CN106121654B - A kind of unmanned excavation of surface mine loads transportation system - Google Patents
A kind of unmanned excavation of surface mine loads transportation system Download PDFInfo
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- CN106121654B CN106121654B CN201610694388.9A CN201610694388A CN106121654B CN 106121654 B CN106121654 B CN 106121654B CN 201610694388 A CN201610694388 A CN 201610694388A CN 106121654 B CN106121654 B CN 106121654B
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- 238000009412 basement excavation Methods 0.000 title claims abstract description 29
- 238000007599 discharging Methods 0.000 claims description 22
- 238000009434 installation Methods 0.000 claims description 14
- 238000005516 engineering process Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 238000005065 mining Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 6
- 241001465754 Metazoa Species 0.000 claims description 4
- 241000736199 Paeonia Species 0.000 claims description 2
- 235000006484 Paeonia officinalis Nutrition 0.000 claims description 2
- WHGYBXFWUBPSRW-FOUAGVGXSA-N beta-cyclodextrin Chemical compound OC[C@H]([C@H]([C@@H]([C@H]1O)O)O[C@H]2O[C@@H]([C@@H](O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O3)[C@H](O)[C@H]2O)CO)O[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@@H]3O[C@@H]1CO WHGYBXFWUBPSRW-FOUAGVGXSA-N 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 1
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- 238000011068 loading method Methods 0.000 description 3
- 239000004568 cement Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
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- General Life Sciences & Earth Sciences (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned excavation of surface mine to load transportation system, Load System and unmanned transport column control system are excavated including unmanned, the unmanned Load System that excavates is used to excavate ore and ore is loaded in into mine-haul truck automatically, unmanned transport column control system includes main control room, head car and with car, main control room is used to communicate with head car and with car in real time, head is in-car to put path memory module for record security driving path and along the route, head car also installs the pavement flatness checking device of interior preset alarm inclination value and extreme tilt angle value, when detecting that the car body obliqueness of the road surface position residing for is more than or equal to the alarm inclination value, the out-of-flatness warning message on the position road surface is sent to main control room；And when inclination angle is more than or equal to the extreme tilt angle value, also control head car and stop moving ahead with car.Present invention dramatically increases the automaticity of mine operation, reduce personnel depaly, add the security performance in mine.
Description
Technical field
The present invention relates to a kind of unmanned excavation of surface mine to load transportation system.
Background technology
The mining process of surface mine generally comprises explosion, excavation, loading and transport Four processes.Due to the road in mine
Condition is more complicated, therefore more engineering machinery using needed for each process of manual operation, and working environment is poor, and dangerous
It is high.
Because the excavation generally existing action in mine is simple, excavator only needs to perform one section of action continuously repeated i.e.
Can, therefore some mines are excavated using unmanned excavator, while coordinate it is unmanned load, realize the half of mine excavation from
Dynamicization.The process of transport is then more due to uncertain factor, therefore also needs manual operation at present, it is difficult to realizes unmanned.
Existing unmanned transport column is both needed to realize with the unification extraordinary specified link of bar road conditions, and this nobody
The control system that transport column uses typically has two kinds, and the first is to be mounted on route guiding device on each automobile,
Each car is along the route preset；Another kind is that have a head car in the front of fleet, and head car is typically artificially driven
Sail, head car selection driving path, head car and with installing system for tracking between car, follow-up fleet follows head by the system for tracking
The travel track traveling of car.
System for tracking uses two ways at present, and one kind is that a car follows fixed frequency spectrum to car transmission, is received with car
After the information for following fixed frequency spectrum, the path for following a car to be passed by along head car is walked, and which is adapted to low speed and angle of turn
Big road traveling.It is another then be, head car and GPS is mounted on car, head car generates driving path and position in real time when travelling
Confidence cease, then received with car the driving path and by the driving path travel, and own location information show according to GPS with connect
The head truck position information received, calculate and keep a safe distance.In order to prevent rear car from knocking front truck, each is equal with the front end of car
Millimetre-wave radar is installed, by millimetre-wave radar measurement and the distance of front truck, to be maintained at a safety when ensureing and travelling
Distance.
And for the mine-haul truck on surface mine, road surface and non-rigid cement road due to surface mine
Face, unlike common road is so smooth.After the transport vehicle of large-tonnage presses through, the time one, which is grown often to produce to collapse, causes on road surface
Pavement roughness, and a series of other safety problems also be present, therefore only directly using the unmanned fleet control on existing automobile
System, it may be difficult to the transport column directly applied on surface mine.
In consideration of it, the unmanned excavation that the present inventor develops a kind of surface mine for this loads transportation system, effective solution
Determine above mentioned problem, thus this case produces.
The content of the invention
A kind of unmanned excavation of surface mine provided by the invention loads transportation system, considerably increases mine operation oneself
Dynamicization degree, reduces personnel depaly, adds the security performance in mine.
To achieve these goals, technical scheme is as follows：
A kind of unmanned excavation of surface mine loads transportation system, including unmanned excavation Load System and unmanned transport column
Control system；The unmanned Load System that excavates is used to excavate ore and ore is loaded in into mine-haul truck automatically；
Unmanned transport column control system includes main control room, head car and with car, is the mine-haul truck with car, with car
System for tracking is installed between head car, follows the actual travel track of a car to move ahead by the system for tracking with car, head car uses
Differential GPS Technology carries out position positioning, and main control room is used to communicate with head car and with car in real time, and head in-car is put for record security
The path memory module of driving path, head car also install pavement flatness checking device along the safety traffic route, head car,
Pavement flatness checking device is used to detecting car body obliqueness and interior sets alarm inclination value and extreme tilt angle value, surface evenness detection
When device detects that the car body obliqueness of the road surface position residing for is more than or equal to the alarm inclination value, the position is sent to main control room
Put the out-of-flatness warning message on road surface；Pavement flatness checking device detects that the car body obliqueness positioned at residing road surface position is more than
During equal to the extreme tilt angle value, the out-of-flatness emergency warning information on the position road surface is sent to main control room, and control a car and
Stop moving ahead with car.
The alarm inclination value is less than extreme tilt angle value, and extreme tilt angle value is less than head car and the actual overturning inclination angle with car
Value.
The head car is non-mine-haul truck, and the additional wheel consistent with Chinese herbaceous peony rear tread is installed in head car both sides.
Also include alarm release device, for sending alarm release signal, the surface evenness detection to main control room
Device is the car body obliqueness using gyroscope detector car.
The head car and it is also equipped with one or more of RFID identification module and infrared identification module, RFID identification with car
Module read the motive objects with RFID label tag close to when, control head car and with car stop move ahead；Infrared identification module detects
To human or animal close to when, control head car and with car stop move ahead.
The head car is provided with surrounding and surveys the sonar identification module of barrier and/or the front end installation block removing ejector dozer of head car,
When sonar identification module detects that there is barrier in front, control head car and stop moving ahead with car, and obstacle is sent to main control room
Warning message.
The head car and the roadside interval installation beacon with car traveling both sides of the road, each beacon are mounted on control signal
Transmitter, infrared transmitter and infrared remote receiver, connected by infrared transmitter with infrared remote receiver between beacon, head car or with
When car touches the infrared ray of infrared transmitter transmitting, there is the beacon for receiving the infrared ray to be sent to this car or with car away from control
Signal processed, this car or deviates traveling when receiving this away from control signal with car to the direction away from the roadside.
The unmanned Load System that excavates includes unmanned excavator, bull-dozer, ramp, conveying device and device for discharging,
There is levelling bench on the outside of ore body, pre-set ramp on the outside of levelling bench, unmanned excavator and bull-dozer are placed in levelling bench
On, unmanned excavator is used for the ore of automatic mining ore body and the ore of excavation is deposited in into the outer of unmanned excavator travel track
Side, bull-dozer are used to the ore of stacking pushing ramp, and one end of conveying device is installed on ramp bottom, and conveying device is another
One end is installed on above the dump skip of device for discharging, the discharging opening installation automatic valve of device for discharging, is installed below device for discharging
Detection with car whether the inductor below discharging opening, inductor detect with during car open automatic valve carry out discharging.
The built-in single-chip microcomputer for being used to excavate control of the unmanned excavator, the travel track of the unmanned excavator is along ore deposit
Body edge line is walked, and the ore is stacked linear and is arranged in parallel with ramp.
The conveying device is provided with for absorbing the buffer bed of ore falling impacts power, and buffer bed setting weight senses dress
Put, weight induction installation drives conveying device work when detecting weight.
After such scheme, the present invention is by the unmanned Load System that excavates for excavating ore and loading ore automatically
After on mine-haul truck, then Ore Transportation to appointed place considerably increased by ore deposit by unmanned transport column control system
The automaticity of mountain operation, reduces personnel depaly, adds the security performance in mine.
The present invention is designed primarily directed to the transportation environment of surface mine.The road surface of surface mine is due to for walking
Heavy transport vehicle, therefore daily pavement behavior can be different, sets path memory module on head car for this, typically
In the case of, artificial driving head car is both needed to daily, and a circle is travelled on road, artificial is travelled by the secure path on the same day in advance,
The memory module of head car then records safety traffic path during the artificial driving, and presses the safety traffic in the ensuing time
Route.
So due to being loaded with the heavier with car of ore, after running over every time, road surface may be depressed and cause Uneven road
It is whole, pavement flatness checking device is also installed for this car.And by the design of the triggering adaptability of pavement flatness checking device
In two kinds, one kind alarm inclination value and extreme tilt angle value.When detecting that road surface inclination angle reaches alarm inclination angle, it can now continue to go
Sail, the possibility that will not be overturned, when the testing staff in control room receives the out-of-flatness warning message, you can establishment officer
Rushed to repair.When in time repairing or other reasons cause road surface inclination angle reach capacity inclination value when, then control head car and with car
Stop moving ahead, wait repairing, and out-of-flatness emergency warning information is sent to main control room.
Brief description of the drawings
Fig. 1 is the unmanned structural representation for excavating Load System of the present embodiment（Omit unmanned excavator）；
Fig. 2 is the excavation schematic diagram one of this implementation unmanned excavator；
Fig. 3 is the excavation schematic diagram two of this implementation unmanned excavator；
Structural representation when Fig. 4 is the unmanned transport column control system head car of the present embodiment and travelled with car；
Fig. 5 is the unmanned transport column control system head car of the present embodiment and the basic flow sheet with car traveling；
Fig. 6 is the present embodiment head car and with the comparison figure between the front view of car；
Fig. 7 is the structural representation of the present embodiment beacon.
Label declaration
Unmanned excavator 11, travel track 111, bull-dozer 12, ramp 13, conveying device 14, buffer bed 141, weight
Induction installation 142, device for discharging 15, dump skip 151, discharging opening 152, automatic valve 153, inductor 154, ore body 16 are fan-shaped
Region 161, levelling bench 17, ore laydown area 18；
Head car 10, with car 20, pavement flatness checking device 21, additional wheel 22, RFID identification module 23, infrared identification mould
Block 24, sonar identification module 25, block removing ejector dozer 26, beacon 27, control signal transmitter 271, infrared transmitter 272 are infrared
Receiver 273, infrared ray 28.
Embodiment
In order to which technical scheme is explained further, the present invention is explained in detail below by specific embodiment
State.
As shown in figs. 1 and 4, it is that the unmanned excavation of a kind of surface mine that the present invention discloses loads transportation system, including nothing
People excavates Load System and unmanned transport column control system.It is designed primarily directed to the transportation environment of surface mine, most
Alright, a part of region is marked off in mine as unmanned operation area.
The wherein unmanned Load System that excavates is used to excavate ore and ore is loaded in into mine-haul truck automatically, such as Fig. 1
The unmanned excavation Load System that discloses of the present invention shown in Fig. 2, including unmanned excavator 11, bull-dozer 12, ramp 13,
Conveying device 14 and device for discharging 15.
The outside of ore body 16 has levelling bench 17, and the outside of levelling bench 17 pre-sets ramp 13, the He of unmanned excavator 11
Bull-dozer 12 is placed on levelling bench 17.As shown in Fig. 2 unmanned excavator 11 is used for the ore of automatic mining ore body 16, and will
The ore of excavation is deposited in the outside of the travel track 111 of unmanned excavator 11, and the travel track 111 of unmanned excavator 11 is edge
The edge line walking of ore body 16.
The wherein built-in single-chip microcomputer for being used to excavate control of unmanned excavator 11, with reference to shown in Fig. 3, unmanned excavator 11 it is whole
Body excavation step is：
The first step, when unmanned excavator 11 marches to a position, by the ore body of the sector region 161 of its digging arm in one's power
16 excavate.Elemental motion is that digging arm rotation 180 degree is excavated, and is then gone back to 180 degree and is outwelled ore, constantly repeat, difference is
After excavating each time, the angle for continuing to excavate rotation persistently reduces, until digging to the other end.Different excavation actions can lead to
Programming is crossed to complete, the technology is existing technology；
Second step, stop afterwards after distance of the unmanned excavator 11 along the edge line of raw ore body 16 two digging arms of traveling,
The ore body 16 for continuing the sector region 161 by its digging arm in one's power excavates；
Repeat second step.
The travel track 111 of straight line moving, it is ensured that each sector region 161 that unmanned excavator 11 is dug out is consistent,
Ensure the neat and consistent at the follow-up edge of ore body 16, and straight line moving can ensure that ore laydown area 18 is linear, be easy to bull-dozer
Operation.Bull-dozer 12 is then used to the ore of stacking pushing ramp 13.
One end of conveying device 14 is installed on the bottom of ramp 13, and the other end of conveying device 14 is installed on device for discharging 15
The top of dump skip 151, conveying device 14 will store at the ores lifting tumbled on ramp 13 to dump skip 151.
Conveying device 14 is provided with buffer bed 141, by impulsive force caused by buffer bed 141 absorption ore whereabouts, rises
To the effect of equipment protection.Buffer bed 141 set weight induction installation 142, after weight induction installation 142 detects that ore is fallen
Driving conveying device 14 works, and avoids the idle running of conveying device 14 from wasting energy consumption.
The discharging opening 152 of device for discharging 15 installs automatic valve 153, the lower section of device for discharging 15 installation detection mine-haul truck
（It is i.e. following with car 20）Whether the inductor 154 below discharging opening 152.Inductor 154 is once detect mine-haul truck
In the lower section of discharging opening 152, that is, control automatic valve 153 to open and carry out automatic loading.Install the mine-haul truck after ore i.e.
Following unmanned transport columns can be added as one therein with car 20.
As shown in figure 4, the unmanned transport column control system of the present embodiment, including main control room（Not shown in figure）, head
Car 10 and with car 20.Main control room is used to communicate with head car 10 and with car 20 in real time, and main control room can be equipped with the row of field vehicle
Footpath trajectory diagram, dispatch buses and make for real-time monitoring site dynamic or project progress, according to field conditions and be related emergent
Processing.It is mine-haul truck with car 20, mine-haul truck, which has, reequips the problem of difficult, therefore head car 10 uses non-Ore Transportation
Car, in order to reequip.
With installing system for tracking between car 20 and head car 10, the actual row of a car 10 is followed by the system for tracking with car 20
Enter track to move ahead, the technology can directly continue to use the mature technology on existing automotive fleet.Head car 10 is carried out using Differential GPS Technology
Position positions.
The road surface of surface mine is soil road surface, hard cement pavement is used not as common road, through ore
After transport vehicle walking, easily road surface is damaged by pressure, therefore daily pavement behavior can be different.It is built-in with for this on head car 10
Path memory module, it is best, as shown in figure 5, driving head car 10 artificial daily first enclose on road by traveling one, it is artificial pre-
The safety traffic path on the same day is first selected, the memory module of head car 10 then records safety traffic road during the artificial driving
Footpath, and the safety traffic path automatic running is pressed in the ensuing time, then follow the automatic running of a car 10 with car 20.
Due to the polytropy of pavement behavior so that the safety traffic path may also be due to head car 10 or the process with car 20
And collapse, the degree collapsed is once make a car 10 or excessive with the inclination angle of car 20, and there will be the danger tumbled.For this car
10 also install pavement flatness checking device 21, and pavement flatness checking device 21 is the vehicle body using gyroscope detector car 10
Inclination angle, because car whether the angle of inclination that can be tumbled depending on vehicle body, body sway is more severe, represents the road surface more out-of-flatness.Road
Preset alarm inclination value and extreme tilt angle value in surface evenness detection means 21, wherein alarm inclination value is less than extreme tilt angle value,
Because after subsequently being pressed through with car 20, the degree of the pavement roughness will likely further expand, therefore in selection alarm inclination value
When can be considered according to actual surface conditions, it is determined that how much need to be spent less than extreme tilt angle value, just can guarantee that subsequently complete with car 20
Portion can pass through safely.Extreme tilt angle value is less than head car 10 and the actual overturning inclination value with car 20, is specifically les than how many, needs true
Protecting head car 10 will not tumble, and ensure when head car 10 detects and is up to the extreme tilt angle value, subsequently with car 10
The danger that whole processes will not tumble.
Pavement flatness checking device 21 detects that the car body obliqueness positioned at residing road surface position inclines more than or equal to the alarm
During angle value, the out-of-flatness warning message on the position road surface is sent to main control room, now due to the danger that will not be tumbled, because
This car 10 and it can continue to move forward with car 20.
Pavement flatness checking device 21 detects that the car body obliqueness positioned at residing road surface position inclines more than or equal to the limit
During angle value, the out-of-flatness emergency warning information on the position road surface, and pavement flatness checking device 21 are sent to main control room
Also directly control head car 10 and stop moving ahead with car 20, to prevent tumbling.
When the staff of main control room receives out-of-flatness warning message or out-of-flatness emergency warning information, i.e. tissue is robbed
Personnel are repaiied by roughness pavement equating, while pass through alarm release device（Not shown in figure）, alarm solution is sent to main control room
Except signal.Stop forward situation for head car 10 and with car 20, repair personnel then needs to be initially switched off automatically controlling for a car 10
Power, is changed to control manually.After having rushed to repair, then that recovers a car 10 automatically control power.
Due to only having head car 10 that there is pavement flatness checking device 21, and head car 10 and different with the vehicle of car 20,
As shown in fig. 6, the additional wheel 22 consistent with the wheel base of car 20 is installed in the both sides of head car 10.Such head car 10 is not by
During smooth-riding surface, its angle of inclination could really react the angle of inclination with car 20.
The system is based primarily upon unmanned environment, and so when having, investigation personnel enter or maintainer enters near transport column
When, or mining area miscellaneous equipment enter transport column near when, to prevent accident.Head and is also equipped with car 10 with car 20
RFID identification module 23 (radio frequency identification module), RFID identification module 23 read the motive objects with RFID label tag close to when,
Control head car 10 and stop moving ahead with car 20.Motive objects with RFID label tag have a lot, for example are provided with the peace of RFID label tag
Full cap or identity nameplate etc., the personnel of entrance are both needed to wear the article with RFID label tag.The movement of RFID label tag is installed
Thing can also be other implements in mining area.
In order to prevent unrelated person or animal swarms into transport column by mistake, head car 10 and infrared identification mould is also equipped with car 20
Block 24, infrared identification module 24 detect human or animal close to when, control head car 10 and stop moving ahead with car 20.
The road in mining area is it is also possible in the presence of the impassable large-scale barrier of boulder, trees or the other fleets surprisingly tumbled
Hinder thing, in order to prevent fleet from knocking these large obstacles, head car 10 is also equipped with the sonar identification module 25 that surrounding surveys barrier,
Sonar identification module 25 detects front when having large obstacle, control head car 10 and stops moving ahead with car 20, and to main control
Room sends obstruction warning information, waits repair personnel.After repair personnel moves away from large obstacle, you can pass through above-mentioned alarm solution
Except device to main control room send alarm release signal.
For small obstacle, pass through the block removing ejector dozer 26 installed in the front end of head car 10, you can voluntarily release obstacle.
In order to avoid unexpected chance failure occurs for system, cause a car 10 or with car 20 not by safety traffic path
Traveling, the situation for sailing out of road surface occur, and progress remedies security setting as follows.As shown in figure 4, i.e. in head car 10 and with car 20
The roadside interval installation beacon 27 of travel both sides.As shown in fig. 7, each beacon 27 is mounted on control signal transmitter
271st, infrared transmitter 272 and infrared remote receiver 273, by installing infrared transmitter 272 and infrared remote receiver between beacon 27
273 connections.Head car 10 or when touching the infrared ray 28 of the transmitting of infrared transmitter 272 with car 20, has and receives the infrared ray 28
Beacon 27 is sent away from control signal by its control signal transmitter 271 to this car 10 or with car 20, this car 10 or with
Deviate traveling to the direction away from the roadside when car 20 receives this away from control signal, prevent a car 10 or sail out of road with car 20
Face, the danger tumbled.
Presently preferred embodiments of the present invention is these are only, not to the restriction of protection scope of the present invention.All setting according to this case
The equivalent variations that meter thinking is done, each fall within the protection domain of this case.
Claims (9)
1. a kind of unmanned excavation of surface mine loads transportation system, it is characterised in that：Load System and nothing are excavated including unmanned
People's transport column control system；The unmanned Load System that excavates is used to excavate ore and ore is loaded in into mine-haul truck automatically
On；
Unmanned transport column control system includes main control room, head car and with car, is the mine-haul truck with car, with car and head
System for tracking is installed between car, follows the actual travel track of a car to move ahead by the system for tracking with car, head car uses difference
GPS technology carries out position positioning, and main control room is used to communicate with head car and with car in real time, and head in-car is put to travel for record security
The path memory module in path, head car also install pavement flatness checking device, road surface along the safety traffic route, head car
Flatness detecting device is used to detecting car body obliqueness and interior sets alarm inclination value and extreme tilt angle value, pavement flatness checking device
When detecting that the car body obliqueness of the road surface position residing for is more than or equal to the alarm inclination value, the position road is sent to main control room
The out-of-flatness warning message in face；Pavement flatness checking device detects that the car body obliqueness positioned at residing road surface position is more than or equal to
During the extreme tilt angle value, the out-of-flatness emergency warning information on the position road surface is sent to main control room, and controls a car and with car
Stop moving ahead；
Extreme tilt angle value is less than head car and the actual overturning inclination value with car.
2. a kind of unmanned excavation of surface mine as claimed in claim 1 loads transportation system, it is characterised in that：The head car
For non-mine-haul truck, the additional wheel consistent with Chinese herbaceous peony rear tread is installed in head car both sides.
3. a kind of unmanned excavation of surface mine as claimed in claim 1 loads transportation system, it is characterised in that：Also include report
Alert to release device, for sending alarm release signal to main control room, the pavement flatness checking device is using gyroscope
The car body obliqueness of detector car.
4. a kind of unmanned excavation of surface mine as claimed in claim 1 loads transportation system, it is characterised in that：The head car
One or more of RFID identification module and infrared identification module are also equipped with car, RFID identification module, which is read, to be had
The motive objects of RFID label tag close to when, control head car and with car stop move ahead；It is close that infrared identification module detects human or animal
When, control head car and stop moving ahead with car.
5. a kind of unmanned excavation of surface mine as claimed in claim 1 loads transportation system, it is characterised in that：The head car
Surrounding is installed and surveys the sonar identification module of barrier and/or the front end installation block removing ejector dozer of head car, the detection of sonar identification module
When having barrier to front, control head car and stop moving ahead with car, and obstruction warning information is sent to main control room.
6. a kind of unmanned excavation of surface mine as claimed in claim 1 loads transportation system, it is characterised in that：The head car
Beacon is installed with the roadside interval with car traveling both sides of the road, each beacon is mounted on control signal transmitter, infrared emission
Device and infrared remote receiver, connected by infrared transmitter with infrared remote receiver between beacon, head car or touch infrared emission with car
During the infrared ray of device transmitting, there is the beacon for receiving the infrared ray to be sent to this car or with car away from control signal, this car
Or deviate traveling to the direction away from the roadside when with car receiving this away from control signal.
7. a kind of unmanned excavation of surface mine as claimed in claim 1 loads transportation system, it is characterised in that：It is described nobody
Excavating Load System includes unmanned excavator, bull-dozer, ramp, conveying device and device for discharging, has level on the outside of ore body
Platform, levelling bench outside pre-set ramp, and unmanned excavator and bull-dozer are placed on levelling bench, and unmanned excavator is used for
The ore of automatic mining ore body and the outside that the ore of excavation is deposited in unmanned excavator travel track, bull-dozer are used for heap
The ore put pushes ramp, and one end of conveying device is installed on ramp bottom, and the conveying device other end is installed on discharging dress
Above the dump skip put, whether the discharging opening installation automatic valve of device for discharging, device for discharging lower section installation detection is going out with car
Inductor below material mouth, inductor detects carries out discharging with opening automatic valve during car.
8. a kind of unmanned excavation of surface mine as claimed in claim 7 loads transportation system, it is characterised in that：It is described nobody
The built-in single-chip microcomputer for being used to excavate control of excavator, the travel track of the unmanned excavator is to be walked along ore body edge line,
The ore is stacked linear and is arranged in parallel with ramp.
9. a kind of unmanned excavation of surface mine as claimed in claim 7 loads transportation system, it is characterised in that：The conveying
Device is provided with for absorbing the buffer bed of ore falling impacts power, buffer bed setting weight induction installation, weight induction installation
Conveying device work is driven when detecting weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610694388.9A CN106121654B (en) | 2016-08-19 | 2016-08-19 | A kind of unmanned excavation of surface mine loads transportation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610694388.9A CN106121654B (en) | 2016-08-19 | 2016-08-19 | A kind of unmanned excavation of surface mine loads transportation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106121654A CN106121654A (en) | 2016-11-16 |
| CN106121654B true CN106121654B (en) | 2018-03-09 |
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| CN106774330B (en) * | 2016-12-29 | 2021-01-22 | 山东中天宇信信息技术有限公司 | Planting track cloud management system and method |
| CN110174689B (en) * | 2019-05-30 | 2022-09-20 | 陕西汽车集团股份有限公司 | Cloud control system and method for unloading process of automatic driving mining vehicle |
| CN112012738A (en) * | 2020-08-20 | 2020-12-01 | 山东拓新电气有限公司 | Intelligent remote control system of development machine |
| CN112991795B (en) * | 2021-02-04 | 2022-07-26 | 华南理工大学 | Underground intelligent highway system suitable for unmanned vehicle and scheduling method |
| CN114718575B (en) * | 2022-05-10 | 2023-05-02 | 中国矿业大学 | Mining, transporting and transporting method for stope under unmanned condition of near-horizontal open-air coal mine |
| CN115963820B (en) * | 2022-12-13 | 2024-01-26 | 江苏集萃清联智控科技有限公司 | Intelligent mine system |
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