CN114281067A - Unmanned control system of electric scooptram - Google Patents
Unmanned control system of electric scooptram Download PDFInfo
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Abstract
The invention relates to an unmanned control system of an electric scraper, belonging to the technical field of mining automation. The system comprises an uninterrupted UPS power supply unit, an electric control driving unit, a weighing data acquisition unit, an automatic navigation unit, a wireless communication unit, a safe driving unit, a path issuing unit, a remote control and monitoring unit and the like; the invention has the advantages of simple equipment and stable operation, can realize the unmanned driving of the scraper, cancel a driver for on-site operation, effectively eliminate safety risks and improve the ore transporting efficiency in the unmanned driving process, and is easy to popularize and apply.
Description
Technical Field
The invention belongs to the technical field of mining automation, and particularly relates to an unmanned control system of an electric scraper.
Background
Mine ore shoveling and transporting comprise a plurality of links such as on-site vehicle manual scheduling and ore pass manual adjustment matching, various underground work types are difficult to perform cross matching operation, on-site manual intervention is more, more potential safety hazards exist, actual production efficiency is affected, and on-site safety production management difficulty coefficient is increased.
In order to improve the field production efficiency and the operation rate, reduce the difficulty coefficient of production management, reduce safety accidents and eliminate potential safety hazards, the ore carrying system is systematically researched, developed and upgraded, the remote control carrying, automatic running and automatic ore unloading of the field carrying scraper are realized, the system not only actively responds to the notification requirements issued by the national safety supervision bureau, improves the safety management quality, eliminates the potential safety hazards, improves the production efficiency and meets the production requirements, but also lays a solid foundation and guarantee for the system research and development of digital mines and intelligent mines.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides an unmanned control system of an electric scooptram.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an electric scooptram drone control system comprising:
the device comprises an uninterrupted UPS power supply unit, an electric control driving unit, a weighing data acquisition unit, an automatic navigation unit, a wireless communication unit, a safe driving unit, a path issuing unit, a remote server, a remote control and monitoring unit and a video acquisition unit;
wherein:
the uninterrupted UPS power supply unit is respectively and electrically connected with the power supply of the scraper, the electric control driving unit, the weighing data acquisition unit, the automatic navigation unit and the wireless communication unit, and is used for converting the power supply of the scraper and supplying power to the scraper power supply, the electric control driving unit, the weighing data acquisition unit, the automatic navigation unit, the wireless communication unit and the video acquisition unit;
the electric control driving unit, the weighing data acquisition unit, the automatic navigation unit, the safe driving unit, the path issuing unit, the remote server and the video acquisition unit are all connected with the wireless communication unit; the remote server is connected with the remote control and monitoring unit;
the electric control driving unit is used for controlling the work of the electric scraper; the electric control driving unit is also connected with the automatic navigation unit and used for receiving driving data transmitted by the automatic navigation unit so as to control the running of the electric scraper, and meanwhile, receiving an ore unloading instruction transmitted by the automatic navigation unit and driving the big arm and the bucket to execute automatic ore unloading action;
the weighing data acquisition unit is used for acquiring hydraulic pressure data of a hydraulic pressure sensor arranged in the large arm, calculating to obtain ore weight data, and uploading the ore weight data to a remote server;
the automatic navigation unit is used for acquiring distance data between the electric scraper and a roadway, attitude information data of the electric scraper and current driving mileage data of the electric scraper at each angle and calculating to obtain the speed and the steering angle of the current position of the electric scraper and the target position of the scraper at the next moment; then, the speed and the steering angle of the current position of the electric scraper and the target position of the scraper at the next moment are sent to an electric control driving unit and a remote server; the automatic navigation unit judges whether the scraper reaches the ore unloading point in real time according to the calculated position information, and when the scraper reaches the ore unloading point, an ore unloading instruction is sent to the electric control driving unit;
the wireless communication unit is used for wireless communication;
the safety driving unit is used for detecting whether a person or a vehicle breaks into the driving area, alarming when the person or the vehicle breaks into the driving area, and sending alarm information to the electric control driving unit through the wireless communication unit to realize emergency stop of the electric scooptram;
the route issuing unit is used for sending the scraper route to the automatic navigation unit through the wireless communication unit;
the remote server is used for storing data;
the remote control and monitoring unit is used for sending a work control signal of the electric scooptram to the electric control driving unit through the remote server and the wireless communication unit, and the electric control driving unit receives the signal so as to control the work of the electric scooptram; the display device is also used for displaying the position information, the posture information and the speed of the electric carry scraper;
the video acquisition unit is used for collecting video data of the surrounding environment of the electric scraper, the collected video data are sent to the remote server through the wireless communication unit, and the remote control and monitoring unit calls the video data in the remote server for display.
Further, preferably, the uninterruptible power supply unit, the electronic control driving unit, the weighing data acquisition unit and the automatic navigation unit are all arranged inside the electric scooptram; the safe driving unit is arranged at an inlet and an outlet of a driving area of the electric scraper; the remote control and monitoring unit is installed in a remote operation room on the well.
Further, preferably, the uninterruptible power supply unit converts the power supply of the scraper into a V power supply, and then supplies power to the electric control driving unit, the weighing data acquisition unit, the automatic navigation unit, the wireless module of the vehicle-mounted part of the electric scraper in the wireless communication unit, and the video acquisition unit.
Further, preferably, the electronic control driving unit comprises a first MCU main control module, a first ethernet communication module, a first power supply module, an analog output module, a switching value output module, an analog acquisition module, a switching value acquisition module, a pulse signal acquisition module, and a PWM signal output module;
the first power supply module is connected with the discontinuous UPS power supply unit and used for supplying power to the first MCU main control module, the first Ethernet communication module, the analog quantity output module, the switching value output module, the analog quantity acquisition module, the switching value acquisition module, the pulse signal acquisition module and the PWM signal output module by using electric energy transmitted by the discontinuous UPS power supply unit;
the first MCU main control module is respectively connected with the first Ethernet communication module, the analog quantity output module, the switching value output module, the analog quantity acquisition module, the switching value acquisition module, the pulse signal acquisition module and the PWM signal output module and is used for acquiring information acquired by the analog quantity acquisition module, the switching value acquisition module and the pulse signal acquisition module and controlling the analog quantity output module, the switching value output module and the PWM signal output module to work after processing;
the analog quantity output module is used for outputting throttle, steering and braking signals for driving the electric scraper;
the switching value output module is used for outputting starting, stopping, gear selecting, whistling, front and rear headlamp signals of the electric scooptram;
the analog quantity acquisition module is used for acquiring hydraulic oil temperature, steering pump pressure, boom pressure, bucket pressure, gearbox oil temperature and gearbox oil pressure signals;
the switching value acquisition module is used for acquiring feedback signals of starting, stopping and gear selecting of the scraper;
the pulse signal acquisition module is used for acquiring odometer signals of the scraper;
the PWM signal output module is used for outputting control signals of a large arm and a bucket of the scraper;
the first MCU main control module is connected with the automatic navigation unit through the first Ethernet communication module.
Further, preferably, the control of the work of the electric scooptram comprises the control of starting, stopping, gear, steering, big arm, bucket, accelerator and braking of the electric scooptram;
the drive data includes speed of the electric scooptram, steering data.
Further, preferably, the weighing data acquisition unit comprises a second MCU main control module, a second Ethernet communication module, a second power supply module and a second pressure signal acquisition module;
the second power supply module is connected with the discontinuous UPS power supply unit and used for supplying power to the second MCU main control module, the second Ethernet communication module and the second pressure signal acquisition module by using electric energy transmitted by the discontinuous UPS power supply unit;
the second MCU main control module is electrically connected with the second Ethernet communication module and the second pressure signal acquisition module respectively;
the second pressure signal acquisition module is used for acquiring hydraulic pressure data of a hydraulic pressure sensor arranged in the large arm and then transmitting the hydraulic pressure data to the second MCU main control module for calculation to obtain ore weight data; and then, the second MCU main control module controls the second Ethernet communication module to transmit the ore weight data to a remote server through the Ethernet.
Further, preferably, the automatic navigation unit comprises an industrial personal computer, a laser radar device, an IMU inertial gyroscope, a odometer and a communication module;
the industrial personal computer is respectively connected with the laser radar device, the IMU inertial gyroscope, the odometer and the communication module;
the laser radar device is used for acquiring distance data between the electric scraper and the roadway at each angle;
the IMU inertial gyroscope is used for acquiring attitude information data of the electric scraper;
the odometer is used for acquiring current driving mileage data of the electric scooptram;
the industrial personal computer is used for calculating through the collected data transmitted by the laser radar device, the IMU inertial gyroscope and the odometer to obtain the position of the current electric scooptram and the speed and the steering angle at the next moment; and then, the current position of the electric scraper and the speed and the steering angle at the next moment are sent to the electric control driving unit and the remote server through the communication module.
In the present invention, the next time refers to time, and generally takes 50ms as a minimum unit.
In the invention, preferably, a communication module of the automatic navigation unit transmits data with the electric control driving unit through the Ethernet to realize automatic driving; and data transmission is carried out through the wireless communication and the remote driving and monitoring unit, so that the position and posture display is realized.
The invention has no limitation on the specific structure content of the wireless communication unit, and preferably comprises a wireless module arranged on a vehicle-mounted part of the electric scraper, wireless modules of all pulse-through access paths, an optical fiber module from the underground to the aboveground, a switch and a gateway module in an aboveground operating room.
The invention has no limitation on the specific structural content of the safe driving unit, preferably comprises infrared gratings arranged at two sides of an inlet and an outlet of an unmanned area of the electric scraper, a safe trigger arranged on the side wall of a roadway and a communication module; when the scraper enters automatic unmanned driving, the safety driving unit can be triggered to operate, if people or vehicles break into a driving area, the safety trigger can be triggered to alarm, alarm information is sent to the electric control driving unit of the electric scraper through the communication module and the wireless communication unit, emergency stopping of the electric scraper is achieved, safety accidents such as vehicle injury are prevented, and equipment and personal safety are guaranteed.
The data issued by the path issuing unit comprises a starting point and an end point of the electric scraper.
In the invention, preferably, the remote control and monitoring unit comprises a remote control console and a remote monitoring module, wherein the remote control console comprises a control signal collector, a start button, an emergency brake button, an automatic/remote control mode selection switch, an accelerator control pedal, a brake control pedal, a boom control rocker, a bucket control rocker, a gear switching knob, a whistle button and a light control knob; the remote monitoring module comprises the display of position information, attitude information, speed and video information of the vehicle-mounted camera.
According to the invention, the ore shoveling amount of the scraper is acquired by the weighing data acquisition unit, so that the ore output of the mining point on duty or on the day can be obtained, and further, the ore output production data analysis is realized by counting the ore amount data of all the scrapers, so that the production decision is facilitated, and data support is provided for intelligent equipment and systems (such as an intelligent rail transportation system) of the mine in the ore transportation process. The weighing data acquisition unit realizes the weighing data acquisition function by adopting a scraper original system with a weighing acquisition interface in principle, and realizes the ore weight acquisition function by additionally installing a sensor if the original system does not meet the system design.
The remote operator (or the driver) sends the mine loading points and the mine unloading points which are required to be driven by the electric scraper to the automatic navigation unit through the route sending unit, the automatic navigation unit automatically controls the electric control driving unit to drive the electric scraper according to the route, and simultaneously triggering the safe driving unit to operate, automatically switching into a remote control operation mode when the electric scraper runs to an ore loading point, driving the electric scraper to carry out ore shoveling action by a remote operator (or a driver) through the remote control and monitoring unit and the wireless communication unit, switching into an automatic operation mode after ore shoveling is finished, automatically controlling the electric scraper to drive the electric scraper to an ore unloading point by the automatic navigation unit according to a path to automatically unload ores, meanwhile, the weighing data acquisition unit acquires ore weight data and sends the ore weight data to the remote operation and monitoring unit through the wireless communication unit, and an automatic driving ore shoveling process is completed.
The invention can realize unmanned driving of the scraper and cancel field operation drivers. The invention upgrades and reforms the scraper into remote control through laser radar navigation technology, wireless technology, embedded technology, automatic control technology, IT technology and the like, a remote dispatcher (or a driver) plans an electric scraper shovel site and an ore unloading site through a remote dispatching system according to the current blasting ore amount information, the scraper automatically runs to the shovel site, the remote operation driver carries out the shovel action through the remote operation system, then the automatic operation mode is switched, the scraper automatically runs to the ore unloading site, the ore unloading action is automatically carried out, and meanwhile, a data report form related to ore yield is generated.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention has the advantages of simple equipment and stable operation;
(2) according to the invention, the scraper is transformed into a remote unmanned state, more than 2 workers can be reduced for field operation personnel at a single operation point, so that the safety risk can be effectively eliminated, and the working environment of workers is improved; meanwhile, a remote driver can control a plurality of scraper machines to shovel ores, and the ore conveying efficiency is improved by more than 20%;
(3) the invention accesses the information-based related system through the generated data report, can provide effective data support for ore blending of the ore pass, and reduces the production cost of enterprises.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art 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 for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic driving control system of an electric scooptram according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an electronic control driving unit according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a weighing data acquisition unit according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an automatic navigation unit according to an embodiment of the present invention;
fig. 5 is an operation flowchart of the unmanned control system of the electric scooper according to the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples.
It will be appreciated by those skilled in the art that the following examples are illustrative of the invention only and should not be taken as limiting the scope of the invention. The specific techniques, connections, conditions, or the like, which are not specified in the examples, are performed according to the techniques, connections, conditions, or the like described in the literature in the art or according to the product specification. The materials, instruments or equipment are not indicated by manufacturers, and all the materials, instruments or equipment are conventional products which can be obtained by purchasing.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Further, "connected" as used herein may include wirelessly connected. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, "a plurality" means two or more unless otherwise specified. The terms "inner," "upper," "lower," and the like, refer to an orientation or a state relationship based on that shown in the drawings, which is for convenience in describing and simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "provided" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention are understood according to specific situations.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As shown in fig. 1 to 4, an electric scooptram unmanned control system includes:
the system comprises an uninterrupted UPS power supply unit 1, an electric control driving unit 2, a weighing data acquisition unit 3, an automatic navigation unit 4, a wireless communication unit 5, a safe driving unit 6, a path issuing unit 7, a remote server 8, a remote control and monitoring unit 9 and a video acquisition unit 10;
wherein:
the uninterrupted UPS power supply unit 1 is respectively and electrically connected with a power supply of the scraper, the electric control driving unit 2, the weighing data acquisition unit 3, the automatic navigation unit 4 and a wireless module of the vehicle-mounted part of the electric scraper in the wireless communication unit 5, and is used for converting the power supply of the scraper and supplying power to the power supply of the scraper, the electric control driving unit 2, the weighing data acquisition unit 3, the automatic navigation unit 4, the wireless module of the vehicle-mounted part of the electric scraper in the wireless communication unit 5 and the video acquisition unit 10;
the electric control driving unit 2, the weighing data acquisition unit 3, the automatic navigation unit 4, the safe driving unit 6, the path issuing unit 7, the remote server 8 and the video acquisition unit 10 are all connected with the wireless communication unit 5; the remote server 8 is connected with a remote control and monitoring unit 9;
the electric control driving unit 2 is used for controlling the work of the electric scraper; the electric control driving unit 2 is also connected with the automatic navigation unit 4 and is used for receiving driving data transmitted by the automatic navigation unit 4 so as to control the running of the electric scraper and simultaneously receiving an ore unloading instruction transmitted by the automatic navigation unit 4 and driving the big arm and the bucket to execute automatic ore unloading action;
the weighing data acquisition unit 3 is used for acquiring hydraulic pressure data of a hydraulic pressure sensor arranged in the large arm, calculating to obtain ore weight data, and uploading the ore weight data to the remote server 8;
the automatic navigation unit 4 is used for acquiring and calculating distance data between the electric scraper and a roadway, attitude information data of the electric scraper and current driving mileage data of the electric scraper at each angle to obtain the speed and the steering angle of the current position of the electric scraper and the target position of the scraper at the next moment; then, the speed and the steering angle of the current position of the electric scraper and the target position of the scraper at the next moment are sent to the electric control driving unit 2 and the remote server 8; the automatic navigation unit judges whether the scraper reaches the ore unloading point in real time according to the calculated position information, and sends an ore unloading instruction to the electronic control driving unit 2 when the scraper reaches the ore unloading point;
the wireless communication unit 5 is used for wireless communication;
the safety driving unit 6 is used for detecting whether a person or a vehicle breaks into the driving area, alarming when the person or the vehicle breaks into the driving area, and sending alarm information to the electric control driving unit 2 through the wireless communication unit 5 to realize emergency stop of the electric scooptram;
the route issuing unit 7 is used for sending the scraper route to the automatic navigation unit 4 through the wireless communication unit 5;
the remote server 8 is used for storing data;
the remote control and monitoring unit 9 is used for sending a work control signal of the electric scooptram to the electric control driving unit 2 through the remote server 8 and the wireless communication unit 5, and the electric control driving unit 2 receives the signal so as to control the work of the electric scooptram; the display device is also used for displaying the position information, the posture information and the speed of the electric carry scraper;
the video acquisition unit 10 is used for acquiring video data of the surrounding environment of the electric scraper, the acquired video data are sent to the remote server 8 through the wireless communication unit 5, and the remote control and monitoring unit 9 retrieves the video data in the remote server 8 for display.
In the present invention, the remote control and monitoring unit 9 can retrieve and display the data sent to the remote server 8 by each unit, and can further analyze and process the data.
In the preferred scheme, an uninterrupted UPS power supply unit 1, an electric control driving unit 2, a weighing data acquisition unit 3 and an automatic navigation unit 4 are all arranged in the electric scraper; the safe driving unit 6 is arranged at an inlet and an outlet of a driving area of the electric scraper; the remote control and monitoring unit 9 is installed in a remote operation room on the well.
In the preferred scheme, the Uninterruptible Power Supply (UPS) unit 1 converts the power supply of the scraper into a 24V power supply and supplies power to the electric control driving unit 2, the weighing data acquisition unit 3, the automatic navigation unit 4, the wireless communication unit 5, and the wireless module of the vehicle-mounted part of the electric scraper and the video acquisition unit 10.
In a preferred scheme, the electronic control driving unit 2 comprises a first MCU main control module 201, a first ethernet communication module 202, a first power supply module 203, an analog output module 204, a switching value output module 205, an analog acquisition module 206, a switching value acquisition module 207, a pulse signal acquisition module 208, and a PWM signal output module 209;
the first power supply module 203 is connected with the discontinuous UPS power supply unit 1 and is used for supplying power to the first MCU main control module 201, the first ethernet communication module 202, the analog output module 204, the switching value output module 205, the analog acquisition module 206, the switching value acquisition module 207, the pulse signal acquisition module 208 and the PWM signal output module 209 by using the electric energy transmitted from the discontinuous UPS power supply unit 1;
the first MCU main control module 201 is respectively connected to the first ethernet communication module 202, the analog output module 204, the switching value output module 205, the analog acquisition module 206, the switching value acquisition module 207, the pulse signal acquisition module 208, and the PWM signal output module 209, and is configured to acquire information acquired by the analog acquisition module 206, the switching value acquisition module 207, and the pulse signal acquisition module 208, and control the analog output module 204, the switching value output module 205, and the PWM signal output module 209 to operate after processing the information;
the analog quantity output module 204 is used for outputting throttle, steering and braking signals for driving the electric scraper;
the switching value output module 205 is used for outputting starting, stopping, gear selecting, whistling, front and rear headlamp signals of the electric scooptram;
the analog quantity acquisition module 206 is used for acquiring hydraulic oil temperature, steering pump pressure, boom pressure, bucket pressure, gearbox oil temperature and gearbox oil pressure signals;
the switching value acquisition module 207 is used for acquiring feedback signals of start, stop and gear selection of the scraper;
the pulse signal acquisition module 208 is used for acquiring a scraper odometer signal;
the PWM signal output module 209 is used for outputting control signals of a big arm and a bucket of the scraper;
the first MCU main control module 201 is connected to the automatic navigation unit 4 through the first ethernet communication module 202.
According to the preferable scheme, the work of controlling the electric scooptram comprises the control of starting, stopping, shifting, steering, large arm, bucket, accelerator and braking of the electric scooptram;
the drive data includes speed of the electric scooptram, steering data.
In a preferred scheme, the weighing data acquisition unit 3 comprises a second MCU main control module 301, a second ethernet communication module 302, a second power supply module 303 and a second pressure signal acquisition module 304;
the second power supply module 303 is connected to the interrupted UPS power supply unit 1, and is configured to supply power to the second MCU main control module 301, the second ethernet communication module 302, and the second pressure signal acquisition module 304 with electric energy transmitted from the interrupted UPS power supply unit 1;
the second MCU main control module 301 is electrically connected to the second ethernet communication module 302 and the second pressure signal acquisition module 304, respectively;
the second pressure signal acquisition module 304 is used for acquiring hydraulic pressure data of a hydraulic pressure sensor installed inside the boom, and then transmitting the hydraulic pressure data to the second MCU main control module 301 for calculation to obtain ore weight data; then, the second MCU master control module 301 controls the second ethernet communication module 302 to transmit the ore weight data to the remote server 8 via ethernet.
In a preferred scheme, the automatic navigation unit 4 comprises an industrial personal computer 401, a laser radar device 402, an IMU inertial gyroscope 403, a odometer 404 and a communication module 405;
the industrial personal computer 401 is respectively connected with the laser radar device 402, the IMU inertial gyroscope 403, the odometer 404 and the communication module 405;
the laser radar device 402 is used for collecting distance data between the electric scraper and the roadway at each angle;
the IMU inertial gyroscope 403 is used for acquiring attitude information data of the electric scooptram;
the odometer 404 is used for acquiring current driving mileage data of the electric scooptram;
the industrial personal computer 401 is used for calculating the acquired data transmitted by the laser radar device 402, the IMU inertial gyroscope 403 and the odometer 404 to obtain the current position of the electric scooptram and the speed and the steering angle at the next moment; then, the current position of the electric scraper and the speed and the steering angle at the next moment are sent to the electric control driving unit 2 and the remote server 8 through the communication module 405.
Preferably, the uninterruptible UPS power supply unit 1 also supplies power to the electric scooptram onboard equipment.
Preferably, the remote server 8 is used for remote control and monitoring unit 9 background software, database storage and operation.
And the wireless communication unit 5 realizes data exchange and sharing of each unit of the system by using a WIFI wireless network transmission technology based on IEEE 802.11 n.
Referring to fig. 5, the system of the present invention operates as follows:
s101, initializing the scraper position through an automatic navigation unit 4 after the scraper is ignited and started; the automatic navigation unit 4 judges whether the initialization position is successful;
s102, if the acquisition is successful, the path issuing is executed through the path issuing unit 7 after the current scraper position is obtained;
s103, switching to an automatic driving mode through the automatic navigation unit 4, and simultaneously triggering a safe driving mode;
s104, the automatic navigation unit 4 sends the speed and the steering angle at the next moment to the electric control driving unit 2, and the scraper is automatically driven to a mine shoveling point through the electric control driving unit 2;
s105, remotely controlling the mine shoveling mode by switching the remote driving and monitoring unit 8 and the electric control driving unit 2 into a remote control mode;
s106, after the ore shoveling is finished, switching to an automatic driving mode through the automatic navigation unit 4 and the electric control driving unit 2;
s107, automatically driving to a mine unloading point through the automatic navigation unit 4, the electric control driving unit 2 and the weighing data acquisition unit 3 to unload the mine, and completing the automatic operation of the electric scraper;
s108, running in a safe driving mode;
s109, judging whether a safety alarm is triggered;
s110, if a safety alarm is triggered, emergency stop is executed, and site confirmation is waited; if the safety alarm is not triggered, continuing to operate in a safe driving mode;
further comprising: s111, if the position of the scraper fails to be obtained, emergency stop is executed through the electric control driving unit 2, and the site confirmation position information is waited;
the foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An electric scooptram unmanned control system, comprising:
the system comprises an Uninterruptible Power Supply (UPS) unit (1), an electric control driving unit (2), a weighing data acquisition unit (3), an automatic navigation unit (4), a wireless communication unit (5), a safe driving unit (6), a path issuing unit (7), a remote server (8), a remote control and monitoring unit (9) and a video acquisition unit (10);
wherein:
the uninterrupted UPS power supply unit (1) is respectively and electrically connected with a power supply of the scraper, the electric control driving unit (2), the weighing data acquisition unit (3), the automatic navigation unit (4) and a wireless module of the vehicle-mounted part of the electric scraper in the wireless communication unit (5), and is used for converting the power supply of the scraper and supplying power to the power supply of the scraper, the electric control driving unit (2), the weighing data acquisition unit (3), the automatic navigation unit (4), the wireless module of the vehicle-mounted part of the electric scraper in the wireless communication unit (5) and the video acquisition unit (10);
the electric control driving unit (2), the weighing data acquisition unit (3), the automatic navigation unit (4), the safe driving unit (6), the path issuing unit (7), the remote server (8) and the video acquisition unit (10) are all connected with the wireless communication unit (5); the remote server (8) is connected with the remote control and monitoring unit (9);
the electric control driving unit (2) is used for controlling the work of the electric scraper; the electric control driving unit (2) is also connected with the automatic navigation unit (4) and is used for receiving driving data transmitted by the automatic navigation unit (4) so as to control the running of the electric scraper and simultaneously receiving an ore unloading instruction transmitted by the automatic navigation unit (4) and driving the large arm and the bucket to execute automatic ore unloading action;
the weighing data acquisition unit (3) is used for acquiring hydraulic pressure data of a hydraulic pressure sensor arranged in the large arm, calculating to obtain ore weight data, and uploading the ore weight data to a remote server (8);
the automatic navigation unit (4) is used for acquiring distance data between the electric scraper and a roadway, attitude information data of the electric scraper and current driving mileage data of the electric scraper at each angle and calculating to obtain the current position of the electric scraper and the speed and the steering angle of the target position of the scraper at the next moment; then, the speed and the steering angle of the current position of the electric scraper and the target position of the scraper at the next moment are sent to the electric control driving unit (2) and the remote server (8); the automatic navigation unit judges whether the scraper reaches the ore unloading point in real time according to the calculated position information, and when the scraper reaches the ore unloading point, an ore unloading instruction is sent to the electric control driving unit (2);
the wireless communication unit (5) is used for wireless communication;
the safety driving unit (6) is used for detecting whether a person or a vehicle breaks into the driving area, alarming when the person or the vehicle breaks into the driving area, and sending alarming information to the electric control driving unit (2) through the wireless communication unit (5) to realize emergency stop of the electric scooptram;
the route issuing unit (7) is used for sending the scraper route to the automatic navigation unit (4) through the wireless communication unit (5);
the remote server (8) is used for storing data;
the remote control and monitoring unit (9) is used for sending a work control signal of the electric scooptram to the electric control driving unit (2) through the remote server (8) and the wireless communication unit (5), and the electric control driving unit (2) receives the signal so as to control the work of the electric scooptram; the display device is also used for displaying the position information, the posture information and the speed of the electric carry scraper;
the video acquisition unit (10) is used for collecting video data of the surrounding environment of the electric scraper, the acquired video data are sent to the remote server (8) through the wireless communication unit (5), and the remote control and monitoring unit (9) calls the video data in the remote server (8) for display.
2. The electric scooptram unmanned control system of claim 1, wherein: the UPS unit (1), the electric control driving unit (2), the weighing data acquisition unit (3) and the automatic navigation unit (4) are all arranged inside the electric scraper; the safe driving unit (6) is arranged at an inlet and an outlet of a driving area of the electric scraper; the remote control and monitoring unit (9) is installed in a remote operation room on the well.
3. The electric scooptram unmanned control system of claim 1, wherein: after the UPS power supply unit (1) converts the power supply of the scraper into a 24V power supply, the UPS power supply unit supplies power to the electric scraper vehicle-mounted part wireless module and the video acquisition unit (10) in the electric control driving unit (2), the weighing data acquisition unit (3), the automatic navigation unit (4) and the wireless communication unit (5).
4. The electric scooptram unmanned control system of claim 1, wherein:
the electric control driving unit (2) comprises a first MCU main control module (201), a first Ethernet communication module (202), a first power supply module (203), an analog quantity output module (204), a switching value output module (205), an analog quantity acquisition module (206), a switching value acquisition module (207), a pulse signal acquisition module (208) and a PWM signal output module (209);
the first power supply module (203) is connected with the interrupted UPS power supply unit (1) and used for supplying power to the first MCU main control module (201), the first Ethernet communication module (202), the analog quantity output module (204), the switching value output module (205), the analog quantity acquisition module (206), the switching value acquisition module (207), the pulse signal acquisition module (208) and the PWM signal output module (209) by using electric energy transmitted by the interrupted UPS power supply unit (1);
the first MCU main control module (201) is respectively connected with the first Ethernet communication module (202), the analog quantity output module (204), the switching value output module (205), the analog quantity acquisition module (206), the switching value acquisition module (207), the pulse signal acquisition module (208) and the PWM signal output module (209) and is used for acquiring information acquired by the analog quantity acquisition module (206), the switching value acquisition module (207) and the pulse signal acquisition module (208) and controlling the analog quantity output module (204), the switching value output module (205) and the PWM signal output module (209) after processing;
the analog quantity output module (204) is used for outputting signals of an accelerator, a steering and a braking for driving the electric scraper;
the switching value output module (205) is used for outputting starting, stopping, gear selecting, whistling and front and rear headlamp signals of the electric scooptram;
the analog quantity acquisition module (206) is used for acquiring hydraulic oil temperature, steering pump pressure, boom pressure, bucket pressure, gearbox oil temperature and gearbox oil pressure signals;
the switching value acquisition module (207) is used for acquiring feedback signals of start, stop and gear selection of the scraper;
the pulse signal acquisition module (208) is used for acquiring a scraper odometer signal;
the PWM signal output module (209) is used for outputting control signals of a big arm and a bucket of the scraper;
the first MCU main control module (201) is connected with the automatic navigation unit (4) through a first Ethernet communication module (202).
5. The electric scooptram unmanned control system of claim 1, wherein:
the work of controlling the electric scooptram comprises the control of starting, stopping, shifting, steering, big arm, bucket, accelerator and braking of the electric scooptram;
the drive data includes speed of the electric scooptram, steering data.
6. The electric scooptram unmanned control system of claim 1, wherein:
the weighing data acquisition unit (3) comprises a second MCU main control module (301), a second Ethernet communication module (302), a second power supply module (303) and a second pressure signal acquisition module (304);
the second power supply module (303) is connected with the interrupted UPS power supply unit (1) and used for supplying power to the second MCU main control module (301), the second Ethernet communication module (302) and the second pressure signal acquisition module (304) by using electric energy transmitted by the interrupted UPS power supply unit (1);
the second MCU main control module (301) is electrically connected with the second Ethernet communication module (302) and the second pressure signal acquisition module (304) respectively;
the second pressure signal acquisition module (304) is used for acquiring hydraulic pressure data of a hydraulic pressure sensor arranged in the large arm and then transmitting the hydraulic pressure data to the second MCU main control module (301) for calculation to obtain ore weight data; then, the second MCU main control module (301) controls the second Ethernet communication module (302) to transmit the ore weight data to the remote server (8) through the Ethernet.
7. The electric scooptram unmanned control system of claim 1, wherein:
the automatic navigation unit (4) comprises an industrial personal computer (401), a laser radar device (402), an IMU inertial gyroscope (403), a odometer (404) and a communication module (405);
the industrial personal computer (401) is respectively connected with the laser radar device (402), the IMU inertial gyroscope (403), the odometer (404) and the communication module (405);
the laser radar device (402) is used for collecting distance data between the electric scraper and the roadway at each angle;
the IMU inertial gyroscope (403) is used for acquiring attitude information data of the electric scraper;
the odometer (404) is used for acquiring current driving mileage data of the electric scraper;
the industrial personal computer (401) is used for calculating the collected data transmitted by the laser radar device (402), the IMU inertial gyroscope (403) and the odometer (404) to obtain the position of the current electric scooptram and the speed and the steering angle at the next moment; then, the current position of the electric scraper and the speed and the steering angle at the next moment are sent to the electric control driving unit (2) and the remote server (8) through the communication module (405).
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