CN113589807A - Mine unmanned locomotive control device and control method - Google Patents

Mine unmanned locomotive control device and control method Download PDF

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Publication number
CN113589807A
CN113589807A CN202110833785.0A CN202110833785A CN113589807A CN 113589807 A CN113589807 A CN 113589807A CN 202110833785 A CN202110833785 A CN 202110833785A CN 113589807 A CN113589807 A CN 113589807A
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controller
locomotive
electric locomotive
vehicle
brake
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CN113589807B (en
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史长春
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Xianghe Hi Tech Intelligent Control Jiangsu Co ltd
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Xianghe Hi Tech Intelligent Control Jiangsu Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • 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
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Signal Processing (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A control device and a control method for a mine unmanned locomotive belong to a control device and a control method for a mine locomotive. The electric locomotive brake system comprises an electric locomotive controller, an electric locomotive brake and an electric auxiliary controller; further comprising: a wireless servo controller; the wireless servo controller is respectively connected with the electric locomotive controller, the electric locomotive brake and the electric auxiliary controller; the upper wireless instruction or the vision instruction of the vehicle controls the electric locomotive controller, the electric locomotive brake and the electric auxiliary controller, automatically controls the forward and backward movement or parking of the electric locomotive controller and the advancing speed of the electric locomotive, and automatically controls the electric locomotive brake to brake the electric locomotive; the electric auxiliary controller is automatically controlled to send out sound and light warnings. The advantages are that: the unmanned control device is arranged on the original electric locomotive, manual control on the original electric locomotive and automatic control of the unmanned control device coexist, the cost for realizing automatic control of the electric locomotive is greatly reduced, and the manufacturing cost is low.

Description

Mine unmanned locomotive control device and control method
Technical Field
The invention relates to the technical field of mine electric locomotives, in particular to a control device and a control method for a mine unmanned locomotive.
Background
At present, when coal is produced underground in a mine, the mined coal needs to be transported, and materials needed by the mining of the coal are transported or materials when a coal mining machine is transferred are transported; the underground transportation of the mine is mostly carried out by adopting a rail transportation electric locomotive, and the power supply mode of the electric locomotive comprises an overhead line electric locomotive and a battery electric locomotive; the speed regulation mode of the electric locomotive comprises a variable frequency electric locomotive and a chopper electric locomotive, and the variable frequency electric locomotive and the chopper electric locomotive respectively comprise an electric locomotive cab, an electric locomotive controller, an electric locomotive brake and an electric auxiliary controller.
The electric locomotive brake include: a brake handle and a brake device; a driver rotates the brake handle by hand to drive the brake device; the brake device is a worm type brake device driven by the rotation of a handle, the brake handle is manually rotated, and the brake device brakes the electric locomotive, so that the use is inconvenient.
The electric assist controller includes: a manual switch; the electric locomotive is in a working state, the running lock switch is closed, and the electric locomotive is in a stopping state; the driver of the electric locomotive controls the switch of the warning lamp and the switch of the alarm bell respectively, the switch is turned on, the warning is provided for underground personnel in a sound and light mode, and the warning is turned off when the switch is turned off.
The electric locomotive controller is a driver controller installed in a cab of the electric locomotive, is called a driver controller for short, and controls the advancing, retreating and stopping of the electric locomotive and the advancing speed of the electric locomotive through the driver controller; the driver controller comprises a controller and an actuator.
The controller comprises a gear shifting handle of the master controller, a speed regulating handle for controlling the speed and a circuit amplifier matched with the gear shifting handle and the speed regulating handle.
The actuator comprises: and the high-power driver is matched with the circuit amplifier and drives a power motor of the electric locomotive to run so as to drive the electric locomotive to move forwards and backwards or accelerate and decelerate.
The gear shifting handle of the master controller has three gears, and the forward gear, the zero gear and the backward gear of the electric locomotive can be controlled by rotating the gear shifting handle. Inserting a special key into a handle end slot of the master controller, namely manually rotating the gear shifting handle until the left end is the front gear of the locomotive; the locomotive is in a backward gear when rotating to the right end; when the vehicle rotates to the middle position, namely a zero gear, the vehicle is in neutral, and the vehicle does not move forwards or backwards.
The speed regulating handle is connected to the speed regulating control unit through a wire; when the gear shifting handle of the master controller rotates to a determined forward gear or a determined reverse gear, the speed regulating handle for controlling the speed is regulated, namely the forward speed or the reverse speed of the electric locomotive can be regulated.
The manual speed regulation control units of the battery electric locomotive, the variable frequency electric locomotive and the chopper electric locomotive are respectively different:
the speed control unit of the battery electric locomotive is a main command rotary drum, a resistor is connected in series with an excitation winding of a power motor of the electric locomotive, and the current passing through an excitation coil is controlled by increasing or decreasing the resistance value by rotating a handle of the main command rotary drum, so that the rotating speed of the motor is changed.
The speed regulation control unit of the variable frequency electric locomotive is a frequency converter and is matched with the PLC for use; the PLC controller outputs an analog speed regulating signal, the analog speed regulating signal is output to the frequency converter through the AD/DA converter, the frequency converter adjusts and outputs different alternating current frequencies, the frequency loaded on the power motor is changed, the rotating speed of the power motor correspondingly changes, and the speed regulation of the frequency converter on the electric locomotive is realized.
The speed regulation control unit of the chopper electric locomotive is an IGBT power control unit, and the pulse width of the control unit is realized by manually regulating a potentiometer of the IGBT power control unit, so that the speed regulation of the power motor is realized.
In summary, the trolley electric locomotive, the battery electric locomotive, the variable frequency electric locomotive and the chopper electric locomotive have the following disadvantages: the trolley locomotive is a battery type electric locomotive which obtains a driving power supply through trolley friction, cannot be used in a gas outburst mine and can only use a battery to drive the power supply; the chopper type motor vehicle mainly commutates, namely the main controller adopts a control method of mechanical electric commutation, and as the commutation circuit of the main controller is in a hard connection mode, the failure rate is relatively high, and the use is limited; the intelligent degree of frequency conversion electric locomotive control circuit is higher, and the switching-over circuit many parts are with dry reed relay switching-over, and degree of automation is higher, is used widely by the colliery majority now.
According to the national safety signs and the relevant regulations of coal mine explosion-proof products, the structural or circuit reconstruction of the existing mine electric locomotive can not be directly carried out by using components without the national safety signs, and the unmanned driving of the existing mine locomotive can not be realized by the direct reconstruction.
In order to realize that the existing coal mine electric locomotive can only be scrapped in the unmanned driving of the coal mine electric locomotive, the unmanned electric locomotive with the unmanned driving function is purchased again. The original coal mine electric locomotive in use is scrapped, and the unmanned electric locomotive with high price is purchased, so that the great resource waste is realized; meanwhile, due to the fund problem, a user is difficult to invest a large amount of funds to purchase a new unmanned motor, so that the new technology of the unmanned electric locomotive cannot be widely used in a short time.
Disclosure of Invention
The invention aims to provide a control device and a control method for an unmanned mine locomotive, which solve the problem that the electric locomotive in use is scrapped in a large area because the electric locomotive is limited by an explosion-proof structure and cannot be transformed.
The purpose of the invention is realized as follows: the mine unmanned locomotive comprises an unmanned control device and a control method based on the unmanned control device.
The unmanned control device comprises: the system comprises an electric locomotive controller, an electric locomotive brake and an electric auxiliary controller; further comprising: a wireless servo controller; the wireless servo controller is respectively connected with the electric locomotive controller, the electric locomotive brake and the electric auxiliary controller; the upper wireless instruction or the vision instruction of the vehicle controls the electric locomotive controller, the electric locomotive brake and the electric auxiliary controller, automatically controls the forward and backward movement or parking of the electric locomotive controller and the advancing speed of the electric locomotive, and automatically controls the electric locomotive brake to brake the electric locomotive; the electric auxiliary controller is automatically controlled to send out sound and light warnings.
The wireless servo controller comprises: the system comprises a vehicle-mounted receiving and transmitting positioning device, a vehicle-mounted terminal display, a vehicle-mounted terminal controller, a servo control unit, a motor vehicle controller, a lamp bell lock, a motor vehicle brake and a sensing controller;
the vehicle-mounted receiving and transmitting positioning device and the perception controller are connected with a vehicle-mounted terminal controller, and a vehicle-mounted terminal display is connected to the vehicle-mounted terminal controller and used for displaying images shot by the perception controller; the output end of the vehicle-mounted terminal controller is connected with the servo control unit, the servo control unit is respectively connected with the electric locomotive controller, the lamp bell lock and the electric locomotive brake, and is used for respectively controlling the forward movement, the backward movement and the parking of the electric locomotive, braking the electric locomotive and respectively opening or respectively closing the lamp bell lock for driving the electric locomotive.
The vehicle-mounted transceiving positioning device comprises: the positioning module and the communication module; the positioning module is a UWB module, so that the electric locomotive is positioned; the communication module is a zigbee module, a 5G module or a WIFI module and is used for receiving and transmitting data in real time; and the control instruction sent by the mine wireless base station is received downwards, and the image data of the vehicle-mounted terminal controller 3 is sent upwards.
The vehicle-mounted terminal controller comprises: the system comprises a data integrated control board card, an AD/DA detection board and a vehicle-mounted display board;
the vehicle-mounted terminal controller comprises: the system comprises a data integrated control board card, an AD/DA detection board and a vehicle-mounted display board;
the input port of the data integrated control board card is respectively connected with the positioning module, the communication module and the AD/DA detection board; the output port of the data integrated control board card is connected with the servo control unit;
the output port of the data integrated control board card is also connected with the vehicle-mounted display panel; the vehicle-mounted display panel is simultaneously connected with the vehicle-mounted terminal display and the perception controller, and the perception controller is an AI camera and is used for shooting images by the digital AI camera;
or the output port of the data integration control board card is simultaneously connected with a vehicle-mounted display panel and an OSD superposition module, the vehicle-mounted display panel is simultaneously connected with a vehicle-mounted terminal display and the OSD superposition module, the OSD superposition module is connected with a perception controller, and the perception controller is an AI camera and is used for simulating the AI camera to shoot images.
Or the output port of the data integrated control board card is connected with the vehicle-mounted display board; the vehicle-mounted display panel is connected with the vehicle-mounted terminal display and the camera of the perception controller at the same time, and the perception controller comprises: the radar sensor and the camera are used for the digital camera to shoot images; the radar sensor is connected with an output port of the data integrated control board card;
or the output port of the data integration control board card is simultaneously connected with the vehicle-mounted display panel and the OSD superposition module, the vehicle-mounted display panel is simultaneously connected with the vehicle-mounted terminal display and the OSD superposition module, the OSD superposition module is connected with the camera of the perception controller, and the perception controller comprises: the radar sensor and the camera are used for simulating the camera to shoot images; the radar sensor is connected with an output port of the data integrated control board card.
The positioning module is a UWB module, and the communication module is a 5G module, a WIFI module or a zigbee module.
The servo control sheet comprises: a driver controller servo, a brake servo and an electric auxiliary controller; the servo of the driver controller is connected with the controller of the electric locomotive, so that the forward, backward, parking and speed regulation of the electric locomotive are automatically controlled; the brake servo is connected with the brake of the electric locomotive to realize the automatic control of the brake of the electric locomotive; the electric auxiliary controller is connected with the warning lamp, the alarm bell and the bicycle lock.
The perception controller comprises: the front sensing controller and the rear sensing controller are respectively arranged at the front end and the rear end of the electric locomotive; the front perception controller and the rear perception controller have the same structure and are AI cameras; or the front sensing controller and the rear sensing controller have the same structure and comprise: radar sensor and camera.
The electric auxiliary controller is an electric appliance switching value controller which is respectively connected with the warning lamp, the alarm bell and the bicycle lock in series in a circuit and is used for switching on or off the power supply of the warning lamp and the alarm bell and controlling the bicycle lock to switch on or off the power supply; the electric appliance switching value controller is as follows: electromagnet, relay, dry reed relay.
The servo structure of the driver controller is the same as that of the brake, and the driver controller and the brake both comprise a servo motor controller and a servo motor; the servo motor controller is connected with the servo motor and drives the servo motor to operate; the servo motors are three, are respectively connected with a gear shifting handle of a master controller, a speed regulating handle for controlling speed and a brake handle of a brake through a transmission mechanism, a permanent magnet is connected on a shaft of the gear shifting handle, the permanent magnet rotates along with the rotation of the gear shifting handle, and the three master controllers are installed on the rotating track of the permanent magnet and respectively execute the following steps: forward, stop, backward.
The main command controller control part is a reed relay; or the control part of the master controller is a solid-state relay.
The servo motor is connected with the gear shifting handle, the speed regulating handle and the brake handle through a transmission mechanism; the transmission mechanism is a direct connection mechanism connected through a wheel disc or an indirect connection mechanism connected through a gear, a rack, a chain and a belt.
The direct connection structure is as follows: the rotor shaft of the servo motor is directly connected with the shaft of the gear shifting handle, the speed regulating handle or the brake handle through the connector, and the gear shifting handle, the speed regulating handle or the brake handle are respectively driven to rotate and operate.
The indirect connection structure is as follows: the gear shifting handle, the speed regulating handle and the brake handle are all connected with driven wheel discs corresponding to gear transmission, rack transmission, chain transmission and belt transmission; the servo motor adopts a rotary servo motor, a driving gear, a driving chain wheel or a driving belt pulley corresponding to a driven wheel disc are arranged on the shaft of the rotary servo motor, and the driving gear is meshed with the driven wheel to drive a gear shifting handle, a speed regulating handle or a brake handle to rotate; or the servo motor adopts a linear servo motor, a driving rack is arranged on the linear servo motor, and the driving rack is meshed with the driven gear to drive the gear shifting handle, the speed regulating handle or the brake handle to rotate and operate.
The control method based on the control device comprises the following steps: a manual control gear and an automatic control gear are arranged;
when the original electric locomotive is placed in a manual control gear, executing a manual control method of the original electric locomotive, and automatically controlling to stop working;
when the automatic control gear is arranged, a worker can still manually intervene in control;
the automatic control method comprises the following steps: the front end and the rear end of the electric locomotive are respectively provided with a front perception controller and a rear perception controller, the perception controller, a data integrated control board card of a vehicle-mounted terminal controller and a vehicle-mounted display panel form a machine vision controller, the machine vision controller is in wireless communication with an aboveground locomotive dispatching monitoring system through a communication module, and the shot real-time image and the positioning information of a positioning module are uploaded to the aboveground locomotive dispatching monitoring system; the communication module be wireless communication module, include: the positioning module comprises a 5G module and a WIFI or zigbee module, wherein the positioning module is a UWB module; according to the real-time image information, the electric locomotive carries out unmanned driving;
the unmanned electric locomotive comprises: the aboveground locomotive dispatching monitoring system instructs to control driving and the machine vision controller controls driving;
the aboveground locomotive dispatching monitoring system commands to control driving:
the sensing controller sends the road condition, the running condition and the parking condition of the underground electric locomotive in real time to an aboveground locomotive dispatching monitoring system through a vehicle-mounted control terminal and a vehicle-mounted receiving and sending positioning device, and the road condition, the running condition and the parking condition in front of the underground locomotive are displayed on the aboveground locomotive dispatching monitoring system in real time; the locomotive dispatching monitoring system is in wireless communication with the electric locomotive through an underground roadway wireless communication network, and sends a control instruction to the electric locomotive;
the machine vision controller controls:
the machine vision controller has independent core driving calculation and judgment functions; a perception controller of the machine vision controller acquires a real-time image, and the machine vision controller analyzes and judges the real-time image;
uploading the results of the real-time image analysis and judgment to an aboveground locomotive dispatching monitoring system through a communication module; in a specified time, the aboveground locomotive dispatching monitoring system gives a control instruction to the electric locomotive, and the machine vision controller does not give the control instruction to the electric locomotive;
and in a specified time, the aboveground locomotive dispatching monitoring system does not issue a control instruction to the electric locomotive, the machine vision controller judges that the communication with the aboveground locomotive dispatching monitoring system is lost, and the machine vision controller acquires a real-time image according to the sensing controller, automatically judges the current state of the electric locomotive, sends the control instruction to the electric locomotive and controls the electric locomotive to normally run, decelerate or stop.
The control instruction issued by the aboveground locomotive dispatching monitoring system and the control instruction issued by the machine vision controller are transmitted to the servo control unit, and a driver controller of the servo control unit performs servo, namely controls a gear shifting handle of a master controller and a speed regulating handle for controlling the speed, and controls the advancing, retreating or stopping of the locomotive and the running speed of the locomotive; the brake servo is used for controlling the brake of the electric locomotive to brake the locomotive; and the electric auxiliary controller controls the turn-on or turn-off of the warning lamp and the alarm bell.
The automatic speed regulating method for controlling the speed of the electric locomotive comprises the following steps:
the speed regulation method of the battery electric locomotive comprises the following steps: the exciting winding of the power motor of the electric locomotive is connected with a resistor in series, and the servo motor is connected with a main reversing shaft or an accelerating rotating shaft through a wheel disc to realize direct transmission, chain or gear transmission and automatically matched with a rotating mechanism.
Judging whether the issued command is forward or backward, rotating the servo motor by an angle, and driving a reversing shaft to rotate by an angle by a driving wheel of the servo motor so that a forward and backward rotating contact of the reversing shaft is just in contact with or disconnected from the reversing shaft; when the motor reaches a proper position, the sensor sends a signal, the servo motor stops rotating, the reversing shaft is locked, the drum shaft motor is accelerated to start rotating, a first cam of the drum shaft motor just jacks a contact point to short-circuit two ends of a resistor connected in series in an excitation coil of the power motor, a handle of the rotary drum is driven by the servo motor to rotate, the resistance value of the resistor is increased or reduced to control the current flowing through the excitation coil, and the resistance value of the resistor is zero, so that the rotating speed of the motor is changed, the rotating speed of the power motor is increased, and the electric locomotive is accelerated; the process is repeated continuously, and the electric locomotive is accelerated step by step until reaching the required speed.
The speed regulation method of the variable frequency electric locomotive comprises the following steps: the servo motor controls the speed-regulating potentiometer to rotate to output an analog signal, the analog signal is output to the frequency converter through the AD/DA converter, the frequency converter adjusts and outputs different alternating current frequencies, the frequency loaded on the power motor is changed, the rotating speed of the power motor is correspondingly changed, and the speed regulation of the frequency converter on the electric locomotive is realized.
The speed regulation method of the chopper electric locomotive comprises the following steps: the servo motor is connected with the speed-regulating potentiometer, the servo motor controls the speed-regulating potentiometer to rotate, the potentiometer controls the pulse width (pwm) to enable the IGBT to be conducted for a long time, and the potentiometer is adjusted to achieve the pulse width of the control unit and achieve the speed regulation of the power motor.
The unmanned control device has the beneficial effects that due to the adoption of the scheme, the unmanned control device has a national safety mark through relevant regulations of coal mine explosion-proof products, and has the qualification of being matched with the existing mine locomotive.
The sensing controller is installed at the front end of the locomotive, the road condition, the running condition and the parking condition in front of the underground locomotive are sent to the aboveground locomotive dispatching monitoring system through the wireless vehicle-mounted receiving and sending device in real time, the road condition, the running condition and the parking condition in front of the underground locomotive are displayed on the aboveground locomotive dispatching monitoring system in real time, the locomotive dispatching monitoring system receives a control instruction sent to a wireless communication network of an underground roadway by the aboveground locomotive dispatching monitoring system through the vehicle-mounted receiving and sending positioning device installed on the underground locomotive according to the real-time state of the underground locomotive, and a wireless base station of the wireless communication network of the underground roadway is distributed in the underground roadway; the vehicle-mounted receiving and transmitting positioning device realizes wireless communication with the aboveground locomotive dispatching monitoring system through a roadway wireless communication network; the vehicle-mounted receiving and transmitting positioning device receives a control instruction of the aboveground locomotive dispatching monitoring system and then transmits the control instruction to the vehicle-mounted terminal controller, and a driver controller servo, a brake servo and an electric auxiliary controller of the vehicle-mounted terminal controller respectively control the electric locomotive controller, the speed regulator, the electric locomotive brake, the warning lamp and the alarm bell.
The method is characterized in that servo motors are arranged on a gear shifting handle, a speed regulating handle and a brake handle, according to the image of a sensing controller, a dispatching monitoring system of the mine locomotive or a vehicle-mounted terminal controller controls the servo motors arranged on the gear shifting handle, the speed regulating handle and the brake handle to carry out gear shifting regulation, speed regulation and automatic control of braking on the gear shifting handle, the speed regulating handle and the brake handle, so that unmanned operation of the mine locomotive in a mine is realized, and the operation state, the operation speed, the braking and the stopping of the mine locomotive are directly controlled by the dispatching monitoring system of the mine locomotive; when the locomotive dispatching monitoring system does not participate in control, the electric locomotive analyzes and judges the images according to the images acquired by the machine vision controller sensing controller, outputs control signals to the vehicle-mounted terminal controller, and the vehicle-mounted terminal controller realizes automatic running control of the electric locomotive.
The original gear shifting handle, the original speed regulating handle and the original brake handle can implement manual control on the electric locomotive; the servo motors are arranged on the original gear shifting handle, the speed regulating handle and the brake handle, so that automatic driving control is realized, and the original gear shifting handle, the speed regulating handle and the brake handle can still implement intervention control on the electric locomotive. The original mine locomotive is reserved and is matched with the original mine locomotive for use, and a large amount of unnecessary expenses are saved.
The national security administration unites related departments to put on coal mine unattended operation, an unmanned electric locomotive is brought into a coal mine robot line, and the existing new unmanned electric locomotive is only limited to have a control function and is high in manufacturing cost, and is difficult to popularize and apply in coal mines due to high manufacturing cost; the unmanned control device is arranged on the original electric locomotive, manual control on the original electric locomotive and automatic control of the unmanned control device coexist, the cost for realizing automatic control of the electric locomotive is greatly reduced, the manufacturing cost is low, the problem that the electric locomotive in use is scrapped in a large area because the mine electric locomotive cannot be transformed due to the limitation of an explosion-proof structure is solved, and the purpose of the invention is achieved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of the cooperation of the vehicle-mounted terminal controller and the analog AI camera according to the present invention.
Fig. 3 is a schematic structural diagram of the vehicle-mounted terminal controller of the present invention cooperating with a digital AI camera.
Fig. 4 is a schematic structural diagram of the vehicle-mounted terminal controller of the invention, which is matched with a radar and an analog camera.
Fig. 5 is a schematic structural diagram of the vehicle-mounted terminal controller of the invention matched with a radar and a digital camera.
Fig. 6 is a schematic diagram of a wireless network structure to which the present invention is applied.
In the figure, 1, a vehicle-mounted receiving and transmitting positioning device, 2 and a vehicle-mounted terminal display; 3. a vehicle-mounted terminal controller; 4. a servo control unit; 5. a motor vehicle controller; 6. a bell lock; 7. an electric locomotive brake; 8. and a sensing controller.
1-1, a positioning module; 1-2 and a communication module.
2-1, a downhole gigabit ring network switch; 2-2, a base station; 2-3, a borehole trillion ring network switch; 2-4, dispatching a computer; 2-5, scheduling an operation table; 2-6, a core server; 2-7 and a display.
3-1, a data integrated control board card; 3-2, detecting the AD/DA board; 3-3, vehicle mounted display panel; 3-4, OSD superposition module.
4-1, an electric auxiliary controller; 4-2, servo of a driver controller; 4-3, and the brake serves.
5-1, a controller; 5-2 and an actuator.
8-1, a front AI camera; 8-2, a rear AI camera; 8-3, a front radar sensor; 8-4, a rear radar sensor; 8-5, a front camera; 8-6 and a rear camera.
Detailed Description
Example 1: the mine unmanned locomotive comprises an unmanned control device and a control method based on the unmanned control device.
The unmanned control device comprises: the electric locomotive comprises an electric locomotive controller 5, an electric locomotive brake 7 and an electric auxiliary controller 4-1; further comprising: a wireless servo controller; the wireless servo controller is respectively connected with the electric locomotive controller 5, the electric locomotive brake 7 and the electric auxiliary controller 4-1; the upper wireless instruction or the own vehicle visual instruction controls the electric locomotive controller 5, the electric locomotive brake 7 and the electric auxiliary controller 4-1, automatically controls the electric locomotive controller 5 to move forward, move backward or stop and controls the moving speed of the electric locomotive, and automatically controls the electric locomotive brake 7 to brake the electric locomotive; the electric auxiliary controller 4-1 is automatically controlled to give out sound and light warning.
The electric locomotive brake 7 comprises: a brake handle and a brake device; the brake device is a worm type brake device driven by the rotation of a handle.
The electric locomotive controller 5 is commonly called a driver controller, is a driver controller installed in a cab of the electric locomotive, is called a driver controller for short, and controls the advancing, retreating and stopping of the electric locomotive and the advancing speed of the electric locomotive through the driver controller; the driver controller comprises a controller 5-1 and an actuator 5-2.
The controller 5-1 comprises a gear shifting handle of the master controller, a speed regulating handle for controlling the speed and a circuit amplifier matched with the gear shifting handle and the speed regulating handle.
The actuator 5-2 comprises: and the high-power driver is matched with the circuit amplifier and drives a power motor of the electric locomotive to run so as to drive the electric locomotive to move forwards and backwards or accelerate and decelerate.
The gear shifting handle of the master controller has three gears, and the forward gear, the zero gear and the backward gear of the electric locomotive can be controlled by rotating the gear shifting handle. Inserting a special key into a handle end slot of the master controller, namely manually rotating the gear shifting handle until the left end is the front gear of the locomotive; the locomotive is in a backward gear when rotating to the right end; when the electric locomotive rotates to the middle position, namely a neutral position, the electric locomotive does not move forwards or backwards.
The speed regulating handle is connected to the speed regulating control unit through a wire; when the gear shifting handle of the master controller rotates to a determined forward gear or a determined reverse gear, the speed regulating handle for controlling the speed is regulated, and the forward speed or the reverse speed of the electric locomotive is regulated.
The manual speed regulation control units of the battery electric locomotive, the variable frequency electric locomotive and the chopper electric locomotive are respectively different:
the speed control unit of the battery electric locomotive is a main command rotary drum, a resistor is connected in series with an excitation winding of a power motor of the electric locomotive, and the current passing through an excitation coil is controlled by increasing or decreasing the resistance value by rotating a handle of the main command rotary drum, so that the rotating speed of the motor is changed.
The speed regulation control unit of the variable-frequency electric locomotive is a frequency converter and is matched with the PLC, the PLC outputs an analog speed regulation signal and outputs the analog speed regulation signal to the frequency converter through the AD/DA converter, the frequency converter regulates and outputs different alternating current frequencies and changes the frequency loaded on the power motor, the rotating speed of the power motor is correspondingly changed, and the speed regulation of the frequency converter on the electric locomotive is realized.
The speed regulation control unit of the chopper electric locomotive is an IGBT power control unit, and the pulse width of the control unit is realized by manually regulating a potentiometer of the IGBT power control unit, so that the speed regulation of the power motor is realized.
The electric auxiliary control switch is used for respectively controlling the warning lamp, the alarm bell and the driving lock; the electric locomotive key starts the running lock, and the electric locomotive driver turns on or off the switch of the warning light and the switch of the alarm bell, so that the underground personnel are warned in a sound and light mode.
The wireless servo controller comprises: the system comprises a vehicle-mounted receiving and sending positioning device 1, a vehicle-mounted terminal display 2, a vehicle-mounted terminal controller 3, a servo control unit 4, an electric locomotive controller 5, a lamp bell lock 6, an electric locomotive brake 7 and a sensing controller 8;
the vehicle-mounted receiving, transmitting and positioning device 1 and the perception controller 8 are connected with the vehicle-mounted terminal controller 3, and the vehicle-mounted terminal controller 3 is connected with the vehicle-mounted terminal display 2 for displaying images shot by the perception controller 8; the output end of the vehicle-mounted terminal controller 3 is connected with the servo control unit 4, the servo control unit 4 is respectively connected with the electric locomotive controller 5, the bell lock 6 and the electric locomotive brake 7, and respectively controls the forward movement, the backward movement and the parking of the electric locomotive to brake the electric locomotive, and the bell lock 6 of the driving electric locomotive is respectively opened or respectively closed.
The vehicle-mounted transceiving positioning device 1 comprises: the positioning module 1-1 and the transceiver module; the positioning module 1-1 is a UWB module to realize the positioning of the electric locomotive; the transceiver module is a zigbee module, a 5G module or a WIFI module and is used for transceiving data in real time; and the control instruction sent by the mine wireless base station 2-2 is received downwards, and the image data of the vehicle-mounted terminal controller 3 is sent upwards.
The vehicle-mounted terminal controller 3 comprises: the system comprises a data integrated control board card 3-1, an AD/DA detection board 3-2 and a vehicle-mounted display board 3-3;
an input port of the data integrated control board card 3-1 is respectively connected with the positioning module 1-1, the communication module 1-2 and the AD/DA detection board 3-2; the output port of the data integrated control board card 3-1 is connected with the servo control unit 4;
the output port of the data integrated control board 3-1 is also connected with a vehicle-mounted display board 3-3; the vehicle-mounted display panel 3-3 is simultaneously connected with the vehicle-mounted terminal display 2 and the perception controller 8, and the perception controller 8 is an AI camera and is used for shooting images by a digital AI camera;
or the output port of the data integration control board 3-1 is also simultaneously connected with the vehicle-mounted display panel 3-3 and the OSD superposition module 3-4, the vehicle-mounted display panel 3-3 is simultaneously connected with the vehicle-mounted terminal display 2 and the OSD superposition module 3-4, the OSD superposition module 3-4 is connected with the perception controller 8, and the perception controller 8 is an AI camera and is used for simulating the AI camera to shoot images.
The AI cameras are divided into a front AI camera 8-1 and a rear AI camera 8-2 which have the same structure and are respectively arranged at the front end and the rear end of the electric locomotive.
The positioning module 1-1 is a UWB module, and the communication module 1-2 is a 5G module, a WIFI module or a zigbee module. The data integrated control board 3-1 is provided with a UWB/module interface, a 5G module interface, a WIFI module interface, a zigbee module interface, an AI camera interface, a camera interface and a radar sensor interface; and an 232/485/CAN bus/RJ 45 connector and a USB interface are reserved.
The servo control unit 4 includes: a driver controller servo 4-2, a brake servo 4-3 and an electric auxiliary controller 4-1; the driver controller servo 4-2 is connected with the electric locomotive controller 5 to realize the automatic control of the forward, backward, parking and speed regulation of the electric locomotive; the brake servo 4-3 is connected with an electric locomotive brake 7 to realize automatic control of braking of the electric locomotive; the electric auxiliary controller 4-1 is connected with the warning lamp, the alarm bell and the bicycle lock.
The sensing controller 8 includes: the front sensing controller and the rear sensing controller are respectively arranged at the front end and the rear end of the electric locomotive; the front perception controller and the rear perception controller have the same structure and are AI cameras; or the front sensing controller and the rear sensing controller have the same structure and comprise: radar sensor and camera.
The electric auxiliary controller 4-1 is an electric appliance switching value controller 5-1, and the electric appliance switching value controller 5-1 is respectively connected with the warning lamp, the alarm bell and the bicycle lock in series in a circuit and is used for switching on or off the power supply of the warning lamp and the alarm bell and controlling the bicycle lock to switch on or off the power supply; the electric appliance switching value controller 5-1 is as follows: electromagnet, relay, dry reed relay.
The servo controller 4-2 and the brake servo 4-3 have the same structure and respectively comprise a servo motor controller 5-1 and a servo motor; the servo motor controller 5-1 is connected with the servo motor and drives the servo motor to operate; the servo motors are three, are respectively connected with a gear shifting handle of a master controller, a speed regulating handle for controlling speed and a brake handle of a brake through a transmission mechanism, a permanent magnet is connected on a shaft of the gear shifting handle, the permanent magnet rotates along with the rotation of the gear shifting handle, and the three master controllers are installed on the rotating track of the permanent magnet and respectively execute the following steps: forward, stop, backward.
The main command controller control part is a reed relay; or the control part of the master controller is a solid-state relay.
The servo motor is connected with the gear shifting handle, the speed regulating handle and the brake handle through a transmission mechanism; the transmission mechanism is a direct connection mechanism connected through a wheel disc or an indirect connection mechanism connected through a gear, a rack, a chain and a belt.
The direct connection structure is as follows: the rotor shaft of the servo motor is directly connected with the shaft of the gear shifting handle, the speed regulating handle or the brake handle through the connector to drive the gear shifting handle, the speed regulating handle or the brake handle to rotate.
The indirect connection structure is as follows: the gear shifting handle, the speed regulating handle and the brake handle are all connected with driven wheel discs corresponding to gear transmission, rack transmission, chain transmission and belt transmission; the servo motor adopts a rotary servo motor, a driving gear, a driving chain wheel or a driving belt pulley corresponding to a driven wheel disc are arranged on the shaft of the rotary servo motor, and the driving gear is meshed with the driven wheel to drive a gear shifting handle, a speed regulating handle or a brake handle to rotate; or the servo motor adopts a linear servo motor, a driving rack is arranged on the linear servo motor, and the driving rack is meshed with the driven gear to drive the gear shifting handle, the speed regulating handle or the brake handle to rotate and operate.
The control method based on the control device comprises the following steps: a manual control gear and an automatic control gear are arranged;
when the original electric locomotive is placed in a manual control gear, executing a manual control method of the original electric locomotive, and automatically controlling to stop working;
when the automatic control gear is arranged, a worker can still manually intervene in control;
the automatic control method comprises the following steps: a front sensing controller and a rear sensing controller are respectively arranged at the front end and the rear end of the electric locomotive, a sensing controller 8, a data integrated control board 3-1 of a vehicle-mounted terminal controller 5-1 and a vehicle-mounted display board 3-3 form a machine vision controller, the machine vision controller is in wireless communication with an aboveground locomotive dispatching monitoring system through a communication module 1-2, and the captured real-time image and the positioning information of a positioning module 1-1 are uploaded to the aboveground locomotive dispatching monitoring system; the communication module 1-2 is a wireless communication module 1-2, and comprises: the positioning module 1-1 is a UWB module; according to the real-time image information, the electric locomotive carries out unmanned driving;
the unmanned electric locomotive comprises: the aboveground locomotive dispatching monitoring system instructs to control driving and the machine vision controller controls driving;
the aboveground locomotive dispatching monitoring system commands to control driving:
the perception controller 8 sends the road condition, the running condition and the parking condition of the underground electric locomotive in real time to the aboveground locomotive dispatching monitoring system through the vehicle-mounted control terminal and the vehicle-mounted receiving and sending positioning device 1, and displays the road condition, the running condition and the parking condition in front of the underground locomotive on the aboveground locomotive dispatching monitoring system in real time; the locomotive dispatching monitoring system is in wireless communication with the electric locomotive through an underground roadway wireless communication network, and sends a control instruction to the electric locomotive;
the machine vision controller controls:
the machine vision controller has independent core driving calculation and judgment functions; a perception controller 8 of the machine vision controller acquires a real-time image, and the machine vision controller analyzes and judges the real-time image;
uploading the results of the real-time image analysis and judgment to an aboveground locomotive dispatching monitoring system through a communication module 1-2; in a specified time, the aboveground locomotive dispatching monitoring system gives a control instruction to the electric locomotive, and the machine vision controller does not give the control instruction to the electric locomotive;
and in a specified time, the aboveground locomotive dispatching monitoring system does not issue a control instruction to the electric locomotive, the machine vision controller judges that the communication with the aboveground locomotive dispatching monitoring system is lost, and the machine vision controller acquires a real-time image according to the perception controller 8, automatically judges the current state of the electric locomotive, sends a control instruction to the electric locomotive and controls the electric locomotive to normally run, decelerate or stop.
The control instruction issued by the aboveground locomotive dispatching monitoring system and the control instruction issued by the machine vision controller are transmitted to the servo control unit 4, and a driver controller of the servo control unit 4 performs servo 4-2, namely a gear shifting handle for controlling a master controller and a speed regulating handle for controlling the speed, and controls the advancing, retreating or stopping of the locomotive and the running speed of the locomotive; brake servo 4-3, namely controlling an electric locomotive brake 7 to brake the locomotive; and the electric auxiliary controller 4-1 controls the turn-on or turn-off of the warning lamp and the alarm bell.
The automatic speed regulating method for controlling the speed of the electric locomotive comprises the following steps:
the speed regulation method of the battery electric locomotive comprises the following steps: the exciting winding of the power motor of the electric locomotive is connected with a resistor in series, and the servo motor is connected with a main reversing shaft or an accelerating rotating shaft through a wheel disc to realize direct transmission, chain or gear transmission and automatically matched with a rotating mechanism.
Judging whether the issued command is forward or backward, rotating the servo motor by an angle, and driving a reversing shaft to rotate by an angle by a driving wheel of the servo motor so that a forward and backward rotating contact of the reversing shaft is just in contact with or disconnected from the reversing shaft; when the motor reaches a proper position, the sensor sends out a signal, the servo motor stops rotating, the reversing shaft is locked, the drum shaft motor is accelerated to start rotating, the first cam of the motor just pushes open a contact point to short-circuit two ends of a resistor connected in series in an excitation coil of the power motor, the handle of the rotary drum is driven by the servo motor to rotate, the resistance value of the resistor is increased or reduced to control the current flowing through the excitation coil, and the resistance value of the resistor is zero. Thereby changing the rotational speed of the motor. The rotating speed of the power motor is increased, and the electric locomotive is accelerated; the process is repeated continuously, and the electric locomotive is accelerated step by step until reaching the required speed.
The speed regulation method of the variable frequency electric locomotive comprises the following steps: the servo motor controls the speed-regulating potentiometer to rotate to output an analog signal, the analog signal is output to the frequency converter through the AD/DA converter, the frequency converter adjusts and outputs different alternating current frequencies, the frequency loaded on the power motor is changed, the rotating speed of the power motor is correspondingly changed, and the speed regulation of the frequency converter on the electric locomotive is realized.
The speed regulation method of the chopper electric locomotive comprises the following steps: the servo motor is connected with the speed-regulating potentiometer, the servo motor controls the speed-regulating potentiometer to rotate, the potentiometer controls the pulse width (pwm) to enable the IGBT to be conducted for a long time, and the potentiometer is adjusted to achieve the pulse width of the control unit and achieve the speed regulation of the power motor.
The front of the electric locomotive when the electric locomotive advances is the front of the electric locomotive when the electric locomotive runs forwards or the front of the electric locomotive when the electric locomotive backs up.
The model of the data integration control board card is as follows: XHJW-ZN-BK-001.
The vehicle-mounted display board is XHJW-CZ-XS-002.
The AD/DA detection board is characterized in that the model number is as follows: XHJW-AD/AD-CS-003.
The OSD superposition module has the following model: XHJW-OSD-DJ-004.
The AI camera has the following model: XHJW-AI-XSJ-005.
The radar sensor is characterized in that the types of the radar sensor are as follows: XHJW-LD-CGQ-006.
The components of the above models are all commercial products.
Example 2: in fig. 4 and 5, the vehicle-mounted terminal controller 3 includes: the system comprises a data integrated control board card 3-1, an AD/DA detection board 3-2 and a vehicle-mounted display board 3-3;
an input port of the data integrated control board card 3-1 is respectively connected with the positioning module 1-1, the communication module 1-2 and the AD/DA detection board 3-2; the output port of the data integrated control board card 3-1 is connected with the servo control unit 4;
the output port of the data integrated control board 3-1 is connected with the vehicle-mounted display panel 3-3; the vehicle-mounted display panel 3-3 is simultaneously connected with the vehicle-mounted terminal display 2 and the camera of the perception controller 8, and the perception controller 8 comprises: the radar sensor and the camera are used for the digital camera to shoot images; the radar sensor is connected with an output port of the data integrated control board card 3-1;
or the output port of the data integration control board 3-1 is also simultaneously connected with the vehicle-mounted display panel 3-3 and the OSD overlapping module 3-4, the vehicle-mounted display panel 3-3 is simultaneously connected with the vehicle-mounted terminal display 2 and the OSD overlapping module 3-4, the OSD overlapping module 3-4 is connected with the camera of the perception controller 8, or the perception controller 8 comprises: the radar sensor and the camera are used for simulating the camera to shoot images; the radar sensor is connected with an output port of the data integrated control board card 3-1.
The perception controller 8 is a radar sensor and a camera which are used in pairs and are respectively arranged at the front end and the rear end of the electric locomotive;
the radar sensor of the perception controller 8 is arranged at the lower front end of the electric locomotive and used for detecting an obstacle in front of the electric locomotive, when the radar sensor detects that the obstacle exists in front of the electric locomotive, a signal for detecting the obstacle is sent to the data integrated control board 3-1, and the data integrated control board 3-1 sends a control instruction to the servo control unit 4 through operation to control the electric locomotive to decelerate or stop.
The radar sensor and the camera are divided into a front radar sensor 8-3, a front camera 8-5, a rear radar sensor 8-4 and a rear camera 8-6, the front radar sensor 8-3, the rear radar sensor 8-4, the front camera 8-5 and the rear camera 8-6 are identical in structure and are respectively arranged at the front end and the rear end of the electric locomotive.
The camera of the perception controller 8 is used for shooting road condition image information in front of the electric locomotive, and after the road condition image information is calculated through the data integration control board card 3-1, the road condition image information is transmitted to the aboveground locomotive dispatching monitoring system through the communication module 1-2, and the aboveground locomotive dispatching monitoring system sends a control instruction to the electric locomotive according to the road condition image information to control the electric locomotive to normally run, decelerate or stop.
The rest was the same as in example 1.
Example 3: in fig. 6, the invention is matched with an aboveground locomotive dispatching and monitoring system to form an underground electric locomotive unmanned system.
The unmanned system of the underground electric locomotive comprises: the system comprises an aboveground locomotive scheduling monitoring system, an underground roadway wireless communication network and an unmanned control device; an aboveground ten-thousand-million ring network switch 2-3 of the aboveground locomotive dispatching monitoring system is connected with an underground ten-million ring network switch 2-1 of an underground roadway wireless communication network through an optical cable; and a base station 2-2 of the wireless communication network of the underground roadway is in wireless communication connection with the vehicle-mounted receiving and sending positioning device of the wireless servo controller.
The communication comprises external wireless communication and internal wired communication; the external communication is wireless communication based on a 5G module, a wifi module and a zigbee module; the wired communication is based on RS232/RS485/CAN bus/RJ 45 internal communication.
The aboveground locomotive dispatching monitoring system includes: the system comprises 2-3 parts of a global loop network switch, 2-4 parts of a dispatching computer, 2-5 parts of a dispatching operation platform, 2-7 parts of a display and 2-6 parts of a core server; the aboveground gigabit ring network switch 2-3 is communicated with the underground gigabit ring network switch 2-1 through optical fibers, the aboveground gigabit ring network switch 2-3 is connected to the dispatching computer 2-4, the dispatching computer 2-4 is simultaneously connected with the dispatching operation table 2-5 and the core server 2-6, and the dispatching operation table 2-5 is simultaneously connected with the display 2-7 and the core server 2-6.
The setting of underworkings wireless communication network is in underworkings, include: the system comprises an underground gigabit ring network switch 2-1 and a base station 2-2, wherein the base station 2-2 is distributed in an underground roadway and is connected with the underground gigabit ring network switch 2-1; the base station 2-2 is based on the base station 2-2 of 5G module, based on the base station 2-2 of wifi module and based on the base station 2-2 of zigbee module, base station 2-2 and unmanned control device's receiving and dispatching 5G module, wifi module and zigbee module that the positioner adopted are corresponding to match.
The above described unmanned control device is the same as in embodiment 1.

Claims (10)

1. A mine unmanned locomotive control device comprises an electric locomotive controller, an electric locomotive brake and an electric auxiliary controller; the method is characterized in that: further comprising: a wireless servo controller; the wireless servo controller is respectively connected with the electric locomotive controller, the electric locomotive brake and the electric auxiliary controller; the upper computer controls the electric locomotive controller, the electric locomotive brake and the electric auxiliary controller through wireless instructions or the vision instructions of the vehicle, automatically controls the forward and backward movement or parking of the electric locomotive controller and controls the advancing speed of the electric locomotive, and automatically controls the electric locomotive brake to brake the electric locomotive; the electric auxiliary controller is automatically controlled to send out sound and light warnings.
2. The mine unmanned locomotive control device of claim 1, wherein: the wireless servo controller comprises: the system comprises a vehicle-mounted receiving and transmitting positioning device, a vehicle-mounted terminal display, a vehicle-mounted terminal controller, a servo control unit, a motor vehicle controller, a lamp bell lock, a motor vehicle brake and a sensing controller;
the vehicle-mounted receiving and transmitting positioning device and the perception controller are connected with a vehicle-mounted terminal controller, and a vehicle-mounted terminal display is connected to the vehicle-mounted terminal controller and used for displaying images shot by the perception controller; the output end of the vehicle-mounted terminal controller is connected with the servo control unit, the servo control unit is respectively connected with the electric locomotive controller, the lamp bell lock and the electric locomotive brake, and is used for respectively controlling the forward movement, the backward movement and the parking of the electric locomotive, braking the electric locomotive and respectively opening or respectively closing the lamp bell lock for driving the electric locomotive.
3. The mine unmanned locomotive control device of claim 2, wherein:
the vehicle-mounted transceiving positioning device comprises: the positioning module and the communication module; the positioning module is a UWB module, so that the electric locomotive is positioned; the communication module is a zigbee module, a 5G module or a WIFI module and is used for receiving and transmitting data in real time; and the control instruction sent by the mine wireless base station is downwards received, and the image data of the vehicle-mounted terminal controller is upwards sent.
4. The mine unmanned locomotive control device of claim 2, wherein:
the vehicle-mounted terminal controller comprises: the system comprises a data integrated control board card, an AD/DA detection board and a vehicle-mounted display board;
the input port of the data integrated control board card is respectively connected with the positioning module, the communication module and the AD/DA detection board; the output port of the data integrated control board card is connected with the servo control unit;
the output port of the data integrated control board card is also connected with the vehicle-mounted display panel; the vehicle-mounted display panel is simultaneously connected with the vehicle-mounted terminal display and the perception controller, and the perception controller is an AI camera and is used for shooting images by the digital AI camera;
or the output port of the data integration control board card is simultaneously connected with a vehicle-mounted display panel and an OSD superposition module, the vehicle-mounted display panel is simultaneously connected with a vehicle-mounted terminal display and the OSD superposition module, the OSD superposition module is connected with a perception controller, and the perception controller is an AI camera and is used for simulating the AI camera to shoot images;
or the output port of the data integrated control board card is connected with the vehicle-mounted display board; the vehicle-mounted display panel is connected with the vehicle-mounted terminal display and the camera of the perception controller at the same time, and the perception controller comprises: the radar sensor and the camera are used for the digital camera to shoot images; the radar sensor is connected with an output port of the data integrated control board card;
or the output port of the data integration control board card is simultaneously connected with the vehicle-mounted display panel and the OSD superposition module, the vehicle-mounted display panel is simultaneously connected with the vehicle-mounted terminal display and the OSD superposition module, the OSD superposition module is connected with the camera of the perception controller, or the perception controller comprises: the radar sensor and the camera are used for simulating the camera to shoot images; the radar sensor is connected with an output port of the data integrated control board card.
5. The mine unmanned locomotive control device of claim 2, wherein: the servo control unit includes: a driver controller servo, a brake servo and an electric auxiliary controller; the servo of the driver controller is connected with the controller of the electric locomotive, so that the forward, backward, parking and speed regulation of the electric locomotive are automatically controlled; the brake servo is connected with the brake of the electric locomotive to realize the automatic control of the brake of the electric locomotive; the electric auxiliary controller is connected with the warning lamp, the alarm bell and the bicycle lock;
the electric auxiliary controller is an electric appliance switching value controller which is respectively connected with the warning lamp, the alarm bell and the bicycle lock in series in a circuit and is used for switching on or off the power supply of the warning lamp and the alarm bell and controlling the bicycle lock to switch on or off the power supply; the electric appliance switching value controller is as follows: electromagnet, relay, dry reed relay.
6. The mine unmanned locomotive control device of claim 5, wherein: the servo structure of the driver controller is the same as that of the brake, and the driver controller and the brake both comprise a servo motor controller and a servo motor; the servo motor controller is connected with the servo motor and drives the servo motor to operate; the servo motors are three, are respectively connected with a gear shifting handle of a master controller, a speed regulating handle for controlling speed and a brake handle of a brake through a transmission mechanism, a permanent magnet is connected on a shaft of the gear shifting handle, the permanent magnet rotates along with the rotation of the gear shifting handle, and the three master controllers are installed on the rotating track of the permanent magnet and respectively execute the following steps: forward, stop, backward;
the main command controller control part is a reed relay; or the control part of the master controller is a solid-state relay;
the servo motor is connected with the gear shifting handle, the speed regulating handle and the brake handle through a transmission mechanism; the transmission mechanism is a direct connection mechanism connected through a wheel disc or an indirect connection mechanism connected through a gear, a rack, a chain and a belt.
7. The mine unmanned locomotive control device of claim 6, wherein: the direct connection structure is as follows: the rotor shaft of the servo motor is directly connected with the shaft of the gear shifting handle, the speed regulating handle or the brake handle through the connector and respectively drives the gear shifting handle, the speed regulating handle or the brake handle to rotate and operate;
the indirect connection structure is as follows: the gear shifting handle, the speed regulating handle and the brake handle are all connected with driven wheel discs corresponding to gear transmission, rack transmission, chain transmission and belt transmission; the servo motor adopts a rotary servo motor, a driving gear, a driving chain wheel or a driving belt pulley corresponding to a driven wheel disc are arranged on the shaft of the rotary servo motor, and the driving gear is meshed with the driven wheel to drive a gear shifting handle, a speed regulating handle or a brake handle to rotate; or the servo motor adopts a linear servo motor, a driving rack is arranged on the linear servo motor, and the driving rack is meshed with the driven gear to drive the gear shifting handle, the speed regulating handle or the brake handle to rotate and operate.
8. The control method of the mine unmanned locomotive control device according to claim 1, wherein the control method comprises the following steps:
the control method based on the control device comprises the following steps: a manual control gear and an automatic control gear are arranged;
when the original electric locomotive is placed in a manual control gear, executing a manual control method of the original electric locomotive, and automatically controlling to stop working;
when the automatic control gear is arranged, a worker can still manually intervene in control;
the automatic control method comprises the following steps: the front end and the rear end of the electric locomotive are respectively provided with a front perception controller and a rear perception controller, the perception controller, a data integrated control board card of a vehicle-mounted terminal controller and a vehicle-mounted display panel form a machine vision controller, the machine vision controller is in wireless communication with an aboveground locomotive dispatching monitoring system through a communication module, and the shot real-time image and the positioning information of a positioning module are uploaded to the aboveground locomotive dispatching monitoring system; the communication module be wireless communication module, include: the positioning module comprises a 5G module and a WIFI or zigbee module, wherein the positioning module is a UWB module; and carrying out unmanned driving on the electric locomotive according to the real-time image information.
9. The control method of the mine unmanned locomotive control device according to claim 8, wherein:
the unmanned electric locomotive comprises: the aboveground locomotive dispatching monitoring system instructs to control driving and the machine vision controller controls driving;
the aboveground locomotive dispatching monitoring system commands to control driving:
the sensing controller sends the road condition, the running condition and the parking condition of the underground electric locomotive in real time to an aboveground locomotive dispatching monitoring system through a vehicle-mounted control terminal and a vehicle-mounted receiving and sending positioning device, and the road condition, the running condition and the parking condition in front of the underground locomotive are displayed on the aboveground locomotive dispatching monitoring system in real time; the locomotive dispatching monitoring system is in wireless communication with the electric locomotive through an underground roadway wireless communication network, and sends a control instruction to the electric locomotive;
the machine vision controller controls:
the machine vision controller has independent core driving calculation and judgment functions; a perception controller of the machine vision controller acquires a real-time image, and the machine vision controller analyzes and judges the real-time image;
uploading the results of the real-time image analysis and judgment to an aboveground locomotive dispatching monitoring system through a communication module; in a specified time, the aboveground locomotive dispatching monitoring system gives a control instruction to the electric locomotive, and the machine vision controller does not give the control instruction to the electric locomotive;
in a specified time, the aboveground locomotive dispatching monitoring system does not issue a control instruction to the electric locomotive, the machine vision controller judges that the communication with the aboveground locomotive dispatching monitoring system is lost, the machine vision controller acquires a real-time image according to the sensing controller, automatically judges the current state of the electric locomotive, and sends a control instruction to the electric locomotive to control the electric locomotive to normally run, decelerate or stop;
the control instruction issued by the aboveground locomotive dispatching monitoring system and the control instruction issued by the machine vision controller are transmitted to the servo control unit, and a driver controller of the servo control unit performs servo, namely controls a gear shifting handle of a master controller and a speed regulating handle for controlling the speed, and controls the advancing, retreating or stopping of the electric locomotive and the running speed of the locomotive; the brake servo is used for controlling the brake of the electric locomotive to brake the locomotive; and the electric auxiliary controller controls the turn-on or turn-off of the warning lamp and the alarm bell.
10. The control method of the mine unmanned locomotive control device according to claim 9, wherein:
the automatic speed regulating method for controlling the speed of the electric locomotive comprises the following steps:
the speed regulation method of the battery electric locomotive comprises the following steps: a resistor is connected in series with an excitation winding of a power motor of the electric locomotive, and a servo motor is connected with a main reversing shaft or an accelerating rotating shaft through a wheel disc to realize direct transmission, chain or gear transmission and automatically matched with a rotating mechanism;
judging whether the issued command is forward or backward, rotating the servo motor by an angle, and driving a reversing shaft to rotate by an angle by a driving wheel of the servo motor so that a forward and backward rotating contact of the reversing shaft is just in contact with or disconnected from the reversing shaft; when the motor reaches a proper position, the sensor sends a signal, the servo motor stops rotating, the reversing shaft is locked, the drum shaft motor is accelerated to start rotating, the first cam of the motor just jacks a contact point to short-circuit two ends of a resistor connected in series in an excitation coil of the power motor, the handle of the rotary drum is driven by the servo motor to rotate, the resistance value of the resistor is increased or reduced to control the current flowing through the excitation coil, and the resistance value of the resistor is zero; therefore, the rotating speed of the motor is changed, the rotating speed of the power motor is increased, and the electric locomotive is accelerated; continuously repeating the process, and accelerating the electric locomotive step by step until the required speed is reached;
the speed regulation method of the variable frequency electric locomotive comprises the following steps: the servo motor controls the speed-regulating potentiometer to rotate to output an analog signal, the analog signal is output to the frequency converter through the AD/DA converter, the frequency converter adjusts and outputs different alternating current frequencies, the frequency loaded on the power motor is changed, the rotating speed of the power motor is correspondingly changed, and the speed regulation of the frequency converter on the electric locomotive is realized;
the speed regulation method of the chopper electric locomotive comprises the following steps: the servo motor is connected with the speed-regulating potentiometer, the servo motor controls the speed-regulating potentiometer to rotate, the potentiometer controls the pulse width to enable the IGBT to be conducted for a long time, the potentiometer is adjusted to achieve the pulse width of the control unit, and the speed of the power motor is adjusted.
CN202110833785.0A 2021-07-23 2021-07-23 Mine unmanned locomotive control device and control method Active CN113589807B (en)

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