CN114035194A - Automatic waste rock falling control system based on laser radar and ultrasonic radar - Google Patents

Automatic waste rock falling control system based on laser radar and ultrasonic radar Download PDF

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Publication number
CN114035194A
CN114035194A CN202111592437.5A CN202111592437A CN114035194A CN 114035194 A CN114035194 A CN 114035194A CN 202111592437 A CN202111592437 A CN 202111592437A CN 114035194 A CN114035194 A CN 114035194A
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CN
China
Prior art keywords
laser radar
radar
gangue
ultrasonic
cloud data
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111592437.5A
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Chinese (zh)
Inventor
陈伟
耿禹
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Jiangsu Touzhijia Technology Co ltd
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Jiangsu Touzhijia Technology Co ltd
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Publication date
Application filed by Jiangsu Touzhijia Technology Co ltd filed Critical Jiangsu Touzhijia Technology Co ltd
Priority to CN202111592437.5A priority Critical patent/CN114035194A/en
Publication of CN114035194A publication Critical patent/CN114035194A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428—Safety, monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2621—Conveyor, transfert line

Abstract

The invention discloses an automatic waste rock falling control system based on a laser radar and an ultrasonic radar, and relates to the technical field of waste rock loading and transporting control. The mine car comprises a mine car, laser radars arranged on the left side and the right side of a loading outlet, an ultrasonic radar, a cloud data recording module, a computing unit, an OBU module and an electromagnetic relay arranged at a waste rock discharge port, wherein the ultrasonic radars, the cloud data recording module, the computing unit and the OBU module are arranged on the periphery of the waste rock discharge port, the OBU module is arranged inside a mine car driving cab, the laser radars, the ultrasonic radars and the cloud data recording module are electrically connected, and the computing unit is electrically connected with the cloud data recording module and the electromagnetic relay.

Description

Automatic waste rock falling control system based on laser radar and ultrasonic radar
Technical Field
The invention relates to the technical field of gangue loading and transporting control, in particular to an automatic gangue falling control system based on a laser radar and an ultrasonic radar.
Background
Coal will still be the main energy and important industrial raw material of our country for a long time in the future. The coal gangue is a black and gray rock which has lower carbon content and is harder than coal and is associated with a coal bed in the process of coal formation. Along with the increase of the tunneling amount of the mine rock roadway, the output of tunneling gangue of the mine is increased, and the gangue rate (ratio of gangue to output) of some mines reaches about 12-18 percent, so that the timely transportation of the gangue to a ground gangue accumulation area is an important link of coal mine production.
The gangue falling control system is an important subsystem of a gangue transport system, and has the functions of accurately loading gangue into a carriage of a transport vehicle by controlling the position of a gangue bin feed opening switch and a gangue transport vehicle, ensuring that the carriage is fully loaded without overflowing, and having operation efficiency which is not only related to the safety of coal mine production, but also has great influence on the realization of economic benefits and social benefits of enterprises. At present, a common gangue control system judges the position of a transport vehicle at a gangue loading point through monitoring videos manually, when the transport vehicle reaches a first loading position, a manually controlled electric bell signals a driver to stop the vehicle, then a manually clicked switch opens a gangue bin feed opening, gangue begins to fall from a gangue bin into a carriage of the transport vehicle, when the gangue accumulation height is judged to be equal to the height of the carriage manually, the gangue bin feed opening is closed manually, meanwhile, a ring signal is sent to the driver, the transport vehicle is enabled to continue to advance to a second loading position, and the later loading process is similar to the first loading position. When the vehicle is full, a ringing signal is manually sent to allow the driver to drive away from the loading point. Although the traditional gangue falling control system based on manual operation is widely applied in the coal mine production process, the traditional gangue falling control system has a plurality of defects that (1) the number of personnel is large, 1 operator needs to be configured at each loading point in the working time, and 3 operators need to be arranged when each operator works for 8 hours; (2) the labor intensity is high, and during the working period, an operator concentrates on staring at the monitoring video and needs to continuously operate the keys; (3) the whole system needs manual operation, has low automation degree, low efficiency and easy error, and can not meet the requirements of green, safe and efficient production process of the modern coal mine.
For the problems in the related art, no effective solution has been proposed in the industry, and no relevant references have been retrieved.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an automatic waste rock falling control system based on a laser radar and an ultrasonic radar.
(II) technical scheme
In order to realize the advantages, the invention adopts the following specific technical scheme: it contains the mine car, installs at the lidar of charge point export left and right sides, installs ultrasonic radar, cloud data record module, computational element, OBU module all around at the waste discharge mouth and installs the electromagnetic relay at the waste discharge mouth, the OBU module mounting is inside mine card driver's cabin, lidar and ultrasonic radar and cloud data record module electric connection, computational element and cloud data record module and electromagnetic relay electric connection.
Furthermore, the wire harness of the ultrasonic radar arranged around the gangue discharge port is vertically downward, and the ultrasonic radar calculates the height of the accumulated gangue in the carriage by utilizing the ultrasonic ranging principle.
Furthermore, the laser radars arranged on the left side and the right side of the loading point outlet are used for identifying the characteristics of the vehicle in the passing process, and the specific postures of the laser radars are positioned and adjusted according to the space of the loading point and the size of the mine card.
Furthermore, three loading positions are planned outside the mine car loading box through laser radar scanning.
Further, the cloud data recording module is used for recording cloud data of the laser radar collecting points and carrying out processing analysis through the computing unit.
Further, the method of formulating three loading positions comprises the steps of:
firstly, manually marking A, B, C three reference points below a gangue discharge port according to the characteristics of a loading box of a vehicle;
secondly, manually driving a vehicle to enter from an entrance of the loading port, continuously scanning by the left laser radar and the right laser radar and recording point cloud data;
thirdly, when the vehicle is driven to enter the point A, stopping the vehicle, and continuously scanning and recording point cloud data by the left laser radar and the right laser radar;
fourthly, when the vehicle is driven to enter the point B, stopping the vehicle, and continuously scanning and recording point cloud data by the left laser radar and the right laser radar;
and fifthly, stopping the vehicle when the vehicle is driven to enter the point C, and continuously scanning and recording the point cloud data by the left laser radar and the right laser radar.
(III) advantageous effects
Compared with the prior art, the invention provides an automatic waste rock falling control system based on a laser radar and an ultrasonic radar, which has the following beneficial effects:
(1) the invention provides an automatic gangue falling control system based on a laser radar and a millimeter wave radar, which is suitable for automatic loading of unmanned mine trucks for transporting gangue;
(2) the system can operate autonomously and unmanned for 24 hours, the vehicle position is measured based on the laser radar, the gangue height is measured based on the ultrasonic radar, the system reliability is high, the measurement accuracy is high, and tedious manual repeated work can be saved;
(3) the system is based on the low-cost solid laser radar and the ultrasonic radar, and the whole system is low in cost;
(4) the system has strong environmental adaptability and is not influenced by factors such as light, temperature, climate and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of the installation position structure of a laser radar and an ultrasonic radar in the invention;
FIG. 2 is a flow chart of the present invention for collecting the characteristic of point cloud at position A, B, C;
FIG. 3 is a block diagram illustrating the operation of the present invention;
fig. 4 is a power supply topology diagram of the present invention, wherein the upper half is a power supply topology diagram of a part of devices installed at a mine discharging point, and the lower half is a power supply topology diagram of a vehicle-mounted part.
Detailed Description
For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.
According to the embodiment of the invention, an automatic gangue falling control system based on a laser radar and an ultrasonic radar is provided.
Referring to the drawings and the detailed description, the invention is further explained, as shown in fig. 1, according to the automatic waste rock falling control system based on the laser radar and the ultrasonic radar, firstly, the laser radar is respectively installed at the top corners of the left side and the right side (wall corners) of the inner side of the outlet of the loading point, the emitting surface of a wire harness of the laser radar is inclined downwards, the specific posture of the laser radar is adjusted before installation according to the space of the loading point and the size of a mine card, so that point cloud can be identified to the top of a whole vehicle in the passing process of the vehicle, a group of ultrasonic radars are installed around a waste rock discharge port, and the emitting end is vertically downwards.
As shown in fig. 2, according to the automatic refuse dropping control system based on the laser radar and the ultrasonic radar of the embodiment of the invention, since the mine truck carriage is long and the refuse discharge port cannot fill the whole carriage at one position, three times of loading is generally required at three positions, which are respectively marked as a point a, a point B and a point C. Before a gangue falling system is put into use, point cloud characteristics of A, B and C point need to be calibrated, and the specific method comprises the following steps: firstly, manually determining the positions of three points A, B and C according to the previous working conditions, then marking the positions of the three points on the ground of a gangue loading point, continuously scanning and recording point cloud data by the left and right laser radars when a mine card enters the loading point inlet, stopping the mine card when the mine card reaches the position of the A point, and recording the point cloud characteristics of the left and right laser radars; then the mine card continues to move forward, when the mine card runs to the position of the point B, the mine card stops, and point cloud characteristics of the left laser radar and the right laser radar are recorded; and then, the mine card continues to move forward, when the mine card runs to the position of the point C, the mine card stops, the point cloud characteristics of the left laser radar and the right laser radar are recorded, calibration of point cloud characteristics of A, B and the point C is completed, and the method is the basis for determining a gangue falling point based on point cloud matching.
As shown in fig. 3, when the gangue dropping system is put into use formally, the work flow of the whole gangue dropping system is as follows: starting from the time that the mine card enters the loading point channel inlet, the laser radar continuously collects point cloud data and records the point cloud data, when the point cloud data characteristics are matched with the point cloud characteristics recorded during calibration before the point A, a parking instruction is sent to an OBU (On Board Unit, OBU) module of the mine card through an On Board Unit (OBU) module of a gangue falling system, then the OBU of the mine card transmits the instruction to a whole mine card controller (VCU), a parking instruction is sent to a line Control chassis through the VCU, and the line Control chassis controls the mine card to park; meanwhile, a computing unit of the gangue falling system sends an instruction to an electromagnetic relay so as to control the opening of a gangue discharge port; in the process of loading the gangue at the position A, continuously scanning the gangue in the carriage by an ultrasonic radar, calculating the height of the gangue accumulated in the carriage by utilizing an ultrasonic ranging principle, sending an instruction to an electromagnetic relay by a gangue falling system calculating unit when the height of the gangue exceeds the height of the carriage, controlling a gangue discharge port to be closed, simultaneously sending a forward instruction to a mine card OBU module by the gangue falling system OBU module, transmitting the instruction to a mine card VCU, sending a forward signal to a line control chassis by the VCU, and driving the mine card to continuously run by the line control chassis;
when the point cloud data characteristics recorded by the left and right laser radars are matched with the point cloud characteristics recorded during calibration before the point B, sending a parking instruction to an OBU module of the mine card through an OBU module of the gangue falling system, transmitting the instruction to a VCU of the mine card by the OBU of the mine card, sending the parking instruction to the online control chassis through the VCU, and controlling the parking of the mine card by the online control chassis; meanwhile, a computing unit of the gangue falling system sends an instruction to an electromagnetic relay so as to control the opening of a gangue discharge port; in the process of loading the gangue at the position B, continuously scanning the gangue in the carriage by an ultrasonic radar, calculating the height of the gangue accumulated in the carriage by utilizing an ultrasonic ranging principle, sending an instruction to an electromagnetic relay by a gangue falling system calculation unit when the height of the gangue exceeds the height of the carriage, controlling a gangue discharge port to be closed, simultaneously sending a forward instruction to a mine card OBU module by the gangue falling system OBU module, transmitting the instruction to a mine card VCU, sending a forward signal to a line control chassis by the VCU, and driving the mine card to continuously run by the line control chassis;
when the point cloud data characteristics recorded by the left and right laser radars are matched with the point cloud characteristics recorded during calibration before the point C, a parking instruction is sent to an OBU module of the mine card through an OBU module of the gangue falling system, then the OBU of the mine card transmits the instruction to a VCU of the mine card, the VCU sends a parking instruction to the wire control chassis, and the wire control chassis controls the parking of the mine card; meanwhile, a computing unit of the gangue falling system sends an instruction to an electromagnetic relay so as to control the opening of a gangue discharge port; in the process of loading the gangue at the C position, the ultrasonic radar continuously scans the gangue in the carriage, the height of the gangue accumulated in the carriage is calculated by utilizing an ultrasonic ranging principle, when the height of the gangue exceeds the height of the carriage, the gangue falling system calculation unit sends an instruction to the electromagnetic relay to control the closing of a gangue discharge port, meanwhile, an advancing instruction is sent to the mine card OBU module through the gangue falling system OBU module, the instruction is transmitted to the mine card VCU, an advancing signal is sent to the line control chassis through the VCU, the line control chassis drives the mine card to continuously move forwards, the mine card gradually moves away from a loading point and moves towards an unloading point.
In conclusion, by means of the technical scheme, the accurate position of the vehicle at the loading point is determined by detecting the vehicle body related marker through the high-precision point cloud matching technology of the laser radar, the height of the gangue accumulated in the carriage is detected through the ultrasonic radar, the automatic opening and closing of the gangue discharge port is realized through the control of the electromagnetic relay by the computing unit, and the automatic gangue falling of the unmanned mine truck is finally realized.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (6)

1. The utility model provides an automatic waste rock control system that falls based on laser radar and ultrasonic radar, its characterized in that, it contains the mine car, installs at the laser radar of charge point export left and right sides, installs at waste rock discharge mouth ultrasonic radar, cloud data record module, computational unit, OBU module all around and installs the electromagnetic relay at the waste rock discharge mouth, the OBU module is installed inside mine truck driver's cabin, laser radar and ultrasonic radar and cloud data record module electric connection, computational unit and cloud data record module and electromagnetic relay electric connection.
2. The automatic gangue falling control system based on the laser radar and the ultrasonic radar as claimed in claim 1, wherein the wire harness of the ultrasonic radar arranged around the gangue discharge port is emitted vertically downwards, and the ultrasonic radar calculates the height of the piled gangue by utilizing an ultrasonic ranging principle.
3. The automatic waste rock falling control system based on the laser radar and the ultrasonic radar as claimed in claim 1, wherein the laser radar arranged on the left side and the right side of the loading point outlet is used for identifying the top of the whole vehicle in the passing process of the vehicle, and the specific posture of the laser radar is positioned and adjusted according to the space of a loading point and the size of a mine truck.
4. The automatic gangue falling control system based on the laser radar and the ultrasonic radar as claimed in claim 1, wherein the outer part of the mine car loading box is provided with three loading positions through laser radar scanning.
5. The automatic gangue falling control system based on the laser radar and the ultrasonic radar as claimed in claim 1, wherein the cloud data recording module is used for recording cloud data of a laser radar collecting point and carrying out processing analysis through a computing unit.
6. The automatic gangue falling control system based on the laser radar and the ultrasonic radar as claimed in claim 4, wherein the method for formulating the three loading positions comprises the following steps:
firstly, manually marking A, B, C three reference points below a gangue discharge port according to the characteristics of a loading box of a vehicle;
secondly, manually driving a vehicle to enter from an entrance of the loading port, continuously scanning by the left laser radar and the right laser radar and recording point cloud data;
thirdly, when the vehicle is driven to enter the point A, stopping the vehicle, and continuously scanning and recording point cloud data by the left laser radar and the right laser radar;
fourthly, when the vehicle is driven to enter the point B, stopping the vehicle, and continuously scanning and recording point cloud data by the left laser radar and the right laser radar;
and fifthly, stopping the vehicle when the vehicle is driven to enter the point C, and continuously scanning and recording the point cloud data by the left laser radar and the right laser radar.
CN202111592437.5A 2021-12-23 2021-12-23 Automatic waste rock falling control system based on laser radar and ultrasonic radar Pending CN114035194A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111592437.5A CN114035194A (en) 2021-12-23 2021-12-23 Automatic waste rock falling control system based on laser radar and ultrasonic radar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111592437.5A CN114035194A (en) 2021-12-23 2021-12-23 Automatic waste rock falling control system based on laser radar and ultrasonic radar

Publications (1)

Publication Number Publication Date
CN114035194A true CN114035194A (en) 2022-02-11

Family

ID=80147216

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111592437.5A Pending CN114035194A (en) 2021-12-23 2021-12-23 Automatic waste rock falling control system based on laser radar and ultrasonic radar

Country Status (1)

Country Link
CN (1) CN114035194A (en)

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