CN113431126A - Remote control system and method for underground carry scraper - Google Patents
Remote control system and method for underground carry scraper Download PDFInfo
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- 230000000007 visual effect Effects 0.000 claims abstract description 10
- 238000005065 mining Methods 0.000 claims description 16
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/16—Performing reselection for specific purposes
- H04W36/18—Performing reselection for specific purposes for allowing seamless reselection, e.g. soft reselection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/02—Terminal devices
- H04W88/06—Terminal devices adapted for operation in multiple networks or having at least two operational modes, e.g. multi-mode terminals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mining & Mineral Resources (AREA)
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Abstract
The invention discloses a remote control system and a method of an underground carry scraper, wherein the system comprises: the system comprises a safety control module, a vehicle control module, an information transmission module and a data acquisition module; the data acquisition module is used for acquiring a camera acquisition visual field loaded by the scraper body and monitoring and detecting a mine tunnel profile by a radar; the information transmission module is used for receiving the information of the data acquisition module through the 5G network module, transmitting the information to the safety control module and ensuring the real-time communication connection between the safety control module and the vehicle control module; the vehicle control module is used for receiving the judgment signal transmitted by the information transmission module and making scraper operation and driving decision according to the condition; the safety control module is used for carrying out safety control calculation by utilizing the data of the data acquisition module, checking and detecting the real-time property of communication through real-time communication with the information transmission module, and carrying out closed operation by utilizing the grating in a remote operation area.
Description
Technical Field
The invention relates to the technical field of mining and metallurgy, in particular to a remote control system and a remote control method for an underground carry scraper.
Background
With the gradual and comprehensive shift of the existing mineral resources to underground mining, the mining conditions are worse and worse, the safety threat to people is greater and greater, and the remote control mining technology comes into force. The underground scraper is key equipment for underground trackless mining, realizes unmanned control and autonomous running of the underground scraper in an underground roadway, can enable operators to be far away from underground severe and dangerous working environment, protects safety of scraper driver personnel, improves mining operation efficiency and reduces mining cost.
The remote control technology of the underground scraper has high requirements on information transmission, and the real-time property of image transmission and the real-time property and reliability of radar signal analysis and identification need to depend on high-speed and low-delay signal transmission. Therefore, there is a need for a remote control system and method for an underground scraper that solves the above problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a remote control system and a remote control method for an underground carry scraper, and the specific technical scheme is as follows:
the invention discloses a remote control system of an underground carry scraper, which comprises: the system comprises a safety control module, a vehicle control module, an information transmission module and a data acquisition module;
the data acquisition module is used for acquiring a camera acquisition visual field loaded by the scraper body and monitoring and detecting a mine tunnel profile by a radar;
the information transmission module is used for receiving the information of the data acquisition module through the 5G network module, transmitting the information to the safety control module and ensuring the real-time communication connection between the safety control module and the vehicle control module;
the vehicle control module is used for receiving the judgment signal transmitted by the information transmission module and making scraper operation and driving decision according to the condition;
the safety control module is used for carrying out safety control calculation by utilizing the data of the data acquisition module, checking and detecting the real-time property of communication through real-time communication with the information transmission module, and carrying out closed operation on a remote operation area by utilizing the grating.
As an improvement of the technical proposal, the data acquisition module comprises a video monitoring unit and an intelligent anti-collision unit,
the video monitoring unit comprises a driving camera and a loading camera, the driving camera is used for monitoring front and rear road condition pictures in the driving process of the scraper, and the loading camera is used for monitoring loading capacity pictures of the scraper; the camera of traveling includes preceding camera and back camera, the camera horizontal visual angle of traveling is 110 degrees, load camera installation and scraper driver's cabin top
The intelligent anti-collision unit comprises an anti-collision radar and an early warning camera, the anti-collision radar comprises a laser radar and a millimeter wave radar, the laser radar is used for detecting the profile of a mine road, drawing a map and preventing collision, the millimeter wave radar is used for assisting in anti-collision redundancy, and the early warning camera is used for realizing partial target detection early warning through a deep learning algorithm.
As an improvement of the technical scheme, the information transmission module comprises a vehicle-mounted wireless information terminal and a plurality of wireless Access Points (AP), the wireless Access Points (AP) are respectively arranged in a mine tunnel, the wireless Access Points (AP) are networked through a wired network, and the wireless Access Points (AP) are used for automatically and seamlessly switching the scraper when passing through different wireless networks.
As an improvement of the above technical solution, the vehicle control module includes a vehicle-mounted light display unit and an operation posture control unit; the vehicle-mounted light display unit includes: a red fault indicator light, a yellow stop indicator light, a green vehicle operating indicator light; and the operation attitude control unit is used for controlling different operation attitudes of the scraper according to the signals given by the information transmission module.
As an improvement of the above technical solution, the security management and control module includes: the system comprises a display unit, a calculation center and a control center;
the display unit comprises an industrial monitor and a vehicle information monitor, the industrial monitor is used for monitoring external information of the scraper, and the vehicle information monitor is used for monitoring working information of the scraper;
the computing center is used for analyzing the information of the data acquisition module and sending a judgment signal to the vehicle control module through the information transmission module according to the calculation;
the control center is used for controlling the remote control system to stably operate and comprises a remote operation change-over switch which is used for changing the control of the scraper to a remote operation table;
the control center and the calculation center adopt CAN to Ethernet communication, and the calculation center and the switch carry out Ethernet communication.
As an improvement of the above technical solution, the remote console includes: a handle, a pedal, an integrated key panel, a power switch and the like; the remote operation platform is used for carrying out remote control on the scraper, the remote operation platform can observe the operation condition of the scraper according to the display unit, and the remote operation platform can carry out operation control on the underground scraper through the handle, the pedal and the integrated key panel to complete mining operation.
The invention also discloses a remote control method of the underground carry scraper, which comprises the following steps:
s1, acquiring a camera acquisition visual field loaded by the scraper body by the data acquisition module, and monitoring and detecting a mine tunnel profile by a radar;
s2, the information transmission module receives the data acquisition module information through the 5G network module and transmits the data acquisition module information to the safety control module, and real-time communication connection between the safety control module and the vehicle control module is guaranteed;
s3, the vehicle control module receives the judgment signal transmitted by the information transmission module and makes scraper operation and driving decision according to the situation;
s5, the safety management and control module carries out safety management and control calculation by using the data of the data acquisition module, checks and detects the real-time property of communication by communicating with the information transmission module in real time, and carries out closed operation by using the grating in a remote operation area
As an improvement of the above technical solution, there is a step S4 before the step S5, where the safety control module is capable of remotely controlling the scraper by remotely operating the switch through the remote console.
Compared with the prior art, the invention has the following technical effects:
the invention relates to a remote control system and a remote control method of an underground scraper.A data detection module is used for detecting working environment data and production operation data during working, sending the working environment data and the production operation data to a safety control module for calculation through an information transmission module, and finally transmitting the working environment data and the production operation data to a vehicle control module for scraper operation and driving decision; the information transmission module works under a 5G wireless network; meanwhile, the vehicle control module and the safety control module are compatible with a 5G/4G dual mode, wired connection or 5G SIM card insertion card is adopted for network connection, and the 5G-to-Ethernet module is respectively arranged on the vehicle control module and the safety control module to realize high-speed and low-delay transmission of video and other control signals, so that the stability of signal transmission is ensured, and the safety of underground mining operation is ensured.
Drawings
FIG. 1 is a system block diagram of a remote control system and method of an underground scraper in accordance with the present invention;
FIG. 2 is a schematic diagram of a data acquisition module according to the present invention;
fig. 3 is a communication topology diagram of a remote console according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Examples
As shown in fig. 1, a remote control system of an underground scraper according to the present invention includes: the system comprises a safety control module, a vehicle control module, an information transmission module and a data acquisition module; the data acquisition module is used for acquiring a camera acquisition visual field loaded by the scraper body and monitoring and detecting a mine tunnel profile by a radar; the information transmission module is used for receiving the information of the data acquisition module through the 5G network module, transmitting the information to the safety control module and ensuring the real-time communication connection between the safety control module and the vehicle control module; the vehicle control module is used for receiving the judgment signal transmitted by the information transmission module and making scraper operation and driving decision according to the condition; the safety control module is used for carrying out safety control calculation by utilizing the data of the data acquisition module, checking and detecting the real-time property of communication through real-time communication with the information transmission module, and carrying out closed operation by utilizing the grating in a remote operation area.
According to the remote control system of the underground scraper, the working environment data and the production operation data during working are detected by the data detection module, sent to the safety control module for calculation by the information transmission module and finally transmitted to the vehicle control module for scraper operation and driving decision; the information transmission module works under a 5G wireless network; meanwhile, the vehicle control module and the safety control module are compatible with a 5G/4G dual mode, wired connection or 5G SIM card insertion card is adopted for network connection, and the 5G-to-Ethernet module is respectively arranged on the vehicle control module and the safety control module to realize high-speed and low-delay transmission of video and other control signals, so that the stability of signal transmission is ensured, and the safety of underground mining operation is ensured.
The data acquisition module comprises a video monitoring unit and an intelligent anti-collision unit, the video monitoring unit comprises a driving camera and a loading camera, the driving camera is used for monitoring front and rear road condition pictures in the driving process of the scraper, and the loading camera is used for monitoring loading capacity pictures of the scraper; the driving camera comprises a front camera and a rear camera, the horizontal visual angle of the driving camera is 110 degrees, and the loading camera is arranged above the cab of the scraper; the intelligent anti-collision unit comprises an anti-collision radar and an early warning camera, the anti-collision radar comprises a laser radar and a millimeter wave radar, the laser radar is used for detecting the profile of a mine road, drawing a map and preventing collision, the millimeter wave radar is used for assisting in anti-collision redundancy, and the early warning camera is used for realizing partial target detection early warning through a deep learning algorithm.
The data acquisition module can observe the front and rear vehicle conditions of the scraper and the underground mining environment through the front and rear cameras, and can measure the distance between the whole body of the scraper and the wall through the anti-collision radar, so that the vehicle body and the mine can be kept at a safe position.
The information transmission module comprises a vehicle-mounted wireless information terminal and a plurality of wireless Access Points (AP), the wireless Access Points (AP) are respectively arranged in a mine tunnel, the wireless Access Points (AP) are networked through a wired network, and the wireless Access Points (AP) are used for automatically and seamlessly switching the scraper when passing through different wireless networks.
In an area where an operator has covered a 5G network, high-speed and low-delay transmission of video and other control signals can be realized by installing 5G-to-ethernet modules on a vehicle and a remote console, respectively.
The vehicle control module comprises a vehicle-mounted light display unit and an operation posture control unit; the vehicle-mounted light display unit includes: a red fault indicator light, a yellow stop indicator light, a green vehicle operating indicator light; and the operation attitude control unit is used for controlling different operation attitudes of the scraper according to the signals given by the information transmission module.
The vehicle-mounted light display unit of the vehicle control module can reflect the current operation state of the scraper through the red, yellow and green indicator light pairs with three different colors, so that an operator can quickly and clearly know the self operation state of the scraper; the vehicle posture can be in place by one key through the operation posture control unit; the shovel can reach a set position by one key during shoveling operation, so that the operation intensity is reduced, and the operation efficiency is improved; during loading, the positions of a movable arm and a bucket are positioned by one key, and time is accurately operated; one-key unloading can be realized by setting the unloading height, so that the labor intensity is reduced; and selective operation and one-to-many control among different devices can be realized.
The security management and control module includes: the system comprises a display unit, a calculation center and a control center; the display unit comprises an industrial monitor and a vehicle information monitor, the industrial monitor is used for monitoring external information of the scraper, and the vehicle information monitor is used for monitoring working information of the scraper; the computing center is used for analyzing the information of the data acquisition module and sending a judgment signal to the vehicle control module through the information transmission module according to the calculation; the control center is used for controlling the remote control system to stably operate, and comprises a remote operation change-over switch which is used for changing the control of the scraper to a remote operation table; the control center and the calculation center adopt CAN to Ethernet communication, and the calculation center and the switch carry out Ethernet communication.
The safety control module of the invention adopts three-level safety control: the computing center utilizes a radar system and intelligent anti-collision safety control of vehicle body operation information; the communication system is used for safety control, communication real-time performance is checked and detected, and safety accidents caused by communication failure are prevented; area sealing safety control, namely sealing operation is carried out on a remote operation area by utilizing a grating; a reset switch is arranged at the grating, and when the closed area is invaded and needs to be manually confirmed, the reset switch is reset, and then the contact alarm is carried out; and remotely or in the field by means of a diverter switch.
The remote operation table includes: a handle, a pedal, an integrated key panel, a power switch and the like; the remote operation platform is used for carrying out remote control on the scraper, the remote operation platform can observe the operation condition of the scraper according to the display unit, and the remote operation platform can carry out operation control on the underground scraper through the handle, the pedal and the integrated key panel to complete mining operation.
The remote operation console of the invention observes the working condition of the underground scraper through the display unit, and utilizes control equipment such as a handle, a pedal and the like to carry out a series of mining operation operations on the scraper, thereby effectively protecting the safety of the driver of the scraper, improving the mining operation efficiency and reducing the mining cost.
A method of remotely controlling an underground scraper, comprising the steps of:
s1, acquiring a camera acquisition visual field loaded by the scraper body by the data acquisition module, and monitoring and detecting a mine tunnel profile by a radar;
s2, the information transmission module receives the data acquisition module information through the 5G network module and transmits the data acquisition module information to the safety control module, and real-time communication connection between the safety control module and the vehicle control module is guaranteed;
carry out real-time communication through 5G network deployment, delay is low, transmission efficiency is high to guarantee real-time efficient control production environment, meet the condition and can make a response in the very first time.
S3, the vehicle control module receives the judgment signal transmitted by the information transmission module and makes scraper operation and driving decision according to the situation;
the vehicle can make certain adjustment according to different judgment signals so as to ensure the operation safety of the vehicle.
And S5, the safety control module performs safety control calculation by using the data of the data acquisition module, checks and detects the real-time property of communication by communicating with the information transmission module in real time, and performs closed operation by using a grating for a remote operation area.
Specifically, a safety control module is utilized to perform safety monitoring on the whole operation process and make double insurance on underground operation of the scraper; and the scraper can be correspondingly adjusted according to the received feedback signal, so that safety accidents are avoided.
The step S5 is preceded by a step S4 in which the safety management control module enables remote control of the scraper by remote operation of the remote operation console through the remote operation switch. And the control modes are switched according to needs so as to meet different working requirements.
It is noted that, in this document, relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A remote control system for an underground scraper, comprising: the system comprises: the system comprises a safety control module, a vehicle control module, an information transmission module and a data acquisition module;
the data acquisition module is used for acquiring a camera acquisition visual field loaded by the scraper body and monitoring and detecting a mine tunnel profile by a radar;
the information transmission module is used for receiving the information of the data acquisition module through the 5G network module, transmitting the information to the safety control module and ensuring the real-time communication connection between the safety control module and the vehicle control module;
the vehicle control module is used for receiving the judgment signal transmitted by the information transmission module and making scraper operation and driving decision according to the condition;
the safety control module is used for carrying out safety control calculation by utilizing the data of the data acquisition module, checking and detecting the real-time property of communication through real-time communication with the information transmission module, and carrying out closed operation on a remote operation area by utilizing the grating.
2. The remote control system of an underground scraper according to claim 1, wherein: the data acquisition module comprises a video monitoring unit and an intelligent anti-collision unit,
the video monitoring unit comprises a driving camera and a loading camera, the driving camera is used for monitoring front and rear road condition pictures in the driving process of the scraper, and the loading camera is used for monitoring loading capacity pictures of the scraper; the camera of traveling includes preceding camera and back camera, the camera horizontal visual angle of traveling is 110 degrees, load camera installation and scraper driver's cabin top
The intelligent anti-collision unit comprises an anti-collision radar and an early warning camera, the anti-collision radar comprises a laser radar and a millimeter wave radar, the laser radar is used for detecting the profile of a mine road, drawing a map and preventing collision, the millimeter wave radar is used for assisting in anti-collision redundancy, and the early warning camera is used for realizing partial target detection early warning through a deep learning algorithm.
3. The remote control system of an underground scraper according to claim 1, wherein: the information transmission module comprises a vehicle-mounted wireless information terminal and a plurality of wireless Access Points (AP), the wireless Access Points (AP) are respectively arranged in a mine tunnel, the wireless Access Points (AP) are networked through a wired network, and the wireless Access Points (AP) are used for automatically and seamlessly switching the scraper when passing through different wireless networks.
4. The remote control system of an underground scraper according to claim 1, wherein: the vehicle control module comprises a vehicle-mounted light display unit and an operation posture control unit; the vehicle-mounted light display unit includes: a red fault indicator light, a yellow stop indicator light, a green vehicle operating indicator light; and the operation attitude control unit is used for controlling different operation attitudes of the scraper according to the signals given by the information transmission module.
5. The remote control system of an underground scraper according to claim 1, wherein: the security management and control module includes: the system comprises a display unit, a calculation center and a control center;
the display unit comprises an industrial monitor and a vehicle information monitor, the industrial monitor is used for monitoring external information of the scraper, and the vehicle information monitor is used for monitoring working information of the scraper;
the computing center is used for analyzing the information of the data acquisition module and sending a judgment signal to the vehicle control module through the information transmission module according to the calculation;
the control center is used for controlling the remote control system to stably operate and comprises a remote operation change-over switch which is used for changing the control of the scraper to a remote operation table;
the control center and the calculation center adopt CAN to Ethernet communication, and the calculation center and the switch carry out Ethernet communication.
6. The remote control system of an underground scraper of claim 5, wherein: the remote operation table includes: a handle, a pedal, an integrated key panel, a power switch and the like; the remote operation platform is used for carrying out remote control on the scraper, the remote operation platform can observe the operation condition of the scraper according to the display unit, and the remote operation platform can carry out operation control on the underground scraper through the handle, the pedal and the integrated key panel to complete mining operation.
7. The remote control method of an underground scraper according to any one of claims 1 to 6, wherein: the method comprises the following steps:
s1, acquiring a camera acquisition visual field loaded by the scraper body by the data acquisition module, and monitoring and detecting a mine tunnel profile by a radar;
s2, the information transmission module receives the data acquisition module information through the 5G network module and transmits the data acquisition module information to the safety control module, and real-time communication connection between the safety control module and the vehicle control module is guaranteed;
s3, the vehicle control module receives the judgment signal transmitted by the information transmission module and makes scraper operation and driving decision according to the situation;
and S5, the safety control module performs safety control calculation by using the data of the data acquisition module, checks and detects the real-time property of communication by communicating with the information transmission module in real time, and performs closed operation by using a grating for a remote operation area.
8. The remote control method of an underground scraper according to claim 7, characterized in that: the step S5 is preceded by a step S4 in which the safety management control module enables remote control of the scraper by remote operation of the remote operation console through the remote operation switch.
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| CN202110710650.5A CN113431126A (en) | 2021-06-25 | 2021-06-25 | Remote control system and method for underground carry scraper |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116248773A (en) * | 2023-03-09 | 2023-06-09 | 北京速力科技有限公司 | Communication realization method for underground traffic control unit and underground mining mountain tramcar |
| CN116248773B (en) * | 2023-03-09 | 2024-06-04 | 北京速力科技有限公司 | Communication realization method for underground traffic control unit and underground mining mountain tramcar |
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| CN116248773A (en) * | 2023-03-09 | 2023-06-09 | 北京速力科技有限公司 | Communication realization method for underground traffic control unit and underground mining mountain tramcar |
| CN116248773B (en) * | 2023-03-09 | 2024-06-04 | 北京速力科技有限公司 | Communication realization method for underground traffic control unit and underground mining mountain tramcar |
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