CN114506212B - Space positioning auxiliary driving system and method for shuttle car - Google Patents
Space positioning auxiliary driving system and method for shuttle car Download PDFInfo
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- CN114506212B CN114506212B CN202210138808.0A CN202210138808A CN114506212B CN 114506212 B CN114506212 B CN 114506212B CN 202210138808 A CN202210138808 A CN 202210138808A CN 114506212 B CN114506212 B CN 114506212B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000003384 imaging method Methods 0.000 claims abstract description 12
- 238000013016 damping Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 5
- 229910052744 lithium Inorganic materials 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 4
- 230000005641 tunneling Effects 0.000 description 24
- 239000003245 coal Substances 0.000 description 16
- 238000010586 diagram Methods 0.000 description 10
- 229910052751 metal Inorganic materials 0.000 description 5
- 239000002184 metal Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Arrangement of adaptations of instruments
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- B60K35/22—
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- B60K35/28—
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- B60K35/80—
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- B60K2360/167—
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- B60K2360/176—
Abstract
The invention provides a space positioning auxiliary driving system and a method of a shuttle car, wherein the system comprises the following steps: the three-dimensional dynamic scanning device, the wireless positioning device and the auxiliary positioning device are arranged on the shuttle car and are all connected with the central data processing and displaying device, and the imaging device is connected with a cab display of the shuttle car; the three-dimensional dynamic scanning device is used for scanning a three-dimensional dynamic image of the movement track of the shuttle car; the wireless positioning device is used for positioning the position of the shuttle car in the mine tunnel; the auxiliary positioning device is used for detecting the distance between the two sides of the shuttle car and the two sides of the roadway; the imaging device is arranged in a blind area of the shuttle car and used for transmitting images of the blind area to a cab display of the shuttle car; the central data processing and displaying device processes the data transmitted by the three-dimensional dynamic scanning device, the wireless positioning device and the auxiliary positioning device into image data and displays the image data. The invention can lighten the burden of a driver, thereby avoiding various safety accidents caused by the existence of blind areas of the shuttle car.
Description
Technical Field
The invention relates to the field of coal mines, in particular to a space positioning auxiliary driving system and method for a shuttle car.
Background
70% of coal mine tunneling roadways in China are coal roadways, so that the coal roadway tunneling technology is the key point of research and development in China. The main coal roadway tunneling technology in China comprises the following steps: high-efficiency tunneling and tunneling-anchoring integrated tunneling of coal roadway comprehensive mechanical tunneling and large-section coal roadway continuous miner. The common machinery for tunneling operation includes continuous miner, shuttle car, crusher, belt conveyor, etc. The shuttle car (shuttle car) is a special vehicle for conveying ore rocks in an underground horizontal roadway, and a conveyor for loading and unloading is arranged at the bottom of a carriage of the special vehicle. Shuttle cars are classified into plate type, scraper type and belt type according to the type of conveyor, wherein the most widely used shuttle cars are used in scraper type; the pneumatic shuttle car is divided into a pneumatic mechanical type shuttle car, an electric mechanical type shuttle car and an electric hydraulic type shuttle car according to a prime motor and a transmission mode, and the electric mechanical type shuttle car is economical and reliable under the condition of underground operation; the lap joint type and the sleeve lap joint type are lifted up and separated from transportation and the sleeve lap joint type is not separated from transportation according to the lap joint mode.
In the prior art, a cab is arranged on one side of a shuttle car for mine tunneling, a very large sight blind area exists, a driver of the shuttle car can only control the condition of the different sides of the cab by experience due to larger coal dust, the distance between the shuttle car and a coal wall is difficult to grasp, and potential safety hazards exist in the condition that the shuttle car bumps against the different side anchor rods, the metal net, other equipment and even operators of the cab easily.
Disclosure of Invention
Based on the problems, the invention provides a space positioning auxiliary driving system and a space positioning auxiliary driving method for a shuttle car, which solve the technical problems that the shuttle car used for mine tunneling has a very large sight blind area, the shuttle car is easy to crash a cab different side wall anchor rod, a metal net, other equipment and even operators, and potential safety hazards exist. The spatial positioning auxiliary driving system of the shuttle car provided by the invention can enable an operator to judge the position of the vehicle in a roadway and the posture of the vehicle in turning through the vehicle position on the screen of the cab of the shuttle car, and lighten the burden of the driver, thereby avoiding various safety accidents caused by the dead zone of the tunneling working face due to the existence of the shuttle car, and when the central data processing and displaying device judges that the running track of the shuttle car deviates from the preset running track or the distance between the two sides of the shuttle car and the two sides of the roadway is smaller than the preset distance according to the image data, the central data processing and displaying device can also send an alarm signal.
The invention provides a space positioning auxiliary driving system of a shuttle car, which comprises the following components:
the three-dimensional dynamic scanning device, the wireless positioning device and the auxiliary positioning device are arranged on the shuttle car and are all connected with the central data processing and displaying device, and the imaging device is connected with a cab display of the shuttle car;
the three-dimensional dynamic scanning device is used for scanning a three-dimensional dynamic image of a shuttle car movement track and comprises a scanning part and a coordinate base point part;
the wireless positioning device is used for positioning the position of the shuttle car in the mine tunnel and comprises a mobile station and a fixed station;
the auxiliary positioning device is used for detecting the distance between the two sides of the shuttle car and the two sides of the roadway;
the imaging device is arranged in a blind area of the shuttle car and used for transmitting images of the blind area to a cab display of the shuttle car;
the central data processing and displaying device processes the data transmitted by the three-dimensional dynamic scanning device, the wireless positioning device and the auxiliary positioning device into image data and displays the image data;
and when the central data processing and displaying device judges that the running track of the shuttle car deviates from the preset running track or the distance between the two sides of the shuttle car and the two sides of the roadway is smaller than the preset distance according to the image data, an alarm signal is sent.
In addition, the scanning part of the three-dimensional dynamic scanning device is arranged on one side of the shuttle car and is connected with the shuttle car in a rubber damping mode, the front part of the scanning part is of an inward convex round structure, the central part is provided with a 3D scanner, and the rear part of the scanning part is a wire outlet of a data transmission cable.
In addition, the coordinate base point part of the three-dimensional dynamic scanning device is arranged on an external grinding mill and is connected with the grinding mill in a rubber damping mode, a positioning module is arranged at the lower part of the coordinate base point part, and a cylinder and a spring antenna structure at the upper part are used for transmitting base point signals.
In addition, the lower part of the mobile station of the wireless positioning device is provided with a positioning module and a data processing module, and the upper cylinder and the spring antenna structure are used for receiving positioning signals transmitted by the fixed station.
In addition, the fixed station of the wireless positioning device is internally provided with a positioning module, a data processing module, a wireless signal generating device and a lithium battery, the fixed station is used for transmitting positioning signals of a fixed point, and the upper part of the fixed station is of a hook-shaped structure which is connected with a roadway roof in a hanging mode.
In addition, the wireless positioning devices are multiple, and the fixed stations of the wireless positioning devices are hung on the roadway roof according to the preset running track of the shuttle car.
In addition, the inside of auxiliary positioning device is equipped with range finding module, data processing module, and auxiliary positioning device's front end is the transmission mouth, and the rear end is data transmission cable outlet.
In addition, the auxiliary positioning device is fixed at four ends of the shuttle car in a rubber damping mode in 4 sets.
In addition, the central data processing and displaying device is arranged in the cab of the shuttle car and is in butt joint with the control system of the shuttle car.
The invention also provides a method for using the spatial positioning auxiliary driving system of the shuttle car, which comprises the following steps:
responding to a starting signal of a spatial positioning auxiliary driving system of the shuttle car;
the central data processing and displaying device receives the three-dimensional dynamic image data of the vehicle movement track acquired by the three-dimensional dynamic scanning device, the position data of the shuttle vehicle in the mine tunnel acquired by the wireless positioning device and the distance between the two sides of the shuttle vehicle and the two sides of the tunnel acquired by the auxiliary positioning device;
the central data processing and displaying device processes the received data into image data and displays the image data;
the central data processing and displaying device judges whether the shuttle car running track is deviated or not, and if so, the central data processing and displaying device alarms;
the central data processing and displaying device judges whether the distance between the two sides of the shuttle car and the two sides exceeds a preset safety distance, and if the distance exceeds the preset safety distance, the central data processing and displaying device alarms.
The invention provides a space positioning auxiliary driving system of a shuttle car, which solves the technical problems that the shuttle car used for mine tunneling has a very large sight blind area, a shuttle car is easy to crash a cab heterolateral anchor rod, a metal net, other equipment and even operators, and potential safety hazards exist. The spatial positioning auxiliary driving system of the shuttle car provided by the invention can enable an operator to judge the position of the vehicle in a roadway and the posture of the vehicle in turning through the vehicle position on the screen of the cab of the shuttle car, and lighten the burden of the driver, thereby avoiding various safety accidents caused by the dead zone of the tunneling working face due to the existence of the shuttle car, and when the central data processing and displaying device judges that the running track of the shuttle car deviates from the preset running track or the distance between the two sides of the shuttle car and the two sides of the roadway is smaller than the preset distance according to the image data, the central data processing and displaying device can also send an alarm signal.
Drawings
Fig. 1 is a schematic diagram of a spatial positioning driving assisting system of a shuttle car according to an embodiment of the present invention;
FIG. 2a is a schematic view of a rear structure of a scanning portion of a three-dimensional dynamic scanning device according to an embodiment of the present invention;
FIG. 2b is a schematic diagram of the front structure of a scanning portion of a three-dimensional dynamic scanning device according to an embodiment of the present invention;
FIG. 3a is a schematic view of the exterior of a coordinate base portion of a three-dimensional dynamic scanning apparatus according to an embodiment of the present invention;
FIG. 3b is a schematic view of the inside of a coordinate base portion of a three-dimensional dynamic scanning apparatus according to an embodiment of the present invention;
fig. 4a is a schematic diagram of an external structure of a mobile station of a wireless positioning device according to an embodiment of the present invention;
fig. 4b is a schematic diagram illustrating an internal structure of a mobile station of a wireless positioning device according to an embodiment of the present invention;
fig. 5a is a schematic external structure of a fixed station of a wireless positioning device according to an embodiment of the present invention;
FIG. 5b is a schematic diagram illustrating an internal structure of a fixed station of a wireless positioning device according to an embodiment of the present invention;
FIG. 6a is a schematic view of a rear structure of an auxiliary positioning device according to an embodiment of the present invention;
FIG. 6b is a schematic diagram of the front structure of an auxiliary positioning device according to an embodiment of the present invention;
FIG. 6c is a schematic diagram illustrating an internal structure of an auxiliary positioning device according to an embodiment of the present invention;
FIG. 7a is a schematic view of a rear structure of an image forming apparatus according to an embodiment of the present invention;
FIG. 7b is a schematic diagram of a front structure of an image forming apparatus according to an embodiment of the present invention;
fig. 8 is a schematic view showing an internal structure of an image forming apparatus according to an embodiment of the present invention;
FIG. 9 is a schematic diagram showing a fixed position of a coordinate base point of a three-dimensional dynamic scanning device according to an embodiment of the present invention;
FIG. 10a is a schematic side view of an installation location of a fixed station of a wireless location device according to one embodiment of the present invention;
FIG. 10b is a schematic top view of an installation location of a fixed station of a wireless location device according to one embodiment of the present invention;
fig. 11 is a schematic diagram illustrating a system operation of a spatial positioning driving assistance system of a shuttle car according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the specific embodiments and the accompanying drawings. It is intended that the invention be limited only by the specific embodiments illustrated and not by any means, but that it is intended that the invention be limited only by the terms of the appended claims.
Referring to fig. 1, the present invention provides a space positioning auxiliary driving system of a shuttle car, comprising:
the three-dimensional dynamic scanning device 2, the wireless positioning device 3, the auxiliary positioning device 4 and the imaging device 5 are arranged on the shuttle car 6 and are all connected with the central data processing and displaying device 1, and the imaging device 5 is connected with a cab display of the shuttle car 6;
the three-dimensional dynamic scanning device 2 is used for scanning a three-dimensional dynamic image of the movement track of the shuttle car 6, and the three-dimensional dynamic scanning device 2 comprises a scanning part and a coordinate base point part;
the wireless positioning device 3 is used for positioning the position of the shuttle car in the mine tunnel, and the wireless positioning device 3 comprises a mobile station and a fixed station;
the auxiliary positioning device 4 is used for detecting the distance between the two sides of the shuttle car and the two sides of the roadway;
the imaging device 5 is arranged in a blind area of the shuttle car and is used for transmitting an image of the blind area to a cab display of the shuttle car;
the central data processing and displaying device 1 processes the data transmitted by the three-dimensional dynamic scanning device 2, the wireless positioning device 3 and the auxiliary positioning device 4 into image data and displays the image data;
and when the central data processing and displaying device 1 judges that the running track of the shuttle car deviates from the preset running track according to the image data or the distance between the two sides of the shuttle car and the two sides of the roadway is smaller than the preset distance, an alarm signal is sent.
The three-dimensional dynamic scanning device 2 is used for scanning a three-dimensional space dynamic image of a movement track of a shuttle car of a tunneling working face under a well, and comprises a scanning part and a coordinate base point part.
The scanning part of the three-dimensional dynamic scanning device 2 (3D dynamic scanning device) is arranged at one side of the shuttle car and is connected with the shuttle car in a rubber damping manner, optionally, the three-dimensional dynamic scanning device has a cuboid structure, the front part of the three-dimensional dynamic scanning device is of an inward convex round surface structure, the 3D scanner is arranged at the central part of the three-dimensional dynamic scanning device, and the rear part of the three-dimensional dynamic scanning device is an outgoing line part of a data transmission cable (as shown in fig. 2a and 2 b). Alternatively, the coordinate base point part is arranged on a crusher relatively fixed in the tunneling working face, and is also connected with the crusher in a rubber damping manner, wherein the lower part of the coordinate base point part is of a cuboid structure and is used for placing the positioning module 22, and the upper part of the coordinate base point part is of a cylinder and spring antenna structure, such as an antenna 21, and is used for transmitting base point signals (shown in fig. 3a and 3 b).
The base point signals of the coordinate base point part are transmitted and received by the built-in receiver of the central data processing and displaying device 1, the main function of the coordinate base point part is to position X, Y shaft base points, namely coordinate origin, and the coordinate base point part can be changed because the working face crusher moves along with the advance of the tunneling surface after a few days in the production process, so that the setting of the coordinate base point part is necessary, the central data processing and displaying device 1 performs centralized processing after collecting the data of the scanning part and the coordinate base point part of the 3D dynamic scanning device, combines the scanning image and the coordinate positioning parameters, and further determines the three-dimensional space stereoscopic image and the coordinate of the shuttle car walking route.
The wireless positioning device 3 is used for positioning the position of the shuttle car in the roadway and finally displaying the position in the three-dimensional space dynamic image, so that operators can intuitively know the position of the shuttle car. Optionally, the wireless positioning device 3 mainly comprises a mobile station and a fixed station, the mobile station is fixed on the shuttle car in a rubber damping mode, the lower part of the mobile station is of a cuboid structure for placing the positioning module and the data processing module, and the upper part of the mobile station is of a cylinder and spring antenna structure for receiving signals emitted by the fixed station (as shown in fig. 4a and 4 b). The fixed station is in a cylindrical appearance structure, and is internally provided with a positioning module, a data processing module, a wireless signal generating device and a lithium battery, and is used for transmitting fixed point positioning signals; optionally, the upper part of the device is in a hook-shaped structure, so that the device can be conveniently hung with a roadway roof (as shown in fig. 5a and 5 b).
The transmitting and receiving parts of the wireless positioning device 3 are not related to the three-dimensional dynamic scanning device 2 in terms of signal transmission, the three-dimensional dynamic scanning device 2 feeds back three-dimensional space images and coordinate signals, the wireless positioning device 3 feeds back precise and real-time shuttle car position signals, and the information of the two signals is finally collected in the central data processing and display device 1 to be integrated. Namely: the three-dimensional dynamic scanning device 2 feeds back roadway three-dimensional space images and coordinate signals in the shuttle car moving track, the wireless positioning device 3 feeds back real-time position information of the shuttle car, and the roadway three-dimensional space images and the coordinate signals are finally fused in the central data processing and displaying device 1, so that the real-time position positioning function of the shuttle car in the three-dimensional space is realized.
The auxiliary positioning device 4 is used for detecting the distance between two sides of the shuttle car and two sides of the roadway, transmitting data to the central data processing and displaying device 1 for processing, and displaying corresponding data on a display of the central data processing and displaying device 1. Optionally, the external structure is a cuboid module, a ranging module and a data processing module are arranged in the module, the front end of the module is a transmitting port, and the rear end of the module is an outgoing line part of the data transmission cable (as shown in fig. 6a, 6b and 6 c).
The imaging device 5 is disposed in the blind area of the shuttle car and functions to transmit the blind area image to the display device of the cab of the shuttle car, thereby ensuring that the shuttle car is driven without blind area (as shown in fig. 7a and 7 b). Optionally, the imaging device 5 includes: an image display interface 51, a three-dimensional space dynamic image display interface 52, a manual driving mode button 53, an automatic driving mode button 54, and a switch 55.
The central data processing and displaying device 1 is an integrated mechanism, the central data processing function is to process the data transmitted by the three parts of the three-dimensional dynamic scanning device 2, the wireless positioning device 3 and the auxiliary positioning device 4 into image data, the image data are displayed on the displaying device of the central data processing and displaying device 1, and when the running track of the shuttle car deviates from a preset track, the central data processing and displaying device 1 can send out an alarm signal. Optionally, the central data processing and display device 1 has a touch screen control function, so that the operation is more convenient. The central data processing and displaying device 1 can be integrated with a control system of the shuttle car, has two functions of a manual driving mode and an automatic driving mode, and can realize switching of the driving modes (as shown in fig. 8).
In the embodiment, all devices are explosion-proof and intrinsically safe equipment, and are suitable for underground coal mine requirements.
The invention solves the technical problems that the shuttle car used for mine tunneling has a very large sight blind area, and the shuttle car is easy to collide and damage the cab heterolateral anchor rod, the metal net, other equipment and even operators, and has potential safety hazards in the prior art. The spatial positioning auxiliary driving system of the shuttle car provided by the invention can enable an operator to judge the position of the vehicle in a roadway and the posture of the vehicle in turning through the vehicle position on the screen of the cab of the shuttle car, and lighten the burden of the driver, thereby avoiding various safety accidents caused by the dead zone of the tunneling working face due to the existence of the shuttle car, and when the central data processing and displaying device judges that the running track of the shuttle car deviates from the preset running track or the distance between the two sides of the shuttle car and the two sides of the roadway is smaller than the preset distance according to the image data, the central data processing and displaying device can also send an alarm signal.
In one embodiment, the scanning part of the three-dimensional dynamic scanning device 2 is arranged at one side of the shuttle car and is connected with the shuttle car in a rubber damping mode, the front part of the scanning part is of an inward convex round surface structure, the central part is provided with a 3D scanner, and the rear part is an outlet of a data transmission cable.
The rubber damping mode is adopted to be connected with the shuttle car, so that the influence of the shuttle car on the shuttle car is as small as possible. The 3D scanner is used for scanning.
In one embodiment, the coordinate base point part of the three-dimensional dynamic scanning device 2 is arranged on an external crusher and is connected with the crusher in a rubber damping mode, a positioning module is arranged at the lower part of the coordinate base point part, and a cylinder and a spring antenna structure at the upper part are used for transmitting base point signals.
The base point signals of the coordinate base point part are transmitted and received by the built-in receiver of the central data processing and displaying device 1, the main function of the coordinate base point part is to position X, Y shaft base points, namely coordinate origin, and the coordinate base point part can be changed because the working face crusher moves along with the advance of the tunneling surface after a few days in the production process, so that the setting of the coordinate base point part is necessary, the central data processing and displaying device 1 performs centralized processing after collecting the data of the scanning part and the coordinate base point part of the 3D dynamic scanning device, combines the scanning image and the coordinate positioning parameters, and further determines the three-dimensional space stereoscopic image and the coordinate of the shuttle car walking route.
In one of the embodiments, the lower part of the mobile station of the wireless location device 3 is placed with a location module 32 and a data processing module 33, and the upper cylinder and spring antenna structure 31 is used to receive the location signal transmitted by the fixed station, as shown in fig. 4a and 4 b.
The wireless positioning device 3 mainly comprises a mobile station and a fixed station, wherein the mobile station is fixed on the shuttle car in a rubber damping mode, the lower part of the mobile station is of a cuboid structure and is used for placing a positioning module and a data processing module, and the upper part of the mobile station is of a cylinder and spring antenna structure and is used for receiving signals transmitted by the fixed station (shown in fig. 4a and 4 b). The fixed station is cylindrical in appearance structure, and is internally provided with a positioning module, a data processing module, a wireless signal generating device and a lithium battery, and is used for transmitting fixed point positioning signals.
In one embodiment, a positioning module 32, a data processing module 33, a wireless signal generating device 35 and a lithium battery 34 are arranged in a fixed station of the wireless positioning device 3, the fixed station is used for transmitting positioning signals of a fixed point, and the upper part of the fixed station is in a hook-shaped structure which is hung with a roadway roof. The upper part of the device is in a hook-shaped structure, so that the device is convenient to be hung with a roadway roof (as shown in fig. 5a and 5 b).
In one embodiment, the number of the wireless positioning devices 3 is plural, and the fixed stations of the plurality of wireless positioning devices 3 are hung on the roadway roof according to the preset running track of the shuttle car. The shuttle car is positioned through the plurality of wireless positioning devices, so that the positioning accuracy is higher.
In one embodiment, a ranging module 42 and a data processing module 41 are arranged in the auxiliary positioning device 4, the front end of the auxiliary positioning device 4 is provided with a transmitting port 43, and the rear end of the auxiliary positioning device is provided with a data transmission cable outlet. The auxiliary positioning device 4 is used for detecting the distance between two sides of the shuttle car and two sides of the roadway, transmitting data to the central data processing and displaying device 1 for processing, and displaying corresponding data on a display of the central data processing and displaying device 1. Optionally, the external structure is a cuboid module, and a ranging module 42 and a data processing module 41 are arranged in the external structure, the front end of the external structure is a transmitting port 43, and the rear end of the external structure is an outgoing line part of a data transmission cable (as shown in fig. 6a, 6b and 6 c).
In one embodiment, the auxiliary positioning devices 4 are 4 sets and are respectively fixed at four ends of the shuttle car 6 in a rubber damping mode. By fixing the auxiliary positioning devices at the four ends of the shuttle 6, the profile of the shuttle is monitored in real time, as shown in fig. 1.
In one embodiment, the central data processing and display device 1 is disposed within the shuttle car cab and interfaces with the control system of the shuttle car 6. The central data processing and displaying device is in butt joint with the control system of the shuttle car 6, so that information is transmitted to the control system, and the control system makes corresponding judgment.
The following describes, by way of an example embodiment, the installation procedure of a spatial positioning assistance driving system of a shuttle car:
firstly, the spatial positioning auxiliary driving system of the shuttle car is transported to a coal mine underground tunneling working face, a coordinate base point part 23 of the three-dimensional dynamic scanning device is fixed on a crusher 7 (shown in fig. 9), and a plurality of wireless positioning device fixing stations are hung on a roadway roof according to a preset running track of the shuttle car (shown in fig. 10a and 10 b).
The scanning part of the three-dimensional dynamic scanning device is arranged on one side of the shuttle car, the scanning part is connected with the shuttle car in a rubber damping mode, the mobile station of the wireless positioning device is fixed on the shuttle car in a rubber damping mode, the auxiliary positioning device is 4 sets in total and is respectively fixed on four ends of the shuttle car in a rubber damping mode, the imaging device is arranged in a blind area on the other side of the cab of the shuttle car, and the central data processing and displaying device is arranged in the cab of the shuttle car and is in butt joint with a control system of the shuttle car (shown in figure 1).
When the system is running:
when the underground tunneling working face of the coal mine is produced, firstly, starting a shuttle car, enabling the shuttle car to be in a static state, starting a spatial positioning auxiliary driving system of the shuttle car, switching to a display interface, checking the running condition of the system, after the system is stable in running, switching the spatial positioning auxiliary driving system of the shuttle car to an information acquisition state, starting a manual driving mode, switching the shuttle car to a walking mode, driving the shuttle car from a crusher to a coal machine, transmitting acquired roadway 3D images and position information of the shuttle car acquired by a wireless positioning device to a central data processing and displaying device, displaying all acquired information on the display device by the central data processing and displaying device, and memorizing preset running tracks of the shuttle car. At the moment, a manual driving mode or an unmanned driving mode can be selected, when the manual driving mode is selected, a shuttle car driver drives the shuttle car to operate, when the shuttle car operation track deviates, the mine shuttle car space positioning auxiliary driving system sends alarm information to prompt the shuttle car driver, when the distance between the shuttle car and the two sides exceeds the preset safety distance of the system, the system also sends alarm information, and the closer the distance between the shuttle car and the two sides is, the tighter and the more rapid the alarm sound sent by the system is; when the unmanned mode is selected, the mine shuttle space positioning auxiliary driving system can control the shuttle to run according to a preset track, as shown in fig. 11, wherein a top plate 81 and a bottom plate 82 of a roadway 8, a coal pillar 9, a crusher 7, a belt conveyor 10 and a coal conveyor 11.
Optionally, the materials of each component of the mine shuttle space positioning auxiliary driving system can be other materials than steel; each device of the system is not limited by an external structure, and the functions of the device are realized in a protection range; the auxiliary positioning device can adopt the technologies of laser ranging, infrared ranging, ultrasonic ranging and the like, and can realize the functions of the auxiliary positioning device in the protection range; the functions of the devices of the system can be realized within the protection range no matter in a single state or an integrated state.
Alternatively, the shuttle car has two modes of operation, one is a manual driving mode and the other is an automatic driving mode. When the system is set to be in an unmanned mode, the shuttle car can run according to a preset track, and the effects of reducing staff and improving efficiency are achieved. When the system is set to be in a manual driving mode, a driver can judge the position of the vehicle in a roadway and the posture of the vehicle in turning through the position of the vehicle and the blind area images on the screen, and the burden of the driver is reduced. When the running track of the shuttle car deviates from the preset track, the system can send an alarm signal to prompt a driver to adjust in time, so that various safety accidents caused by the existence of dead zones of the shuttle car on the tunneling working face are avoided.
The invention also provides a method for using the spatial positioning auxiliary driving system of the shuttle car, which comprises the following steps:
responding to a starting signal of a spatial positioning auxiliary driving system of the shuttle car;
the central data processing and displaying device receives the three-dimensional dynamic image data of the vehicle movement track acquired by the three-dimensional dynamic scanning device, the position data of the shuttle vehicle in the mine tunnel acquired by the wireless positioning device and the distance between the two sides of the shuttle vehicle and the two sides of the tunnel acquired by the auxiliary positioning device;
the central data processing and displaying device processes the received data into image data and displays the image data;
the central data processing and displaying device judges whether the shuttle car running track is deviated or not, and if so, the central data processing and displaying device alarms;
the central data processing and displaying device judges whether the distance between the two sides of the shuttle car and the two sides exceeds a preset safety distance, and if the distance exceeds the preset safety distance, the central data processing and displaying device alarms.
The invention solves the technical problems that the shuttle car used for mine tunneling has a very large sight blind area, and the shuttle car is easy to collide and damage the cab heterolateral anchor rod, the metal net, other equipment and even operators, and has potential safety hazards in the prior art. The spatial positioning auxiliary driving system of the shuttle car provided by the invention can enable an operator to judge the position of the vehicle in a roadway and the posture of the vehicle in turning through the vehicle position on the screen of the cab of the shuttle car, and lighten the burden of the driver, thereby avoiding various safety accidents caused by the dead zone of the tunneling working face due to the existence of the shuttle car, and when the central data processing and displaying device judges that the running track of the shuttle car deviates from the preset running track or the distance between the two sides of the shuttle car and the two sides of the roadway is smaller than the preset distance according to the image data, the central data processing and displaying device can also send an alarm signal.
When the underground tunneling working face of the coal mine is produced, firstly, starting a shuttle car, enabling the shuttle car to be in a static state, starting a spatial positioning auxiliary driving system of the shuttle car, switching to a display interface, checking the running condition of the system, after the system is stable in running, switching the spatial positioning auxiliary driving system of the shuttle car to an information acquisition state, starting a manual driving mode, switching the shuttle car to a walking mode, driving the shuttle car from a crusher to a coal machine, transmitting acquired roadway 3D images and position information of the shuttle car acquired by a wireless positioning device to a central data processing and displaying device, displaying all acquired information on the display device by the central data processing and displaying device, and memorizing preset running tracks of the shuttle car. At the moment, a manual driving mode or an unmanned driving mode can be selected, when the manual driving mode is selected, a shuttle car driver drives the shuttle car to operate, when the shuttle car operation track deviates, the mine shuttle car space positioning auxiliary driving system sends alarm information to prompt the shuttle car driver, when the distance between the shuttle car and the two sides exceeds the preset safety distance of the system, the system also sends alarm information, and the closer the distance between the shuttle car and the two sides is, the tighter and the more rapid the alarm sound sent by the system is; when the unmanned mode is selected, the mine shuttle space positioning auxiliary driving system can control the shuttle to run according to a preset track (as shown in fig. 11).
Optionally, the materials of each component of the mine shuttle space positioning auxiliary driving system can be other materials than steel; each device of the system is not limited by an external structure, and the functions of the device are realized in a protection range; the auxiliary positioning device can adopt the technologies of laser ranging, infrared ranging, ultrasonic ranging and the like, and can realize the functions of the auxiliary positioning device in the protection range; the functions of the devices of the system can be realized within the protection range no matter in a single state or an integrated state.
What has been described above is merely illustrative of the principles and preferred embodiments of the present invention. It should be noted that several other variants are possible to those skilled in the art on the basis of the principle of the invention and should also be considered as the scope of protection of the present invention.
Claims (10)
1. A spatial positioning assisted driving system for a shuttle vehicle, comprising:
the three-dimensional dynamic scanning device, the wireless positioning device and the auxiliary positioning device are arranged on the shuttle car and are all connected with the central data processing and displaying device, and the imaging device is connected with a cab display of the shuttle car;
the three-dimensional dynamic scanning device is used for scanning a three-dimensional dynamic image of a movement track of the shuttle car and comprises a scanning part arranged on one side of the shuttle car and a coordinate base point part arranged on the crusher;
the wireless positioning device is used for positioning the position of the shuttle car in the mine tunnel and comprises a mobile station and a fixed station;
the auxiliary positioning device is used for detecting the distance between the two sides of the shuttle car and the two sides of the roadway;
the imaging device is arranged in a blind area of the shuttle car and used for transmitting images of the blind area to a cab display of the shuttle car;
the central data processing and displaying device obtains a three-dimensional dynamic image and coordinates of the shuttle car movement track according to the scanning part and the coordinate base point part, processes data transmitted by the three-dimensional dynamic scanning device, the wireless positioning device and the auxiliary positioning device into image data and displays the image data, and the central data processing and displaying device stores a preset movement track;
and when the central data processing and displaying device judges that the running track of the shuttle car deviates from the preset running track or the distance between the two sides of the shuttle car and the two sides of the roadway is smaller than the preset distance according to the image data, an alarm signal is sent.
2. The spatial positioning assisted driving system of a shuttle car according to claim 1, wherein,
the scanning part of the three-dimensional dynamic scanning device is arranged on one side of the shuttle car and is connected with the shuttle car in a rubber damping mode, the front part of the scanning part is of an inward convex round surface structure, the central part is provided with a 3D scanner, and the rear part is an outlet of a data transmission cable.
3. The spatial positioning assisted driving system of a shuttle car according to claim 1, wherein,
the coordinate base point part of the three-dimensional dynamic scanning device is arranged on an external grinding mill and is connected with the grinding mill in a rubber damping mode, a positioning module is placed at the lower part of the coordinate base point part, and a cylinder and a spring antenna structure at the upper part are used for transmitting base point signals.
4. The spatial positioning assisted driving system of a shuttle car according to claim 1, wherein,
the lower part of the mobile station of the wireless positioning device is provided with a positioning module and a data processing module, and the cylinder and the spring antenna structure at the upper part are used for receiving positioning signals transmitted by the fixed station.
5. The spatial positioning assisted driving system of a shuttle car according to claim 1, wherein,
the wireless positioning device comprises a wireless positioning device, a wireless signal generating device, a lithium battery, a positioning module, a data processing module, a wireless signal generating device and a wireless signal generating device, wherein the wireless positioning device is arranged in a fixing station, the fixing station is used for transmitting positioning signals of a fixed point, the upper part of the fixing station is of a hook-shaped structure, and the hook-shaped structure is connected with a roadway top plate in a hanging mode.
6. The spatial positioning assisted driving system of a shuttle car according to claim 1, wherein,
the plurality of wireless positioning devices are arranged, and the fixed stations of the plurality of wireless positioning devices are hung on the roadway roof according to the preset running track of the shuttle car.
7. The spatial positioning assisted driving system of a shuttle car according to claim 1, wherein,
the inside of the auxiliary positioning device is provided with a ranging module and a data processing module, the front end of the auxiliary positioning device is a transmitting port, and the rear end of the auxiliary positioning device is a data transmission cable outlet.
8. The spatial positioning assisted driving system of a shuttle car according to claim 1, wherein,
the auxiliary positioning devices are 4 sets in total and are respectively fixed at the four ends of the shuttle car in a rubber damping mode.
9. The spatial positioning assisted driving system of a shuttle car according to claim 1, wherein,
the central data processing and displaying device is arranged in the shuttle car cab and is in butt joint with the control system of the shuttle car.
10. A method of using the spatial location assisted driving system of a shuttle as claimed in any one of claims 1 to 9, comprising:
responding to a starting signal of a spatial positioning auxiliary driving system of the shuttle car;
the central data processing and displaying device receives the three-dimensional dynamic image data of the vehicle movement track acquired by the three-dimensional dynamic scanning device, the position data of the shuttle vehicle in the mine tunnel acquired by the wireless positioning device and the distance between the two sides of the shuttle vehicle and the two sides of the tunnel acquired by the auxiliary positioning device;
the central data processing and displaying device processes the received data into image data and displays the image data;
the central data processing and displaying device judges whether the shuttle car running track is deviated or not, and if so, the central data processing and displaying device alarms;
the central data processing and displaying device judges whether the distance between the two sides of the shuttle car and the two sides exceeds a preset safety distance, and if the distance exceeds the preset safety distance, the central data processing and displaying device alarms.
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