CN115092031A - Device and method for measuring position of container of mining dump truck - Google Patents
Device and method for measuring position of container of mining dump truck Download PDFInfo
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- CN115092031A CN115092031A CN202210709878.7A CN202210709878A CN115092031A CN 115092031 A CN115092031 A CN 115092031A CN 202210709878 A CN202210709878 A CN 202210709878A CN 115092031 A CN115092031 A CN 115092031A
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- 238000005065 mining Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims abstract description 59
- 230000000007 visual effect Effects 0.000 claims abstract description 17
- 238000013461 design Methods 0.000 claims abstract description 14
- 230000002159 abnormal effect Effects 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 238000012856 packing Methods 0.000 claims description 7
- 230000008602 contraction Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000000547 structure data Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
- B60P1/16—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element actuated by fluid-operated mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
Abstract
The invention discloses a device and a method for measuring the position of a container of a mining dump truck, wherein the device comprises the following steps: the displacement sensor is used for measuring the telescopic quantity of the left lifting oil cylinder and the right lifting oil cylinder of the container; the key switch is used for realizing the electrification of the device and enabling the controller to work; the audible and visual alarm is used for realizing abnormal side tipping alarm of the container; the display is used for displaying the lifting angle and the side-tipping angle of the container in real time; the controller is connected with the displacement sensor I, the displacement sensor II, the key switch, the audible and visual alarm and the display respectively, reads data of the displacement sensor I and the displacement sensor II, calculates the lifting angle and the side inclination angle of the container by combining structural design data of the vehicle body, sends the data to the display through the CAN bus for displaying, and outputs signals to control the audible and visual alarm to give an alarm to abnormal data. On the premise of meeting the economical efficiency, the invention improves the measurement precision of the position of the container, effectively meets the requirements of intelligent control and driving safety of the dump truck, and has strong practicability.
Description
Technical Field
The invention relates to a device and a method for measuring the position of a container of a mining dump truck, and belongs to the technical field of engineering machinery.
Background
The mining dump truck is widely applied to large-scale open mines and hydraulic engineering as a carrying vehicle, and has complex terrain and severe working conditions. With the progress of the technology, the intelligent control technology is more and more widely applied to the mining dump truck. On the intelligent control of the mining dump truck, the accurate container position measurement is not necessarily less. The container is easy to incline under the long-term heavy-load working condition of the mining dump truck. In order to better realize the intelligent control and driving safety of the container, the position of the container needs to be measured.
The current container position measuring method mainly uses a position sensing sensor. The position induction sensor can only realize the detection of the in-place falling and lifting of the container, and cannot detect the position angle of the container in the lifting and falling process of the container, so that the requirement of an intelligent control technology cannot be met.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a device and a method for measuring the position of a container of a mining dump truck, which can accurately measure the position of the container and give an alarm when the position of the container is abnormal, thereby meeting the requirements of intelligent control and driving safety.
In order to achieve the purpose, the invention provides a container position measuring device for a mining dump truck, which comprises:
the displacement sensor is used for measuring the stretching amount of the left lifting oil cylinder and the right lifting oil cylinder of the container;
the key switch is used for realizing the electrification of the device and enabling the controller to work;
the audible and visual alarm is used for alarming abnormal side tipping of the container;
the display is used for displaying the lifting angle and the side-tipping angle of the container in real time;
the controller is respectively connected with the displacement sensor I, the displacement sensor II, the key switch, the audible and visual alarm and the display, reads data of the displacement sensor I and the displacement sensor II, calculates the lifting angle and the side inclination angle of the container by combining the structural design data of the vehicle body, sends the data to the display through the CAN bus for displaying, and outputs signals to control the audible and visual alarm to give an alarm to abnormal data.
As the improvement, displacement sensor includes displacement sensor I and displacement sensor II, and displacement sensor I, displacement sensor II are installed respectively inside packing box left side and right side lift cylinder.
As an improvement, the key switch, the audible and visual alarm and the display are respectively arranged in the cab, and the controller is arranged in the control cabinet.
In addition, the invention also provides a measuring method of the mining dump truck container position measuring device, which comprises the following steps:
s1, powering on the key;
s2, collecting current data output by the displacement sensor I and the displacement sensor II by the controller, and converting the current data into the stretching amount of the lifting oil cylinder on the left side and the stretching amount of the lifting oil cylinder on the right side of the cargo box respectively;
s3, calculating by the controller to obtain a left lifting angle of the cargo box and a right lifting angle of the cargo box, and calculating a difference value between the left lifting angle of the cargo box and the right lifting angle of the cargo box;
when the controller judges that the difference value is effective, the lifting angle value of the container is the average value of the left lifting angle and the right lifting angle of the container which are measured and calculated for multiple times, and the display displays the lifting angle of the container at the moment;
when the controller judges that the difference value is invalid, the controller calculates the roll angle of the container, at the moment, the display respectively displays the left side lifting angle of the container, the right side lifting angle of the container and the roll angle of the container, and meanwhile, the audible and visual alarm gives an alarm.
As an improvement, in the step S3, the cargo box lifting angle is calculated according to the expansion and contraction amount of the lifting cylinder and the vehicle structure design data:
in the formula: s 1 The distance between the upper hinge point of the lifting oil cylinder and the hinge point of the container and the frame is set; s 2 The distance between the lower hinge point of the lifting oil cylinder and the hinge point of the container and the frame is set; l (i) is a lifting oil cylinder expansion and contraction quantity function corresponding to the current value of the displacement sensor; a is an included angle between a connecting line of an upper hinge point of the lifting oil cylinder and a hinge point of the cargo box and the frame and the bottom edge of the cargo box; and B is an included angle between the lower hinged point of the lifting oil cylinder, the connecting line of the hinged point of the container and the frame and the upper edge of the frame.
As a modification, in the step S3, the controller calculates the left side lift angle θ of the cargo box L Lifting angle theta with the right side of the container R Making a comparison if | θ L -θ K |≤θ K Considering that the vehicle lifting function is normal and the data is valid; if | θ L -θ K |＞θ K Considering that the lifting function of the vehicle is abnormal, and the data is invalid;
in the formula: theta K Is the allowable deviation of the structural data.
As an improvement, when the data is valid, the lifting angle theta of the container is taken as the left lifting angle theta L And the right sideLifting angle theta R Average of multiple measurements:
as an improvement, when the data is invalid, the calculation formula of the roll angle of the cargo box is as follows:
in the formula: i.e. i L And i R Current data of a displacement sensor I and a displacement sensor II at a certain moment are obtained; l (i) L ) And L (i) R ) The function of the telescopic quantity of the lifting oil cylinder corresponding to the current value of the displacement sensor; d is the design data of the hinge point distance between the container and the left and right lifting oil cylinders.
Compared with the prior art, the invention collects the stretching amount of the left lifting oil cylinder and the right lifting oil cylinder of the container through the displacement sensor, combines the structural design data of the dump truck, can accurately calculate the lifting angle of the container, and can accurately calculate the side-tipping angle of the container when the lifting function of the vehicle is abnormal. On the premise of meeting the economical efficiency, the invention improves the measurement precision of the position of the container, effectively meets the requirements of intelligent control and driving safety of the dump truck, and has strong practicability.
Drawings
FIG. 1 is a schematic diagram of a container position measuring device of a mining dump truck according to the present invention;
FIG. 2 is a flow chart of the position measurement of the container of the mining dump truck of the present invention;
FIG. 3 is a model of lift angle measurement.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below. It should be understood, however, that the detailed description herein of specific embodiments is intended to illustrate the invention and not to limit the scope of the invention.
Unless defined otherwise, all 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, and the terms used herein in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.
As shown in fig. 1, the container position measuring device for the mining dump truck comprises a displacement sensor I, a displacement sensor II, a controller, a key switch, an audible and visual alarm, a display and other parts;
the displacement sensor I and the displacement sensor II are current type magnetostrictive displacement sensors which are respectively arranged in the left lifting oil cylinder and the right lifting oil cylinder of the container and can be used for measuring the stretching amount of the left lifting oil cylinder and the right lifting oil cylinder of the container;
the key switch is arranged in the cab and can be controlled by a driver to realize the electrification of the measuring device and enable the controller to work;
the audible and visual alarm is arranged in the cab and used for alarming when the cargo box is inclined abnormally and reminding a driver of paying attention to driving safety;
the display is arranged at a position which is convenient for a driver to observe and is used for displaying the lifting angle and the side-tipping angle of the cargo box in real time;
the controller is installed in the switch board, and the controller is connected with displacement sensor I, displacement sensor II, key switch, audible-visual annunciator and display respectively, the controller is used for reading displacement sensor I and displacement sensor II's current data to turn into packing box left side and right side lift cylinder flexible volume with data, combine automobile body structural design data, calculate the lifting angle and the heeling angle of packing box, then give the display through the CAN bus with data and show, and output signal control audible-visual annunciator reports to the police to abnormal data.
In addition, as shown in fig. 2 and 3, the invention also provides a measuring method of the mining dump truck container position measuring device, which comprises the following steps:
s1, powering on the key;
s2, acquiring current data output by the displacement sensor I and the displacement sensor II by the controller, and converting the current data into the stretching amount of the lifting oil cylinders on the left side and the right side of the cargo box respectively;
s3, calculating by the controller to obtain a left lifting angle of the cargo box and a right lifting angle of the cargo box, and calculating a difference value between the left lifting angle of the cargo box and the right lifting angle of the cargo box;
when the controller judges that the difference value is effective, the lifting angle value of the container is the average value of the left lifting angle and the right lifting angle of the container which are measured and calculated for multiple times, and the display displays the lifting angle of the container at the moment;
when the controller judges that the difference value is invalid, the controller calculates the roll angle of the container, the display respectively displays the left lifting angle of the container, the right lifting angle of the container and the roll angle of the container at the moment, and the audible and visual alarm gives an alarm.
As an improvement of the embodiment, in the step S3, the cargo box lifting angle is calculated according to the stretching amount of the lifting cylinder and the vehicle structural design data:
in the formula: s 1 The distance between the upper hinge point of the lifting oil cylinder and the hinge point of the container and the frame is set; s 2 The distance between the lower hinge point of the lifting oil cylinder and the hinge point of the container and the frame is set; l (i) is a lifting oil cylinder expansion and contraction quantity function corresponding to the current value of the displacement sensor; a is an included angle between a connecting line of an upper hinge point of the lifting oil cylinder and a hinge point of the cargo box and the frame and the bottom edge of the cargo box; and B is an included angle between the lower hinge point of the lifting oil cylinder and the upper edge of the frame and between the connecting line of the hinge point of the container and the frame.
As an improvement of the embodiment, in the step S3, the controller calculates the left side lifting angle θ of the cargo box L Lifting angle theta with the right side of the container R Making a comparison if | θ L -θ K |≤θ K Considering that the vehicle lifting function is normal and the data is valid; if | θ L -θ K |＞θ K Considering that the lifting function of the vehicle is abnormal, and the data is invalid;
in the formula: theta K Is the allowable deviation of the structural data.
As an implementationThe improvement of the embodiment is that when the data is effective, the lifting angle theta of the container is taken as the left lifting angle theta L And right side lift angle θ R Average of multiple measurements:
as an improvement of the embodiment, when the data is invalid, the calculation formula of the roll angle of the cargo box is as follows:
in the formula: i.e. i L And i R Current data of a displacement sensor I and a displacement sensor II at a certain moment are obtained; l (i) L ) And L (i) R ) The function of the telescopic quantity of the lifting oil cylinder corresponding to the current value of the displacement sensor; d is the design data of the hinge point distance between the container and the left and right lifting oil cylinders.
Example 1
As shown in fig. 1 and 2, the measuring method of the container position measuring device of the mining dump truck of the invention comprises the following steps:
1) after a key switch is powered on, a controller starts to work, the controller reads current data output by a displacement sensor I and a displacement sensor II in real time, the current data are converted into the stretching amount of a left lifting oil cylinder and the stretching amount of a right lifting oil cylinder respectively, the included angles between the connecting line of the upper hinge point of the lifting oil cylinder and the hinge point of a container and a frame and the bottom edge of the container and the included angles between the connecting line of the lower hinge point of the lifting oil cylinder and the hinge point of the container and the frame and the upper edge of the frame are combined, and the included angles between the left bottom edge and the right bottom edge of the container and the upper edge of the frame, which are obtained by calculation through combining a formula (1) by utilizing a model shown in figure 3, are the left lifting angle of the container and the right lifting angle of the container;
according to the telescopic quantity of the lifting oil cylinder and the vehicle structure design data, calculating the lifting angle of the container:
in the formula: s 1 The distance between the upper hinge point of the lifting oil cylinder and the hinge point of the container and the frame is set; s 2 The distance between the lower hinge point of the lifting oil cylinder and the hinge point of the container and the frame is set; l (i) is a lifting oil cylinder expansion and contraction quantity function corresponding to the current value of the displacement sensor; a is an included angle between a connecting line of an upper hinge point of the lifting oil cylinder and a hinge point of the cargo box and the frame and the bottom edge of the cargo box; b is an included angle between the connecting line of the lower hinge point of the lifting oil cylinder and the hinge point of the container and the frame and the upper edge of the frame;
2) the controller calculates the difference value of the lifting angle of the left side of the container and the lifting angle of the right side of the container and judges whether the data is valid or not;
21) the controller calculates the left lifting angle theta of the container L Lifting angle theta with the right side of the container R Making a comparison if | θ L -θ K |≤θ K (θ K The deviation of the structure data is allowed), the vehicle lifting function is considered to be normal, the data is valid, and the cargo box does not roll abnormally;
when the data is valid, the lifting angle value theta of the container is taken as the left lifting angle theta L And right side lift angle θ R Average of multiple measurements:
at the moment, the display only displays the lifting angle of the container;
22) the controller calculates the left lifting angle theta of the container L Lifting angle theta with the right side of the container R Making a comparison if | θ L -θ K |＞θ K (θ K The deviation of the structure data is allowed), the container is considered to roll abnormally, and the controller calculates the roll angle of the container by combining the design data of the distance between the container and the hinge points on the left lifting oil cylinder and the right lifting oil cylinder, as shown in a formula (3);
when the data is invalid, the calculation formula of the roll angle of the cargo box is as follows:
in the formula: i.e. i L And i R Current data of a displacement sensor I and a displacement sensor II at a certain moment are obtained; l (i) L ) And L (i) R ) The function of the telescopic quantity of the lifting oil cylinder corresponding to the current value of the displacement sensor; d is design data of the distance between the container and the hinge points on the left lifting oil cylinder and the right lifting oil cylinder;
at the moment, the display respectively displays the lifting angle of the left side of the packing box, the lifting angle of the right side of the packing box and the heeling angle of the packing box, and meanwhile, the audible and visual alarm gives an alarm.
As described above, the device and the method for measuring the position of the cargo box of the mining dump truck disclosed by the invention can accurately measure the real-time position of the cargo box in the working process, can accurately calculate the side inclination angle of the cargo box when the lifting function of the vehicle is abnormal, and effectively meet the requirements of intelligent control and driving safety of the dump truck on the premise of meeting the economical efficiency, and have strong practicability.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. The utility model provides a mining dump truck packing box position measuring device which characterized in that includes:
the displacement sensor is used for measuring the stretching amount of the left lifting oil cylinder and the right lifting oil cylinder of the container;
the key switch is used for realizing the electrification of the device and enabling the controller to work;
the audible and visual alarm is used for alarming abnormal side tipping of the cargo box;
the display is used for displaying the lifting angle and the side-tipping angle of the container in real time;
the controller is respectively connected with the displacement sensor I, the displacement sensor II, the key switch, the audible and visual alarm and the display, reads data of the displacement sensor I and the displacement sensor II, calculates the lifting angle and the side inclination angle of the container by combining the structural design data of the vehicle body, sends the data to the display through the CAN bus for displaying, and outputs signals to control the audible and visual alarm to give an alarm to abnormal data.
2. The mining dump truck container position measuring device according to claim 1, wherein the displacement sensor comprises a displacement sensor I and a displacement sensor II, and the displacement sensor I and the displacement sensor II are respectively installed inside the left lifting oil cylinder and the right lifting oil cylinder of the container.
3. The mining dump truck container position measuring device according to claim 1 or 2, wherein the key switch, the audible and visual alarm and the display are respectively installed in a cab, and the controller is installed in the control cabinet.
4. The measuring method of the container position measuring device of the mining dump truck as claimed in any one of claims 1 to 3, characterized by comprising the following steps:
s1, powering on the key;
s2, acquiring current data output by the displacement sensor I and the displacement sensor II by the controller, and converting the current data into the stretching amount of the lifting oil cylinders on the left side and the right side of the cargo box respectively;
s3, calculating by the controller to obtain a left lifting angle of the cargo box and a right lifting angle of the cargo box, and calculating a difference value between the left lifting angle of the cargo box and the right lifting angle of the cargo box;
when the controller judges that the difference value is effective, the lifting angle value of the container is the average value of the left lifting angle and the right lifting angle of the container which are measured and calculated for multiple times, and the display displays the lifting angle of the container at the moment;
when the controller judges that the difference value is invalid, the controller calculates the roll angle of the container, the display respectively displays the left lifting angle of the container, the right lifting angle of the container and the roll angle of the container at the moment, and the audible and visual alarm gives an alarm.
5. The measuring method of the mining dump truck cargo box position measuring device according to claim 4, wherein in the step S3, the cargo box lifting angle is calculated according to the stretching amount of the lifting cylinder and the vehicle structure design data:
in the formula: s. the 1 The distance between the upper hinge point of the lifting oil cylinder and the hinge point of the container and the frame is set; s 2 The distance between the lower hinge point of the lifting oil cylinder and the hinge point of the container and the frame is set; l (i) is a lifting oil cylinder expansion and contraction quantity function corresponding to the current value of the displacement sensor; a is an included angle between a connecting line of an upper hinge point of the lifting oil cylinder and a hinge point of the cargo box and the frame and the bottom edge of the cargo box; and B is an included angle between the lower hinged point of the lifting oil cylinder, the connecting line of the hinged point of the container and the frame and the upper edge of the frame.
6. The measuring method of the container position measuring device for the mining dump truck as claimed in claim 4, wherein the container left side lifting angle θ calculated by the controller in the step S3 is L Lifting angle theta with the right side of the container R Making a comparison if | θ L -θ K |≤θ K Considering that the vehicle lifting function is normal and the data is valid; if | θ L -θ K |＞θ K Considering that the vehicle lifting function is abnormal, and the data is invalid;
in the formula: theta K Is the allowable deviation of the structural data.
7. The measuring method of the mining dump truck container position measuring device according to claim 6, characterized in that when the data is valid, the container lifting angle theta takes the value of the left side lifting angle theta L And right side lift angle θ R Average of multiple measurements:
8. the measuring method of the mining dump truck cargo box position measuring device according to claim 6, characterized in that when the data is invalid, the cargo box side inclination angle calculation formula is as follows:
in the formula: i.e. i L And i R Current data of a displacement sensor I and a displacement sensor II at a certain moment are obtained; l (i) L ) And L (i) R ) The function of the telescopic quantity of the lifting oil cylinder corresponding to the current value of the displacement sensor; d is the design data of the hinge point distance between the container and the left and right lifting oil cylinders.
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| CN202210709878.7A CN115092031B (en) | 2022-06-22 | 2022-06-22 | Mining dump truck container position measuring device and method |
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| CN202210709878.7A CN115092031B (en) | 2022-06-22 | 2022-06-22 | Mining dump truck container position measuring device and method |
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2022
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