CN112319503A - Vehicle control method based on coal mine trackless auxiliary transport robot - Google Patents

Vehicle control method based on coal mine trackless auxiliary transport robot Download PDF

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Publication number
CN112319503A
CN112319503A CN202011064741.8A CN202011064741A CN112319503A CN 112319503 A CN112319503 A CN 112319503A CN 202011064741 A CN202011064741 A CN 202011064741A CN 112319503 A CN112319503 A CN 112319503A
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China
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auxiliary transport
distance
monitoring
trackless auxiliary
transport vehicle
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Inventor
布朋生
袁晓明
周德华
郝明锐
吉强
刘志更
李大明
张鹏
仇博
曹建文
姜铭
许连丙
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Priority to CN202011064741.8A priority Critical patent/CN112319503A/en
Publication of CN112319503A publication Critical patent/CN112319503A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to a vehicle control method based on a trackless auxiliary transport robot for a coal mine, which comprises the following steps: controlling the coal mine trackless auxiliary transport robot to be powered on, so that the auxiliary perception fusion early warning system, the state monitoring protection system and the anti-collision real-time monitoring system generate induction data after being powered on; receiving instruction data obtained by analyzing the induction data by a perception fusion early warning system, a state monitoring and protecting system and an anti-collision real-time monitoring system, and comparing the instruction data with a preset instruction rule; if the instruction data meet the preset instruction rule, controlling the mining trackless auxiliary transport vehicle to execute the running and stopping operation and/or controlling the function module attached to the mining trackless auxiliary transport vehicle to work; otherwise, if the instruction data do not accord with the preset instruction rule, the mining trackless auxiliary transport vehicle is controlled to keep the initial shutdown state. By the aid of the method and the device, the death rate of unmanned technical accidents can be reduced, and intellectualization and unmanned coal mine trackless auxiliary transportation are promoted.

Description

Vehicle control method based on coal mine trackless auxiliary transport robot
Technical Field
The invention relates to the technical field of mining equipment, in particular to a vehicle control method based on a trackless auxiliary transportation robot for a coal mine.
Background
Coal mining dangerous posts are mainly distributed in operation places such as transportation, tunneling, coal mining machines and routing inspection, underground workers account for about 60 percent, and the number of accident deaths is as high as 85 percent. In order to fundamentally solve the safety production problem of the coal industry and improve the production efficiency of coal mines, a coal mine robot is urgently needed to replace miners to complete high-risk operation, and a new intelligent mining era is created. With the continuous progress of robotization, intellectualization and unmanned in the coal mine field, the transport robots comprise a carrying robot, an underground unmanned transport vehicle and the like which are clearly indicated in a coal mine robot key research and development catalog issued by the national coal mine safety supervision bureau. The underground trackless auxiliary transportation intellectualization and unmanned driving of the coal mine are the necessary way for the reduction of personnel, the efficiency improvement and the safe development of the mine.
The trackless auxiliary transportation of the coal mine mainly completes the transportation of people, accessories, equipment, materials and the like, and can be divided into two driving modes of diesel oil and storage batteries according to different power sources. The storage battery driving mode has the advantages of high efficiency, cleanness, environmental protection and the like, and becomes the mainstream driving mode of the trackless transport vehicle in the underground coal mine. The underground roadway of the coal mine is complex, the illumination is insufficient, the working environment is severe, and the failure rate and the accident mortality rate of the trackless auxiliary transport vehicle are high.
Disclosure of Invention
Aiming at the defects of the existing method, a vehicle control method based on a coal mine trackless auxiliary transport robot is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: a vehicle control method based on a coal mine trackless auxiliary transport robot is constructed, the coal mine trackless auxiliary transport robot is arranged on a mining trackless auxiliary transport vehicle and is used for controlling the mining trackless auxiliary transport vehicle, and the method comprises the following steps:
controlling the coal mine trackless auxiliary transport robot to be powered on, so that the auxiliary perception fusion early warning system, the state monitoring protection system and the anti-collision real-time monitoring system generate induction data after being powered on;
receiving instruction data obtained by analyzing the induction data by the perception fusion early warning system, the state monitoring and protecting system and the anti-collision real-time monitoring system, and comparing the instruction data with a preset instruction rule;
if the instruction data accord with a preset instruction rule, controlling the mining trackless auxiliary transport vehicle to execute a running-stopping operation and/or controlling an affiliated functional module of the mining trackless auxiliary transport vehicle to work; otherwise, if the instruction data do not accord with the preset instruction rule, controlling the mining trackless auxiliary transport vehicle to keep the initial shutdown state.
The sensing fusion early warning system is arranged at the front end of the mining trackless auxiliary transport vehicle, and is used for analyzing road conditions at the front end of the mining trackless auxiliary transport vehicle based on a visual image and making instruction data for judging whether the vehicle can pass or not;
the perception fusion early warning system generates a passing instruction VisSysCommd, and the VisSysCommd is defined to be 1 to represent that a vehicle can pass through; VisSysCommd-1 indicates that the vehicle is not passable.
The state monitoring and protecting system comprises a gas concentration monitoring module and a coal wall distance monitoring module;
the gas concentration monitoring module is used for acquiring gas concentration data GasCon of the position where the mining trackless auxiliary transport vehicle is located in real time and comparing the gas concentration data GasCon with a preset gas concentration threshold value [ GC ]min,GCmax]Comparing; when GC is satisfiedmin≤GasCon≤GCmaxGenerating monitoring gas concentration command data GClevel which is 1, or else, generating monitoring gas concentration command data GClevel which is-1;
the coal wall distance monitoring module is used for acquiring distance data LDistancetowall and RDistancetowall between the position of the mining trackless auxiliary transport vehicle and the left and right coal walls in real time and respectively corresponding to a preset left coal wall distance threshold value [ LDW ]min,LDWmax]And right coal wall distance threshold RDWmin,RDWmax]Comparing; defining the safe distance corresponding to the left and right coal walls as LDWSafed and RDWSafed;
for left coal wall distance monitoring:
if LDWSafed is less than or equal to LDistancetowall is less than or equal to LDWmaxWhen the mining trackless auxiliary transport vehicle runs safely, the generated instruction data for monitoring the left coal wall distance is LDWLevel 2;
if LDWminWhen the distance between the left coal wall and the left coal wall is not more than LDistansetowlall and not more than LDWSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is adjusted rightwards, and the generated instruction data for monitoring the distance between the left coal wall is LDWLevel 1;
otherwise, generating instruction data for monitoring the left coal wall distance as-1;
monitoring the distance of the right coal wall:
if RDWSafed is less than or equal to RDistancetowall is less than or equal to RDWmaxThe mining trackless auxiliary transport vehicle can safely run, and the generated command data for monitoring the distance between the right coal wall is RDWLevel 2;
if RDWminWhen the RDistancetowall is not more than RDWSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is leftward adjustment, and the generated instruction data for monitoring the distance between the right coal wall is RDWLevel equal to 1;
otherwise, generating command data for monitoring the distance between the right coal wall as RDWLevel-1.
The anti-collision real-time monitoring system is used for monitoring the distance between the mining trackless auxiliary transport vehicle and obstacles on the left side, the right side, the front side and the rear side, comparing the distance with a preset threshold value and generating corresponding instruction data according to a comparison result;
wherein, the anti-collision real-time monitoring system collects the distance LDistancetoObs from the left obstacle and the preset threshold value [ LDO (low dropout regulator) ]from the left obstaclemin,LDOmax]And comparing, defining the passable safety distance as LDOSafed, and then:
when LDOSafed is less than or equal to LDistancetoObs is less than or equal to LDOmaxWhen the mining trackless auxiliary transport vehicle can safely run, and the generated command data for monitoring the distance to the left obstacle is LDOLEvel 2;
when LDOminWhen the distance between LDistancetoObs and LDOSafed is not more than or equal to LDOSista, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is adjusted rightwards, and instruction data for monitoring the distance between left obstacles is generated, namely LDOLEvel is 1;
otherwise, generating instruction data for monitoring the distance between the left obstacles as LDOLEvel-1;
the anti-collision real-time monitoring system acquires the distance RDistanceToobs from the right-side obstacle and a preset left-side obstacle distance threshold value [ RDOmin,RDOmax]And comparing, defining the passable safety distance as RDOSafed, and then:
when RDOSafed is less than or equal to RDistancetoObs is less than or equal to RDOmaxWhen the mine trackless auxiliary transport vehicle can safely run, and the generated command data for monitoring the distance to the right obstacle is RDOLEvel 2;
when RDOminWhen RDistancetoobs is less than or equal to RDOSafed, the mining trackless assistanceThe transport vehicle can run but is in a dangerous area, the posture of the transport vehicle needs to be adjusted, the adjustment direction is leftward adjustment, and the generated instruction data for monitoring the distance to the right obstacle is RDOLEvel 1;
otherwise, generating command data for monitoring the distance between the right obstacle as RDOLEvel ═ 1;
the anti-collision real-time monitoring system acquires the distance FrontDistancetoObs from the front obstacle and a preset front obstacle distance threshold value [ FDO ]min,FDOmax]And comparing to define the passable safety distance as FDOSafed, and then:
when FDOSafed is less than or equal to FDistancetoObs is less than or equal to FDOmaxWhen the mine trackless auxiliary transport vehicle runs safely, generating instruction data for monitoring the distance from the front obstacle, wherein the instruction data is FDOLEvel 2;
when FDOminWhen the FDistancetoobs is not more than FDOSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the self posture needs to be adjusted, the adjustment direction is backward adjustment, and the generated instruction data for monitoring the distance from the front obstacle is RDOLEvel 1;
otherwise, generating instruction data for monitoring the front obstacle distance as FDOLEvel ═ 1;
the anti-collision real-time monitoring system collects the distance RearDistancestoObs from the rear obstacle and the preset threshold value of the distance from the front obstacle [ RearDO ]min,RearDOmax]And comparing, defining the passable safety distance as RearOSafed, and then:
when RearDesafed is less than or equal to RearDesistancetoObs is less than or equal to RearDOmaxThe mining trackless auxiliary transport vehicle can safely run, and the generated instruction data for monitoring the distance from the rear obstacle is RearDOLEvel 2;
when RearDOminWhen the distance between the trackless auxiliary transport vehicle and the rear obstacle is not more than RearDesistanceToObs and not more than RearDesFaged, the trackless auxiliary transport vehicle for the mine can run but is in a dangerous area, the posture of the trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is forward adjustment, and the generated instruction data for monitoring the distance between the trackless auxiliary transport vehicle and the rear obstacle is RearDescemevel 1;
otherwise, the instruction data for monitoring the rear obstacle distance is generated as rerdolevel ═ 1.
In the step of judging whether the instruction data meet the instruction rule, when the values of instruction data GCLevel, LDWLevel, RDWLevel, LDOLEvel, RDOLEvel, FDOLEvel, RearDOLEvel and VisSysCommd generated by the perception fusion early warning system, the state monitoring and protection system and the anti-collision real-time monitoring system are more than or equal to 1, the trackless auxiliary transport robot controls and starts the mining trackless auxiliary transport vehicle and the function module thereof, and if one of the instruction data is less than 1, the trackless auxiliary transport robot sends out a shutdown check instruction. Wherein, the affiliated functional module of mining trackless auxiliary transport vechicle includes at least: the system comprises a traction motor control module, a steering motor control module, a fan motor control module, a water pump motor control module, a BMS battery management module, a light control module, an oil pump motor control module, a sound-light voice alarm control module, a parking brake electric control switch steering valve and a service brake electric control proportional pressure reducing valve. Wherein the light control comprises signal light control and illuminating light control; when the mining trackless auxiliary transport vehicle moves forward, the left front illuminating lamp and the right front illuminating lamp are always on, and the signal lamps flicker.
The sound and light voice alarm control module is used for giving out voice alarm when the mining trackless auxiliary transport vehicle executes three operations of starting, advancing and retreating.
The invention is different from the prior art, and provides a vehicle control method based on a coal mine trackless auxiliary transport robot, which comprises the following steps: controlling the coal mine trackless auxiliary transport robot to be powered on, so that the auxiliary perception fusion early warning system, the state monitoring protection system and the anti-collision real-time monitoring system generate induction data after being powered on; receiving instruction data obtained by analyzing the induction data by a perception fusion early warning system, a state monitoring and protecting system and an anti-collision real-time monitoring system, and comparing the instruction data with a preset instruction rule; if the instruction data meet the preset instruction rule, controlling the mining trackless auxiliary transport vehicle to execute the running and stopping operation and/or controlling the function module attached to the mining trackless auxiliary transport vehicle to work; otherwise, if the instruction data do not accord with the preset instruction rule, the mining trackless auxiliary transport vehicle is controlled to keep the initial shutdown state. By the aid of the method and the device, the death rate of unmanned technical accidents can be reduced, and intellectualization and unmanned coal mine trackless auxiliary transportation are promoted.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a logic schematic diagram of a vehicle control method based on a trackless auxiliary transport robot for a coal mine provided by the invention.
Fig. 2 is a schematic diagram of installation of each functional module on a trackless auxiliary transport vehicle for a mine in a vehicle control method based on a trackless auxiliary transport robot for a coal mine provided by the invention.
Fig. 3 is a schematic structural diagram of a master-slave distributed control system in a vehicle control method based on a trackless auxiliary transport robot for a coal mine provided by the invention.
FIG. 4 is a schematic control flow diagram of a whole vehicle control slave unit in the vehicle control method based on the trackless auxiliary transport robot for the coal mine provided by the invention.
FIG. 5 is a schematic control flow diagram of a service braking control scheme in a vehicle control method based on a trackless auxiliary transport robot for coal mines, provided by the invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, the invention provides a vehicle control method based on a coal mine trackless auxiliary transport robot, the coal mine trackless auxiliary transport robot is arranged on a mine trackless auxiliary transport vehicle and used for controlling the mine trackless auxiliary transport vehicle, and the method comprises the following steps:
controlling the coal mine trackless auxiliary transport robot to be powered on, so that the auxiliary perception fusion early warning system, the state monitoring protection system and the anti-collision real-time monitoring system generate induction data after being powered on;
receiving instruction data obtained by analyzing the induction data by the perception fusion early warning system, the state monitoring and protecting system and the anti-collision real-time monitoring system, and comparing the instruction data with a preset instruction rule;
if the instruction data accord with a preset instruction rule, controlling the mining trackless auxiliary transport vehicle to execute a running-stopping operation and/or controlling an affiliated functional module of the mining trackless auxiliary transport vehicle to work; otherwise, if the instruction data do not accord with the preset instruction rule, controlling the mining trackless auxiliary transport vehicle to keep the initial shutdown state.
The sensing fusion early warning system is arranged at the front end of the mining trackless auxiliary transport vehicle, and is used for analyzing road conditions at the front end of the mining trackless auxiliary transport vehicle based on a visual image and making instruction data for judging whether the vehicle can pass or not;
the perception fusion early warning system generates a passing instruction VisSysCommd, and the VisSysCommd is defined to be 1 to represent that a vehicle can pass through; VisSysCommd-1 indicates that the vehicle is not passable.
The state monitoring and protecting system comprises a gas concentration monitoring module and a coal wall distance monitoring module;
the gas concentration monitoring module is used for acquiring gas concentration data GasCon of the position where the mining trackless auxiliary transport vehicle is located in real time and comparing the gas concentration data GasCon with a preset gas concentration threshold value [ GC ]min,GCmax]Comparing; when GC is satisfiedmin≤GasCon≤GCmaxGenerating monitoring gas concentration command data GClevel which is 1, or else, generating monitoring gas concentration command data GClevel which is-1;
the coal wall distance monitoring module is used for acquiring distance data LDistancetowall and RDistancetowall between the position of the mining trackless auxiliary transport vehicle and the left and right coal walls in real time and respectively corresponding to a preset left coal wall distance threshold value [ LDW ]min,LDWmax]And right coal wall distance threshold RDWmin,RDWmax]Comparing; defining the safe distance corresponding to the left and right coal walls as LDWSafed and RDWSafed;
for left coal wall distance monitoring:
if LDWSafed is less than or equal to LDistancetowall is less than or equal to LDWmaxWhen the mining trackless auxiliary transport vehicle runs safely, the generated instruction data for monitoring the left coal wall distance is LDWLevel 2;
if LDWminWhen the distance between the left coal wall and the left coal wall is not more than LDistansetowlall and not more than LDWSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is adjusted rightwards, and the generated instruction data for monitoring the distance between the left coal wall is LDWLevel 1;
otherwise, generating instruction data for monitoring the left coal wall distance as-1;
monitoring the distance of the right coal wall:
if RDWSafed is less than or equal to RDistancetowall is less than or equal to RDWmaxThe mining trackless auxiliary transport vehicle can safely run, and the generated command data for monitoring the distance between the right coal wall is RDWLevel 2;
if RDWminWhen the RDistancetowall is not more than RDWSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is leftward adjustment, and the generated instruction data for monitoring the distance between the right coal wall is RDWLevel equal to 1;
otherwise, generating command data for monitoring the distance between the right coal wall as RDWLevel-1.
The anti-collision real-time monitoring system is used for monitoring the distance between the mining trackless auxiliary transport vehicle and obstacles on the left side, the right side, the front side and the rear side, comparing the distance with a preset threshold value and generating corresponding instruction data according to a comparison result;
wherein, the anti-collision real-time monitoring system collects the distance LDistancetoObs from the left obstacle and the preset threshold value [ LDO (low dropout regulator) ]from the left obstaclemin,LDOmax]And comparing, defining the passable safety distance as LDOSafed, and then:
when LDOSafed is less than or equal to LDistancetoObs is less than or equal to LDOmaxWhen the mining trackless auxiliary transport vehicle can safely run, and the generated command data for monitoring the distance to the left obstacle is LDOLEvel 2;
when LDOminWhen the distance between LDistancetoObs and LDOSafed is not more than or equal to LDOSista, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is adjusted rightwards, and instruction data for monitoring the distance between left obstacles is generated, namely LDOLEvel is 1;
otherwise, generating instruction data for monitoring the distance between the left obstacles as LDOLEvel-1;
the anti-collision real-time monitoring system acquires the distance RDistanceToobs from the right-side obstacle and a preset left-side obstacle distance threshold value [ RDOmin,RDOmax]And comparing, defining the passable safety distance as RDOSafed, and then:
when RDOSafed is less than or equal to RDistancetoObs is less than or equal to RDOmaxWhen the mine trackless auxiliary transport vehicle can safely run, and the generated command data for monitoring the distance to the right obstacle is RDOLEvel 2;
when RDOminWhen RDistancetoObs is not more than RDOSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is leftward adjustment, and command data for monitoring the distance between the right obstacle is generated and is RDOLEvel 1;
otherwise, generating command data for monitoring the distance between the right obstacle as RDOLEvel ═ 1;
the anti-collision real-time monitoring system acquires the distance FrontDistancetoObs from the front obstacle and a preset front obstacle distance threshold value [ FDO ]min,FDOmax]And comparing to define the passable safety distance as FDOSafed, and then:
when FDOSafed is less than or equal to FDistancetoObs is less than or equal to FDOmaxWhen the mine trackless auxiliary transport vehicle runs safely, generating instruction data for monitoring the distance from the front obstacle, wherein the instruction data is FDOLEvel 2;
when FDOminWhen the FDistancetoobs is not more than FDOSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the self posture needs to be adjusted, the adjustment direction is backward adjustment, and the generated instruction data for monitoring the distance from the front obstacle is RDOLEvel 1;
otherwise, generating instruction data for monitoring the front obstacle distance as FDOLEvel ═ 1;
the anti-collision real-time monitoring system collects the distance RearDistancestoObs from the rear obstacle and the preset threshold value of the distance from the front obstacle [ RearDO ]min,RearDOmax]Make a comparisonDefining the passable safety distance as RearOSafed, then:
when RearDesafed is less than or equal to RearDesistancetoObs is less than or equal to RearDOmaxThe mining trackless auxiliary transport vehicle can safely run, and the generated instruction data for monitoring the distance from the rear obstacle is RearDOLEvel 2;
when RearDOminWhen the distance between the trackless auxiliary transport vehicle and the rear obstacle is not more than RearDesistanceToObs and not more than RearDesFaged, the trackless auxiliary transport vehicle for the mine can run but is in a dangerous area, the posture of the trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is forward adjustment, and the generated instruction data for monitoring the distance between the trackless auxiliary transport vehicle and the rear obstacle is RearDescemevel 1;
otherwise, the instruction data for monitoring the rear obstacle distance is generated as rerdolevel ═ 1.
In the step of judging whether the instruction data meet the instruction rule, when the values of instruction data GCLevel, LDWLevel, RDWLevel, LDOLEvel, RDOLEvel, FDOLEvel, RearDOLEvel and VisSysCommd generated by the perception fusion early warning system, the state monitoring and protection system and the anti-collision real-time monitoring system are more than or equal to 1, the trackless auxiliary transport robot controls and starts the mining trackless auxiliary transport vehicle and the function module thereof, and if one of the instruction data is less than 1, the trackless auxiliary transport robot sends out a shutdown check instruction.
Wherein, the affiliated functional module of mining trackless auxiliary transport vechicle includes at least: the system comprises a traction motor control module, a steering motor control module, a fan motor control module, a water pump motor control module, a BMS battery management module, a light control module, an oil pump motor control module, a sound-light voice alarm control module, a parking brake electric control switch steering valve and a service brake electric control proportional pressure reducing valve. Wherein the light control comprises signal light control and illuminating light control; when the mining trackless auxiliary transport vehicle moves forward, the left front illuminating lamp and the right front illuminating lamp are always on, and the signal lamps flicker.
The sound and light voice alarm control module is used for giving out voice alarm when the mining trackless auxiliary transport vehicle executes three operations of starting, advancing and retreating.
Specifically, as shown in fig. 3, in the process that the trackless auxiliary transport robot for the coal mine controls all the functional modules of the trackless auxiliary transport vehicle for the mine, the trackless auxiliary transport vehicle for the coal mine is controlled in two different types of modes. The two control modes are respectively master control and slave control; the function modules controlled through the main control mode specifically comprise a traction motor control module, a steering motor control module, a fan motor control module and a water pump motor control module; the slave control mode is controlled by a whole vehicle slave control unit controlled by a trackless auxiliary transport robot of a coal mine, and the functional modules controlled by the slave control mode specifically comprise a BMS battery management module, a light control module, an oil pump motor control module, a sound-light voice alarm control module, a parking brake electric control switch steering valve and a service brake electric control proportional pressure reducing valve.
The traction motor control module, the steering motor control module, the fan motor control module and the water pump motor control module are specifically a traction motor controller, a steering motor controller, a fan motor controller and a water pump motor controller, and are respectively connected with a traction motor, a steering motor, a fan motor and a water pump motor of the mining trackless auxiliary transport vehicle to control the working states of the traction motor, the steering motor, the fan motor and the water pump motor. The BMS battery management module, the light control module, the oil pump motor control module and the sound and light voice alarm control module are specifically a BMS battery system, a light controller, an oil pump motor controller and a sound and light voice alarm device, wherein the light controller is connected with a signal lamp and a lighting lamp for control, and the oil pump motor controller is connected with an oil pump motor for control. Each functional module in the slave control mode belongs to a functional module after the transport vehicle is started, and after the normal starting of the vehicle is determined, the whole vehicle slave control unit controls the functional module to realize corresponding functions.
The whole vehicle control main control unit completes: firstly, acquiring control instructions and data of a perception monitoring protection system, and controlling and protecting a trackless auxiliary transport vehicle after analysis; secondly, finishing command and data interaction with a traction motor controller in a CAN bus communication mode to realize control of front and rear traction motors; command and data interaction is completed with the steering motor control in a CAN bus communication mode, and control over front and rear steering motors is realized; completing the starting and stopping control of the fan motor in a hard connection mode with the fan motor controller; completing the starting and stopping control of the water pump motor by the water pump motor controller in a hard connection mode; and completing data interaction with the whole vehicle control slave control unit in a CAN bus communication mode.
The whole vehicle control slave unit completes firstly, completes instruction and data interaction with the BMS battery management system in a CAN bus communication mode, and realizes the control of the BMS battery management system; secondly, finishing command and data interaction with a light controller in a CAN bus communication mode to realize control of left front, left rear, right front and right rear signal lamps and illuminating lamps; the oil pump motor controller and the oil pump motor controller finish the starting and stopping control of the oil pump motor in a hard connection mode; fourthly, the sound-light voice alarm device and the sound-light voice alarm device complete sound-light voice alarm related to safety such as motor starting, vehicle advancing, vehicle backing and the like in a hard connection mode; controlling the parking brake electric control switch steering valve; and sixthly, controlling the electrically controlled proportional pressure reducing valve for service braking.
The processing flow of the whole vehicle main control unit is shown in fig. 1, and specifically comprises the following steps:
step 1: powering up and initializing the system, and executing the step 2;
step 2: acquiring and analyzing perception fusion early warning system data, and executing the step 3;
and step 3: acquiring and analyzing the data of the state monitoring and protecting system, and executing the step 4;
and 4, step 4: acquiring and analyzing anti-collision real-time monitoring system data, and executing the step 5;
and 5: generating a safety instruction level, and executing the step 6;
step 6: acquiring the data of a vehicle control slave unit, and executing the step 7;
and 7: judging whether the trackless transport robot can normally operate, if so, executing the step 8; otherwise, executing step 2;
and 8: starting a fan motor and a water pump motor, and executing the step 9;
and step 9: judging whether a control instruction of the perception fusion early warning system executes a straight-going control instruction or not, and if so, performing straight-going 10; otherwise, executing step 11;
step 10: carrying out CAN bus communication with a traction controller, executing a straight-moving control scheme, and executing the step 2;
step 11: judging whether the trackless transport robot executes a steering control instruction, if so, executing the step 12; otherwise, executing step 13;
step 12: carrying out CAN bus communication with a steering controller, executing a steering control scheme, and executing the step 2;
step 13: judging whether the trackless transport robot executes a service braking control scheme, if so, executing step 14; otherwise, executing step 2;
step 14: and executing the service braking control scheme.
The processing flow of the vehicle control slave unit is shown in fig. 4, and specifically includes the following steps:
step 1: completing system power-on and initialization, and executing step 2;
step 2: acquiring data of a main control unit of the whole vehicle control, and executing the step 3;
and step 3: judging whether the trackless auxiliary transport robot can normally run, if so, executing the step 4; otherwise, executing step 2;
and 4, step 4: starting the oil pump motor and executing the step 5;
and 5: releasing the parking brake, and executing the step 6;
step 6: carrying out light control according to the data of the whole vehicle control main control unit, and executing the step 7;
and 7: performing sound-light alarm control according to the whole vehicle control main control unit dataform, and executing the step 8;
and 8: judging whether to trigger service braking, if so, executing step 9; otherwise, executing step 6;
and step 9: and executing the driving execution control scheme.
The safety command level comprises a prediction monitoring level, an alarm speed reduction level, an emergency braking level and a whole vehicle power-off level. The light control comprises signal light control and illuminating light control; when the trackless transport robot moves forward, the left front illuminating lamp and the right front illuminating lamp are always on, and the signal lamps flicker. The sound and light alarm control comprises three voice alarm controls of starting, advancing and retreating of the trackless transport robot. The straight-going control scheme is realized by CAN bus communication between a finished automobile control main controller and a traction motor; the steering control scheme is realized by CAN bus communication between a vehicle control main controller and a steering motor.
As shown in fig. 5, the service brake control scheme is implemented by the vehicle control slave control unit according to the safety command level, and includes the following specific steps:
step 1: acquiring a security level command of a closed-off analysis whole vehicle control main control unit, and executing the step 2;
step 2: judging whether the safety level instruction is a prediction monitoring level, if so, executing the step 3; otherwise, executing step 4;
and step 3: keeping the vehicle speed unchanged, and executing the step 1;
and 4, step 4: judging whether the safety level instruction is an alarm speed reduction level, if so, executing the step 5; otherwise, executing step 6;
and 5: reducing the running speed of the trackless transport robot by X% according to the original running speed, and executing the step 1;
step 6: judging whether the safety level command is an emergency braking level, if so, executing the step 7; otherwise, executing step 8;
and 7: the trackless transport robot is stopped emergently, and step 13 is executed;
and 8: judging whether the safety level instruction is the complete machine power-off level, if so, executing the step 9; otherwise, executing step 10;
and step 9: the trackless transport robot is stopped emergently, and step 12 is executed;
step 10: step 11 is executed if the received and analyzed safety level instruction of the vehicle control main control unit is wrong;
step 11: reporting a safety level instruction fault, and executing a step 13;
step 12: the BMS is powered off and step 13 is performed;
step 13: and (6) ending.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (8)

1. The utility model provides a vehicle control method based on colliery trackless auxiliary transport robot, colliery trackless auxiliary transport robot sets up on mining trackless auxiliary transport vechicle for it is right mining trackless auxiliary transport vechicle controls, its characterized in that includes:
controlling the coal mine trackless auxiliary transport robot to be powered on, so that the auxiliary perception fusion early warning system, the state monitoring protection system and the anti-collision real-time monitoring system generate induction data after being powered on;
receiving instruction data obtained by analyzing the induction data by the perception fusion early warning system, the state monitoring and protecting system and the anti-collision real-time monitoring system, and comparing the instruction data with a preset instruction rule;
if the instruction data accord with a preset instruction rule, controlling the mining trackless auxiliary transport vehicle to execute a running-stopping operation and/or controlling an affiliated functional module of the mining trackless auxiliary transport vehicle to work; otherwise, if the instruction data do not accord with the preset instruction rule, controlling the mining trackless auxiliary transport vehicle to keep the initial shutdown state.
2. The coal mine trackless auxiliary transport robot-based vehicle control method according to claim 1, wherein the perception fusion early warning system is arranged at the front end of the mining trackless auxiliary transport vehicle, and is used for analyzing road conditions at the front end of the mining trackless auxiliary transport vehicle based on a visual image to make instruction data about whether the vehicle can pass or not;
the perception fusion early warning system generates a passing instruction VisSysCommd, and the VisSysCommd is defined to be 1 to represent that a vehicle can pass through; VisSysCommd-1 indicates that the vehicle is not passable.
3. The coal mine trackless auxiliary transport robot-based vehicle control method according to claim 1, wherein the state monitoring and protection system comprises a gas concentration monitoring module and a coal wall distance monitoring module;
the gas concentration monitoring module is used for acquiring gas concentration data GasCon of the position where the mining trackless auxiliary transport vehicle is located in real time and comparing the gas concentration data GasCon with a preset gas concentration threshold value [ GC ]min,GCmax]Comparing; when GC is satisfiedmin≤GasCon≤GCmaxGenerating monitoring gas concentration command data GClevel which is 1, or else, generating monitoring gas concentration command data GClevel which is-1;
the coal wall distance monitoring module is used for acquiring distance data LDistancetowall and RDistancetowall between the position of the mining trackless auxiliary transport vehicle and the left and right coal walls in real time and respectively corresponding to a preset left coal wall distance threshold value [ LDW ]min,LDWmax]And right coal wall distance threshold RDWmin,RDWmax]Comparing; defining the safe distance corresponding to the left and right coal walls as LDWSafed and RDWSafed;
for left coal wall distance monitoring:
if LDWSafed is less than or equal to LDistancetowall is less than or equal to LDWmaxWhen the mining trackless auxiliary transport vehicle runs safely, the generated instruction data for monitoring the left coal wall distance is LDWLevel 2;
if LDWminWhen the distance between the left coal wall and the left coal wall is not more than LDistansetowlall and not more than LDWSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is adjusted rightwards, and the generated instruction data for monitoring the distance between the left coal wall is LDWLevel 1;
otherwise, generating instruction data for monitoring the left coal wall distance as-1;
monitoring the distance of the right coal wall:
if RDWSafed is less than or equal to RDistancetowall is less than or equal to RDWmaxWhen the temperature of the water is higher than the set temperature,the mining trackless auxiliary transport vehicle can safely run, and the command data for monitoring the distance between the right coal wall is RDWLevel 2;
if RDWminWhen the RDistancetowall is not more than RDWSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is leftward adjustment, and the generated instruction data for monitoring the distance between the right coal wall is RDWLevel equal to 1;
otherwise, generating command data for monitoring the distance between the right coal wall as RDWLevel-1.
4. The coal mine trackless auxiliary transport robot-based vehicle control method according to claim 1, wherein the anti-collision real-time monitoring system is used for monitoring the distance between the mine trackless auxiliary transport vehicle and obstacles at the left side, the right side, the front side and the rear side, comparing the distance with a preset threshold value, and generating corresponding instruction data according to the comparison result;
wherein, the anti-collision real-time monitoring system collects the distance LDistancetoObs from the left obstacle and the preset threshold value [ LDO (low dropout regulator) ]from the left obstaclemin,LDOmax]And comparing, defining the passable safety distance as LDOSafed, and then:
when LDOSafed is less than or equal to LDistancetoObs is less than or equal to LDOmaxWhen the mining trackless auxiliary transport vehicle can safely run, and the generated command data for monitoring the distance to the left obstacle is LDOLEvel 2;
when LDOminWhen the distance between LDistancetoObs and LDOSafed is not more than or equal to LDOSista, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is adjusted rightwards, and instruction data for monitoring the distance between left obstacles is generated, namely LDOLEvel is 1;
otherwise, generating instruction data for monitoring the distance between the left obstacles as LDOLEvel-1;
the anti-collision real-time monitoring system acquires the distance RDistanceToobs from the right-side obstacle and a preset left-side obstacle distance threshold value [ RDOmin,RDOmax]And comparing, defining the passable safety distance as RDOSafed, and then:
when RDOSafed≤RDistancetoObs≤RDOmaxWhen the mine trackless auxiliary transport vehicle can safely run, and the generated command data for monitoring the distance to the right obstacle is RDOLEvel 2;
when RDOminWhen RDistancetoObs is not more than RDOSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the posture of the mining trackless auxiliary transport vehicle needs to be adjusted, the adjustment direction is leftward adjustment, and command data for monitoring the distance between the right obstacle is generated and is RDOLEvel 1;
otherwise, generating command data for monitoring the distance between the right obstacle as RDOLEvel ═ 1;
the anti-collision real-time monitoring system acquires the distance FrontDistancetoObs from the front obstacle and a preset front obstacle distance threshold value [ FDO ]min,FDOmax]And comparing to define the passable safety distance as FDOSafed, and then:
when FDOSafed is less than or equal to FDistancetoObs is less than or equal to FDOmaxWhen the mine trackless auxiliary transport vehicle runs safely, generating instruction data for monitoring the distance from the front obstacle, wherein the instruction data is FDOLEvel 2;
when FDOminWhen the FDistancetoobs is not more than FDOSafed, the mining trackless auxiliary transport vehicle can run but is in a dangerous area, the self posture needs to be adjusted, the adjustment direction is backward adjustment, and the generated instruction data for monitoring the distance from the front obstacle is RDOLEvel 1;
otherwise, generating instruction data for monitoring the front obstacle distance as FDOLEvel ═ 1;
the anti-collision real-time monitoring system collects the distance RearDistancestoObs from the rear obstacle and the preset threshold value of the distance from the front obstacle [ RearDO ]min,RearDOmax]And comparing, defining the passable safety distance as RearOSafed, and then:
when RearDesafed is less than or equal to RearDesistancetoObs is less than or equal to RearDOmaxThe mining trackless auxiliary transport vehicle can safely run, and the generated instruction data for monitoring the distance from the rear obstacle is RearDOLEvel 2;
when RearDOminWhen the RearDesistanceToObs is less than or equal to RearDesafed, the mining trackless auxiliary transport vehicle can run, butIn a dangerous area, the posture of the user needs to be adjusted, the adjustment direction is forward adjustment, and the generated instruction data for monitoring the distance from the rear obstacle is RearDOLEvel 1;
otherwise, the instruction data for monitoring the rear obstacle distance is generated as rerdolevel ═ 1.
5. The coal mine trackless auxiliary transport robot-based vehicle control method according to claim 1, wherein in the step of judging whether the instruction data conforms to the instruction rule, when the values of the instruction data GCLevel, LDWLevel, RDWLevel, LDOLevel, RDOLevel, FDOLevel, rerdolevel and vissyscomd generated by the perception fusion early warning system, the state monitoring and protection system and the anti-collision real-time monitoring system are greater than or equal to 1, the trackless auxiliary transport robot controls to start the mining trackless auxiliary transport vehicle and the functional modules thereof, and if one of the instruction data is less than 1, the trackless auxiliary transport robot issues a shutdown check instruction.
6. The vehicle control method based on the coal mine trackless auxiliary transport robot of claim 1, wherein the attached functional modules of the mining trackless auxiliary transport vehicle at least comprise: the system comprises a traction motor control module, a steering motor control module, a fan motor control module, a water pump motor control module, a BMS battery management module, a light control module, an oil pump motor control module, a sound-light voice alarm control module, a parking brake electric control switch steering valve and a service brake electric control proportional pressure reducing valve.
7. The coal mine trackless auxiliary transport robot-based vehicle control method according to claim 6, wherein the light control includes signal light control and illuminating light control; when the mining trackless auxiliary transport vehicle moves forward, the left front illuminating lamp and the right front illuminating lamp are always on, and the signal lamps flicker.
8. The coal mine trackless auxiliary transport robot-based vehicle control method according to claim 6, wherein the acousto-optic voice alarm control module is used for giving a voice alarm when the mining trackless auxiliary transport vehicle performs three operations of starting, advancing and retreating.
CN202011064741.8A 2020-09-30 2020-09-30 Vehicle control method based on coal mine trackless auxiliary transport robot Pending CN112319503A (en)

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