CN111913477A - An unmanned mining electric drive dump truck - Google Patents

Abstract

An unmanned mining electric drive dump truck, including a mining electric drive dump truck body, is characterized in that: it is further provided with a fleet management system for mine truck production management, construction and updating of mining area maps; for vehicle and fleet management Communication system with information interaction between systems, vehicles and vehicles, vehicles and production equipment, vehicles and production workers, and with positioning functions; unmanned systems for sensing the ground environment, updating maps of mining areas, planning driving paths, and controlling vehicle actions; Control-by-wire system that controls vehicle acceleration, steering, deceleration, lifting and audible and visual signals according to control commands. The invention can realize the unmanned production of the open-pit mine transportation system, help to improve the mine production efficiency, reduce the mine production cost, and reduce the occurrence of mine safety accidents.

Description

An unmanned mining electric drive dump truck

technical field

The invention relates to a mining electric transmission dump truck, in particular to an unmanned mining electric transmission dump truck.

Background technique

With the transformation of old and new kinetic energy and the continuous advancement of supply-side structural reform, social development has entered a new era of intelligent development. At the 2018 China International Mining Conference, some experts said that in order to realize the transformation of my country from a big mining country to a powerful mining country, and to shape the image of China's mining industry in the new era, mine construction must also take the road of innovation. At present, intelligent technology has played an increasingly important role in various fields. The intelligent operation of mines has become an inevitable trend, and has become a technology hotspot and development direction in the global mining field.

The unmanned mining dump truck is an unmanned system that controls the mining dump truck with a wire control system, and enables the mining truck to automatically complete loading, driving and unloading according to a specific route without the participation of drivers. Waiting for the work cycle, it can slow down, avoid or stop when encountering unexpected situations.

At present, the realization of the unmanned function of mining dump trucks is realized through robotic technology: a stepper motor is installed on the steering wheel to simulate a person turning the steering wheel to control the steering of the front wheel of the vehicle, and a pull rope motor is installed on the traction pedal and the brake pedal. , simulating the acceleration or deceleration of the vehicle by stepping on the pedal. This control method is very primitive, and only realizes the initial function of unmanned driving: replacing humans with machines. Its control accuracy and response speed cannot meet the requirements of a real unmanned system. It relies on reducing the performance requirements of the unmanned minecart and increasing the calculation amount of the unmanned system to realize the unmanned function of the minecart.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an unmanned mining electric drive dump truck that can realize unmanned, informatized and intelligent production in the mining area.

The technical solution adopted by the present invention to solve the technical problem is: an unmanned mining electric drive dump truck, including a mining electric drive dump truck body, and also provided with a fleet management for mine truck production management, construction and updating of mining area maps System; used for vehicle and fleet management system, vehicle and vehicle, vehicle and production equipment, vehicle and production worker information interaction, and communication system with positioning function; used to perceive ground environment, update mining area map, plan driving path, control vehicle Action unmanned system; control-by-wire system that can control vehicle acceleration, steering, deceleration, lift, and sound and light signals according to control commands.

Further, the fleet management system has the functions of truck and shovel status analysis, operation data statistics, construction of mining area maps, query statistics and report production based on environmental information fed back by vehicles, and can be based on the mine user's production operation plan and the current truck and shovel configuration. According to the state, the loading location, unloading location and driving route of each driverless dump truck are dynamically planned; the driverless system controls the loading point, unloading point and driving point planned by the fleet management system. route travel.

Further, the communication system includes a fixed base station and a mobile terminal, the fixed base station can cover the production operation area, the mobile terminal is installed on each production equipment in the mine, and the workers and vehicles entering the production area hold the portable mobile terminal. , Each mobile terminal has the functions of positioning and data communication. Through the mobile terminal, the information exchange between vehicles and fleet management systems, vehicles and vehicles, vehicles and production equipment, vehicles and production workers can be realized to ensure the safety of production in the mining area.

Further, the unmanned system includes laser radar, video camera, ultrasonic radar, millimeter wave radar and data processing unit, and receives information such as the loading location, unloading location, driving route and other information of the dump truck sent by the fleet management system through the communication system, and generates The driving trajectory of the vehicle to the loading point or the unloading point, and the vehicle can be controlled to drive along the trajectory by CAN bus communication. During the driving process, the ground environment can be sensed, obstacles can be detected and the vehicle can be controlled to detour, and the perceived environmental information can be passed through. The communication system is sent to the fleet management system, which updates the mine map.

Further, the wire-controlled mining electric drive dump truck includes a wire-controlled traction system, a wire-controlled steering system, a wire-controlled brake system, and a CAN communication network, which can perform acceleration, deceleration, steering, and body lifting sent by the unmanned system. , lights on and off, horn sounding action.

Further, the unmanned driving system and the control unit of the vehicle perform data exchange by CAN communication.

Further, it is characterized in that: the communication system and the unmanned driving system are installed on the wire-controlled mining electric transmission dump truck, and form a CAN bus communication network with each executive element of the wire-controlled mining electric transmission dump truck.

Further, the unmanned driving system issues vehicle control instructions to the vehicle control unit through the external data bus. After the vehicle control unit parses the vehicle control instructions, it controls the traction-by-wire system, the steering-by-wire system, the brake-by-wire system and the IO controller. Control vehicle acceleration/deceleration, steering and other functional actions.

The invention can realize the unmanned production of the open-pit mine transportation system, which helps to improve the mine production efficiency, reduce the mine production cost, and reduce the occurrence of mine safety accidents.

Description of drawings

Fig. 1 is the principle block diagram of the embodiment of the present invention;

FIG. 2 is a block diagram of a CAN bus according to an embodiment of the present invention.

Detailed ways

The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

Referring to Figures 1-2, this embodiment includes a fleet management system for mine car production management, construction and updating of mining area maps; information for vehicle and fleet management systems, vehicles and vehicles, vehicles and production equipment, vehicles and production workers An interactive communication system with positioning function; an unmanned system used to sense the ground environment, update the mine map, plan the driving path, and control vehicle actions; Wire-controlled mining electric drive dump truck with deceleration, lift and sound and light signals.

The fleet management system has the functions of vehicle and shovel status analysis, operation data statistics, construction of mining area maps, query statistics and report production based on environmental information fed back by vehicles. Plan the loading location, unloading location, and driving route of each unmanned dump truck; the unmanned system controls the wire-controlled mining electric drive dump truck to drive according to the loading point, unloading point and driving route planned by the fleet management system.

The communication system includes a fixed base station and a mobile terminal. The fixed base station can cover the production operation area. The mobile terminal is installed on each production equipment in the mine. The workers and vehicles entering the production area hold portable mobile terminals. Each mobile terminal has a positioning system. And data communication function, through the mobile terminal, the information exchange between vehicles and fleet management systems, vehicles and vehicles, vehicles and production equipment, vehicles and production workers can be realized to ensure the production safety of mining areas.

The unmanned driving system includes lidar, video camera, ultrasonic radar, millimeter-wave radar and data processing unit. It receives the loading location, unloading location, driving route and other information of the dump truck sent by the fleet management system through the communication system, and generates the vehicle to the loading point. Or the driving trajectory of the unloading point, and control the vehicle to drive along the trajectory by CAN bus communication. During the driving process, it can sense the ground environment, detect obstacles and control the vehicle to detour, and at the same time, the sensed environmental information is sent to the communication system. Fleet management system, the mine map is updated by the fleet management system.

The wire-controlled mining electric drive dump truck includes a wire-controlled traction system, a wire-controlled steering system, a wire-controlled brake system, and a CAN communication network. And close, horn sounding action.

The fleet management system dynamically plans the loading location, unloading location, driving route and other information of each driverless dump truck according to the mine user's production operation plan and the current ratio of trucks, shovels, and trucks and shovels.

The communication system transmits the loading point, unloading point and driving route planned by the fleet management system to the unmanned system through the mobile terminal, and at the same time, the information of vehicles and vehicles, vehicles and production equipment, and vehicles and production workers are exchanged to ensure the production of mining areas. Safety.

The unmanned driving system processes the ground information obtained by lidar, video camera, ultrasonic radar, and millimeter-wave radar to form the surrounding environment information of the vehicle after processing by the data processing unit, and combines the loading location, unloading location, and driving route of the dump truck sent by the management system. Wait for the production instruction information, generate the driving trajectory of the vehicle to the loading point or the unloading point, and control the vehicle to travel along the trajectory by CAN bus communication. During the driving process, the unmanned driving system continuously senses the ground environment, detects obstacles and controls the vehicle to detour. At the same time, the sensed environment information is sent to the fleet management system through the communication system, and the fleet management system updates the mining area map.

The driverless system and the vehicle control unit exchange data through CAN communication. The data exchange includes the following contents:

The communication system and the unmanned driving system are installed on the wire-controlled mining electric drive dump truck, and form a CAN bus communication network with each executive element of the wire-controlled mining electric drive dump truck. Its bus block diagram is shown in Figure 1.

CAN bus includes power control bus, chassis control bus, body control bus, and external data bus, among which:

Power control bus: used for diesel engine power control and diesel engine operation data acquisition;

Chassis control bus: control the acceleration, deceleration, and steering of the vehicle, and collect the operation data of the telex system;

Body control bus: Collect vehicle hydraulic system data, vehicle status information, load data, tire status information through various bus devices, IO controllers and installed sensors; and control vehicle lights on/off through IO controllers, Lifting/lowering functions of the body;

External data bus: used for data interaction between vehicle-mounted mobile terminals, driverless systems, and vehicle control units. Vehicle status information and driverless control commands will be sent to the fleet management system through the vehicle-mounted mobile terminal.

The driverless system issues vehicle control commands to the vehicle control unit through the external data bus. After the vehicle control unit parses the vehicle control instructions, it controls the traction-by-wire system, the steering-by-wire system, the brake-by-wire system and the IO controller to control the vehicle. Acceleration/deceleration, steering and other functional actions.

work process:

As shown in Figure 1, the fleet management system generates the driving path of the unmanned vehicle according to the mine production plan, scheduling instructions and the received vehicle status information, combined with the location information of the loading point and unloading point in the mine map, and communicates with the driverless vehicle. The system is sent to the large mobile terminal, and the large mobile terminal sends it to the vehicle-mounted driverless system by CAN communication through the external data bus.

After receiving the instructions from the fleet management system, the vehicle-mounted driverless system detects the current environmental information of the vehicle through sensing equipment such as lidar, video camera, ultrasonic radar, and millimeter-wave radar, and receives the vehicle position information determined by the positioning system through CAN communication. According to the vehicle status information, through prediction, decision-making and other algorithms, it is judged whether the vehicle is traveling on a predetermined path or is detouring around obstacles, and the corresponding vehicle control instructions are generated. The vehicle control command is sent to the vehicle control unit and large mobile terminal in the form of CAN communication through the external data bus.

After receiving the vehicle control command, the vehicle control unit analyzes the vehicle control command, and then controls the power of the diesel engine through the power control bus; controls the acceleration, deceleration, and steering of the vehicle through the chassis control bus; controls the vehicle body through the body control bus The IO controller and various bus devices realize the control of on/off of the vehicle lights and the lift/lower of the body.

At the same time (as shown in Figure 2), the vehicle control unit collects the diesel engine operation data through the power control bus; collects the telex system operation data, vehicle steering data, and vehicle mechanical braking system data through the chassis control bus; collects the vehicle through the body control bus. Hydraulic system data, vehicle status data, load data, tire status data, vehicle light on status, body lifting/lowering status, etc.

The vehicle control unit will comprehensively judge the collected data to identify vehicle faults and vehicle status. And the vehicle fault code, vehicle status data and other necessary data are sent to the unmanned system and large mobile terminal by CAN communication through the external data bus.

The instrument panel IO controller is only used for the vehicle status indication function on the instrument panel when the vehicle is in an unmanned state. In the non-autonomous state, it receives the operator's command to operate the control buttons of the instrument panel, and sends the control command to the vehicle control unit through CAN communication. The vehicle control unit analyzes the control command and then controls the vehicle.

The large mobile terminal exchanges data with fixed base stations and portable mobile terminals, and forwards the CAN data in the external data bus, such as vehicle position data and vehicle status data. The fleet management system and the received data correct the driving route or scheduling information of the vehicle, and store the data for future reference. After receiving the data, the portable mobile terminal realizes functions such as collision warning, vehicle maintenance, and emergency vehicle stop according to the needs of the user.

Those skilled in the art can make various modifications and variations to the present invention, if these modifications and variations are within the scope of the claims of the present invention and its equivalent technology, then these modifications and variations are still within the protection scope of the patent of the present invention .

The content not described in detail in the specification is the prior art known to those skilled in the art.

Claims (8)

1. an unmanned mining electric drive dump truck, comprising the mining electric drive dump truck body, it is characterized in that: also be provided with the fleet management system that is used for mine car production management, build and update the map of the mining area; Fleet management system, vehicle-to-vehicle, vehicle-to-production equipment, vehicle-to-production worker information interaction, and communication system with positioning function; unmanned system for sensing the ground environment, updating mining area maps, planning driving paths, and controlling vehicle movements ; A wire-controlled system that can control vehicle acceleration, steering, deceleration, lift, and sound and light signals according to control instructions. 2. The unmanned mining electric drive dump truck according to claim 1, characterized in that: the fleet management system has vehicle and shovel status analysis, operation data statistics, and construction of a mining area map, query according to the environmental information fed back by the vehicle Statistics and report making functions can dynamically plan the loading location, unloading location and driving route of each unmanned dump truck according to the mine user's production operation plan and the current ratio of trucks and shovels; the unmanned system controls The wire-controlled mining electric drive dump truck drives according to the loading point, unloading point and driving 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 a mobile terminal, the fixed base station can cover the production operation area, and the mobile terminal Installed on each production equipment in the mine, the workers and vehicles entering the production area hold portable mobile terminals. Each mobile terminal has the functions of positioning and data communication. Through the mobile terminal, the vehicle and fleet management systems, vehicles and vehicles can be realized. , Vehicles and production equipment, vehicles and production workers information exchange to ensure the safety of production in the mining area. 4. The unmanned mining electric drive dump truck according to claim 1 or 2, characterized in that: the unmanned system comprises laser radar, video camera, ultrasonic radar, millimeter wave radar and data processing unit, through The communication system receives the loading location, unloading location, driving route and other information of the dump truck sent by the fleet management system, generates the driving trajectory of the vehicle to the loading point or the unloading point, and controls the vehicle to drive along the trajectory by means of CAN bus communication. It can sense the ground environment, detect obstacles and control the vehicle to detour, and at the same time send the sensed environmental information to the fleet management system through the communication system, and the fleet management system updates the mine map. 5. The unmanned mining electric drive dump truck according to claim 1 or 2, characterized in that: the wire-controlled mining electric drive dump truck comprises a wire-controlled traction system, a wire-controlled steering system, and a wire-controlled brake system , CAN communication network, can perform acceleration, deceleration, steering, body lift, lights on and off, and horn sounding actions sent by the unmanned system. 6 . The unmanned mining electric drive dump truck according to claim 1 or 2 , wherein the unmanned driving system and the control unit of the whole vehicle exchange data by CAN communication. 7 . 7. An unmanned mining electric drive dump truck according to claim 1 or 2, characterized in that: the communication system and the unmanned driving system are both installed on the wire-controlled mining electric drive dump truck , and form a CAN bus communication network with each executive element of the wire-controlled mining electric drive dump truck. 8. The unmanned mining electric drive dump truck according to claim 1 or 2, wherein the unmanned driving system issues a vehicle control command to the vehicle control unit through an external data bus, and the vehicle control unit sends the After the vehicle control command is parsed, it controls the traction-by-wire system, the steering-by-wire system, the brake-by-wire system, and the IO controller to control vehicle acceleration/deceleration, steering, and other functional actions.

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