CN111364539A - Pure electric drive unmanned coal pusher - Google Patents
Pure electric drive unmanned coal pusher Download PDFInfo
- Publication number
- CN111364539A CN111364539A CN202010288251.XA CN202010288251A CN111364539A CN 111364539 A CN111364539 A CN 111364539A CN 202010288251 A CN202010288251 A CN 202010288251A CN 111364539 A CN111364539 A CN 111364539A
- Authority
- CN
- China
- Prior art keywords
- coal
- coal pusher
- unmanned
- electric drive
- pure electric
- Prior art date
- 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.)
- Pending
Links
- 239000003245 coal Substances 0.000 title claims abstract description 131
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 229910052761 rare earth metal Inorganic materials 0.000 claims description 25
- 150000002910 rare earth metals Chemical class 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 21
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000002283 diesel fuel Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
- E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a pure electric drive unmanned coal pusher, which is used for piling and taking coal in a coal yard, wherein a UWB positioning module, a UWB positioning base station and a central control room control system are arranged in the coal yard, the pure electric drive unmanned coal pusher comprises an unmanned coal pusher main body, an angle sensor, a UWB positioning tag, a laser module detection device, a monitoring camera and an ultrasonic radar, and the unmanned coal pusher main body is provided with a motor drive system.
Description
Technical Field
The invention relates to a coal pusher, in particular to a pure electric drive unmanned coal pusher.
Background
Coal pushing machines are generally used as auxiliary machinery for carrying out coal piling and taking operation in enterprise coal yards, the coal pushing machines basically adopt diesel engines, and enterprise diesel is used as dangerous goods for management, so that the management difficulty of enterprises is increased, and the maintenance of the diesel engines is very troublesome. In addition, the engine is required to be overhauled or replaced due to the influence of the running time, the diesel oil is combusted to serve as power, the environment is not protected, the diesel engine is changed into the motor for driving, the coal pusher is convenient to use, maintain and repair, the coal pusher can run more environmentally, and the development direction of the future coal pusher is expected.
In the aspect of operation, the coal pusher needs to be operated by a driver shift which obtains a special operation certificate. Along with the implementation of a closed coal yard, the operation environment of the coal pusher is changed greatly, and the high dust content, the high temperature and the like make a coal pusher driver difficult to operate in the closed coal yard environment, so that the coal piling and taking work of the coal yard must be operated in an unmanned mode. The operation of the coal pushing machine is special operation, a plurality of coal pushing machines and a plurality of operators are required to be configured in a common coal yard, and due to the factors of cost, personnel management and the like, common enterprises are rarely provided with the special operators, and a robot replacing mode is also required to be adopted to implement an unmanned coal pushing machine so as to reduce the cost of the enterprises.
One of the existing main problems of unmanned operation is the positioning of a machine body in a coal yard, the traditional GPS positioning is more suitable for outdoor scenes, when the unmanned operation is applied to an indoor coal yard, signals are easily shielded by obstacles such as buildings and the like, and the GPS is often difficult to position in a moving state, while the existing indoor positioning methods such as Wi-Fi positioning, Bluetooth positioning and radio frequency positioning also have the problems of low precision, short positioning distance and the like, and a new method needs to be applied to the coal yard to overcome the current problems.
Disclosure of Invention
The invention aims to overcome the defects of the existing products and provides a pure electric drive unmanned coal pusher.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a pure electric drive unmanned coal pusher is used for carrying out stacking operation on coal in a coal yard, a UWB positioning module, a UWB positioning base station and a central control room control system are arranged in the coal yard, the pure electric drive unmanned coal pusher comprises an unmanned coal pusher main body, an angle sensor, a UWB positioning tag, a laser module detection device, a monitoring camera and an ultrasonic radar, the unmanned coal pusher main body is provided with a motor driving system, the angle sensor, the UWB positioning tag, the laser module detection device, the monitoring camera and the ultrasonic radar are all arranged on the unmanned coal pusher main body, the UWB positioning module and the UWB positioning base station are connected with the central control room control system by wire, laser module detection device and central control room control system wireless connection, UWB location basic station, UWB location module all with UWB location label wireless connection.
As preferred, motor drive system includes energy supply battery, first tombarthite inverter motor, second tombarthite inverter motor, hydraulic module, turns to braking hydraulic system, equipment hydraulic system, transmission system, traveling system, control module, motion control device system, first tombarthite inverter motor, second tombarthite inverter motor, control module all are connected with the energy supply battery, hydraulic module is connected to first tombarthite inverter motor, turn to braking hydraulic system, equipment hydraulic system and all connect hydraulic module, transmission system is connected to second tombarthite inverter motor, transmission system connects traveling system, control module connects motion control device system.
Preferably, the laser module detection device is used for scanning the coal yard by 360 degrees and quickly building three-dimensional models of the coal pile and the coal pusher in the coal yard and graph data of lines, surfaces and bodies of the three-dimensional models.
Preferably, the number of the monitoring cameras is two, and the monitoring cameras are used for shooting working condition images of the unmanned coal pusher in the front direction and the rear direction.
Preferably, the number of the ultrasonic radars is two, the ultrasonic radars are arranged at the left end and the right end of the tail part of the unmanned coal pushing machine main body,
preferably, the ultrasonic radar is used to detect the orientation of the tail of the unmanned coal pusher body.
Preferably, the angle sensor is mounted at a top center position of the main body of the unmanned coal pusher.
Preferably, the UWB positioning tag and the laser module detection device are installed at the top of the unmanned coal pusher main body.
Preferably, the transmission system comprises a speed reducer, a steering brake, a steering clutch and a traveling system, the second rare earth variable frequency motor is connected with the steering brake through the speed reducer, and the steering brake is connected with the traveling system through the steering clutch.
The invention has the following beneficial effects:
the traveling system and the hydraulic module are driven by the variable frequency rare earth motor, compared with a diesel engine, the variable frequency rare earth motor is lower in energy consumption, green and environment-friendly, firm and durable, light in weight, easy to maintain, low in speed and large in torque, a complex mechanical driving device in the middle of a conventional driving system is simplified, the efficiency of a transmission system is improved, noise generated in operation is reduced, the rotating speed of the motor is conveniently adjusted by a variable frequency function, a transmission with a large size is omitted, and the precise control of the speed and the power of the coal pusher can be realized;
the positioning mode has the advantages of high transmission rate, strong transmission capability, strong penetrating power, wide range coverage, small transmitting power, good anti-interference effect, high safety, low system complexity, capability of providing accurate positioning precision and the like, provides a technical basis for unmanned driving of the coal pusher, and can effectively improve the safety and reliability of the unmanned driving.
Drawings
FIG. 1 is a schematic perspective view of a main body of an unmanned coal pusher;
FIG. 2 is a schematic structural diagram of a UWB positioning module, a UWB positioning base station and a central control room control system in a coal yard;
FIG. 3 is a block diagram of a motor drive system;
fig. 4 is a schematic diagram of the transmission system.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings of the specification:
as shown in fig. 1 to 3, a pure electric drive unmanned coal pusher is used for piling and taking coal in a coal yard, a UWB positioning module 201, a UWB positioning base station 202 and a central control room control system 3 are installed in the coal yard, the UWB positioning base stations 202 are 9 in total, the UWB positioning base stations are distributed and installed in nine positions above the coal yard 2, and the central control room control system 3 comprises an optical fiber transceiver, a remote intelligent cabinet, an upper computer and other devices, and has functions of receiving data, sending commands and remote monitoring. Pure electric drive unmanned coal pusher includes unmanned coal pusher main part 101, angle sensor 102, UWB location label 103, laser module detection device 104, surveillance camera head 105, ultrasonic radar 106, unmanned coal pusher main part 101 is equipped with motor drive system, angle sensor 102, UWB location label 103, laser module detection device 104, surveillance camera head 105, ultrasonic radar 106 all install on unmanned coal pusher main part 101, UWB positioning module 201, UWB location basic station 202 all with well accuse room control system 3 wired connection, laser module detection device 104 and 3 wireless connection of well accuse room control system, UWB positioning base station 202, UWB positioning module 201 all with UWB location label 103 wireless connection.
As shown in fig. 3, the motor driving system includes an energy supply battery 41, a first rare earth variable frequency motor 42, a second rare earth variable frequency motor 43, a hydraulic module 44, a steering brake hydraulic system 47, a working device hydraulic system 48, a transmission system 45, a traveling system 49, a control module 45, and a motion control device system 50, wherein the first rare earth variable frequency motor 42, the second rare earth variable frequency motor 43, and the control module 45 are all connected to the energy supply battery 41, the first rare earth variable frequency motor 42 is connected to the hydraulic module 44, the steering brake hydraulic system 47, and the working device hydraulic system 48 are both connected to the hydraulic module 44, the second rare earth variable frequency motor 43 is connected to the transmission system 45, the transmission system 45 is connected to the traveling system 49, and the control module 45 is connected to the motion control device system 50.
As shown in fig. 1, the laser module detection device 104 is used for scanning a coal yard by 360 degrees, rapidly building three-dimensional models of a coal pile and a coal pusher in the coal yard and drawing data of lines, surfaces and bodies of the three-dimensional models, two monitoring cameras 105 are provided, the monitoring cameras 105 are used for shooting working condition images of the unmanned coal pusher main body 101 in front and rear directions, two ultrasonic radars 106 are provided, the ultrasonic radars 106 are installed at left and right ends of the tail of the unmanned coal pusher main body 101, the ultrasonic radars 106 are used for detecting the orientation of the tail of the unmanned coal pusher main body 101, the angle sensor 102 is installed at the top center position of the unmanned coal pusher main body 101, and the UWB positioning tag 103 and the laser module detection device 104 are installed at the top of the unmanned coal pusher main body 101.
As shown in fig. 4, the transmission system 45 includes a decelerator 451, a steering brake 452, a steering clutch 453, and a traveling system 454, the second rare-earth variable frequency motor 43 is connected to the steering brake 452 through the decelerator 451, and the steering brake 452 is connected to the traveling system 454 through the steering clutch 453.
The whole set of working flow of the coal pusher comprises the following steps:
firstly, the UWB positioning module 201, the UWB positioning base station 202 and the central control room control system 3 are installed in a coal yard, before the coal pushing operation is formally started, the central control room control system 3 sends a starting instruction to the UWB positioning base station 202 to position the unmanned coal pusher, and the UWB positioning base station 202 positions the unmanned coal pusher main body 101 to go to a standby position from an initial parking position according to a pre-planned path.
When the unmanned coal pushing machine is started, the power supply battery supplies power to the first rare earth variable frequency motor 42 and the second rare earth variable frequency motor 43, the second rare earth variable frequency motor 43 is started, as shown in fig. 3 and 4, the second rare earth variable frequency motor 43 rotates, the driving torque is amplified through the speed reducer 451 and finally transmitted to the traveling system 454, and the UWB positioning base station 202 positions the unmanned coal pushing machine main body 101 to travel. When the states of steering and rake pushing are required to be adjusted in engineering, the power supply battery supplies power to the first rare earth variable frequency motor 42, the first rare earth variable frequency motor 421 drives the whole hydraulic system to operate, the steering brake hydraulic system realizes the steering function, and the hydraulic system of the working device realizes the scaling lifting adjustment of the rake pushing. In the process, the rotating speed of the asynchronous motor can be changed by controlling the frequency of the energy supply battery 41, so that the parameters of the travel speed, the turning speed, the rake pushing gear and the like of the unmanned coal pusher 1 positioned by the UWB positioning base station 202 are adjusted.
After the UWB positioning base station 202 positions the unmanned coal pusher main body 101 to reach the standby position, the laser module detection device 104 takes the unmanned coal pusher main body 101 positioned by the UWB positioning base station 202 as an axis to scan the coal yard by 360 degrees, quickly rebuilds the three-dimensional model of the coal pile and the coal pusher in the yard and various drawing data such as the line, the surface and the body of the coal pile and the coal pusher, transmits the data to the central control room control system 3 through a wireless network, establishes a database required by space positioning, and updates the database in real time according to the real-time measurement result of the laser module detection device 104.
Further, to intelligence transformation coal yard, install UWB location basic station 202 and total nine, to UWB location basic station 202 location unmanned coal pusher main part 101, install UWB location label 103 one, during the coal pushing operation, equipment accomplishes in coordination to UWB location basic station 202 location unmanned coal pusher's spatial localization, its flow is as follows:
the first step is as follows: the UWB positioning tag 103 mounted on the vehicle body continuously transmits data frames with UWB pulse repetition;
the second step is that: the UWB pulse train transmitted by the UWB positioning tag 103 is received by the UWB positioning base station 202 installed in the coal yard;
the third step: each UWB positioning base station 202 measures the time of arrival of the data frame of each UWB positioning tag 103 at the receiver antenna using a high sensitivity short pulse detector;
the fourth step: the UWB positioning module 201 determines the time difference between the UWB positioning tag 103 and the different UWB positioning base stations 202 by referring to the calibration data sent by the UWB positioning tag 103, and calculates the position of the UWB positioning tag 103 by using a four-point or more than four-point positioning technique and a tdoa estimate difference of Arrival algorithm;
the fifth step: the angle sensor 102 detects the information of the inclination state of the unmanned coal pusher main body 101, measures the real-time direction angle of the unmanned coal pusher main body 101, and makes up for the positioning accuracy.
And a sixth step: the positioning data of the unmanned coal pusher main body 101 is transmitted to the central control room control system 3 through a wireless network, and the optimal path of coal pushing operation is obtained through data statistics, analysis and operation by combining with a model database established by measuring data by the laser module detection device 104.
The seventh step: the central control room control system 3 sends an operation instruction of the optimal path, and the UWB positioning base station 202 positions the unmanned coal pusher main body 101 to operate according to the planned optimal path flow.
Eighth step: the ultrasonic radar 106 is opened in the whole process of coal pushing operation, when the situation that an obstacle appears behind the unmanned coal pushing machine main body 101 positioned by the UWB positioning base station 202 is detected, the operation of the unmanned coal pushing machine main body 101 positioned by the UWB positioning base station 202 is stopped emergently, accidental collision is avoided, and operation safety and property safety are guaranteed.
The ninth step: after the coal pushing operation is completed, the central control room control system 3 sends a return instruction, and the UWB positioning base station 202 positions the unmanned coal pusher main body 101 to return to the initial parking position from the working area and stops, and the unmanned coal pusher main body is started again after waiting for the next operation instruction.
The traveling system and the hydraulic module are driven by the variable frequency rare earth motor, compared with a diesel engine, the variable frequency rare earth motor is lower in energy consumption, green and environment-friendly, firm and durable, light in weight, easy to maintain, low in speed and large in torque, a complex mechanical driving device in the middle of a conventional driving system is simplified, the efficiency of a transmission system is improved, noise generated in operation is reduced, the rotating speed of the motor is conveniently adjusted by a variable frequency function, a transmission with a large size is omitted, and the precise control of the speed and the power of the coal pusher can be realized;
the positioning mode has the advantages of high transmission rate, strong transmission capability, strong penetrating power, wide range coverage, small transmitting power, good anti-interference effect, high safety, low system complexity, capability of providing accurate positioning precision and the like, provides a technical basis for unmanned driving of the coal pusher, and can effectively improve the safety and reliability of the unmanned driving.
It should be noted that the above list is only one specific embodiment of the present invention. It is clear that the invention is not limited to the embodiments described above, but that many variations are possible, all of which can be derived or suggested directly from the disclosure of the invention by a person skilled in the art, and are considered to be within the scope of the invention.
Claims (9)
1. The utility model provides a pure electric drive unmanned coal pusher, electric drive unmanned coal pusher is used for piling up the operation to coal in the coal yard, a serial communication port, install UWB positioning module (201), UWB location basic station (202), well accuse room control system (3) in the coal yard, pure electric drive unmanned coal pusher includes unmanned coal pusher main part (101), angle sensor (102), UWB location label (103), laser module detection device (104), surveillance camera head (105), ultrasonic radar (106), unmanned coal pusher main part (101) is equipped with motor drive system, angle sensor (102), UWB location label (103), laser module detection device (104), surveillance camera head (105), ultrasonic radar (106) are all installed on unmanned coal pusher main part (101), UWB positioning module (201), UWB location base station (202) all with well accuse room control system (3) wired connection, laser module detection device (104) and well accuse room control system (3) wireless connection, UWB location base station (202), UWB location module (201) all with UWB location label (103) wireless connection.
2. A pure electric drive unmanned coal pusher according to claim 1, characterized in that the motor drive system comprises an energy supply battery (41), a first rare earth variable frequency motor (42), a second rare earth variable frequency motor (43), a hydraulic module (44), a steering brake hydraulic system (47), a working device hydraulic system (48), a transmission system (45), a traveling system (49), a control module (45) and a motion control device system (50), wherein the first rare earth variable frequency motor (42), the second rare earth variable frequency motor (43) and the control module (45) are all connected with the energy supply battery (41), the first rare earth variable frequency motor (42) is connected with the hydraulic module (44), the steering brake hydraulic system (47) and the working device hydraulic system (48) are all connected with the hydraulic module (44), the second rare earth variable frequency motor (43) is connected with the transmission system (45), the transmission system (45) is connected with a walking system (49), and the control module (45) is connected with a motion control device system (50).
3. A pure electric drive unmanned coal pusher according to claim 1, wherein the laser module detection device (104) is used for scanning the coal yard for 360 degrees, and rapidly building three-dimensional models of the coal pile and the coal pusher in the coal yard and the graph data of the line, the surface and the body of the three-dimensional models.
4. A pure electric drive unmanned coal pusher as claimed in claim 1, characterized in that the number of the monitoring cameras (105) is two, and the monitoring cameras (105) are used for shooting working condition images of the unmanned coal pusher body (101) in front and back directions.
5. A pure electric drive unmanned coal pusher according to claim 1, characterized in that the number of the ultrasonic radar (106) is two, and the ultrasonic radar (106) is installed at the left and right ends of the tail part of the unmanned coal pusher main body (101).
6. A pure electric drive unmanned coal pusher according to claim 1, characterized in that the ultrasonic radar (106) is used to detect the orientation of the tail of the unmanned coal pusher body (101).
7. A pure electric drive unmanned coal pusher according to claim 1, characterized in that the angle sensor (102) is mounted at a top center position of the unmanned coal pusher body (101).
8. A pure electric drive unmanned coal pusher according to claim 1, characterized in that UWB positioning tag (103), laser module detection device (104) are installed on top of unmanned coal pusher body (101).
9. The pure electric drive unmanned coal pusher of claim 2, characterized in that the transmission system (45) comprises a reducer (451), a steering brake (452), a steering clutch (453) and a traveling system (454), the second rare earth variable frequency motor (43) is connected with the steering brake (452) through the reducer (451), and the steering brake (452) is connected with the traveling system (454) through the steering clutch (453).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010288251.XA CN111364539A (en) | 2020-04-14 | 2020-04-14 | Pure electric drive unmanned coal pusher |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010288251.XA CN111364539A (en) | 2020-04-14 | 2020-04-14 | Pure electric drive unmanned coal pusher |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111364539A true CN111364539A (en) | 2020-07-03 |
Family
ID=71205317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010288251.XA Pending CN111364539A (en) | 2020-04-14 | 2020-04-14 | Pure electric drive unmanned coal pusher |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111364539A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112875320A (en) * | 2020-12-28 | 2021-06-01 | 杭州登元科技有限公司 | Self-adaptive unmanned coal pusher |
| CN112896192A (en) * | 2021-03-08 | 2021-06-04 | 安徽理工大学 | Mining electric locomotive unmanned system based on UWB technology |
| CN113293814A (en) * | 2021-05-28 | 2021-08-24 | 山推工程机械股份有限公司 | Control method and control system of remote control bulldozer in mining operation |
| CN113445567A (en) * | 2021-06-30 | 2021-09-28 | 广西柳工机械股份有限公司 | Autonomous operation loader traveling speed control system and control method |
| CN113463719A (en) * | 2021-06-30 | 2021-10-01 | 广西柳工机械股份有限公司 | Loader autonomous operation control system and method |
| WO2023103291A1 (en) * | 2021-12-08 | 2023-06-15 | 青岛中鸿重型机械有限公司 | Control method for intelligent electric scraper |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6247538B1 (en) * | 1996-09-13 | 2001-06-19 | Komatsu Ltd. | Automatic excavator, automatic excavation method and automatic loading method |
| US20140107882A1 (en) * | 2011-06-17 | 2014-04-17 | Komatsu Ltd. | Travel-restricted area setting system for unmanned traveling vehicle and computer program for setting travel-restricted area of unmanned traveling vehicle |
| CN104314124A (en) * | 2014-10-23 | 2015-01-28 | 国机重工（洛阳）有限公司 | Single-motor double-shaft-output electrically-driven crawler-type bulldozer |
| CN205793389U (en) * | 2016-07-07 | 2016-12-07 | 南京国电环保科技有限公司 | Coal-fired station's digital coal yard UWB radio positioning system |
| CN205989668U (en) * | 2016-08-29 | 2017-03-01 | 金川集团股份有限公司 | A kind of energy storage type underground electric scraper |
| CN108222093A (en) * | 2018-01-02 | 2018-06-29 | 清华大学 | A kind of autonomous soil-shifting robot |
| CN108407696A (en) * | 2018-05-08 | 2018-08-17 | 陕西同力重工股份有限公司 | The unmanned mine car in the special field of engineering transportation |
| CN110042735A (en) * | 2019-05-31 | 2019-07-23 | 武汉英途工程智能设备有限公司 | A kind of intelligent paver control system |
| CN110333701A (en) * | 2019-06-25 | 2019-10-15 | 河南跃薪智能机械有限公司 | A kind of unmanned centralized control system in mine based on 5G technology |
| CN212388632U (en) * | 2020-04-14 | 2021-01-22 | 杭州登元科技有限公司 | Pure electric drive unmanned coal pusher |
-
2020
- 2020-04-14 CN CN202010288251.XA patent/CN111364539A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6247538B1 (en) * | 1996-09-13 | 2001-06-19 | Komatsu Ltd. | Automatic excavator, automatic excavation method and automatic loading method |
| US20140107882A1 (en) * | 2011-06-17 | 2014-04-17 | Komatsu Ltd. | Travel-restricted area setting system for unmanned traveling vehicle and computer program for setting travel-restricted area of unmanned traveling vehicle |
| CN104314124A (en) * | 2014-10-23 | 2015-01-28 | 国机重工（洛阳）有限公司 | Single-motor double-shaft-output electrically-driven crawler-type bulldozer |
| CN205793389U (en) * | 2016-07-07 | 2016-12-07 | 南京国电环保科技有限公司 | Coal-fired station's digital coal yard UWB radio positioning system |
| CN205989668U (en) * | 2016-08-29 | 2017-03-01 | 金川集团股份有限公司 | A kind of energy storage type underground electric scraper |
| CN108222093A (en) * | 2018-01-02 | 2018-06-29 | 清华大学 | A kind of autonomous soil-shifting robot |
| CN108407696A (en) * | 2018-05-08 | 2018-08-17 | 陕西同力重工股份有限公司 | The unmanned mine car in the special field of engineering transportation |
| CN110042735A (en) * | 2019-05-31 | 2019-07-23 | 武汉英途工程智能设备有限公司 | A kind of intelligent paver control system |
| CN110333701A (en) * | 2019-06-25 | 2019-10-15 | 河南跃薪智能机械有限公司 | A kind of unmanned centralized control system in mine based on 5G technology |
| CN212388632U (en) * | 2020-04-14 | 2021-01-22 | 杭州登元科技有限公司 | Pure electric drive unmanned coal pusher |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112875320A (en) * | 2020-12-28 | 2021-06-01 | 杭州登元科技有限公司 | Self-adaptive unmanned coal pusher |
| CN112875320B (en) * | 2020-12-28 | 2023-02-10 | 杭州登元科技有限公司 | Self-adaptive unmanned coal pusher |
| CN112896192A (en) * | 2021-03-08 | 2021-06-04 | 安徽理工大学 | Mining electric locomotive unmanned system based on UWB technology |
| CN113293814A (en) * | 2021-05-28 | 2021-08-24 | 山推工程机械股份有限公司 | Control method and control system of remote control bulldozer in mining operation |
| CN113445567A (en) * | 2021-06-30 | 2021-09-28 | 广西柳工机械股份有限公司 | Autonomous operation loader traveling speed control system and control method |
| CN113463719A (en) * | 2021-06-30 | 2021-10-01 | 广西柳工机械股份有限公司 | Loader autonomous operation control system and method |
| CN113445567B (en) * | 2021-06-30 | 2023-03-24 | 广西柳工机械股份有限公司 | Autonomous operation loader traveling speed control system and control method |
| WO2023103291A1 (en) * | 2021-12-08 | 2023-06-15 | 青岛中鸿重型机械有限公司 | Control method for intelligent electric scraper |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111364539A (en) | Pure electric drive unmanned coal pusher | |
| CN109323696B (en) | Indoor positioning navigation system and method for unmanned forklift | |
| CN212388632U (en) | Pure electric drive unmanned coal pusher | |
| CN107765145B (en) | Automatic partial discharge detection device, system and method | |
| CN105835063A (en) | Indoor inspection robot system for substation and inspection method for indoor inspection robot system | |
| EP3610344B1 (en) | Mobile power supply device for outdoor power supply | |
| CN207373179U (en) | A kind of robot control system for being used for SLAM and navigation | |
| CN213678924U (en) | Unmanned system of stacker-reclaimer | |
| CN112394733A (en) | Intelligent vehicle autonomous following obstacle avoidance method based on UWB and ultrasonic wave | |
| CN108205325A (en) | A kind of round-the-clock unmanned cruiser system of four-wheel drive low speed | |
| CN105399006B (en) | A kind of unmanned stacking unit control system | |
| CN104062971B (en) | Intelligent vehicle automatic vehicle motion control system and control method thereof | |
| JP2021015340A (en) | Work vehicle self-driving system | |
| CN109001756A (en) | Multi-line laser radar obstacle detection system and method based on embedded device | |
| CN108469820A (en) | A kind of round-the-clock unmanned cruiser system of two-wheel drive low speed | |
| CN111620022A (en) | Control system of special storage carrier | |
| CN103472839A (en) | Fast exploring controller of four-wheel micro-mouse based on double processors | |
| CN206892664U (en) | A kind of mobile robot path planning of view-based access control model identification and scheduling system | |
| CN214243509U (en) | Remote control system of grab ship unloader | |
| CN113460049A (en) | Robot-driven underground crossheading transportation trackless rubber-tyred vehicle and control method thereof | |
| CN110161515A (en) | A kind of house measurement system based on laser ranging | |
| CN108227720A (en) | A kind of round-the-clock unmanned cruiser system of four-wheel drive high speed | |
| CN210639464U (en) | Differential-control intelligent tracking obstacle avoidance trolley | |
| CN108279683A (en) | A kind of round-the-clock unmanned cruiser system of six wheel drive low speed | |
| CN206302573U (en) | A kind of unmanned transport vehicle of indoor positioning based on ibeacon technologies |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |