Automatically running protection.The complete locomotive of traffic coverage electric locomotive velocity variations automatically gives, it is not necessary to manual intervention.
This system can also comprehensively analyze locomotive state, calculates the time of electric locomotive maintaining.System also has locomotive in service
Running orbit plays back, and records the functions such as key parameter, assignment statistics rate, derivation production report.
Control centre's network architecture uses " Client/Server pattern " two data server redundancys hot standby.Install 3
Control station, each operating board one client computer of configuration, client computer can complete the task of whole locomotive automatic transportation.Additionally configure
Two engineer stations are for system maintenance.Control centre's control station can carry out any operation and control locomotive, the video of locomotive
Monitored picture also shows on control station.Monitor the monitored picture of all video cameras in big screen display down-hole, it is possible to automatically cut
Change on the locomotive that is currently running.Control centre is provided with UPS, can be dispatching patcher continued power 30 minutes after power-off.
As in figure 2 it is shown, a kind of unmanned transportation system of Underground Locomotive Carrier includes control core module, baric systerm, determines
Position system, sensing system, contactless box, pantograph assembly；Described control core module is made up of vehicle-mounted operating board and PLC,
Described vehicle-mounted operating board and PLC are bi-directionally connected；Described control core module is total with baric systerm, alignment system and pantograph respectively
One-tenth is bi-directionally connected；The outfan of described sensing system connects the respective input of described control core module；Described catalyst
The input of case connects the corresponding output end of described control core module；Pantograph assembly includes limit switch and by direct current generator
Control the pantograph of its descending operation, the state detecting pantograph under PLC control and the state change controlling pantograph；Pneumatic
System includes pneumatic transmitter and electromagnetic valve, detected air pressure state under PIC control；Described contactless box includes that vacuum direct current connects
Tentaculum and chopper, the debugging pulse of described chopper is controlled to generate according to described Underground Locomotive Carrier real-time speed by PLC；Described
Alignment system includes shaft encoder and trackside beacon.
Locomotive operation unit uses small PLC as core controller, it is achieved locomotive state collection, locomotive body control,
By onboard wireless base station, the control of the ground maneuvers room that communicates with control centre, receives.PLC is according to Real-time Collection locomotive operation
Speed, utilizes the pid algorithm of PLC to control the pulse output of chopper, thus changes direct current generator torque, can realize locomotive speed
Closed loop control.When speed exceeds preset value many times, pulse output can be turned off, and automatically start dynamic braking.PLC according to
Locomotive position, adjusts the speed of service, pantograph state automatically, therefore can realize bend, straightway, load, the position such as unloading
The automatically giving of Shi Sudu, the automatic lifting of pantograph, it is not necessary to human intervention.
The unlatching of illuminating lamp, warning lamp and siren, by PLC control, automatically controls according to the running status of locomotive.Vehicle-mounted gas
Can accept pressure monitoring and the control of PLC after the pressure system reform, the effect of baric systerm is to stop locomotive to stop.By Manual gas valve
Change electromagnetic valve into, sensor is installed, transform electric control box, make it to control the state such as gas circuit detected air pressure by PLC.Fixed
Position system employs shaft encoder and trackside beacon comprehensively positions, and in conjunction with the program of independent development in PLC, positioning precision reaches li
Meter level.It it is the basic core technology of whole process auto-control.Sensing system for monitor the electric moter voltage of locomotive, electric current,
The charging voltage of uninterruptible power system, electric current, locomotive ambient temperature and humidity, the parameter such as temperature of crucial original paper.Catalyst
Case uses vacuum D.C. contactor or noble gas D.C. contactor, is arranged in waterproof distribution box, then takes glissando, can
Existing cam controller is replaced with perfection, reliable and stable, and Automated condtrol can be realized.Pantograph is manually drawn by original
Rope control changes direct current generator into and coordinates worm type of reduction gearing, and when motor rotates forward, the reel with motor coaxle drives steel wire rope to pull
Pantograph is departed from stringing by pantograph, and when rising bow controls, motor reversal steel wire rope unclamps, and pantograph rises according to counter spring force.
Locomotive body sensors monitoring air compressor machine pipeline air pressure, vehicle wheel bearing temperature, running current, the speed of service etc., no
The abnormal state alarm indicator of impact safety is the most directly slowed down or the same alarm that stops in the exception of man machine interface, impact safety.
Entering bend, the automatic whistling before tunnel that intersects, loading entering drop shaft, enter discharge point and unload automatic whistling before ore deposit, adjust
By engine video frequency image, degree personnel find extremely can manually to blow a whistle and stop in locomotive operation front.When communication of locomotive interrupts super
Cross certain time out of hand time, it is also possible to cut off traction substation power supply, allow locomotive naturally stop.When locomotive enters restricted area
Territory or out of control time, it is also possible to start locomotive operation front derailer, force locomotive derailing stop.
The drop shaft of loading depot installs material-level measure instrument, video camera.Transformation oscillating feeder, can realize after transformation remotely
Control and monitoring.Installing train profile detector, the controlling level of detection wagon box dress is the most normal.Each loading depot configures one
Control substation, substation connect, control loading depot field apparatus, and substation and dispatching patcher communication, it is achieved loading depot from
Dynamicization controls and monitoring.The main shaft of discharge point installs material-level measure instrument, video camera.The track of discharge point is installed derailing inspection
Survey device.Each discharge point configures one and controls substation, substation connection, the field apparatus of control discharge point, and substation and tune
Degree system communicates, it is achieved the Automated condtrol of discharge point and monitoring.
Above the ore drawing machine of drop shaft, Ore unloading point, along haulage drift wall key position install video camera, independent group
Net, through optical cable transmission to control room DVR, then transmission display is on the screen of control station.All controls of locomotive body
Signal processed and video monitoring picture are connected to onboard wireless base station by switch, and onboard wireless base station is wireless with tunnel wall hanging
Base station carries out data communication, thus realizes the communication connection of locomotive and ground maneuvers system, is eventually displayed in control centre's control
On platform.
The kilomega optic fiber ring exchanger of backbone network, branching networks use 100 m ethernet switch, onboard wireless to move
The wireless base station that base station, wall are installed.Each system above-mentioned is communicated by communication system by ICP/IP protocol.Down-hole is along tunnel
Not only there are the radio communication function meeting IEEE802.11 b/g agreement, bandwidth 54M, or one four in the wireless base station that wall is installed
The fiber optic Ethernet switch of port, also has simultaneously and sets up looped network function.This base station is installed along haulage drift wall in down-hole, and 100
-200 meters one, rice, it is achieved wireless signal covers non-blind area, more all of optical cable used in base station is formed looped network, and core looped network exchanges
Machine is placed in control room.The control substation of down-hole supports ethernet communication protocol, is connected to wireless base station optical fiber nearby and connects
On mouth.Control substation and be arranged near drop shaft, traction substation, unloading point, goat, derailer, it is achieved the said equipment remote
Journey automatically controls.The said equipment retains simultaneously and controls function by machine on the spot, is realized " remote by the permutator of on-site control case
Journey ", " on the spot " conversion.
To track switch and derailer, electric point machine is installed, and is monitored by control substation nearby, control, pass through communication system
Transmission, to control centre, coordinates " letter collection closes " system to control track switch.The control of control centre can be accepted after signal lights transformation, join
Close the traffic direction of " letter collection closes " system instruction locomotive.In underground transportation tunnel, build " letter collection closes " for railway transportation certainly
Dynamic networked control systems.Realize signal lights, motor-operated switch carries out centralized automatic control.Electric locomotive whole process moves locking and runs, it is to avoid
The generation of electric locomotive rear-end collision.When locomotive vehicle line once it is determined that after, the automatic programme path of system, goat is pressed automatically
Route according to planning pulls track switch, feeds back the location status of track switch, it is not necessary to personnel the most manually pull track switch simultaneously, it is ensured that
The operatorless demand of the safe operation of main conveying system and scene.
Claims (2)
1. the unmanned transportation system of Underground Locomotive Carrier, it is characterised in that: include dispatching patcher, locomotive operation unit, 1
Loading depot control unit in loading depot installed above, more than 1 be contained in the discharge point control unit of discharge point, monitoring system, 1
Individual above trackside equipment control unit, 1 traction power supply monitoring system；Described loading depot is arranged at drop shaft；Described discharge point
It is arranged at main shaft；
Described dispatching patcher is arranged on ground maneuvers center, including MSE interface server, 1 installed above have dispatcher software
Control station, more than 1 engineer station, 2 data above servers and monitoring screen；Described data server include 1 primary
Data server and 1 preliminary data server；Described dispatching patcher is powered by uninterrupted power source；Described control station is used for setting
The driving mode of locomotive；Described driving mode includes automatic running pattern and remote controlled travelling pattern；Described control station provides locomotive
Control operation Man Machine Interface under remote controlled travelling pattern；Described control station display locomotive operating parameter and fault alarm letter
Breath, and the interpersonal interactive interface of teleprocessing locomotive fault is provided；Described dispatcher software is used for the material position according to each drop shaft and ore deposit
Stone taste, sub-terrain mines daily output demand or shipping order automatically generate motive power control scheme and derive production report, control locomotive
Spontaneous circulation runs；When described dispatcher software is additionally operable to logging machine car vehicle parameter and running orbit, calculating locomotive maintaining
Between；Described engineer station is used for configuring, diagnosing the unmanned transportation system of described Underground Locomotive Carrier；
Described locomotive operation unit includes control core unit, illuminating lamp, warning lamp, siren, baric systerm, alignment system, biography
Sensor system, contactless box and pantograph；Described locomotive operation unit is powered by uninterrupted power source；Described control core unit is real
Time gather locomotive running speed, according to locomotive position, the speed of service of automatic adjusting machine car；Described illuminating lamp, warning lamp, siren
Open and automatically controlled according to the running status of locomotive by control core unit；Described alignment system includes shaft encoder and trackside
Beacon, the position of positioning vehicle under control core unit controls；Described baric systerm includes electromagnetic valve, sensor and electric-controlled
Case processed；Described electric control box controls gas circuit detected air pressure state under control core unit controls；Described contactless box is pacified
It is contained in waterproof distribution box, including vacuum D.C. contactor；Pantograph assembly includes that direct current generator coordinates worm type of reduction gearing；
Described loading depot control unit is arranged on loading depot, controls substation, drop shaft level-sensing device, dress ore deposit to truck position including loading depot
Detector and ore drawing machine；
Described discharge point control unit is arranged on discharge point, controls substation, main shaft level-sensing device, derailing detection including unloading loading depot
Instrument；
Video monitoring system include 1 video camera on the wall of underground transportation tunnel installed above, 1 installed above at locomotive
On vehicle-mounted web camera, be arranged on loading depot video camera, be arranged on the video camera of discharge point and 1 be arranged on control room
DVR；
Described trackside equipment control unit includes that trackside equipment controls substation, derailer, goat；Described trackside equipment controls to divide
Stand and connect derailer, goat and a wireless base station respectively；Described goat is arranged on track switch and derailer, trackside set
The standby substation that controls controls track switch and signal lights；
Described traction power supply monitoring system includes that the traction substation being connected with traction substation controls substation, for electric substation
The operation Parameter On-line monitoring of interior equipment and ground remotely control；
Communication system includes optical fiber ring network, ground LAN, 1 wireless base station on the wall of underground transportation tunnel installed above
Onboard wireless mobile base station on locomotive installed above with 1；Described each wireless base station is provided with beam antenna and optical fiber interface,
There is ethernet ring network switch function, along underworkings group optical fiber ring network；Described onboard wireless mobile base station and wireless base station without
Line connects；Described optical fiber ring network connects ground LAN by optical cable；Described each control station, engineer station, DVR, prison
Control screen, primary data server and preliminary data server are connected by LAN；Described each video camera, discharge point image
Machine, discharge point video camera connect DVR by optical fiber respectively.
The unmanned transportation system of Underground Locomotive Carrier the most according to claim 1, it is characterised in that: described locomotive operation list
The control core module of unit is made up of vehicle-mounted operating board and PLC, and described vehicle-mounted operating board and PLC are bi-directionally connected；Described control core
Core module is bi-directionally connected with baric systerm, alignment system and pantograph assembly respectively；The outfan of described sensing system connects
The respective input of described control core module；The input of described contactless box connects the most defeated of described control core module
Go out end；Described pantograph assembly includes limit switch and the pantograph by its descending operation of DC MOTOR CONTROL, under PIC control
The state detecting described pantograph and the state change controlling described pantograph；Pneumatic system includes pneumatic transmitter and electromagnetism
Valve, detected air pressure state under PIC control；Described contactless box includes vacuum D.C. contactor and chopper, described chopper
Debugging pulse by PLC according to described Underground Locomotive Carrier real-time speed control generate；Described alignment system include shaft encoder and
Trackside beacon.
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| CN201620559107.4U CN205787841U (en) | 2016-06-12 | 2016-06-12 | A kind of unmanned transportation system of Underground Locomotive Carrier |
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| CN201620559107.4U CN205787841U (en) | 2016-06-12 | 2016-06-12 | A kind of unmanned transportation system of Underground Locomotive Carrier |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105892397A (en) * | 2016-06-12 | 2016-08-24 | 河北钢铁集团矿业有限公司 | Unmanned transportation system of underground electric locomotive |
| CN113110434A (en) * | 2021-04-06 | 2021-07-13 | 中国矿业大学 | Cab-free underground unmanned electric locomotive and control method thereof |
| CN113279761A (en) * | 2021-05-11 | 2021-08-20 | 紫金矿业集团股份有限公司 | Mine truck management and dispatching system based on UWB technology |
| CN113552885A (en) * | 2021-07-23 | 2021-10-26 | 翔和高科智控(江苏)有限公司 | Unmanned driving system of mine electric locomotive and control method |
| CN114260911A (en) * | 2021-12-15 | 2022-04-01 | 云南昆钢电子信息科技有限公司 | Automatic sampling control system and method for deep well mining robot |
| CN114545933A (en) * | 2022-01-29 | 2022-05-27 | 山东泰山能源有限责任公司翟镇煤矿 | Unmanned system and method for underground electric locomotive of coal mine |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105892397A (en) * | 2016-06-12 | 2016-08-24 | 河北钢铁集团矿业有限公司 | Unmanned transportation system of underground electric locomotive |
| CN113110434A (en) * | 2021-04-06 | 2021-07-13 | 中国矿业大学 | Cab-free underground unmanned electric locomotive and control method thereof |
| CN113279761A (en) * | 2021-05-11 | 2021-08-20 | 紫金矿业集团股份有限公司 | Mine truck management and dispatching system based on UWB technology |
| CN113552885A (en) * | 2021-07-23 | 2021-10-26 | 翔和高科智控(江苏)有限公司 | Unmanned driving system of mine electric locomotive and control method |
| CN113552885B (en) * | 2021-07-23 | 2024-02-27 | 翔和高科智控(江苏)有限公司 | Unmanned system of mine electric locomotive and control method |
| CN114260911A (en) * | 2021-12-15 | 2022-04-01 | 云南昆钢电子信息科技有限公司 | Automatic sampling control system and method for deep well mining robot |
| CN114545933A (en) * | 2022-01-29 | 2022-05-27 | 山东泰山能源有限责任公司翟镇煤矿 | Unmanned system and method for underground electric locomotive of coal mine |
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