CN115092031B - Mining dump truck container position measuring device and method - Google Patents
Mining dump truck container position measuring device and method Download PDFInfo
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- CN115092031B CN115092031B CN202210709878.7A CN202210709878A CN115092031B CN 115092031 B CN115092031 B CN 115092031B CN 202210709878 A CN202210709878 A CN 202210709878A CN 115092031 B CN115092031 B CN 115092031B
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- 238000005065 mining Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 59
- 230000008602 contraction Effects 0.000 claims abstract description 21
- 230000000007 visual effect Effects 0.000 claims abstract description 19
- 238000013461 design Methods 0.000 claims abstract description 15
- 230000002159 abnormal effect Effects 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012856 packing Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000007774 longterm Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a device and a method for measuring the position of a container of a mining dump truck, comprising the following steps: the displacement sensor is used for measuring the expansion and contraction amount of the lifting oil cylinders at the left side and the right side of the container; the key switch is used for realizing the power-on of the device and enabling the controller to work; the audible and visual alarm is used for realizing abnormal side tilting alarm of the container; the display is used for displaying the lifting angle and the side tilting angle of the container in real time; and 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 the data of the displacement sensor I and the displacement sensor II, combines the structural design data of the vehicle body, calculates the lifting angle and the side-tipping angle of the container, sends the data to the display for display through the CAN bus, and outputs a signal to control the audible and visual alarm to alarm 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 cargo box 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 surface mines and hydraulic engineering as a carrier vehicle, and has complex terrain and severe working conditions. With the progress of technology, the intelligent control technology is increasingly widely applied to mining dump trucks. In the intelligent control of the mining dump truck, accurate container position measurement is not necessary. The long-term heavy-load working condition of the mining dump truck also enables the container to roll easily. In order to better realize the intelligent control and driving safety of the cargo box, the position of the cargo box needs to be measured.
Current container position measurement methods primarily use position sensing sensors. The position sensing sensor can only realize the detection of the falling in place and lifting in place of the container, can not detect the position angle of the container in the lifting and falling process of the container, and can not meet the requirements of intelligent control technology.
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, so as to meet the requirements of intelligent control and driving safety.
In order to achieve the above object, the present invention provides a mining dump truck container position measurement device, comprising:
the displacement sensor is used for measuring the expansion and contraction amount of the lifting oil cylinders at the left side and the right side of the container;
the key switch is used for realizing the power-on of the device and enabling the controller to work;
the audible and visual alarm is used for realizing abnormal tipping alarm of the container;
the display is used for displaying the lifting angle and the side tilting angle of the cargo box 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, combines vehicle body structural design data, calculates lifting angle and side-tipping angle of a container, sends the data to the display for display through the CAN bus, and outputs signals to control the audible and visual alarm to alarm abnormal data.
As improvement, the displacement sensor comprises a displacement sensor I and a displacement sensor II, wherein the displacement sensor I and the displacement sensor II are respectively arranged in the lifting oil cylinder at the left side and the right side of the container.
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 up a key;
s2, the controller collects current data output by the displacement sensor I and the displacement sensor II and converts the current data into expansion and contraction amounts of lifting cylinders on the left side and the right side of the container respectively;
s3, calculating a lifting angle on the left side of the container and a lifting angle on the right side of the container by the controller, and calculating a difference value between the lifting angle on the left side of the container and the lifting angle on the right side of the container;
when the controller judges that the difference is effective, the lifting angle of the container is the average value calculated by measuring the lifting angle on the left side and the lifting angle on the right side of the container for a plurality of times, and the display displays the lifting angle of the container at the moment;
when the controller judges that the difference is invalid, the controller calculates the side tilting angle of the container, and the display displays the lifting angle on the left side of the container, the lifting angle on the right side of the container and the side tilting angle of the container respectively, and meanwhile, the audible and visual alarm gives an alarm.
As an improvement, in the step S3, a cargo box lifting angle is calculated according to the expansion and contraction amount of the lifting oil cylinder and the structural design data of the vehicle:
wherein: s is S 1 The space between the upper hinge point of the lifting oil cylinder and the hinge point of the container and the frame is reserved; s is 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 function of the expansion and contraction amount of the lifting oil cylinder corresponding to the current value of the displacement sensor; a is an included angle between a connecting line of an upper hinging point of the lifting oil cylinder and a hinging point of the container and the frame and the bottom edge of the container; and B is a connecting line of a lower hinge point of the lifting oil cylinder and a hinge point of the container and the frame and a clamping angle of the upper edge of the frame.
As an improvement, in the step S3, the lifting angle θ of the left side of the cargo box calculated by the controller L Lifting angle theta with right side of container R Comparing if |θ L -θ K |≤θ K The lifting function of the vehicle is considered to be normal, and the data are valid; if |theta L -θ K |＞θ K The lifting function of the vehicle is considered to be abnormal, and the data is invalid;
wherein: θ K Is an allowable structural data deviation.
As an improvement, when the data is valid, the lifting angle theta of the container is the lifting angle theta at the left side L And a right lifting angle theta R Average of multiple measurements:
as a modification, when the data is invalid, the container side tilt angle calculation formula is as follows:
wherein: i.e L And i R The current data of the displacement sensor I and the displacement sensor II at a certain moment; l (i) L ) And L (i) R ) The function of the expansion and contraction amount of the lifting oil cylinder corresponding to the current value of the displacement sensor is adopted; d is design data of the distance between the hinge points of the container and the left and right lifting cylinders.
Compared with the prior art, the invention collects the expansion and contraction amounts of the lifting oil cylinders at the left side and the right side of the container through the displacement sensor, combines the structural design data of the dumper, can accurately calculate the lifting angle of the container, and can accurately calculate the side tilting 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 mining dump truck cargo box position measurement device of the present invention;
FIG. 2 is a flow chart of the position measurement of a cargo box of the mining dump truck of the present invention;
fig. 3 is a model of the lift angle measurement.
Detailed Description
The present invention will be described in further detail below in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended 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 this description of the invention are for the purpose of describing particular embodiments only and are not intended to be limiting of the invention.
As shown in FIG. 1, the mining dump truck container position measuring device comprises a displacement sensor I, a displacement sensor II, a controller, a key switch, an audible and visual alarm, a display and other components;
the displacement sensor I and the displacement sensor II are current type magnetostriction displacement sensors and 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 expansion and contraction 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 so as to enable the controller to work;
the audible and visual alarm is arranged in the cab and is used for realizing abnormal tipping alarm of the cargo box and reminding a driver of paying attention to driving safety;
the display is arranged at a position which is convenient for a driver of the cab to observe and is used for displaying the lifting angle and the side tilting 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 and visual alarm and display respectively, the controller is used for reading displacement sensor I and displacement sensor II's current data to with the flexible volume of left side and right side lift cylinder of packing box with data conversion, combine automobile body structural design data, calculate the lift angle and the side angle of packing box, then send the display through CAN bus with data demonstration to the audible and visual alarm is reported to the police to unusual data to the output signal control audible and visual alarm.
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 up a key;
s2, the controller collects current data output by the displacement sensor I and the displacement sensor II and converts the current data into expansion and contraction amounts of lifting cylinders on the left side and the right side of the container respectively;
s3, calculating a lifting angle on the left side of the container and a lifting angle on the right side of the container by the controller, and calculating a difference value between the lifting angle on the left side of the container and the lifting angle on the right side of the container;
when the controller judges that the difference is effective, the lifting angle of the container is the average value calculated by measuring the lifting angle on the left side and the lifting angle on the right side of the container for a plurality of times, and the display displays the lifting angle of the container at the moment;
when the controller judges that the difference is invalid, the controller calculates the side tilting angle of the container, and the display displays the lifting angle on the left side of the container, the lifting angle on the right side of the container and the side tilting angle of the container respectively, and meanwhile, the audible and visual alarm gives an alarm.
As an improvement of the embodiment, in the step S3, a cargo box lifting angle is calculated according to the expansion and contraction amount of the lifting cylinder and the vehicle structural design data:
wherein: s is S 1 The space between the upper hinge point of the lifting oil cylinder and the hinge point of the container and the frame is reserved; s is 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 function of the expansion and contraction amount of the lifting oil cylinder corresponding to the current value of the displacement sensor; a is an included angle between a connecting line of an upper hinging point of the lifting oil cylinder and a hinging point of the container and the frame and the bottom edge of the container; and B is a connecting line of a lower hinge point of the lifting oil cylinder and a hinge point of the container and the frame and a clamping angle of the upper edge of the frame.
As an improvement of the embodiment, in the step S3, the lifting angle θ of the left side of the cargo box calculated by the controller L Lifting angle theta with right side of container R Comparing if |θ L -θ K |≤θ K The lifting function of the vehicle is considered to be normal, and the data are valid; if |theta L -θ K |＞θ K The lifting function of the vehicle is considered to be abnormal, and the data is invalid;
wherein: θ K Is an allowable structural data deviation.
As an improvement of the embodiment, when the data is valid, the lifting angle theta of the container is the lifting angle theta of the left side L And a right lifting angle theta R Average of multiple measurements:
as a modification of the embodiment, when the data is invalid, the container side inclination angle calculation formula is as follows:
wherein: i.e L And i R The current data of the displacement sensor I and the displacement sensor II at a certain moment; l (i) L ) And L (i) R ) The function of the expansion and contraction amount of the lifting oil cylinder corresponding to the current value of the displacement sensor is adopted; d is design data of the distance between the hinge points of the container and the left and right lifting cylinders.
Example 1
As shown in fig. 1 and 2, the measuring method of the mining dump truck container position measuring device of the present invention includes the following steps:
1) After the key switch is electrified, the controller starts to work, the controller reads current data output by the displacement sensor I and the displacement sensor II in real time and converts the current data into the expansion and contraction amounts of the left lifting oil cylinder and the right lifting oil cylinder respectively, and the left lifting angle and the right lifting angle of the cargo box are calculated by combining design data of the bottom angle of the cargo box and the connecting line of the upper hinging point of the lifting oil cylinder and the connecting line of the cargo box and the hinging point of the frame by utilizing a model shown in fig. 3 and combining the left lifting angle and the right lifting angle of the cargo box by respectively calculating the left bottom angle and the right lifting angle of the cargo box by combining a formula (1);
calculating a cargo box lifting angle according to the expansion and contraction amount of the lifting oil cylinder and vehicle structural design data:
wherein: s is S 1 The space between the upper hinge point of the lifting oil cylinder and the hinge point of the container and the frame is reserved; s is 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 function of the expansion and contraction amount of the lifting oil cylinder corresponding to the current value of the displacement sensor; a is an included angle between a connecting line of an upper hinging point of the lifting oil cylinder and a hinging point of the container and the frame and the bottom edge of the container; b is a connecting line of a lower hinge point of the lifting oil cylinder and a hinge point of the container and the frame and a clamping angle of the upper edge of the frame;
2) The controller calculates the difference value between the lifting angle at the left side of the container and the lifting angle at the right side of the container, and judges whether the data are valid or not;
21 A lifting angle of the left side of the container calculated by the controllerθ L Lifting angle theta with right side of container R Comparing if |θ L -θ K |≤θ K (θ K For allowable structural data deviation), the lifting function of the vehicle is considered to be normal, the data is valid, and the cargo box does not have abnormal rolling;
when the data is valid, the lifting angle value theta of the container is the left lifting angle theta L And a right lifting angle theta R Average of multiple measurements:
at this time, the display only displays the lifting angle of the container;
22 A lifting angle theta of the left side of the container calculated by the controller L Lifting angle theta with right side of container R Comparing if |θ L -θ K |＞θ K (θ K For allowable structural data deviation), consider that the container is inclined abnormally, and the controller calculates the inclination angle of the container by combining design data of the distance between the hinge points of the container and the left and right lifting cylinders, as shown in a formula (3);
when the data is invalid, the calculation formula of the side-tipping angle of the container is as follows:
wherein: i.e L And i R The current data of the displacement sensor I and the displacement sensor II at a certain moment; l (i) L ) And L (i) R ) The function of the expansion and contraction amount of the lifting oil cylinder corresponding to the current value of the displacement sensor is adopted; 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 displays the lifting angle at the left side of the container, the lifting angle at the right side of the container and the tilting angle of the container respectively, and the audible and visual alarm gives an alarm at the same time.
As described above, the device and the method for measuring the position of the container of the mining dump truck disclosed by the invention can accurately measure the real-time position of the container in the working process, accurately calculate the side-tipping angle of the container when the lifting function of the vehicle is abnormal, 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 foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (2)
1. A mining dump truck cargo box position measurement device, comprising:
the displacement sensor is used for measuring the expansion and contraction amount of the lifting oil cylinders at the left side and the right side of the container; 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 arranged in the lifting oil cylinders at the left side and the right side of the container;
the key switch is used for realizing the power-on of the device and enabling the controller to work;
the audible and visual alarm is used for realizing abnormal tipping alarm of the container;
the display is used for displaying the lifting angle and the side tilting angle of the cargo box 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-tipping angle of the container by combining with the structural design data of the vehicle body, sends the data to the display for display through the CAN bus, and outputs a signal to control the audible and visual alarm to alarm abnormal data;
the measuring method of the mining dump truck container position measuring device comprises the following steps:
s1, powering up a key;
s2, the controller collects current data output by the displacement sensor I and the displacement sensor II and converts the current data into expansion and contraction amounts of lifting cylinders on the left side and the right side of the container respectively;
s3, controller meterCalculating a lifting angle of the left side of the container and a lifting angle of the right side of the container, and calculating a difference value of the lifting angle of the left side of the container and the lifting angle of the right side of the container; calculating a cargo box lifting angle according to the expansion and contraction amount of the lifting oil cylinder and vehicle structural design data:；
wherein: s is S 1 The space between the upper hinge point of the lifting oil cylinder and the hinge point of the container and the frame is reserved; s is 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 function of the expansion and contraction amount of the lifting oil cylinder corresponding to the current value of the displacement sensor; a is an included angle between a connecting line of an upper hinging point of the lifting oil cylinder and a hinging point of the container and the frame and the bottom edge of the container; b is a connecting line of a lower hinge point of the lifting oil cylinder and a hinge point of the container and the frame and a clamping angle of the upper edge of the frame;
lifting angle theta of the left side of the container calculated by the controller L Lifting angle theta with right side of container R Comparing ifThe lifting function of the vehicle is considered to be normal, and the data are valid; if->The lifting function of the vehicle is considered to be abnormal, and the data is invalid; wherein: θ K Is an allowable structural data deviation;
when the data is valid, the lifting angle theta of the container is the left lifting angle theta L And a right lifting angle theta R Average of multiple measurements:；
when the data is invalid, the container roll angle calculation formula is as follows:；
wherein: i.e L And i R For the electricity of displacement sensor I and displacement sensor II at a certain momentStreaming data; l (i) L ) And L (i) R ) The function of the expansion and contraction amount of the lifting oil cylinder corresponding to the current value of the displacement sensor is adopted; d is design data of the distance between the hinge points on the left lifting oil cylinder and the right lifting oil cylinder.
2. The mining dump truck cargo box position measurement device according to claim 1, wherein the key switch, the audible and visual alarm and the display are respectively installed in a cab, and the controller is installed in a control cabinet.
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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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| CN115092031B true CN115092031B (en) | 2024-04-09 |
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