CN114017089B - Transportation crossheading no-repeated support control system - Google Patents
Transportation crossheading no-repeated support control system Download PDFInfo
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- CN114017089B CN114017089B CN202111327834.XA CN202111327834A CN114017089B CN 114017089 B CN114017089 B CN 114017089B CN 202111327834 A CN202111327834 A CN 202111327834A CN 114017089 B CN114017089 B CN 114017089B
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- 238000001514 detection method Methods 0.000 claims abstract description 61
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims description 22
- 230000000007 visual effect Effects 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 6
- 239000000839 emulsion Substances 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 3
- 239000003921 oil Substances 0.000 claims 13
- 230000001174 ascending effect Effects 0.000 claims 2
- 239000010720 hydraulic oil Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000008447 perception Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003750 conditioning effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
- E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
- E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
- E21D23/148—Wireless transmission of signals or commands
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a transportation gateway non-repeated support control system, which comprises a control box, a power box, a remote controller and a plurality of detection devices, wherein the control box is connected with the power box; the power supply box is electrically connected with the control box so as to provide power for the control box; the remote controller is in communication connection with the control box and is used for providing control instructions for a control unit of the control box; the detection devices are respectively in communication connection with the control box and are respectively used for detecting the operation conditions of the carrying trolley and the supporting device; the control box controls the operation of the carrying trolley and the supporting device through the hydraulic valve group according to the operation working conditions provided by each detection device; the transportation gate way no-repeated support control system provided by the invention can improve the working efficiency of the transportation gate way and has the advantages of simple structure, convenience in operation and high working efficiency.
Description
Technical Field
The invention belongs to the technical field of transportation gate way non-repeated support control systems, and particularly relates to a transportation gate way non-repeated support control system.
Background
The existing transportation crossheading manual operation mode without repeated supporting equipment has the problems of inaccurate motion control, hidden danger of regional operation, failure to meet the development requirement of intelligent equipment and the like; in addition, the existing transportation gateway has no repeated supporting equipment, the system structure is complex, the automatic control level is low, the working efficiency is reduced, and workers are easy to injure.
Based on the technical problems existing in the transportation gate without repeated supporting equipment, no relevant solution exists yet; there is therefore an urgent need to seek an effective solution to the above problems.
Disclosure of Invention
The invention aims to solve the problems of complex structure, low automatic control level, low working efficiency and easiness in injuring workers of the conventional transportation crossheading repeated support-free equipment system.
The invention provides a transportation gateway non-repeated support control system, which comprises a control box, a power box, a remote controller and a plurality of detection devices, wherein the control box is connected with the power box; the power supply box is electrically connected with the control box so as to provide power for the control box; the remote controller is in communication connection with the control box and is used for providing control instructions for a control unit of the control box; the detection devices are respectively in communication connection with the control box and are respectively used for detecting the operation conditions of the carrying trolley and the supporting device; the control box controls the operation of the carrying trolley and the supporting device through the hydraulic valve group according to the operation working conditions provided by each detection device.
Further, a receiving unit, a control unit, a display unit and an input unit are arranged in the control box; the receiving unit is used for receiving the data acquired by the external detection device and receiving a remote control instruction sent by the remote controller, so that the data acquired by the detection device or the instruction of the remote controller is sent to the control unit; the control unit is used for receiving the data collected by the detection device or the command of the remote controller, and correspondingly generating a control command according to the data collected by the detection device or the command of the remote controller, so as to send the control command to the hydraulic valve bank; when the control instruction is initialized, the control instruction is used for controlling the forward movement, the backward movement and the left-right translation of the carrying trolley and the lifting device, and the lifting device to ascend, descend and rotate and the clamp of the lifting device to clamp and retract; the display unit is used for displaying the numerical value of each detection device, the position of the carrying trolley, the number of the supporting device corresponding to the carrying trolley and the working condition mode of the system; the input unit includes buttons and an operation keyboard; the button is used for starting, stopping and working condition switching of the system; the operation keyboard is used for setting basic parameters of the system.
Further, the detection device comprises an edge calculation camera, and the edge calculation camera is connected with a detection point arranged by a clamp of the carrying trolley; the edge calculation camera is used for detecting the position of the central point of the cross beam of the supporting device, so that the position of the carrying trolley relative to the supporting device is detected.
Further, the detection device comprises a pressure sensor, wherein the pressure sensor is used for detecting whether the carrying trolley lifting device is in contact with the supporting device, detecting whether the support is in contact with the crossheading top plate after the carrying action of the carrying trolley is finished, and detecting whether the lifting device clamps the supporting device.
Further, the detection device comprises a position switch sensor; the position switch sensor is used for detecting the rotation angle of the trolley lifting device and detecting the position of the trolley relative to the supporting device.
Further, a control unit in the control box controls the switch of the emulsion pump station through a hydraulic valve group, and controls the oil cylinder actions of lifting, pushing and clamping of the lifting device of the carrying trolley, so as to control the lifting, pushing and clamping of the lifting device on the carrying trolley; the control unit in the control box also controls the extension and retraction of the supporting device through the hydraulic valve group; the hydraulic valve block comprises a plurality of electromagnetic valves.
Further, the display unit is a human-computer interface, the input unit is an operation keyboard, and the buttons comprise working condition selection buttons; the control box is also provided with a control box indicator light.
Further, a wireless module and a control circuit are arranged in the remote controller; the remote controller is in wireless communication connection with the control module through the wireless module; the remote controller is also provided with a reset key, an emergency stop key, a power key and a control target function key; the remote controller is provided with a power box indicator light and a total power wiring.
Further, the hydraulic valve bank is an electromagnetic valve bank, and the electromagnetic valve bank comprises an electromagnetic valve bank main valve bank and an electromagnetic valve component valve bank; the electromagnetic valve group main valve group is connected with the hydraulic drive pump group and used for adjusting the on-off of an oil way of the hydraulic drive pump group; the electromagnetic valve component valve group is connected with a motor of the carrying trolley and used for controlling the movement of the carrying trolley; the electromagnetic valve component valve group is respectively connected with the lifting oil cylinder and the descending oil cylinder of the lifting device of the carrying trolley, the tightening and pressure relief oil cylinder of the supporting device, the clamping and retracting oil cylinder of the clamp of the lifting device of the carrying trolley and the rotating oil cylinder of the lifting device, so as to control the on-off of the lifting oil cylinder and the descending oil cylinder, the tightening and pressure relief oil cylinder, the clamping and retracting oil cylinder and the oil way of the rotating oil cylinder.
Further, the detection device comprises an edge calculation camera, and the edge calculation camera comprises a vision measurement unit and an inertia measurement unit; the visual measurement unit is used for acquiring the visual image and the point cloud data corresponding to the visual image; the inertial measurement unit is used for acquiring IMU data and acquiring pose information of the IMU according to the IMU data; the inertial measurement unit further acquires target fusion pose information according to the visual image and the IMU pose information; the inertial measurement unit corrects the target fusion pose information according to the point cloud data to obtain final target position information; the target position information includes center point information of the bracket and detection information of the gate roof obstacle position.
Further, the pressure sensors on the total oil inlet and outlet pipelines are connected with the main valve group of the electromagnetic valve group; the lifting device of the carrying trolley is connected with a lifting device of the carrying trolley, and a lifting device of the carrying trolley is connected with a lifting device of the carrying trolley; the second pressure sensor for tightening and releasing pressure of the supporting device is connected with a second detection point arranged at the position where the hydraulic cylinder of the supporting device extends to the limit position; the third pressure sensor for clamping and retracting on the clamp of the lifting device of the carrying trolley is connected with a third detection point arranged at the position of the hydraulic cylinder of the clamp, which is extended to the position limit position.
Further, the control system also comprises a working state signal lamp, a power grid voltage monitoring module, a direct current stabilized power supply monitoring module, a power-on interlocking protection module and a program safety loop protection function module.
The transportation gate way non-repeated support control system provided by the invention realizes the measurement of the central point position of the support unit, the detection of the top plate obstacle, the detection of the walking position of the transportation trolley and the measurement of the pressure of the oil cylinder through visual recognition, pressure perception, travel perception technology and the like, adopts a programmable controller and a corresponding input conditioning circuit to realize the data processing and control signal output, adopts a display screen and a remote control mode to realize the information interaction between people and machines and the control of the technological process of the system, so that the control system has various working condition modes and multi-loop protection, adapts to the working requirements of multiple scenes, and has important significance for the realization of few people and automatic support technology of the transportation gate way.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a control system for a transport gate without repeated support according to the present invention;
FIG. 2 is a schematic diagram of the overall structure of the transportation gate of the present invention.
In the figure: 1. a control box; 11. a human-machine interface; 12. operating a keyboard; 13. a visual sense connection port; 14. a pressure sensing connection port; 15. a solenoid valve connection port; 16. a control box indicator light; 17. a working condition selection button; 2. a power supply box; 21. a power box indicator light; 22. a main power supply wiring; 3. a remote controller; 4. a crossheading transfer machine; 5. a carrying trolley; 6. and a support device.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1 to 2, the present invention provides a transportation gate non-repeated support control system, which can be applied to a transportation gate device; the control system comprises a control box 1, a power box 2, a remote controller 3 and a plurality of detection devices; the control box 1 is arranged on the side wall of the carrying trolley 5, and the power supply box 2 is arranged on the crossheading transfer machine 4; the power supply box 2 is electrically connected with the control box 1 through a power line so as to provide power for the control box 1; specifically, the control box 1 is used for monitoring external sensor signals, performing flow control on the hydraulic valve group, controlling the switch of the emulsion pump station, controlling the lifting, pushing, clamping and other oil cylinder actions of the lifting device of the carrying trolley 5, and being used for stretching and retracting the supporting device 6; the remote controller 3 is in communication connection with the control box 1 and is used for providing control instructions for a control unit of the control box 1; the detection devices are respectively in communication connection with the control box 1 and are respectively used for detecting the operation conditions of the carrying trolley 5 and the supporting device 6; the control box 1 controls the operation of the carrying trolley 5 and the supporting device 6 through the hydraulic valve group according to the operation working conditions provided by each detection device; according to the transportation gate way no-repeated support control system provided by the invention, the operation conditions of the transportation trolley 5 and the support device 6 are detected through the detection devices and are transmitted to the control box 1, the control box 1 controls the operation of the transportation trolley 5 and the support device 6 through the hydraulic valve group according to the operation conditions provided by the detection devices, so that the working efficiency of the transportation gate way is improved.
Preferably, in combination with the above-mentioned scheme, as shown in fig. 1 to 2, a receiving unit, a control unit, a display unit and an input unit are provided in the control box 1; specifically, the receiving unit is configured to receive data collected by an external detection device, and receive a remote control instruction sent by the remote controller 3, so that the data collected by the detection device or the instruction of the remote controller 3 is sent to the control unit; further, the control unit is used for receiving the data collected by the detection device or the instruction of the remote controller 3, and correspondingly generating a control instruction according to the data collected by the detection device or the instruction of the remote controller 3, so as to send the control instruction to the hydraulic valve bank; further, when the control command is initialized, the control command is used for controlling the forward movement, the backward movement, the left-right translation of the carrying trolley 5 and the lifting device, the lowering device, the rotation device and the clamping and the retraction of the clamp of the lifting device; further, the display unit is used for displaying the numerical value of each detection device, the position of the carrying trolley, the number of the supporting device corresponding to the carrying trolley and the working condition mode of the system; the input unit includes buttons and an operation keyboard 12; the button is used for starting, stopping and working condition switching of the system; the keypad 12 is used to set basic parameters of the system.
Preferably, in combination with the above-described aspects, as shown in fig. 1 to 2, in the present embodiment, the detection device includes an edge calculation camera connected to a detection point provided by a clamp of the conveyance carriage 5; the method comprises the following steps: the clamp is specially provided with positions for installing edge calculation cameras, and each position is a monitoring point; further, the edge calculation camera is used for detecting the position of the central point of the cross beam of the supporting device 6, so that the position of the carrying trolley 5 relative to the supporting device 6 is detected; specifically, the control box 1 is provided with a vision sensing connection port 13, the vision sensing connection port 13 is electrically connected with the control unit, and the edge computing camera is electrically connected with the control box 1 by connecting the vision sensing connection port 13, so that data transmission is realized.
Preferably, in combination with the above-described aspects, as shown in fig. 1 to 2, in the present embodiment, the detecting device includes a pressure sensor for detecting whether the lifting device of the carrier is in contact with the supporting device; the pressure sensor is used for detecting whether the bracket is in contact with the crossheading top plate after the carrying action of the carrying trolley support is finished; the pressure sensor is used for detecting whether the lifting device clamps the supporting device 6 or not, so that the state information of the lifting device and the supporting device of the carrying trolley is monitored in real time; specifically, the control box 1 is further provided with a pressure sensing connection port 14, the pressure sensing connection port 14 is electrically connected with the control unit, and each pressure sensor outside the control box 1 is electrically connected with the control box 1 through the connection pressure sensing connection port 14, so that data transmission is realized.
Preferably, in combination with the above-described solution, as shown in fig. 1 to 2, in this embodiment, the detecting device includes a position switch sensor; specifically, the position switch sensor is used for detecting the rotation angle of the lifting device of the carrying trolley; and, a position switch sensor detects the position of the carrying trolley relative to the supporting device 6; specifically, the control box 1 is further provided with a position switch sensing connection port, the position switch sensing connection port is electrically connected with the control unit, and each position switch sensor outside the control box 1 is electrically connected with the control box 1 through the connection position switch sensing connection port, so that data transmission is realized.
By adopting the detection device, the control system realizes the stable, safe and reliable operation of the whole equipment, and ensures the safe operation of underground personnel.
Preferably, in combination with the above scheme, as shown in fig. 1 to 2, a control unit in the control box 1 controls the switch of the emulsion pump station through a hydraulic valve group, and controls the oil cylinder actions of lifting, pushing and clamping of the lifting device of the carrying trolley, so as to control the lifting, pushing and clamping of the lifting device on the carrying trolley 5; the control unit in the control box 1 also controls the extension and retraction of the supporting device 6 through the hydraulic valve group; specifically, the hydraulic valve group includes a plurality of solenoid valves; the control box 1 is provided with a solenoid valve connecting port 15, the solenoid valve connecting port 15 is electrically connected with the control unit, and each solenoid valve outside the control box 1 is electrically connected with the control box 1 through the connecting solenoid valve connecting port 15, so that data transmission is realized.
Preferably, in combination with the above-mentioned scheme, as shown in fig. 1 to 2, the power box 2 mainly includes hardware such as a circuit breaker, a power indicator lamp, a fuse, and the like; the control box 1 mainly comprises hardware such as a circuit breaker, a transformer, a fuse, a direct current power supply, a programmable controller, a keyboard, a display screen, a wireless module and the like; the display unit is a human-computer interface 11, the input unit is an operation keyboard 12, and the buttons comprise a working condition selection button 17; the control box 1 is also provided with a control box indicator light 16.
Preferably, in combination with the above scheme, as shown in fig. 1 to 2, a wireless module and a control circuit are arranged in the remote controller 3; the remote controller 3 is in wireless communication connection with the control module through a wireless module; the remote controller 3 is also provided with a reset key, an emergency stop key, a power key and a control target function key; the remote controller 3 is provided with a power box indicator lamp 21 and a main power wiring 22.
Preferably, in combination with the above scheme, as shown in fig. 1 to 2, the hydraulic valve group is an electromagnetic valve group, and the electromagnetic valve group comprises an electromagnetic valve group main valve group and an electromagnetic valve group component valve group; the electromagnetic valve group main valve group is connected with the hydraulic drive pump group and is used for adjusting the on-off of an oil way of the hydraulic drive pump group, and particularly, the hydraulic drive pump group is a hydraulic pump group of the whole control system; further, the electromagnetic valve component valve group is connected with a motor of the carrying trolley 5 and is used for controlling the movement of the carrying trolley 5; the electromagnetic valve component valve group is respectively connected with the lifting oil cylinder and the descending oil cylinder of the lifting device of the carrying trolley 5, the tightening and pressure relief oil cylinder of the supporting device 6, the clamping and retracting oil cylinder of the clamp of the lifting device of the carrying trolley 5 and the rotating oil cylinder of the lifting device, so as to control the on-off of the lifting oil cylinder, the tightening and pressure relief oil cylinder, the clamping and retracting oil cylinder and the oil way of the rotating oil cylinder.
Preferably, in combination with the above solution, as shown in fig. 1 to 2, the detection device includes an edge calculation camera, and the edge calculation camera includes a vision measurement unit and an inertia measurement unit; the visual measurement unit is used for acquiring the visual image and the point cloud data corresponding to the visual image; the inertial measurement unit is used for acquiring IMU data and acquiring pose information of the IMU according to the IMU data; the inertial measurement unit further acquires target fusion pose information according to the visual image and the IMU pose information; the inertial measurement unit corrects the target fusion pose information according to the point cloud data to obtain final target position information; the target position information includes center point information of the bracket and detection information of the gate roof obstacle position.
Preferably, in combination with the above scheme, as shown in fig. 1 to 2, the pressure sensors on the total oil inlet and outlet pipelines are connected with the main valve group of the electromagnetic valve group; the lifting device of the carrying trolley 5 is connected with a first lifting point which is arranged at the position where a hydraulic cylinder of the lifting device of the carrying trolley 6 extends to the limit position; specifically, the first detection point is a first oil inlet, and the first pressure sensor is connected with the first oil inlet;
preferably, in combination with the above-described solution, as shown in fig. 1 to 2, the second pressure sensor for tightening and releasing the supporting device 6 is connected to a second detection point provided at the position where the hydraulic cylinder of the supporting device 6 protrudes to the in-place limit position; specifically, the second detection point is a second oil inlet, and the second pressure sensor is connected with the second oil inlet;
the third pressure sensor for clamping and retracting the clamp of the lifting device of the carrying trolley 5 is connected with a third detection point arranged at the position where the hydraulic cylinder of the clamp extends to the limit position; specifically, the third detection point is a third oil inlet, and the third pressure sensor is connected with the third oil inlet.
Preferably, in combination with the above scheme, as shown in fig. 1 to 2, the control system further includes a working state signal lamp, a power grid voltage monitoring module, a direct current stabilized power supply monitoring module, a power-on chain protection module and a program safety loop protection function module.
According to the transportation gateway no-repeated support control system provided by the invention, the operations of grabbing, lifting, rotating, laterally shifting and the like of the support device are realized by controlling the carrying trolley, the cyclic frame shifting operation of shifting the last support device to the forefront is realized, and the no-repeated support purpose of the gateway top plate is realized; the control system adopting the combination of the electro-hydraulic system simplifies the complexity of the whole control system by adding various sensors and control boxes, improves the positioning accuracy in the frame moving process, solves the problems of high labor intensity of workers, easy injury of the workers, low automation level of the frame moving and the like in the frame moving process of the forward support of the crossheading, and has the advantages of simple use, convenient operation and high working efficiency.
The transportation gate way non-repeated support control system provided by the invention realizes the measurement of the central point position of the support unit, the detection of the top plate obstacle, the detection of the walking position of the transportation trolley and the measurement of the pressure of the oil cylinder through visual recognition, pressure perception, travel perception technology and the like, adopts a programmable controller and a corresponding input conditioning circuit to realize the data processing and control signal output, adopts a display screen and a remote control mode to realize the information interaction between people and machines and the control of the technological process of the system, so that the control system has various working condition modes and multi-loop protection, adapts to the working requirements of multiple scenes, and has important significance for the realization of few people and automatic support technology of the transportation gate way.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Many possible variations and modifications of the disclosed technology can be made by anyone skilled in the art, or equivalent embodiments with equivalent variations can be made, without departing from the scope of the disclosed technology. Therefore, any modification, equivalent variation and modification of the above embodiments according to the technology of the present invention fall within the protection scope of the present invention.
Claims (6)
1. The transportation gateway non-repeated support control system is characterized by comprising a control box (1), a power box (2), a remote controller (3) and a plurality of detection devices;
the power supply box (2) is electrically connected with the control box (1) so as to provide power for the control box (1);
the remote controller (3) is in communication connection with the control box (1) and is used for providing control instructions for a control unit of the control box (1);
the detection devices are respectively in communication connection with the control box (1), and each detection device is respectively used for detecting the operation conditions of the carrying trolley (5) and the supporting device (6);
the control box (1) controls the operation of the carrying trolley (5) and the supporting device (6) through a hydraulic valve group according to the operation working conditions provided by the detection devices;
the detection device comprises an edge calculation camera, wherein the edge calculation camera is connected with a detection point arranged by a clamp of the carrying trolley (5); the edge calculation camera is used for detecting the position of the central point of the cross beam of the supporting device (6), so that the position of the carrying trolley (5) relative to the supporting device (6) is detected; and/or the detection device comprises a pressure sensor, wherein the pressure sensor is used for detecting whether the trolley lifting device is in contact with the supporting device, detecting whether a bracket is in contact with a crossheading top plate after the trolley lifting movement is finished, and detecting whether the lifting device clamps the supporting device (6); and/or the detection device comprises a position switch sensor; the position switch sensor is used for detecting the rotation angle of the trolley lifting device and detecting the position of the trolley relative to the supporting device (6);
the hydraulic valve bank is an electromagnetic valve bank, and the electromagnetic valve bank comprises an electromagnetic valve bank main valve bank and an electromagnetic valve component valve bank; the electromagnetic valve group main valve group is connected with the hydraulic drive pump group and used for adjusting the on-off of an oil way of the hydraulic drive pump group; the electromagnetic valve component valve group is connected with a motor of the carrying trolley (5) and is used for controlling the movement of the carrying trolley (5); the electromagnetic valve component valve group is respectively connected with an ascending and descending oil cylinder of a lifting device of the carrying trolley (5), a tightening and pressure relief oil cylinder of the supporting device (6), a clamping and retracting oil cylinder of a clamp of the lifting device of the carrying trolley (5) and a rotating oil cylinder of the lifting device, so that the on-off of oil paths of the ascending and descending oil cylinder, the tightening and pressure relief oil cylinder, the clamping and retracting oil cylinder and the rotating oil cylinder are controlled;
the detection device comprises an edge calculation camera, wherein the edge calculation camera comprises a vision measurement unit and an inertia measurement unit; the visual measurement unit is used for acquiring a visual image and point cloud data corresponding to the visual image; the inertial measurement unit is used for acquiring IMU data and acquiring pose information of the IMU according to the IMU data; the inertial measurement unit further obtains target fusion pose information according to the visual image and the IMU pose information; the inertial measurement unit corrects the target fusion pose information according to the point cloud data to obtain final target position information; the target position information comprises center point information of a bracket and detection information of the obstacle position of a gate roof;
the pressure sensors on the main oil inlet pipeline and the oil outlet pipeline are connected with the main valve group of the electromagnetic valve group; the first pressure sensor of the lifting device of the carrying trolley (5) and the first pressure sensor of the lifting device of the carrying trolley (5) are connected with a first detection point which is arranged at the position where the hydraulic oil cylinder of the lifting device of the carrying trolley (5) extends to the limit position; the second pressure sensor for tightening and releasing pressure of the supporting device (6) is connected with a second detection point arranged at the position where the hydraulic cylinder of the supporting device (6) extends to the limit position; and a third pressure sensor for clamping and retracting the clamp of the lifting device of the carrying trolley (5) is connected with a third detection point arranged at the position where the hydraulic cylinder of the clamp extends to the limit position.
2. The transportation gate non-repeated support control system according to claim 1, wherein a receiving unit, a control unit, a display unit and an input unit are arranged in the control box (1);
the receiving unit is used for receiving data acquired by the external detection device and receiving a remote control instruction sent by the remote controller (3), so that the data acquired by the detection device or the instruction of the remote controller (3) is sent to the control unit;
the control unit is used for receiving the data acquired by the detection device or the instruction of the remote controller (3), and correspondingly generating a control instruction according to the data acquired by the detection device or the instruction of the remote controller (3), so as to send the control instruction to the hydraulic valve group; when the control instruction is initialized, the control instruction is used for controlling the forward movement, the backward movement and the left-right translation of the carrying trolley (5) and the lifting device to ascend, descend and rotate and the clamping and the retracting of the clamp of the lifting device;
the display unit is used for displaying the numerical value of each detection device, the position of the carrying trolley, the number of the supporting device corresponding to the carrying trolley and the working condition mode of the system;
the input unit comprises buttons and an operation keyboard (12); the button is used for starting, stopping and working condition switching of the system; the operating keyboard (12) is used for setting basic parameters of the system.
3. The transportation gate non-repeated support control system according to claim 1, wherein a control unit in the control box (1) controls the switch of an emulsion pump station through the hydraulic valve group, controls the lifting, pushing and clamping oil cylinder action of the trolley lifting device, and further controls the lifting, pushing and clamping of the lifting device on the trolley (5); the control unit in the control box (1) also controls the extension and retraction of the supporting device (6) through the hydraulic valve group; the hydraulic valve block includes a plurality of solenoid valves.
4. The transportation gate non-repeated support control system according to claim 2, wherein the display unit is a human-machine interface (11), the input unit is an operation keyboard (12), and the buttons comprise a working condition selection button (17); and a control box indicator lamp (16) is also arranged on the control box (1).
5. The transportation gate non-repeated support control system according to claim 1, wherein a wireless module and a control circuit are arranged in the remote controller (3); the remote controller (3) is in wireless communication connection with the control module through the wireless module; the remote controller (3) is also provided with a reset key, an emergency stop key, a power key and a control target function key; the remote controller (3) is provided with a power box indicator lamp (21) and a total power wiring (22).
6. The transportation gate way no-repeated support control system according to claim 1, further comprising a working state signal lamp, a power grid voltage monitoring module, a direct current stabilized power supply monitoring module, a power-on interlocking protection module and a program safety loop protection function module.
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| CN202111327834.XA CN114017089B (en) | 2021-11-10 | 2021-11-10 | Transportation crossheading no-repeated support control system |
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| CN114017089B true CN114017089B (en) | 2023-08-29 |
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