CN113085917B - Wheel-rail combined type unmanned underground continuous transport vehicle and control method thereof - Google Patents

Wheel-rail combined type unmanned underground continuous transport vehicle and control method thereof Download PDF

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Publication number
CN113085917B
CN113085917B CN202110507290.9A CN202110507290A CN113085917B CN 113085917 B CN113085917 B CN 113085917B CN 202110507290 A CN202110507290 A CN 202110507290A CN 113085917 B CN113085917 B CN 113085917B
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rail
vehicle
chassis
wheel
transport vehicle
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CN113085917A (en
Inventor
鲍久圣
王陈
阴妍
葛世荣
鲍周洋
艾俊伟
王茂森
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B61RAILWAYS
    • B61DBODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D3/00Wagons or vans
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60FVEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F1/00Vehicles for use both on rail and on road; Conversions therefor
    • B60F1/02Vehicles for use both on rail and on road; Conversions therefor with rail and road wheels on the same axle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B61RAILWAYS
    • B61BRAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B12/00Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
    • B61B12/02Suspension of the load; Guiding means, e.g. wheels; Attaching traction cables
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B61RAILWAYS
    • B61BRAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B12/00Component parts, details or accessories not provided for in groups B61B7/00 - B61B11/00
    • B61B12/06Safety devices or measures against cable fracture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B61RAILWAYS
    • B61BRAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B3/00Elevated railway systems with suspended vehicles
    • B61B3/02Elevated railway systems with suspended vehicles with self-propelled vehicles

Abstract

The invention discloses a wheel-rail combined type unmanned underground continuous transport vehicle and a control method thereof, wherein the wheel-rail combined type unmanned underground continuous transport vehicle comprises an unmanned system, a 'sky rail-ground' autonomous conversion system and a transport vehicle body; the transport vehicle body comprises a chassis, an object carrying platform and a rubber track composite wheel; the unmanned system comprises a multi-line laser radar, a depth camera, a millimeter wave radar, a camera, a UWB positioning tag, an ultrasonic sensor, an industrial personal computer and a vehicle control unit, wherein each sensor is arranged on a chassis and is electrically connected with the industrial personal computer; the 'sky rail-ground' automatic conversion system comprises a hydraulic upright post and a driving brake device, wherein the bottom end of the hydraulic upright post is arranged on a chassis, and the top end of the hydraulic upright post is provided with the driving brake device. The invention can run under three road conditions of a sky rail, a ground rail and the ground in the well, and can realize the autonomous switching between the sky rail and a roadway road surface, between the sky rail and the ground rail and between the roadway road surface and the ground rail.

Description

Wheel-rail combined type unmanned underground continuous transport vehicle and control method thereof
Technical Field
The invention relates to an underground continuous transport vehicle, in particular to a wheel-rail combined unmanned underground continuous transport vehicle and a control method thereof.
Background
The underground road condition of the coal mine is extremely complex, and different transportation equipment is often required for different road conditions. According to different underground road condition characteristics, the main auxiliary transportation equipment comprises an electric locomotive, a monorail crane and a trackless rubber-tyred vehicle, wherein the electric locomotive is mainly applied to a horizontal long straight roadway capable of laying a track, the trackless rubber-tyred vehicle is mainly used for a roadway which has a large gradient and is not suitable for laying the track, and the monorail crane is required to be used for part of the roadway. Due to the complexity, almost all coal mines cannot realize one-car-to-bottom continuous transportation, but are completed by the mutual cooperation of various transportation devices, and in the process of transportation device conversion, materials need to be reloaded, a large number of personnel are needed, time and labor are consumed, and the efficiency of a coal mine transportation system is severely limited. In addition, the underground working environment is severe, the illumination is insufficient, the road is complex, the accident rate of coal mine transportation caused by the severe underground working environment is increased year by year, and a great part of accidents are completely or partially related to the misoperation of a driver. Therefore, measures for improving the efficiency and safety of the underground auxiliary transportation equipment are urgently needed.
The unmanned vehicle is a technology which enables a vehicle to sense the surrounding environment by means of a sensor and a computer, acts at the next moment according to the surrounding environment and the vehicle autonomously completes the action, has the technical characteristics of automation, high efficiency and safety, is urgently needed by the underground transportation system at present, and has gradually matured in application of the unmanned vehicle on a road vehicle after years of development. At present, the unmanned technology of underground transportation vehicles is researched, the invention patent with the patent application number of 202010566243.7 and the name of 'an underground unmanned material transporting vehicle control system' discloses an unmanned control system comprising a plurality of material transporting vehicles. The invention discloses a patent with the patent application number of 201810095006.X and the name of an intelligent vehicle-mounted system of a trackless rubber-tyred vehicle, an underground vehicle dispatching system and a control method.
In terms of the current situation of underground auxiliary transportation, although the research on trackless rubber-tyred vehicles, monorail cranes and electric locomotives is mature, the underground multi-road-condition self-adaptive transport vehicle has not been researched yet, further, unmanned driving aiming at the vehicles is not involved, and the research on the "sky rail-ground rail-roadway ground" multi-road-condition self-adaptive transport vehicle can realize one-vehicle-to-bottom continuous transportation, does not need to be transported for many times, can greatly improve the underground transportation efficiency of coal mines, and the research on the unmanned driving technology of the wheel rail compound transport vehicle can greatly improve the safety of a transport system and accelerate the intelligent mine construction.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a wheel-rail combined unmanned underground continuous transport vehicle and a control method thereof, so as to solve the technical problems.
In order to achieve the purpose, the invention adopts the technical scheme that: a wheel-rail combined type unmanned underground continuous transport vehicle comprises an unmanned system, an autonomous switching system of 'sky rail-ground' and a transport vehicle body;
the carrier vehicle body comprises a chassis, an object carrying platform and rubber rail composite wheels, wherein the rubber rail composite wheels are arranged on two sides of the chassis, and the object carrying platform is arranged on the upper surface of the chassis;
the unmanned system comprises a multi-line laser radar, a depth camera, a millimeter wave radar, a camera, a UWB positioning tag, an ultrasonic sensor, an industrial personal computer and a vehicle control unit, the unmanned system is arranged on the chassis, and the multi-line laser radar, the depth camera, the millimeter wave radar, the camera, the UWB positioning tag and the ultrasonic sensor are all electrically connected with the industrial personal computer;
the 'sky rail-ground' automatic conversion system comprises a hydraulic upright post and a driving brake device, wherein the bottom end of the hydraulic upright post is arranged on a chassis, and the top end of the hydraulic upright post is provided with the driving brake device.
Furthermore, a first sensor box and a second sensor box are respectively arranged in the middle positions above the front end and the rear end of the chassis, and the multi-line laser radar is respectively arranged above the first sensor box and the second sensor box; the depth camera is respectively arranged on the central axis of the front side surfaces of the first sensor box and the second sensor box; the millimeter wave radar is arranged on a central axis of the front side surface of the first sensor box; the cameras are respectively arranged on the front, the rear, the left and the right side surfaces of the chassis; the UWB positioning tag is arranged on a central axis on the side surface of the chassis; the ultrasonic sensors are arranged on the front side, the rear side, the left side and the right side of the chassis, and the industrial personal computer and the vehicle control unit are arranged inside the chassis.
Furthermore, the driving and braking device comprises a driving wheel, a bearing wheel set, an infrared sensor, a supporting base, a servo motor, a driving motor, a supporting plate, a braking motor and a braking block;
servo motors are respectively arranged at the front and the back of the left side edge and the right side edge of the supporting base, the left side edge and the right side edge of the supporting base are respectively hinged with a supporting plate, the output end of the servo motor is connected with the supporting plate, infrared sensors are respectively arranged at the front part and the back part of the top surface of the supporting base, a bearing wheel set is arranged on the inner side surface of the supporting plate, a driving motor and a braking motor are respectively arranged at the front and the back of the outer side surface of the supporting plate, the output end of the driving motor is connected with a driving wheel, and the output end of the braking motor is connected with a braking block;
the servo motor, the driving motor and the braking motor are respectively and electrically connected with the whole vehicle controller through a servo motor controller, a driving motor controller and a braking motor controller, and the infrared sensor is electrically connected with the industrial personal computer.
Furthermore, the hydraulic upright post is a drive-by-wire support post, the hydraulic upright post is connected with an electromagnetic proportional valve, and the electromagnetic proportional valve is electrically connected with the vehicle control unit through an electromagnetic proportional valve controller.
Furthermore, compound wheel of rubber track is integrative wheel, and the rubber wheel is in the outside, and the rail wheel is inboard, and the rubber wheel diameter is greater than the rail wheel diameter.
Furthermore, the hydraulic upright columns are at least two, the hydraulic upright columns are longitudinally arranged, the bottom ends of the hydraulic upright columns are arranged on the chassis, the top end of the foremost hydraulic upright column is provided with a driving brake device, and the top ends of the rest hydraulic upright columns are provided with bearing devices.
A wheel-rail combined type unmanned underground continuous transport vehicle control method comprises the following steps:
the method comprises the following steps: after loading materials from a material yard, the transport vehicle carries out global path planning according to a global map and runs on the ground by rubber wheels of the rubber rail composite wheels;
step two: when the transport vehicle runs to a wellhead, the transport vehicle turns to a sky rail to run according to the global path; the transport vehicle adjusts the posture of the transport vehicle, the driving and braking device is used for carrying out rail holding on the sky rail, the hydraulic upright post is used for lifting the transport vehicle, and then the driving and braking device drives the transport vehicle to run on the sky rail;
step three: when the vehicle runs to the roadway plane, the transport vehicle descends to the ground from the overhead rail, adjusts the posture of the transport vehicle, finds the position of the ground rail, is contacted with the ground rail through the rail wheels of the rubber rail composite wheels, and drives the transport vehicle to run through the rail wheels;
step four: the transport vehicle is driven out of the ground rail, and the rubber wheels of the rubber rail composite wheels drive to the working surface on the roadway ground.
Further, in the first step, after the transport vehicle loads materials in a material yard, the vehicle-mounted industrial personal computer plans a path according to a global map, and the transport vehicle runs to a wellhead on the ground through a rubber wheel, during the running process, when the industrial personal computer detects that obstacles exist around the transport vehicle, data signals are transmitted to the industrial personal computer, the industrial personal computer fuses information of the sensors, the information of the sensors is processed, the information is sent to the vehicle control unit, the vehicle control unit sends control signals to the chassis driving motor controller and the chassis braking motor controller, the chassis driving motor controller and the chassis braking motor controller analyze instructions and respectively send the instructions to the chassis driving motor and the chassis braking motor, the chassis driving motor reduces output torque and rotating speed, the chassis braking motor outputs torque to control the opening degree of a braking loop valve, and further the vehicle decelerates slowly, the chassis steering motor controller receives steering action information sent by the vehicle control unit, controlling the chassis steering motor to output torque; the chassis steering motor drives the steering pull rod to act through the steering pump to complete steering, and the vehicle can recover to normal speed to run after avoiding obstacles.
Further, in the second step, the distance between the sky rail and the roadway wall is set in advance on the industrial personal computer, when the transport vehicle runs to the sky rail section, the vehicle-mounted ultrasonic sensor is used for detecting the distance between the vehicle body and the roadway walls on the two sides, the posture is adjusted, the center position of the vehicle is located right below the sky rail, at the moment, the vehicle control unit sends an instruction to the electromagnetic proportional valve controller, the electromagnetic proportional valve controller analyzes the instruction and controls the electromagnetic proportional valve to act, the hydraulic upright post is controlled to rise, the infrared sensor on the supporting base emits infrared light, the distance between the supporting base and the sky rail is detected, data are sent to the industrial personal computer in real time, and when the distance reaches a set numerical value, the hydraulic upright post stops rising; at the moment, the vehicle control unit sends an instruction to the servo motor controller, the servo motor controller analyzes the instruction and controls the servo motor to drive the supporting plate to rotate upwards, so that the supporting plate can complete the rail holding action and keep the posture; then, the hydraulic upright post acts to start to contract, so that the transport vehicle is integrally lifted; when the vehicle runs on the sky rail, the vehicle control unit sends an instruction to the driving motor controller and the braking motor controller, and controls the speed regulation and braking of the driving and braking device on the sky rail.
Further, in the third step, when the vehicle arrives at the designated place and needs to be changed to the ground rail, the vehicle controller sends an instruction to the electromagnetic proportional valve controller, the electromagnetic proportional valve controller analyzes the instruction and controls the electromagnetic proportional valve to act, the hydraulic upright column slowly rises and slowly descends until all wheels completely land, at the moment, the servo motor controller analyzes the instruction of the vehicle controller and controls the servo motor to rotate, the support plate completes the derailment action, then the hydraulic upright column contracts, the vehicle-mounted ultrasonic sensor detects the distance between the vehicle body and the two side roadway walls, the depth camera detects the position and distance information of the ground rail, the detected data is sent to the industrial personal computer, the industrial computer sends the resolved data to the vehicle controller, and the vehicle controller sends a control signal to the chassis driving motor controller, the chassis braking motor controller and the chassis steering motor controller, and the vehicle posture is adjusted, so that the distance from the track wheel of the rubber rail composite wheel to the wall of the roadway is consistent with the distance from the ground rail to the wall of the roadway, and the rubber rail composite wheel can smoothly drive on the ground rail.
Compared with the prior art, the invention combines the advantages of three auxiliary transports of an underground electric locomotive, a trackless rubber-tyred vehicle and a monorail crane, designs the wheel-rail combined type unmanned underground continuous transport vehicle which can run under three road conditions of 'sky rail' -ground rail ', and the transport vehicle can realize the autonomous switching between' sky rail '-roadway surface,' sky rail-ground rail 'and roadway surface-ground rail'. Therefore, when the transport vehicle runs underground, the automatic continuous transport of the vehicle to the bottom can be realized without multiple times of transport, and the transport efficiency is greatly improved; in addition, the transport vehicle can realize continuous and standardized transportation while realizing intelligent transportation, is auxiliary transportation equipment with complete intelligence and continuity, can greatly improve the underground transportation efficiency of a coal mine, can also reduce drivers, can reduce the labor cost, and can also improve the safety of a transportation system.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a front view of the present invention;
FIG. 4 is a schematic structural diagram of a driving and braking device according to the present invention;
FIG. 5 is a rear view of the driving brake apparatus of the present invention;
FIG. 6 is a schematic electrical connection diagram according to the present invention;
in the figure: 1. driving a brake device; 2. a carrying device; 3. a sky rail; 4. a hydraulic column; 5. a multiline laser radar; 6. a first sensor box; 7. a depth camera; 8. a millimeter wave radar; 9. a camera; 10. a UWB positioning tag; 11. an ultrasonic sensor; 12. a rubber rail composite wheel; 13. a chassis; 14. a second sensor housing; 15. a carrier platform; 16. loading a container; 17. a ground rail; 18. a chassis drive motor; 19. a chassis brake motor; 20. a chassis steering motor; 21. an electromagnetic proportional valve; 22 chassis drive motor controller; 23. a chassis brake motor controller; 24. a chassis steering motor controller; 25. an electromagnetic proportional valve controller; 26. an industrial personal computer; 27. a vehicle control unit; 28. a storage battery; 29. an illuminating lamp; 30. a brake light; 31. a turn signal light; 101. driving the rubber wheel; 102. a bearing wheel set; 103. an infrared sensor; 104. a support base; 105. a servo motor; 106. a drive motor; 107. a support plate; 108. braking the motor; 109. a brake pad; 110. a worm and gear mechanism; 111. a servo motor controller; 112. a drive motor controller; 113. a brake motor controller.
Detailed Description
The invention will be further explained with reference to the drawings.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, the present invention provides a technical solution: the system comprises an unmanned system, an autonomous switching system of a sky rail, a ground rail and the ground, and a carrier vehicle body;
the carrier vehicle body is of a cabin-free type and comprises a chassis 13, an object carrying platform 15 and rubber track composite wheels 12, wherein the rubber track composite wheels 12 are integrated wheels, the rubber wheels are arranged on the outer side, the track wheels are arranged on the inner side, the diameters of the rubber wheels are larger than those of the track wheels, the rubber track composite wheels 12 are arranged on two sides of the chassis 13, the object carrying platform 15 is arranged on the upper surface of the chassis 13, a loading container 16 is arranged above the object carrying platform 15, a first sensor box 6 and a second sensor box 14 are respectively arranged in the middle positions of the upper surfaces of the front end and the rear end of the chassis 13, and the sensor boxes are subjected to explosion-proof treatment and have an explosion-proof function;
as shown in fig. 6, the unmanned system includes a multi-line laser radar 5, a depth camera 7, a millimeter wave radar 8, a camera 9, a UWB positioning tag 10, an ultrasonic sensor 11, an industrial personal computer 26 and a vehicle control unit 27, and the unmanned system is mounted on a chassis 13, and the multi-line laser radar 5, the depth camera 7, the millimeter wave radar 8, the camera 9, the UWB positioning tag 10 and the ultrasonic sensor 11 are all electrically connected with the industrial personal computer 26; two multi-line laser radars 5 are respectively arranged above the first sensor box 6 and the second sensor box 14; the depth camera 7 is respectively arranged on the central axis of the front side surfaces of the first sensor box 6 and the second sensor box 14; the millimeter wave radar 8 is arranged on the central axis of the front side surface of the first sensor box 6; the cameras 9 are respectively arranged on the front, the rear, the left and the right side surfaces of the chassis 13; the UWB positioning tag 10 is arranged on the central axis of the side surface of the chassis 13; the ultrasonic sensors 11 are arranged on the front, rear, left and right sides of the chassis 13, and the industrial personal computer 26 and the vehicle control unit 27 are arranged in the chassis 13; the camera 9 can acquire image information around the vehicle, can transmit the image information to a remote control center in real time, and has a driving recording function; the ultrasonic sensor 11 is used for detecting the distance between the vehicle body and the two side roadway walls; the depth camera 7 is used for finding the position and distance information of the ground track 17; the chassis 13 is also provided with a storage battery 28, and the storage battery 28 supplies power to the industrial personal computer 26 and the vehicle control unit 27.
The 'sky rail-ground' automatic conversion system comprises hydraulic upright columns 4 and driving and braking devices 1, the hydraulic upright columns 4 are at least two, preferably three, the hydraulic upright columns 4 are longitudinally arranged along the body of the transport vehicle, the bottom ends of the hydraulic upright columns are arranged on a chassis 13, the driving and braking devices 1 are arranged at the top ends of the foremost hydraulic upright columns 4, and the bearing devices 2 are arranged at the top ends of the other two hydraulic upright columns 4.
The hydraulic upright post 4 is a drive-by-wire upright post, the hydraulic upright post 4 is connected with an electromagnetic proportional valve 21, and the electromagnetic proportional valve 21 is electrically connected with a vehicle control unit 27 through an electromagnetic proportional valve controller 25.
As shown in fig. 4 and 5, the driving and braking device 1 includes a driving wheel 101, a bearing wheel set 102, an infrared sensor 103, a supporting base 104, a servo motor 105, a driving motor 106, a supporting plate 107, a braking motor 108, and a brake shoe 109; the servo motors 105 are respectively arranged in the front and the back of the left side edge and the right side edge of the supporting base 104, the supporting plates 107 are respectively hinged on the left side edge and the right side edge of the supporting base 104, the output ends of the servo motors 105 are connected with the supporting plates 107, and the servo motors 105 control the rotation of the supporting plates 107; the front part and the rear part of the top surface of the supporting base 104 are respectively provided with a row of a plurality of infrared sensors 103, and the infrared sensors 103 are used for detecting the position and the distance of the sky rail 3; the inner side surface of the supporting plate 107 is provided with a bearing wheel set 102, the front and the back of the outer side surface of the supporting plate 107 are respectively provided with a driving motor 106 and a braking motor 108, the output end of the driving motor 106 is connected with a driving wheel 101, and the output end of the braking motor 108 is connected with a brake block 109 through a worm gear device 110; the servo motor 105, the driving motor 106 and the braking motor 108 are respectively and electrically connected with the vehicle control unit 27 through a servo motor controller 111, a driving motor controller 112 and a braking motor controller 113, and the infrared sensor 103 is electrically connected with the industrial personal computer 26; the bottom surface of the supporting base 104 is connected to the top end of the hydraulic column 4. The carriage 2 has a configuration substantially identical to that of the driving and braking device 1, and the driving motor 106 and the driving wheel 101 for driving, and the braking motor 108 and the brake shoe 109 for braking are not provided on the outer side surface of the support plate 107 of the carriage 2 with respect to the driving and braking device 1.
As shown in fig. 2 and 3, the vehicle further includes an illumination lamp 29, a brake lamp 30 and a turn signal lamp 31, and the illumination lamp 29, the turn signal lamp 30 and the brake lamp 31 are disposed on the chassis 13 and are all connected to the vehicle controller 27.
After the transport vehicle loads materials in a material yard, a vehicle-mounted industrial personal computer 26 plans a path according to a global map, the transport vehicle runs to a wellhead on the ground by a rubber wheel, in the running process, when the industrial personal computer 26 detects that obstacles exist around, data signals are transmitted to the industrial personal computer 26, the industrial personal computer 26 performs fusion processing on the information of a plurality of sensors, and the result of the fusion processing is sent to a vehicle control unit 27, the vehicle control unit 27 sends control signals to a chassis driving motor controller 22 and a chassis braking motor controller 23, the chassis driving motor controller 22 and the chassis braking motor controller 23 analyze instructions and respectively send the instructions to a chassis driving motor 18 and a chassis braking motor 19, the chassis driving motor 18 reduces output torque and rotating speed, the chassis braking motor 19 outputs torque to control the opening degree of a braking loop valve, and the vehicle decelerates slowly, the chassis steering motor controller 24 receives steering action information sent by the vehicle control unit 27, and controls the chassis steering motor 20 to output torque; the chassis steering motor 20 drives the steering pull rod to act through the steering pump to complete steering, and the vehicle recovers to normal speed to run after avoiding obstacles;
the distance between the sky rail 3 and the roadway wall is set in advance in the industrial personal computer 26, and when the transport vehicle runs to a wellhead, the transport vehicle turns to the sky rail 3 to run according to the global path; the vehicle-mounted ultrasonic sensor 11 is used for detecting the distance between a vehicle body and two side roadway walls and adjusting the posture, so that the center position of the vehicle is located right below a sky rail 3, at the moment, the vehicle control unit 27 sends an instruction to the electromagnetic proportional valve controller 25, the electromagnetic proportional valve controller 25 analyzes the instruction and controls the electromagnetic proportional valve 21 to act, so that the hydraulic upright post 4 is controlled to ascend, the infrared sensor 103 on the supporting base 104 emits infrared light, the distance between the supporting base 104 and the sky rail 3 is detected, data are sent to the industrial personal computer 26 in real time, and when the distance reaches a set numerical value, the hydraulic upright post 4 stops ascending; at the moment, the vehicle control unit 27 sends an instruction to the servo motor controller 111, the servo motor controller 111 analyzes the instruction and controls the servo motor 105 to drive the supporting plate 107 to rotate upwards, so that the supporting plate can complete the rail holding action and keep the posture; then, the hydraulic upright post 4 acts to start to contract, so that the whole transport vehicle is lifted; when the vehicle runs on the sky rail 3, the vehicle control unit 27 sends instructions to the driving motor controller 112 and the braking motor controller 113, and controls the speed regulation and braking of the driving braking device 1 on the sky rail 3.
When the vehicle runs to a roadway plane and reaches a specified place and needs to be changed to a ground rail 17, the vehicle control unit 27 sends a command to the electromagnetic proportional valve controller 25, the electromagnetic proportional valve controller 25 analyzes the command and controls the electromagnetic proportional valve 21 to act, the hydraulic upright post 4 slowly rises and slowly descends until all wheels completely land, at the moment, the servo motor controller 111 analyzes the command of the vehicle control unit 27 and controls the servo motor 105 to rotate, the supporting plate 107 completes the derailment action, then the hydraulic upright post 4 contracts, the vehicle-mounted ultrasonic sensor 11 detects the distance between the vehicle body and the roadway walls at two sides, the depth camera 7 detects the position and distance information of the ground rail 17 and sends the detected data to the industrial control computer 26, the industrial control computer 26 sends the resolved data to the vehicle control unit 27, and the vehicle control unit 27 sends a control signal to the chassis driving motor controller 22, the chassis braking motor controller 23, the ground rail 17, The chassis turns to the motor controller 24, and adjusts the vehicle posture, so that the distance from the rail wheel of the rubber rail composite wheel 12 to the roadway wall is consistent with the distance from the ground rail 17 to the roadway wall, and the vehicle can smoothly run on the ground rail 17 and is driven by the rail wheel to run.
The transport vehicle is driven out of the ground rail 17 and driven to the working surface on the roadway ground by the rubber wheels of the rubber rail composite wheels 12.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.

Claims (9)

1. A wheel-rail combined type unmanned underground continuous transport vehicle is characterized by comprising an unmanned system, an autonomous switching system of 'sky rail-ground' and a transport vehicle body;
the carrier vehicle body comprises a chassis (13), an object carrying platform (15) and rubber track composite wheels (12), the rubber track composite wheels (12) are arranged on two sides of the chassis (13), and the object carrying platform (15) is arranged on the upper surface of the chassis (13);
the unmanned system comprises a multi-line laser radar (5), a depth camera (7), a millimeter wave radar (8), a camera (9), a UWB (ultra wide band) positioning tag (10), an ultrasonic sensor (11), an industrial personal computer (26) and a vehicle control unit (27), and is arranged on a chassis (13), and the multi-line laser radar (5), the depth camera (7), the millimeter wave radar (8), the camera (9), the UWB positioning tag (10) and the ultrasonic sensor (11) are electrically connected with the industrial personal computer (26);
the 'sky rail-ground' automatic conversion system comprises a hydraulic upright post (4) and a driving brake device (1), wherein the bottom end of the hydraulic upright post (4) is arranged on a chassis (13), and the top end of the hydraulic upright post (4) is provided with the driving brake device (1);
the driving and braking device (1) comprises a driving wheel (101), a bearing wheel set (102), an infrared sensor (103), a supporting base (104), a servo motor (105), a driving motor (106), a supporting plate (107), a braking motor (108) and a brake block (109);
servo motors (105) are respectively arranged on the left side and the right side of a supporting base (104) in the front and at the back, the left side and the right side of the supporting base (104) are respectively hinged with a supporting plate (107), the output end of the servo motor (105) is connected with the supporting plate (107), infrared sensors (103) are respectively arranged on the front portion and the rear portion of the top surface of the supporting base (104), a bearing wheel set (102) is arranged on the inner side surface of the supporting plate (107), a driving motor (106) and a braking motor (108) are respectively arranged on the front and at the back of the outer side surface of the supporting plate (107), the output end of the driving motor (106) is connected with a driving wheel (101), and the output end of the braking motor (108) is connected with a braking block (109);
the servo motor (105), the driving motor (106) and the braking motor (108) are electrically connected with the whole vehicle controller (27) through a servo motor controller (111), a driving motor controller (112) and a braking motor controller (113), and the infrared sensor (103) is electrically connected with the industrial personal computer (26).
2. The wheel-rail combined type unmanned underground continuous transport vehicle as claimed in claim 1, wherein the chassis (13) is provided with a first sensor box (6) and a second sensor box (14) respectively at the middle positions above the front end and the rear end, and the multiline laser radar (5) is respectively arranged above the first sensor box (6) and the second sensor box (14); the depth camera (7) is respectively arranged on the central axis of the front side surface of the first sensor box (6) and the second sensor box (14); the millimeter wave radar (8) is arranged on the central axis of the front side surface of the first sensor box (6); the cameras (9) are respectively arranged on the front, the rear, the left and the right side surfaces of the chassis (13); the UWB positioning tag (10) is arranged on a central axis on the side surface of the chassis (13); the ultrasonic sensors (11) are arranged on the front, the rear, the left and the right sides of the chassis (13), and the industrial personal computer (26) and the vehicle control unit (27) are arranged in the chassis (13).
3. The wheel-rail combined type unmanned underground continuous transport vehicle as claimed in claim 1, wherein the hydraulic upright column (4) is a drive-by-wire upright column, the hydraulic upright column (4) is connected with an electromagnetic proportional valve (21), and the electromagnetic proportional valve (21) is electrically connected with a vehicle control unit (27) through an electromagnetic proportional valve controller (25).
4. A wheel-rail hybrid unmanned downhole continuous haulage vehicle according to claim 1, wherein the rubber-rail hybrid wheel (12) is a one-piece wheel with the rubber wheel on the outside and the rail wheel on the inside, and the rubber wheel diameter is larger than the rail wheel diameter.
5. The wheel-rail combined type unmanned underground continuous transport vehicle according to claim 1, wherein the number of the hydraulic columns (4) is at least two, the hydraulic columns (4) are arranged longitudinally, the bottom ends of the hydraulic columns are arranged on the chassis (13), the top end of the foremost hydraulic column (4) is provided with the driving and braking device (1), and the top ends of the other hydraulic columns (4) are provided with the bearing devices (2).
6. The method for controlling a wheel-rail combined unmanned underground continuous haulage vehicle according to any one of claims 1 to 5, wherein:
the method comprises the following steps: after loading materials from a material yard, the transport vehicle carries out global path planning according to a global map and runs on the ground by rubber wheels of the rubber rail composite wheels (12);
step two: when the transport vehicle runs to a wellhead, the transport vehicle turns to the sky rail (3) to run according to the global path; the carrier vehicle adjusts the posture of the carrier vehicle, the driving and braking device (1) is used for carrying out rail holding on the top rail (3), the hydraulic upright post (4) is used for lifting the carrier vehicle, and then the driving and braking device (1) drives the carrier vehicle to run on the top rail (3);
step three: when the vehicle runs to the roadway plane, the transport vehicle descends to the ground from the overhead rail (3), adjusts the posture of the transport vehicle, finds the position of the ground rail (17), is contacted with the ground rail (17) through the rail wheels of the rubber rail composite wheels (12), and is driven to run by the rail wheels;
step four: the transport vehicle is driven out of the ground rail (17) and driven to the working surface on the roadway ground by the rubber wheels of the rubber rail composite wheels (12).
7. The method of claim 6, wherein the method comprises the steps of: in the first step, after the transport vehicle loads materials in a material yard, a vehicle-mounted industrial personal computer (26) plans a path according to a global map, and the transport vehicle runs to a wellhead on the ground by a rubber wheel, in the running process, when the industrial personal computer (26) detects that obstacles exist around, data signals are transmitted to the industrial personal computer (26), the industrial personal computer (26) fuses information of a plurality of sensors, and an obtained result is sent to a whole vehicle controller (27), the whole vehicle controller (27) sends control signals to a chassis driving motor controller (22) and a chassis braking motor controller (23), the chassis driving motor controller (22) and the chassis braking motor controller (23) analyze instructions and respectively send the instructions to a chassis driving motor (18) and a chassis braking motor (19), the chassis driving motor (18) reduces output torque and rotating speed, and the chassis braking motor (19) outputs torque to control the opening degree of a braking loop valve, then the vehicle decelerates and slowly moves, the chassis steering motor controller (24) receives the steering action information issued by the vehicle control unit (27) and controls the chassis steering motor (20) to output torque; the chassis steering motor (20) drives the steering pull rod to act through the steering pump to complete steering, and the vehicle recovers to normal speed to run after avoiding obstacles.
8. The method of claim 6, wherein the method comprises the steps of: in the second step, the distance between the sky rail (3) and the roadway wall is set in advance in the industrial personal computer (26), when the transport vehicle runs to the section of the sky rail (3), the vehicle-mounted ultrasonic sensor (11) is used for detecting the distance between the vehicle body and the roadway walls on the two sides, the posture is adjusted, the center position of the vehicle is located right below the sky rail (3), at the moment, the whole vehicle controller (27) sends an instruction to the electromagnetic proportional valve controller (25), the electromagnetic proportional valve controller (25) analyzes the instruction and controls the electromagnetic proportional valve (21) to act, so that the hydraulic upright post (4) is controlled to rise, the infrared sensor (103) on the supporting base (104) emits infrared light, the distance between the supporting base (104) and the sky rail (3) is detected, data are sent to the industrial personal computer (26) in real time, and when the distance reaches a set numerical value, the hydraulic upright post (4) stops rising; at the moment, the vehicle control unit (27) sends an instruction to the servo motor controller (111), the servo motor controller (111) analyzes the instruction and controls the servo motor (105) to drive the supporting plate (107) to rotate upwards, so that the supporting plate can complete the rail holding action and keep the posture; then, the hydraulic upright post (4) acts to start to contract, so that the transport vehicle is integrally lifted; when the vehicle runs on the sky rail (3), the vehicle control unit (27) sends an instruction to the driving motor controller (112) and the braking motor controller (113) and controls the speed regulation and braking of the driving and braking device (1) on the sky rail (3).
9. The method of claim 6, wherein the method comprises the steps of: in the third step, when a vehicle arrives at a designated place and needs to be changed to a ground rail (17), the whole vehicle controller (27) sends an instruction to the electromagnetic proportional valve controller (25), the electromagnetic proportional valve controller (25) analyzes the instruction and controls the electromagnetic proportional valve (21) to act, the hydraulic upright post (4) slowly rises and extends, the vehicle slowly descends until all wheels completely land, at the moment, the servo motor controller (111) analyzes the instruction of the whole vehicle controller (27) and controls the servo motor (105) to rotate, the supporting plate (107) completes the derailment action, then the hydraulic upright post (4) contracts, the vehicle-mounted ultrasonic sensor (11) detects the distance between the vehicle body and the two side roadway walls, the depth camera (7) detects the position and distance information of the ground rail (17), the detected data is sent to the industrial personal computer (26), and the industrial computer (26) sends the resolved data to the whole vehicle controller (27), the vehicle control unit (27) sends control signals to the chassis driving motor controller (22), the chassis braking motor controller (23) and the chassis steering motor controller (24) and adjusts the vehicle posture, so that the distance from the rail wheel of the rubber rail composite wheel (12) to the roadway wall is consistent with the distance from the ground rail (17) to the roadway wall, and the rubber rail composite wheel can smoothly drive on the ground rail (17).
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