CN108584467A - A kind of unattended mining area loading goods system - Google Patents
A kind of unattended mining area loading goods system Download PDFInfo
- Publication number
- CN108584467A CN108584467A CN201810512530.2A CN201810512530A CN108584467A CN 108584467 A CN108584467 A CN 108584467A CN 201810512530 A CN201810512530 A CN 201810512530A CN 108584467 A CN108584467 A CN 108584467A
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- China
- Prior art keywords
- controller
- master control
- modeling
- grab bucket
- mining area
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A kind of unattended mining area loading goods system, master control system control 3 d modeling system is scanned the shape of mineral aggregate build-up areas, it preserves and the point cloud data for handling laser radar generation carries out three-dimensional modeling, to guide executing agency to capture mineral aggregate and send to the transport carrier of shipping space, the microcomputer comprising the operation that can work independently inside 3 d modeling system is as controller, two axis holders, GPS and attitude measurement module；Executing agency includes executing controller, driving and grab bucket, master control system is sent to actuator controller by information is captured, grab bucket is moved to crawl point top by the movement that actuator controller control driving carries out two-dimensional level direction, grab bucket is completed according to the elevation information of mineral aggregate after capturing, then grab bucket is moved to the progress entrucking of shipping space transport carrier by driving a vehicle.The application loading goods system improves the degree of automation and production efficiency in mining area, reduces cost of labor and accident rate.
Description
Technical field
The present invention relates to mining areas to load goods field, and goods system is loaded more particularly to a kind of unattended mining area.
Background technology
Existing mine shipping space mostly uses the loading that manually-operated mode carries out mineral aggregate, and efficiency of loading is limited by worker
Technical ability qualification.Working site bad environments, working strength is high, need to be occupied by the work shift in 24 hours of multiple operation teams
A large amount of human resources, also easily because of insufficient cause the accident of resting.In order to improve the degree of automation and production efficiency in mining area,
Cost of labor and accident rate are reduced, needs to devise a kind of unattended shipping space and loads goods system automatically.
Invention content
Above-mentioned in order to solve the problems, such as, the present invention provides a kind of unattended mining area loading goods system, the loading
Goods system improves the degree of automation and production efficiency in mining area, cost of labor and accident rate is reduced, for this purpose, the present invention carries
Goods system is loaded for a kind of unattended mining area, is made of master control system, 3 d modeling system and executing agency：
The master control system control 3 d modeling system is scanned the shape of mineral aggregate build-up areas, preserves and handles sharp
The point cloud data that optical radar generates carries out three-dimensional modeling, to guide executing agency to capture mineral aggregate and send to shipping space
On transport carrier
The 3 d modeling system is an independent subsystem, is communicated by wireless module with master control system, interior
Microcomputer of the portion comprising the operation that can work independently is described micro- as controller, two axis holders, GPS and attitude measurement module
Type computer is used to generate the laser radar of site environment three dimensional point cloud, and a two axis holders for laser radar for providing
Working water plane and isolation shake, and a GPS is used to provide position coordinates and unified markers, an attitude measurement for whole system
Module is used to measure the real-time attitude of laser radar, and holder, GPS and the controller of attitude measurement module and 3 d modeling system are logical
It crosses RS232 serial ports to be attached, the controller of external laser radar and 3 d modeling system is attached by Ethernet；
The executing agency includes executing controller, driving and grab bucket, and master control system is sent to execution machine by information is captured
Grab bucket is moved to crawl point top, grabbed by structure controller, the movement that actuator controller control driving carries out two-dimensional level direction
Bucket is completed according to the elevation information of mineral aggregate after capturing, then grab bucket is moved to the progress entrucking of shipping space transport carrier by driving a vehicle.
Further improvement of the present invention, the master control system is also responsible for carries out fault detect and report to subsystems
It warns, and the task of remote access interface Internet-based is provided for administrative staff, master control system is gone back other than major function
With above functions.
Further improvement of the present invention, the 3 d modeling system have the miniature calculating of at least two operations that can work independently
Machine has the microcomputer of the operation that can work independently as backup computer as controller, unexpected in order to prevent to need
Redundant computer.
Further improvement of the present invention, the crawl information include the three of crawl point three-dimensional coordinate and shipping space transport carrier
Dimension coordinate captures information according to actual conditions and needs two above coordinate.
A kind of unattended mining area of the present invention loads goods system, and the automatic goods system that loads is by master control system, three-dimensional modeling
System and executing agency's composition, the major function of master control system be the shape that controls 3 d modeling system to mineral aggregate build-up areas into
Row scanning, preserve and handle laser radar generation point cloud data carry out three-dimensional modeling, to guide executing agency to mineral aggregate into
Row is captured and is sent to the transport carrier of shipping space, and 3 d modeling system is an independent subsystem, is passed through with master control system
Wireless module is communicated, and microcomputer of the inside comprising two operations that can work independently is as controller, and one for giving birth to
At the laser radar of site environment three dimensional point cloud, two axis holder be used for for laser radar provide working water plane and every
From vibrations, a GPS is used to provide position coordinates and unified markers for whole system, and an attitude measurement module is sharp for measuring
The real-time attitude of optical radar.Holder, GPS and the controller of attitude measurement module and 3 d modeling system by RS232 serial ports into
The controller of row connection, laser radar and 3 d modeling system is attached by Ethernet.Executing agency includes executing control
Device, driving and grab bucket, master control system will capture information and be sent to actuator controller, actuator controller control drive a vehicle into
Grab bucket is moved to crawl point top by the movement in row two-dimensional level direction, after grab bucket completes crawl according to the elevation information of mineral aggregate, then
Grab bucket is moved into the progress entrucking of shipping space transport carrier by driving a vehicle.
Description of the drawings
Fig. 1, which is that the present invention is automatic, loads goods system structure diagram；
Fig. 2 is master control system structure of the present invention and major function schematic block diagram；
Fig. 3 is 3 d modeling system schematic block diagram of the present invention；
Fig. 4 is actuator system structural schematic block diagram of the present invention；
Fig. 5 is that the present invention is based on the three-dimensional coordinate system schematic diagrames that site environment is built；
Fig. 6 is scanning element three-dimensional coordinate value calculating method schematic diagram of the present invention；
Fig. 7 is three-dimensional modeling result schematic diagram of the present invention.
Specific implementation mode
Present invention is further described in detail with specific implementation mode below in conjunction with the accompanying drawings：
The present invention provides a kind of unattended mining area loading goods system, which improves the automation journey in mining area
Degree and production efficiency reduce cost of labor and accident rate.
The automatic loading goods system is made of the present invention master control system, 3 d modeling system and executing agency as shown in Figure 1.
The major function of master control system (as shown in Figure 2) of the present invention is control 3 d modeling system to mineral aggregate build-up areas
Shape is scanned, and preserves and the point cloud data for handling laser radar generation carries out three-dimensional modeling, to guide executing agency pair
Mineral aggregate is captured and is sent to the transport carrier of shipping space.In addition, master control system is also responsible for carries out event to subsystems
Barrier detects and alarm, and the task of remote access interface Internet-based is provided for administrative staff.
3 d modeling system of the present invention (as shown in Figure 3) is an independent subsystem, passes through wireless mould with master control system
Block is communicated, microcomputer of the inside comprising two operations that can work independently as controller (wherein one for back up),
One laser radar for generating site environment three dimensional point cloud, a two axis holders are used to provide work for laser radar
Horizontal plane and isolation shake, and a GPS is used to provide position coordinates and unified markers, an attitude measurement module for whole system
Real-time attitude for measuring laser radar.Holder, GPS and the controller of attitude measurement module and 3 d modeling system pass through
RS232 serial ports is attached, and the controller of laser radar and 3 d modeling system is attached by Ethernet.
Executing agency of the present invention (as shown in Figure 4) includes executing controller, driving and grab bucket, master control system to capture information
(three-dimensional coordinate for capturing point three-dimensional coordinate, shipping space transport carrier) is sent to actuator controller, actuator controller
Grab bucket is moved to crawl point top by the movement that control driving carries out two-dimensional level direction, and grab bucket is completed according to the elevation information of mineral aggregate
After crawl, then by drive a vehicle by grab bucket move to shipping space transport carrier carry out entrucking.
Present system operative scenario, installation environment and workflow are as follows：
As shown in figure 5, being equipped with holder in the expandable stent of driving arm, laser radar and posture are fixedly mounted below holder
Measurement module, holder provide horizontal plane for the work of laser radar normal scan, and attitude measurement module can measure laser thunder in real time
The posture reached.The controller of 3 d modeling system is mounted on thermoacoustic prime engine room, the movement of following vehicle and move, and whole system
Master control system may be arranged in the control room of mineral aggregate build-up areas periphery, and position is relatively fixed, and is built using wireless module and three-dimensional
Modular system and executing agency's communication.
When whole system works, sends instruct from master control system to executing agency first, driving is moved into mineral aggregate accumulation area
The one end (i.e. driving playback) in domain, then starts laser radar and driving is enabled at the uniform velocity to be moved to the other end, in the process laser
For radar to entirely expecting that area is scanned, the point cloud data generated is saved in the storage device of 3 d modeling system controller
In.The 3-D view in current material area is drawn out after the end of scan by system controller, and calculates three of material heap heap peak in image
Dimensional coordinate values.These heap peak coordinate values are subsequently sent to master control system together with when time point cloud data of scanning, are controlled by it and hold
Row mechanism is captured successively by intelligent dispatching algorithm.
It is the modeling principle of 3 d modeling system below：
According to the internal structure and operation principle of laser radar, the subject surface on fixed-direction can be swept into line
Retouch, therefore under the drive of driving, multiple equally spaced line scanning result is stitched together be exactly subject surface scanning figure
Picture.As shown in figure 5, establish using the starting point lower right corner as the three-dimensional coordinate system (XYZO) of origin, because mechanical mechanism limits, row
Vehicle can only be moved along Y direction, and grab bucket can only be moved along X-direction, and laser radar is mounted on driving crossbeam middle to overhanging
In the expandable stent gone out, the distance of laser radar scanning head to driving crossbeam center line is S, and the height of laser radar scanning head is
H, region to be scanned be a long M (Y direction), width N (X-direction) rectangle.To sum up, after driving is along Y-axis displacement distance L,
The three-dimensional coordinate of laser radar scanning head is (N/2, L+S, H).
As shown in fig. 6, a certain moment laser radar includes the point and scanning to the measurement of a certain pip (such as C points)
Air line distance l and this between head is relative to the direction angle alpha immediately ahead of probe, then C points are in three-dimensional coordinate system
Coordinate value is (L+S, N/2+lsin α, H-lcos α).The coordinate value that scanned object surface each point can similarly be obtained exists these points
Drawn out in three-dimensional system of coordinate be exactly scanned object complete three dimensional image (as shown in Figure 7).Finally found out using algorithm
Local high spot (peak value), and the coordinate value of these points is sent to executing agency and is captured and is loaded.Crawl process can be to
Some material heap appearances damage, and can carry out real time scan in the process of grasping, and real-time update is carried out to threedimensional model, to
Improve crawl efficiency.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and according to the technical essence of the invention made by any modification or equivalent variations, still fall within present invention model claimed
It encloses.
Claims (4)
1. a kind of unattended mining area loads goods system, it is made of master control system, 3 d modeling system and executing agency, it is special
Sign is：
The master control system control 3 d modeling system is scanned the shape of mineral aggregate build-up areas, preserves and handles laser thunder
Point cloud data up to generation carries out three-dimensional modeling, to guide executing agency to capture mineral aggregate and send to the transport of shipping space
On carrier
The 3 d modeling system is an independent subsystem, is communicated by wireless module with master control system, inside packet
Microcomputer containing the operation that can work independently is as controller, two axis holders, GPS and attitude measurement module, the microcomputer
Calculation machine is used to generate the laser radar of site environment three dimensional point cloud, and a two axis holders are used to provide work for laser radar
Horizontal plane and isolation shake, and a GPS is used to provide position coordinates and unified markers, an attitude measurement module for whole system
Real-time attitude for measuring laser radar, holder, GPS and the controller of attitude measurement module and 3 d modeling system pass through
RS232 serial ports is attached, and the controller of external laser radar and 3 d modeling system is attached by Ethernet；
The executing agency includes executing controller, driving and grab bucket, and master control system will capture information and be sent to executing agency's control
Grab bucket is moved to crawl point top, root of grabbing bucket by device processed, the movement that actuator controller control driving carries out two-dimensional level direction
It is completed after capturing according to the elevation information of mineral aggregate, then grab bucket is moved into the progress entrucking of shipping space transport carrier by driving a vehicle.
2. a kind of unattended mining area according to claim 1 loads goods system, it is characterised in that：The master control system
It is also responsible for and fault detect and alarm is carried out to subsystems, and remote access Internet-based is provided for administrative staff
The task of interface.
3. a kind of unattended mining area according to claim 1 loads goods system, it is characterised in that：The three-dimensional modeling
System has the microcomputers of at least two operations that can work independently as controller, there is the miniature of operation that can work independently
Computer is as backup computer.
4. a kind of unattended mining area according to claim 1 loads goods system, it is characterised in that：The crawl information
Include the three-dimensional coordinate of crawl point three-dimensional coordinate and shipping space transport carrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810512530.2A CN108584467A (en) | 2018-05-25 | 2018-05-25 | A kind of unattended mining area loading goods system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810512530.2A CN108584467A (en) | 2018-05-25 | 2018-05-25 | A kind of unattended mining area loading goods system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108584467A true CN108584467A (en) | 2018-09-28 |
Family
ID=63629159
Family Applications (1)
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|---|---|---|---|
| CN201810512530.2A Pending CN108584467A (en) | 2018-05-25 | 2018-05-25 | A kind of unattended mining area loading goods system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110862014A (en) * | 2019-10-14 | 2020-03-06 | 武汉港迪智能技术有限公司 | Automatic operation system and method for warehouse materials |
| CN111137325A (en) * | 2019-12-30 | 2020-05-12 | 北京易控智驾科技有限公司 | Calibration device and method for loading position of unmanned system in mining area |
| CN111208834A (en) * | 2020-02-27 | 2020-05-29 | 金陵科技学院 | Full-process unattended intelligent vehicle loading and transporting process modeling method |
| CN111324095A (en) * | 2020-02-27 | 2020-06-23 | 金陵科技学院 | Unmanned shipment system of dry bulk material intelligent industrial robot |
| CN111581816A (en) * | 2020-05-07 | 2020-08-25 | 金陵科技学院 | Dry bulk material three-dimensional characteristic distribution and grabbing safety detection method |
| CN112158586A (en) * | 2020-09-25 | 2021-01-01 | 苏州寰宇新博环保设备工程有限公司 | Article gripping method, article gripping system, gripping control method, and gripping device |
| CN113759853A (en) * | 2021-09-18 | 2021-12-07 | 法兰泰克重工股份有限公司 | Automatic material handling control system |
| CN113776433A (en) * | 2021-10-12 | 2021-12-10 | 北京京诚瑞达电气工程技术有限公司 | Method and system for determining material grabbing range of slag flushing tank |
| CN113928982A (en) * | 2021-09-18 | 2022-01-14 | 法兰泰克重工股份有限公司 | High-precision grab bucket grabbing position control method with radar feedback |
| CN114314346A (en) * | 2021-12-31 | 2022-04-12 | 南京中远通科技有限公司 | Driving control method and system based on coal storage management |
| CN115328171A (en) * | 2022-10-11 | 2022-11-11 | 青岛慧拓智能机器有限公司 | Method, device, chip, terminal, equipment and medium for generating position of loading point |
| CN115775117A (en) * | 2023-02-10 | 2023-03-10 | 北京易控智驾科技有限公司 | Information processing method and device for mining area operation, electronic equipment and storage medium |
| CN117068793A (en) * | 2023-09-26 | 2023-11-17 | 南京移腾电力技术有限公司 | Automatic loading method and system for bridge type grab bucket of ore bin |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110862014A (en) * | 2019-10-14 | 2020-03-06 | 武汉港迪智能技术有限公司 | Automatic operation system and method for warehouse materials |
| CN111137325A (en) * | 2019-12-30 | 2020-05-12 | 北京易控智驾科技有限公司 | Calibration device and method for loading position of unmanned system in mining area |
| CN111208834A (en) * | 2020-02-27 | 2020-05-29 | 金陵科技学院 | Full-process unattended intelligent vehicle loading and transporting process modeling method |
| CN111324095A (en) * | 2020-02-27 | 2020-06-23 | 金陵科技学院 | Unmanned shipment system of dry bulk material intelligent industrial robot |
| CN111581816A (en) * | 2020-05-07 | 2020-08-25 | 金陵科技学院 | Dry bulk material three-dimensional characteristic distribution and grabbing safety detection method |
| CN111581816B (en) * | 2020-05-07 | 2020-12-22 | 金陵科技学院 | Dry bulk material three-dimensional characteristic distribution and grabbing safety detection method |
| CN112158586A (en) * | 2020-09-25 | 2021-01-01 | 苏州寰宇新博环保设备工程有限公司 | Article gripping method, article gripping system, gripping control method, and gripping device |
| CN113928982B (en) * | 2021-09-18 | 2022-11-18 | 法兰泰克重工股份有限公司 | High-precision grab bucket grabbing position control method with radar feedback |
| CN113759853A (en) * | 2021-09-18 | 2021-12-07 | 法兰泰克重工股份有限公司 | Automatic material handling control system |
| CN113928982A (en) * | 2021-09-18 | 2022-01-14 | 法兰泰克重工股份有限公司 | High-precision grab bucket grabbing position control method with radar feedback |
| WO2023040079A1 (en) * | 2021-09-18 | 2023-03-23 | 法兰泰克重工股份有限公司 | High-precision grab bucket grabbing position control method having radar feedback |
| CN113776433A (en) * | 2021-10-12 | 2021-12-10 | 北京京诚瑞达电气工程技术有限公司 | Method and system for determining material grabbing range of slag flushing tank |
| CN114314346B (en) * | 2021-12-31 | 2022-10-21 | 南京中远通科技有限公司 | Driving control method and system based on coal storage management |
| CN114314346A (en) * | 2021-12-31 | 2022-04-12 | 南京中远通科技有限公司 | Driving control method and system based on coal storage management |
| CN115328171A (en) * | 2022-10-11 | 2022-11-11 | 青岛慧拓智能机器有限公司 | Method, device, chip, terminal, equipment and medium for generating position of loading point |
| CN115328171B (en) * | 2022-10-11 | 2023-02-10 | 青岛慧拓智能机器有限公司 | Method, device, chip, terminal, equipment and medium for generating position of loading point |
| CN115775117A (en) * | 2023-02-10 | 2023-03-10 | 北京易控智驾科技有限公司 | Information processing method and device for mining area operation, electronic equipment and storage medium |
| CN117068793A (en) * | 2023-09-26 | 2023-11-17 | 南京移腾电力技术有限公司 | Automatic loading method and system for bridge type grab bucket of ore bin |
| CN117068793B (en) * | 2023-09-26 | 2024-03-08 | 南京移腾电力技术有限公司 | Automatic loading method and system for bridge type grab bucket of ore bin |
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Application publication date: 20180928 |