CN112356788B - Remote awakening device of trackless auxiliary transport robot for coal mine - Google Patents
Remote awakening device of trackless auxiliary transport robot for coal mine Download PDFInfo
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- CN112356788B CN112356788B CN202011060032.2A CN202011060032A CN112356788B CN 112356788 B CN112356788 B CN 112356788B CN 202011060032 A CN202011060032 A CN 202011060032A CN 112356788 B CN112356788 B CN 112356788B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to a remote awakening device of a trackless auxiliary transport robot for a coal mine, which is used for receiving wireless signals transmitted by a ground remote dispatching system according to the characteristics of underground working conditions and roadways of the coal mine, controlling and awakening a storage battery power supply device according to the information content of the wireless signals judged by a wireless communication module, detecting states of a BMS battery management unit and a whole vehicle, and controlling the storage battery power supply device to enable the whole vehicle to be powered on at high voltage under the condition that the states of the BMS battery management unit and the whole vehicle are judged to be normal, so that the functions of whole vehicle walking, oil pump starting and the like are realized. 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
Technical Field
The invention relates to the technical field of mining equipment, in particular to a remote awakening device of a trackless auxiliary transportation robot for a coal mine.
Background
The trackless rubber-tyred car faces the problems of bad working environment, insufficient illumination, complex transportation road and the like when working in the pit, so that vehicles driven by personnel are full of uncertainty, and the accident rate is high. The trackless auxiliary transportation robot for the coal mine has the characteristics of safety and high efficiency which are urgently required by an underground transportation system, the application of the trackless auxiliary transportation robot on a road vehicle gradually becomes mature, but the whole research aiming at the underground unmanned technology of the coal mine is still in a starting stage.
Disclosure of Invention
Aiming at the defects of the existing method, the remote awakening device of the trackless auxiliary transport robot for the coal mine is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a long-range awakening device of colliery trackless auxiliary transport robot, colliery trackless auxiliary transport robot set up on mining trackless auxiliary transport vechicle, are used for rightly mining trackless auxiliary transport vechicle controls, includes:
a mechanical part and an electrical control part;
the mechanical part is an explosion-proof box body, and a main cavity and a wiring cavity are arranged in an inner cavity of the explosion-proof box body in a separated mode; the main cavity covers the opening of the main cavity through a main cavity door plate, and the wiring cavity covers the opening of the wiring cavity through a wiring cavity door plate; meanwhile, two strong-current wiring terminals are arranged to penetrate through the partition board between the main cavity and the wiring cavity;
the electrical control part is fixed in the mechanical part and comprises:
the wireless communication module is used for receiving wireless signals transmitted by the ground remote dispatching system and judging the information contained in the signals;
the power battery awakening module is connected with a storage battery power supply device of the mining trackless auxiliary transport vehicle and used for controlling to awaken the storage battery power supply device according to the wireless signal information content judged by the wireless communication module and electrifying the BMS battery management unit so as to ensure that the whole vehicle is electrified at low voltage;
the self-checking module is used for detecting the states of the BMS battery management unit and the whole vehicle after the whole vehicle is powered on at low voltage, and determining whether the states of the BMS battery management unit and the whole vehicle are normal or not;
and the remote wake-up module is used for controlling the storage battery power supply device to enable the whole vehicle to be powered on under the condition that the states of the BMS battery management unit and the whole vehicle are judged to be normal, so that the functions of whole vehicle walking and oil pump starting are realized.
Wherein, battery power supply unit includes: the system comprises a switching power supply IC1, a BMS battery management unit IC2, a vehicle controller IC3, a relay control normally-open switch IC4, a unidirectional conducting diode IC6, a first current-limiting resistor IC7, a MOS (metal oxide semiconductor) tube IC8, a first wireless receiving module IC10, a second current-limiting resistor IC11, a first filter capacitor IC12, a second filter capacitor IC13, a power supply module IC14, a third current-limiting resistor IC15, a fourth current-limiting resistor IC16, a third filter capacitor IC17, a light-emitting diode IC18, a first pull-up resistor IC19, a first optical coupling isolation IC21, a single chip IC22, a second pull-up resistor IC23, a second optical coupling isolation IC24, a relay IC25 and a spare lead-acid battery IC 26;
wherein, BMS battery management unit IC2 and vehicle control unit IC3 are connected to switching power supply IC1 one end, and the other end is connected to relay control normally opens switch IC4 one end, and the traction battery is connected to relay control normally opens switch IC4 other end, and its voltage rating is: DC 320V; the standby lead-acid storage battery IC26 is connected to the grid of the MOS tube IC8 through a first current-limiting resistor IC7 of a unidirectional conducting diode IC6, the drain set of the MOS tube IC8 is connected with the first wireless receiving module IC10 through a second current-limiting resistor IC11, and a resistor IC9 is arranged between the grid and the drain set of the MOS tube IC 8; the source set of the MOS transistor IC8 is connected to the anode of the lead-acid storage battery IC 26; the lead-acid storage battery IC26 is connected to a first end of the power supply module IC14, and the first filter capacitor IC12 is arranged between a source set of the MOS transistor IC8 and a second end of the power supply module IC 14; the third filter capacitor IC17 is disposed between the third terminal of the power module IC14 and the fourth terminal of the power module IC 14; one ends of the third current-limiting resistor IC15 and the fourth current-limiting resistor IC16 are both connected with the third end of the power module IC14, the light-emitting diode IC18 is connected with the other end of the fourth current-limiting resistor IC16, and the other end of the light-emitting diode IC18 is connected with the fourth end of the power module IC 14; the first pull-up resistor IC19 and the second wireless receiving module IC20 are connected to the input end of the first optical coupling isolation IC21, the output end of the first optical coupling isolation IC21 is connected to the input end of the single chip microcomputer IC22, the output ends of the second pull-up resistor IC23 and the single chip microcomputer IC22 are connected to the input end of the second optical coupling isolation IC24, and the output end of the second optical coupling isolation IC24 is connected to the relay IC 25.
Wherein, all set up the handle in order to pull on main cavity door plant and the wiring chamber door plant.
Wherein, the electric part is fixed to be set up in the owner intracavity, is connected to the lithium cell battery through forceful electric power terminal and wiring chamber.
The lithium battery pack is obtained by connecting a plurality of lithium battery monomers in series; each lithium battery monomer is provided with a temperature, voltage and current acquisition circuit.
The temperature, voltage and current acquisition circuits of the lithium battery monomers are connected to the BMS battery management unit through control lines so as to send the temperature, voltage and current parameters of each lithium battery monomer to the BMS battery management unit.
The remote awakening device is characterized in that a wireless signal transmitted by a ground remote dispatching system is received, and the battery power supply device is controlled to be awakened according to the information content of the wireless signal judged by the wireless communication module according to the characteristics of underground working conditions and roadways of the coal mine, so that the states of a BMS battery management unit and the whole vehicle are detected, and the battery power supply device is controlled to enable the whole vehicle to be powered on under high voltage under the condition that the states of the BMS battery management unit and the whole vehicle are judged to be normal, so that the functions of whole vehicle walking and the like are realized. 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 coal mine trackless auxiliary transport robot remote wake-up device provided by the invention.
Fig. 2 is a schematic circuit diagram of a storage battery power supply device in a coal mine trackless auxiliary transport robot remote wake-up device provided by the invention.
Fig. 3 is a schematic structural diagram of a mechanical part of the trackless auxiliary transport robot remote wake-up device for a coal mine 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.
The invention provides a remote awakening device of a trackless auxiliary transport robot for a coal mine, and the flow of the remote awakening device is shown in figure 1. The trackless auxiliary transport robot for the coal mine is arranged on a trackless auxiliary transport vehicle for the mine and is used for controlling the trackless auxiliary transport vehicle for the mine, and comprises:
a mechanical part and an electrical control part;
as shown in fig. 3, the mechanical part is an explosion-proof box body 1, and a main cavity and a wiring cavity are arranged in the inner cavity of the explosion-proof box body 1 in a separated manner; the main cavity covers the opening of the main cavity through a main cavity door plate 3, and the wiring cavity covers the opening of the wiring cavity through a wiring cavity door plate 2; meanwhile, two strong-current wiring terminals are arranged to penetrate through the partition board between the main cavity and the wiring cavity;
the electrical control part is fixed in the mechanical part and comprises:
the wireless communication module is used for receiving wireless signals transmitted by the ground remote dispatching system and judging the information contained in the signals;
the power battery awakening module is connected with a storage battery power supply device of the mining trackless auxiliary transport vehicle and used for controlling the awakening of the storage battery power supply device according to the wireless signal information content judged by the wireless communication module and electrifying the BMS battery management unit so as to enable the whole vehicle to be electrified at low voltage;
the self-checking module is used for detecting the states of the BMS battery management unit and the whole vehicle after the whole vehicle is powered on at low voltage, and determining whether the states of the BMS battery management unit and the whole vehicle are normal or not;
and the remote wake-up module is used for controlling the storage battery power supply device to enable the whole vehicle to be powered on under the condition that the states of the BMS battery management unit and the whole vehicle are judged to be normal, so that the functions of whole vehicle walking and oil pump starting are realized.
As shown in fig. 2, the battery power supply apparatus includes: the system comprises a switching power supply IC1, a BMS battery management unit IC2, a vehicle controller IC3, a relay control normally-open switch IC4, a unidirectional conducting diode IC6, a first current-limiting resistor IC7, a MOS (metal oxide semiconductor) tube IC8, a first wireless receiving module IC10, a second current-limiting resistor IC11, a first filter capacitor IC12, a second filter capacitor IC13, a power supply module IC14, a third current-limiting resistor IC15, a fourth current-limiting resistor IC16, a third filter capacitor IC17, a light-emitting diode IC18, a first pull-up resistor IC19, a first optical coupling isolation IC21, a single chip IC22, a second pull-up resistor IC23, a second optical coupling isolation IC24, a relay IC25 and a spare lead-acid battery IC 26;
one end of the switching power supply IC1 is connected with the BMS battery management unit IC2 and the vehicle controller IC3, the other end of the switching power supply IC1 is connected with one end of the relay control normally open switch IC4, and the other end of the relay control normally open switch IC4 is connected with the DC 320; the standby lead-acid storage battery IC26 is connected to the grid of the MOS tube IC8 through a first current-limiting resistor IC7 of a unidirectional conducting diode IC6, the drain set of the MOS tube IC8 is connected with the first wireless receiving module IC10 through a second current-limiting resistor IC11, and a resistor IC9 is arranged between the grid and the drain set of the MOS tube IC 8; the source set of the MOS transistor IC8 is connected to the anode of the lead-acid storage battery IC 26; the lead-acid storage battery IC26 is connected to a first end of the power supply module IC14, and the first filter capacitor IC12 is arranged between a source set of the MOS transistor IC8 and a second end of the power supply module IC 14; the third filter capacitor IC17 is disposed between the third terminal of the power module IC14 and the fourth terminal of the power module IC 14; one ends of the third current-limiting resistor IC15 and the fourth current-limiting resistor IC16 are both connected with the third end of the power module IC14, the light-emitting diode IC18 is connected with the other end of the fourth current-limiting resistor IC16, and the other end of the light-emitting diode IC18 is connected with the fourth end of the power module IC 14; the first pull-up resistor IC19 and the second wireless receiving module IC20 are connected to the input end of the first optical coupling isolation IC21, the output end of the first optical coupling isolation IC21 is connected to the input end of the single chip microcomputer IC22, the output ends of the second pull-up resistor IC23 and the single chip microcomputer IC22 are connected to the input end of the second optical coupling isolation IC24, and the output end of the second optical coupling isolation IC24 is connected to the relay IC 25.
Wherein, set up handle 5 and 4 respectively on main cavity door plant 3 and the wiring chamber door plant 2 in order to pull.
Wherein, the electric part is fixed to be set up in the owner intracavity, is connected to the lithium cell battery through forceful electric power terminal and wiring chamber.
The lithium battery pack is obtained by connecting a plurality of lithium battery monomers in series; each lithium battery monomer is provided with a temperature, voltage and current acquisition circuit.
The temperature, voltage and current acquisition circuits of the lithium battery monomers are connected to the BMS battery management unit through control lines so as to send the temperature, voltage and current parameters of each lithium battery monomer to the BMS battery management unit.
The ground remote dispatching system is in real-time communication with the vehicle-mounted wireless signal receiving device through a 5G wireless communication technology, if the vehicle-mounted wireless signal receiving device receives a starting signal, the battery management unit BMS is controlled to be powered on, meanwhile, the low-voltage system is powered on, the whole vehicle controller works, and the system self-checks. If the vehicle-mounted wireless signal receiving device does not receive the starting signal, the battery management unit continues to keep the dormant state. And if the system self-test is normal, controlling the high-voltage system to be powered on. And if the self-checking is abnormal, uploading the fault code to a ground dispatching room through a 5G wireless transmission technology. The system self-checks the whole vehicle, and after the high-voltage system is electrified, the oil pump system of the vehicle can be remotely controlled to start through the ground dispatching system, so that the vehicle can walk. Meanwhile, the autonomous walking and unmanned driving of the vehicle can be displayed. In the running process of the vehicle, the running state and data of the vehicle can be uploaded to the ground dispatching room in real time, and real-time monitoring in the running process of the vehicle is realized.
The invention develops the design research of the unmanned system of the storage battery trackless rubber-tyred vehicle aiming at the underground working condition and the roadway characteristics of the coal mine, and the research and development of the unmanned remote awakening device have practical significance for the future popularization of the unmanned anti-explosion trackless rubber-tyred vehicle. Key factors for the construction and development of smart mines. The comprehensive perception, fusion and cooperative sharing of multi-source heterogeneous data such as people, equipment and environment are taken as the basis, the value of mining engineering data activated by intelligent algorithms such as big data, cloud computing and artificial intelligence is taken as the core, the target and the framework of data-driven smart mine construction are provided, and along with the research and development of the technology of the Internet of things, particularly along with the development of 5G technology, big data and cloud platform technology, the underground unmanned trackless rubber-tyred vehicle is very promising in the future. The popularization of the trackless auxiliary transportation robot for the coal mine inevitably brings the re-revolution of the coal mine, realizes unmanned operation in the underground, reduces personnel and improves efficiency, and is unmanned and safe.
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 (5)
1. The utility model provides a long-range awakening device of colliery trackless auxiliary transport robot, colliery trackless auxiliary transport robot sets up on mining trackless auxiliary transport vechicle, is used for rightly mining trackless auxiliary transport vechicle controls its characterized in that, includes: a mechanical part and an electrical control part;
the mechanical part is an explosion-proof box body, and a main cavity and a wiring cavity are arranged in an inner cavity of the explosion-proof box body in a separated mode; the main cavity covers the opening of the main cavity through a main cavity door plate, and the wiring cavity covers the opening of the wiring cavity through a wiring cavity door plate; meanwhile, two strong-current wiring terminals are arranged to penetrate through the partition board between the main cavity and the wiring cavity;
the electrical control part is fixed in the mechanical part and comprises:
the wireless communication module is used for receiving wireless signals transmitted by the ground remote dispatching system and judging the information contained in the signals;
the power battery awakening module is connected with a storage battery power supply device of the mining trackless auxiliary transport vehicle and used for controlling to awaken the storage battery power supply device according to the wireless signal information content judged by the wireless communication module and electrifying the BMS battery management unit so as to ensure that the whole vehicle is electrified at low voltage;
the self-checking module is used for detecting the states of the BMS battery management unit and the whole vehicle after the whole vehicle is powered on at low voltage, and determining whether the states of the BMS battery management unit and the whole vehicle are normal or not;
the remote wake-up module is used for controlling the storage battery power supply device to enable the whole vehicle to be powered on under the condition that the BMS battery management unit and the whole vehicle are judged to be normal, so that the functions of whole vehicle walking and oil pump starting are realized;
the battery power supply device includes: the system comprises a switching power supply IC1, a BMS battery management unit IC2, a vehicle controller IC3, a relay control normally-open switch IC4, a unidirectional conducting diode IC6, a first current-limiting resistor IC7, a MOS (metal oxide semiconductor) tube IC8, a first wireless receiving module IC10, a second current-limiting resistor IC11, a first filter capacitor IC12, a second filter capacitor IC13, a power supply module IC14, a third current-limiting resistor IC15, a fourth current-limiting resistor IC16, a third filter capacitor IC17, a light-emitting diode IC18, a first pull-up resistor IC19, a first optical coupling isolation IC21, a single chip IC22, a second pull-up resistor IC23, a second optical coupling isolation IC24, a relay IC25 and a spare lead-acid battery IC 26;
one end of a switching power supply IC1 is connected with a BMS battery management unit IC2 and a vehicle controller IC3, the other end of the switching power supply IC1 is connected with one end of a relay control normally open switch IC4, the other end of the relay control normally open switch IC4 is connected with a traction battery, and the voltage grade of the traction battery is DC 320V; the standby lead-acid storage battery IC26 is connected to the grid of the MOS tube IC8 through a first current-limiting resistor IC7 of a unidirectional conducting diode IC6, the drain set of the MOS tube IC8 is connected with the first wireless receiving module IC10 through a second current-limiting resistor IC11, and a resistor IC9 is arranged between the grid and the drain set of the MOS tube IC 8; the source set of the MOS transistor IC8 is connected to the anode of the lead-acid storage battery IC 26; the lead-acid storage battery IC26 is connected to a first end of the power supply module IC14, and the first filter capacitor IC12 is arranged between a source set of the MOS transistor IC8 and a second end of the power supply module IC 14; the third filter capacitor IC17 is disposed between the third terminal of the power module IC14 and the fourth terminal of the power module IC 14; one ends of the third current-limiting resistor IC15 and the fourth current-limiting resistor IC16 are both connected with the third end of the power module IC14, the light-emitting diode IC18 is connected with the other end of the fourth current-limiting resistor IC16, and the other end of the light-emitting diode IC18 is connected with the fourth end of the power module IC 14; the first pull-up resistor IC19 and the second wireless receiving module IC20 are connected to the input end of the first optical coupling isolation IC21, the output end of the first optical coupling isolation IC21 is connected to the input end of the single chip microcomputer IC22, the output ends of the second pull-up resistor IC23 and the single chip microcomputer IC22 are connected to the input end of the second optical coupling isolation IC24, and the output end of the second optical coupling isolation IC24 is connected to the relay IC 25.
2. The remote awakening device of coal mine trackless auxiliary transport robot of claim 1, wherein handles are arranged on the main cavity door panel and the wiring cavity door panel for pulling.
3. The remote awakening device of the coal mine trackless auxiliary transport robot as claimed in claim 2, wherein the electrical part is fixedly arranged in the main cavity and is connected to the lithium battery pack through a strong electric binding post and a wiring cavity.
4. The remote awakening device for the coal mine trackless auxiliary transport robot as claimed in claim 1, wherein the lithium battery pack is obtained by connecting a plurality of lithium battery cells in series; each lithium battery monomer is provided with a temperature, voltage and current acquisition circuit.
5. The remote awakening device of the coal mine trackless auxiliary transport robot as claimed in claim 4, wherein the temperature, voltage and current acquisition circuits of the lithium battery cells are connected to the BMS battery management unit through control lines so as to send the temperature, voltage and current parameters of each lithium battery cell to the BMS battery management unit.
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| CN202011060032.2A CN112356788B (en) | 2020-09-30 | 2020-09-30 | Remote awakening device of trackless auxiliary transport robot for coal mine |
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| CN202011060032.2A CN112356788B (en) | 2020-09-30 | 2020-09-30 | Remote awakening device of trackless auxiliary transport robot for coal mine |
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| CN113162193B (en) * | 2021-05-11 | 2023-01-13 | 中国煤炭科工集团太原研究院有限公司 | Mining storage battery pack identification method and system |
| CN116605055B (en) * | 2023-07-19 | 2023-11-24 | 宁德时代新能源科技股份有限公司 | Signal processing circuit, wake-up device and battery management system |
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