CN111913477A - Unmanned mining electric drive dump truck - Google Patents
Unmanned mining electric drive dump truck Download PDFInfo
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- CN111913477A CN111913477A CN202010862620.1A CN202010862620A CN111913477A CN 111913477 A CN111913477 A CN 111913477A CN 202010862620 A CN202010862620 A CN 202010862620A CN 111913477 A CN111913477 A CN 111913477A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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Abstract
The utility model provides an unmanned mining electric drive tipper, includes mining electric drive tipper body, its characterized in that: the mine car management system is also provided for mine car production management, building and updating a mine area map; the communication system is used for information interaction between vehicles and a fleet management system, between vehicles and production equipment and between vehicles and production workers and has a positioning function; the unmanned system is used for sensing the ground environment, updating a mine map, planning a driving path and controlling the action of the vehicle; the drive-by-wire system can control the acceleration, steering, deceleration, lifting and sound and light signal emission of the vehicle according to the control command. By utilizing the invention, the unmanned production of the strip mine transportation system can be realized, the production efficiency of the mine is improved, the production cost of the mine is reduced, and the occurrence of mine safety accidents is reduced.
Description
Technical Field
The invention relates to a mining electric transmission dump truck, in particular to an unmanned mining electric transmission dump truck.
Background
With the continuous promotion of new and old kinetic energy conversion and supply side structure reformation, social development has entered a new era of intelligent development. In 2018, on the international mining society of China, experts show that in order to realize the transition from the mining large country to the mining strong country in China and shape the image of the mining industry of China in a new era, the mine construction must be innovated. The current intelligent technology plays an increasingly important role in various fields, and the intellectualization of mine operation becomes a necessary trend and becomes a technical hotspot and a development direction in the global mining field.
The unmanned mining dump truck is characterized in that the unmanned system controls the mining dump truck with the wire control system, so that the mine car can automatically complete the working cycles of loading, running, unloading and the like according to a specific route under the condition of no participation of a driver, and can decelerate, avoid or stop in case of an accident.
The unmanned function of the current mining dump truck is realized through a robot technology: a stepping motor is arranged on a steering wheel to simulate a human to rotate the steering wheel so as to control the steering of front wheels of the vehicle, a pull rope motor is arranged on a traction pedal and a brake pedal, and the human simulator treads the pedal to control the acceleration or deceleration of the vehicle. This control mode is very primitive, has only realized the preliminary function of unmanned: the robot is replaced by a robot. The control precision and the response speed of the mine car can not meet the requirements of a real unmanned system, and the unmanned function of the mine car is realized by reducing the performance requirement of the unmanned mine car and increasing the calculation amount of the unmanned system.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides the unmanned mining electric transmission dump truck capable of realizing unmanned, information and intelligent production of a mining area.
The invention solves the technical problem by adopting the technical scheme that the unmanned mining electric transmission dump truck comprises a mining electric transmission dump truck body and a truck fleet management system for mine car production management, construction and updating of a mine map; the communication system is used for information interaction between vehicles and a fleet management system, between vehicles and production equipment and between vehicles and production workers and has a positioning function; the unmanned system is used for sensing the ground environment, updating a mine map, planning a driving path and controlling the action of the vehicle; the drive-by-wire system can control the acceleration, steering, deceleration, lifting and sound and light signal emission of the vehicle according to the control command.
Furthermore, the fleet management system has functions of shovel state analysis, operation data statistics, mining area map construction according to environment information fed back by vehicles, inquiry statistics and report making, and can dynamically plan loading places, unloading places and running routes of each unmanned dump truck according to production operation plans of mine users and current shovel matching states; the unmanned system controls the drive-by-wire mining electric drive dump truck to run according to a loading point, an unloading point and a running route planned by the fleet management system.
Furthermore, communication system includes fixed base station and mobile terminal, fixed base station can cover the production operation district, mobile terminal installs on every production facility in the mine, and the workman and the vehicle that get into the production district hold portable mobile terminal, and every mobile terminal all has location and data communication function, can realize vehicle and fleet management system, vehicle and vehicle, vehicle and production facility, vehicle and production workman's information interaction through mobile terminal, guarantee mining area production safety.
The unmanned system comprises a laser radar, a video camera, an ultrasonic radar, a millimeter wave radar and a data processing unit, receives information of a loading place, an unloading place, a running route and the like of the dump truck sent by the fleet management system through a communication system, generates a running track of the dump truck going to the loading point or the unloading point, controls the dump truck to run along the track in a CAN bus communication mode, CAN sense the ground environment in the running process, detects obstacles and controls the dump truck to go around, sends sensed environment information to the fleet management system through the communication system, and updates a mine map through the fleet management system.
Furthermore, the wire-controlled mining electric drive dump truck comprises a wire-controlled traction system, a wire-controlled steering system, a wire-controlled brake system and a CAN communication network, and CAN execute acceleration, deceleration and steering, hopper lifting, light opening and closing and horn ringing actions sent by an unmanned system.
Furthermore, the unmanned system and the control unit of the whole vehicle exchange data in a CAN communication mode.
Further, it is characterized in that: the communication system and the unmanned system are both arranged on the wire-controlled mining electric drive dump truck and form a CAN bus communication network with each execution element of the wire-controlled mining electric drive dump truck.
Furthermore, the unmanned system sends vehicle control instructions to the whole vehicle control unit through an external data bus, and the whole vehicle control unit analyzes the vehicle control instructions and then controls the drive-by-wire traction system, the drive-by-wire steering system, the drive-by-wire system and the IO controller to control acceleration/deceleration, steering and other functional actions of the vehicle.
By utilizing the invention, the unmanned production of the strip mine transportation system can be realized, the production efficiency of the mine is improved, the production cost of the mine is reduced, and the occurrence of safety accidents of the mine is reduced.
Drawings
FIG. 1 is a schematic block diagram of an embodiment of the present invention;
fig. 2 is a block diagram of a CAN bus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to FIGS. 1-2, the present embodiment includes a fleet management system for mine car production management, building and updating a mine site map; the communication system is used for information interaction between vehicles and a fleet management system, between vehicles and production equipment and between vehicles and production workers and has a positioning function; the unmanned system is used for sensing the ground environment, updating a mine map, planning a driving path and controlling the action of the vehicle; the wire-controlled mining electric drive dumper is used for hauling cargos and can control the acceleration, steering, deceleration, lifting and acousto-optic signals of the dumper according to control instructions.
The fleet management system has functions of shovel state analysis, operation data statistics, mining area map construction according to environment information fed back by vehicles, inquiry statistics and report making, and can dynamically plan loading places, unloading places and running routes of each unmanned dump truck according to production operation plans of mine users and the current shovel matching state; and the unmanned system controls the wire-controlled mining electric drive dump truck to run according to the loading point, the unloading point and the running route planned by the fleet management system.
The communication system comprises a fixed base station and mobile terminals, wherein the fixed base station can cover a production operation area, the mobile terminals are installed on each production device in a mine, workers entering the production area and vehicles hold the portable mobile terminals, each mobile terminal has positioning and data communication functions, and information interaction between the vehicles and a fleet management system, between the vehicles and the vehicles, between the vehicles and the production devices and between the vehicles and the production workers can be realized through the mobile terminals, so that the production safety of the mine area is guaranteed.
The unmanned system comprises a laser radar, a video camera, an ultrasonic radar, a millimeter wave radar and a data processing unit, receives information of a loading place, an unloading place, a running route and the like of a dump truck sent by a fleet management system through a communication system, generates a running track of the dump truck going to the loading place or the unloading place, controls the vehicle to run along the track in a CAN bus communication mode, CAN sense the ground environment in the running process, detect obstacles and control the vehicle to go around, simultaneously sends sensed environment information to the fleet management system through the communication system, and updates a mine map through the fleet management system.
The wire-controlled mining electric drive dumper comprises a wire-controlled traction system, a wire-controlled steering system, a wire-controlled brake system and a CAN communication network, and CAN execute the actions of acceleration, deceleration and steering, car hopper lifting, light opening and closing and horn ringing of the unmanned system.
The fleet management system dynamically plans information such as loading places, unloading places, running routes and the like of each unmanned dump truck according to a production operation plan of a mine user and current car, shovel and shovel matching states.
The communication system transmits the loading point, the unloading point and the running route planned by the fleet management system to the unmanned system through the mobile terminal, and simultaneously interacts the information of the vehicles, the vehicles and the production equipment, and the vehicles and the production workers, so that the production safety of the mining area is guaranteed.
The unmanned system processes ground information acquired by the laser radar, the video camera, the ultrasonic radar and the millimeter wave radar through the data processing unit to form vehicle surrounding environment information, generates a driving track of the vehicle to a loading point or an unloading point by combining production instruction information of the dump truck, such as a loading point, an unloading point, a driving route and the like, sent by the management system, and controls the vehicle to drive along the track in a CAN bus communication mode. During driving, the unmanned system continuously senses the ground environment, detects obstacles and controls vehicles to bypass, and simultaneously transmits sensed environment information to the fleet management system through the communication system, and the fleet management system updates the mine map.
The unmanned system and the vehicle control unit exchange data in a CAN communication mode, and the data exchange comprises the following contents:
the communication system and the unmanned system are both arranged on the wire-controlled mining electric drive dump truck and form a CAN bus communication network with each execution element of the wire-controlled mining electric drive dump truck. The bus block diagram is shown in figure 1.
The CAN bus comprises a power control bus, a chassis control bus, a vehicle body control bus and an external data bus, wherein:
a power control bus: the device is used for controlling the power of the diesel engine and acquiring the running data of the diesel engine;
chassis control bus: controlling the acceleration and deceleration of the vehicle and the steering of the vehicle, and collecting the operation data of a telex system;
a vehicle body control bus: collecting hydraulic system data, vehicle state information, load data and tire state information of a vehicle through various bus devices, an IO controller and mounted sensors; the functions of turning on/off the light of the vehicle, lifting/lowering the hopper and the like are controlled by an IO controller;
external data bus: the method is used for data interaction of the vehicle-mounted mobile terminal, the unmanned system and the whole vehicle control unit. And the vehicle state information and the unmanned control command are sent to the fleet management system through the vehicle-mounted mobile terminal.
The unmanned system sends vehicle control instructions to the whole vehicle control unit through an external data bus, and the whole vehicle control unit analyzes the vehicle control instructions and then controls the wire-controlled traction system, the wire-controlled steering system, the wire-controlled driving system and the IO controller to control acceleration/deceleration, steering and other functional actions of the vehicle.
The working process is as follows:
as shown in fig. 1, the fleet management system generates a driving path of the unmanned vehicle according to a mine production plan, a scheduling instruction and received vehicle state information and by combining position information such as a loading point, an unloading point and the like in a mine area map, and sends the driving path to the large-scale mobile terminal through the communication system, and the large-scale mobile terminal sends the driving path to the vehicle-mounted unmanned system through the external data bus in a CAN communication mode.
After receiving the command of the fleet management system, the vehicle-mounted unmanned system detects the current environmental information of the vehicle through sensing equipment such as a laser radar, a video camera, an ultrasonic radar, a millimeter wave radar and the like, determines the position information of the vehicle through a positioning system, receives the vehicle state information through CAN communication, judges whether the vehicle runs according to a preset path or bypasses obstacles through algorithms such as prediction, decision and the like, and generates a corresponding vehicle control command. And the vehicle control instruction is sent to the whole vehicle control unit and the large-scale mobile terminal in a CAN communication mode through an external data bus.
After receiving the vehicle control instruction, the vehicle control unit analyzes the vehicle control instruction and then controls the power of the diesel engine through a power control bus; controlling the acceleration and deceleration of the vehicle and the steering of the vehicle through a chassis control bus; the vehicle body IO controller and each bus device are controlled through the vehicle body control bus, and the control of on/off of vehicle light, lifting/descending of a car hopper and the like is realized.
Meanwhile (as shown in fig. 2), the whole vehicle control unit collects the diesel engine operation data through a power control bus; acquiring operation data of a telex system, vehicle steering data and vehicle mechanical braking system data through a chassis control bus; the vehicle control bus is used for acquiring hydraulic system data, vehicle state data, load data, tire state data, vehicle light starting state, hopper lifting/falling state and the like of the vehicle.
And the vehicle control unit performs vehicle fault identification and vehicle state identification on the acquired data through comprehensive judgment. And transmitting the vehicle fault code, the vehicle state data and other necessary data to the unmanned system and the large-scale mobile terminal in a CAN communication mode through an external data bus.
The instrument panel IO controller is only used for vehicle status indication functions on the instrument panel in the vehicle handling unmanned state. And in a non-unmanned driving state, receiving an instruction of an operator for operating a control key of the instrument desk, sending the control instruction to the whole vehicle control unit through CAN communication, and controlling the vehicle after the control instruction is analyzed by the whole vehicle control unit.
The large mobile terminal exchanges data with the fixed base station and the portable mobile terminal, and transmits CAN data in an external data bus such as vehicle position data, vehicle state data and the like. The fleet management system and the received data correct the running path or scheduling information of the vehicle and store and look up the data. After the portable mobile terminal receives the data, the functions of collision early warning, vehicle maintenance, vehicle emergency stop and the like are realized according to the requirement condition of users.
Various modifications and variations of the present invention may be made by those skilled in the art, and they are still within the scope of the present patent invention provided they are within the scope of the claims and their equivalents.
What is not described in detail in the specification is prior art that is well known to those skilled in the art.
Claims (8)
1. The utility model provides an unmanned mining electric drive tipper, includes mining electric drive tipper body, its characterized in that: the mine car management system is also provided for mine car production management, building and updating a mine area map; the communication system is used for information interaction between vehicles and a fleet management system, between vehicles and production equipment and between vehicles and production workers and has a positioning function; the unmanned system is used for sensing the ground environment, updating a mine map, planning a driving path and controlling the action of the vehicle; the drive-by-wire system can control the acceleration, steering, deceleration, lifting and sound and light signal emission of the vehicle according to the control command.
2. The unmanned mining electric drive dump truck according to claim 1, characterized in that: the fleet management system has functions of shovel state analysis, operation data statistics, mining area map construction according to environment information fed back by vehicles, inquiry statistics and report making, and can dynamically plan loading sites, unloading sites and running routes of each unmanned dump truck according to production operation plans of mine users and current shovel matching states; the unmanned system controls the drive-by-wire mining electric drive dump truck to run according to a loading point, an unloading point and a running route planned by the fleet management system.
3. The unmanned mining electric drive dump truck according to claim 1 or 2, characterized in that: the communication system comprises a fixed base station and mobile terminals, wherein the fixed base station can cover a production operation area, the mobile terminals are installed on each production device in a mine, workers entering the production area and vehicles hold the portable mobile terminals, each mobile terminal has positioning and data communication functions, information interaction between the vehicles and a fleet management system, between the vehicles and the vehicles, between the vehicles and the production devices and between the vehicles and the production workers can be realized through the mobile terminals, and the production safety of the mine area is guaranteed.
4. The unmanned mining electric drive dump truck according to claim 1 or 2, characterized in that: the unmanned system comprises a laser radar, a video camera, an ultrasonic radar, a millimeter wave radar and a data processing unit, receives information of a loading place, an unloading place, a running route and the like of the dump truck sent by the fleet management system through a communication system, generates a running track of the dump truck going to the loading place or the unloading place, controls the dump truck to run along the track in a CAN bus communication mode, CAN sense the ground environment in the running process, detect obstacles and control the dump truck to go around, simultaneously sends sensed environment information to the fleet management system through the communication system, and updates a mine map through the fleet management system.
5. The unmanned mining electric drive dump truck according to claim 1 or 2, characterized in that: the wire-controlled mining electric drive dumper comprises a wire-controlled traction system, a wire-controlled steering system, a wire-controlled brake system and a CAN communication network, and CAN execute acceleration, deceleration and steering, car hopper lifting, light opening and closing and horn ringing actions sent by an unmanned system.
6. The unmanned mining electric drive dump truck according to claim 1 or 2, characterized in that: and the unmanned system and the control unit of the whole vehicle exchange data in a CAN communication mode.
7. The unmanned mining electric drive dump truck according to claim 1 or 2, characterized in that: the communication system and the unmanned system are both arranged on the wire-controlled mining electric drive dump truck and form a CAN bus communication network with each execution element of the wire-controlled mining electric drive dump truck.
8. The unmanned mining electric drive dump truck according to claim 1 or 2, characterized in that: the unmanned system sends vehicle control instructions to the whole vehicle control unit through an external data bus, and the whole vehicle control unit analyzes the vehicle control instructions and then controls the drive-by-wire traction system, the drive-by-wire steering system, the drive-by-wire system and the IO controller to control acceleration/deceleration, steering and other functional actions of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010862620.1A CN111913477A (en) | 2020-08-25 | 2020-08-25 | Unmanned mining electric drive dump truck |
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| CN202010862620.1A CN111913477A (en) | 2020-08-25 | 2020-08-25 | Unmanned mining electric drive dump truck |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114180498A (en) * | 2021-11-15 | 2022-03-15 | 三一专用汽车有限责任公司 | Dumper operation control method, device and system and dumper |
| CN114265394A (en) * | 2022-02-28 | 2022-04-01 | 徐州徐工重型车辆有限公司 | Wire control system for construction machine and construction machine |
| 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 |
-
2020
- 2020-08-25 CN CN202010862620.1A patent/CN111913477A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114180498A (en) * | 2021-11-15 | 2022-03-15 | 三一专用汽车有限责任公司 | Dumper operation control method, device and system and dumper |
| CN114180498B (en) * | 2021-11-15 | 2023-01-31 | 三一专用汽车有限责任公司 | Dumper operation control method, device and system and dumper |
| CN114265394A (en) * | 2022-02-28 | 2022-04-01 | 徐州徐工重型车辆有限公司 | Wire control system for construction machine and construction machine |
| 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 |
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Effective date of registration: 20230324 Address after: 411100 Rooms 1502 and 1503, Innovation Building, No. 9 Xiaotang Road, Shuangma Street, Xiangtan City, Hunan Province Applicant after: Hunan Xiangdian Lvneng Intelligent Control Co.,Ltd. Address before: 411101 No.6 Diandian North Road, Yuetang District, Xiangtan City, Hunan Province Applicant before: XIANGTAN ELECTRIC MANUFACTURING GROUP HEAVY-DUTY EQUIPMENT Co.,Ltd. |