CN117446436A - Mining auxiliary transportation platform and control method - Google Patents
Mining auxiliary transportation platform and control method Download PDFInfo
- Publication number
- CN117446436A CN117446436A CN202311525063.4A CN202311525063A CN117446436A CN 117446436 A CN117446436 A CN 117446436A CN 202311525063 A CN202311525063 A CN 202311525063A CN 117446436 A CN117446436 A CN 117446436A
- Authority
- CN
- China
- Prior art keywords
- module
- platform
- gear
- rod
- vertical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000005065 mining Methods 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims description 24
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000012549 training Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 description 18
- 239000007789 gas Substances 0.000 description 10
- 238000012545 processing Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000003062 neural network model Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 239000000306 component Substances 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- UBAZGMLMVVQSCD-UHFFFAOYSA-N carbon dioxide;molecular oxygen Chemical compound O=O.O=C=O UBAZGMLMVVQSCD-UHFFFAOYSA-N 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a mining auxiliary transportation platform and a control method, comprising a movable chassis; a mounting plate is arranged on the movable chassis; the top of the mounting plate is provided with a circular side wall with grooves with row teeth; the groove is coaxially provided with a rotating shaft, and the rotating shaft is coaxially fixedly connected with a sun gear; a plurality of planet gears are arranged in the grooves and meshed with the sun gear and the inner walls of the grooves at the same time, and a supporting rotating rod is arranged at the top of each planet gear; the object carrying platform is provided with a first through hole and a plurality of second through holes, the tops of the plurality of supporting rotating rods are respectively and rotatably connected with the plurality of second through holes, and the tops of the rotating shafts are rotatably connected with the first through holes; the rotating shaft is driven by a motor positioned in the movable chassis, and the motor is connected with the control module. The method comprises the steps of identifying a personnel target frame by using the trained Yolov 3; inputting the video into a DeepSort track recognition model to obtain a motion track of a worker; and the control module adjusts the movement direction of the movable chassis according to the obtained personnel movement track.
Description
Technical Field
The invention relates to the technical field of mining equipment, in particular to a mining auxiliary transportation platform and a control method.
Background
In the field of mines and industry today, the tasks of transporting, handling and monitoring items are essential to on-site staff. However, the conventional operation method has many problems, which limit the working efficiency and safety. Such as: under traditional mode, the staff need manual handling and operation heavy object, and not only intensity of labour is big, still has the security risk. In addition, the operation process is sometimes complicated and cumbersome; meanwhile, the detection of the articles takes a long time, so that the detection efficiency is low, and the working progress is delayed. In order to improve the working efficiency and safety of cargo transportation in a mining environment, improvements and improvements of the conventional method are necessary.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a mining auxiliary transportation platform and a control method;
an auxiliary transportation platform for mining comprises a movable chassis;
the top of the movable chassis is provided with a mounting plate through a screw;
the top of the mounting plate is provided with a circular groove, and the side wall of the groove is provided with teeth in a row;
the groove is coaxially provided with a vertical rotatable rotating shaft, and a sun gear which is coaxial with and fixedly connected with the rotating shaft is arranged in the groove;
the inner circumference of the groove is equidistantly provided with a plurality of planet gears, the planet gears are simultaneously meshed with the sun gear and the inner wall of the groove, and the top of each planet gear is provided with a supporting rotating rod;
the object carrying platform is provided with a first through hole and a plurality of second through holes which are circumferentially and equidistantly arranged, the tops of the supporting rotating rods are respectively connected with the second through holes through a plurality of bearings, and the tops of the rotating shafts are connected with the first through holes through bearings;
the rotating shaft is driven by a motor positioned in the movable chassis, and the motor is connected with the control module.
The bottom of the carrying platform is connected with the top of the bottom plate through a plurality of supporting mechanisms;
the carrying platform can move vertically and is self-locked at the position after moving vertically.
Wherein, the bottom surface of the carrying platform is provided with two parallel sliding rails along the length direction;
the supporting mechanism comprises
The vertical plates are arranged at four corners of the top surface of the bottom plate, one surface of each vertical plate, which faces the middle part of the bottom plate, is an inner side surface, vertical sliding grooves are formed in the inner side surfaces of the vertical plates, and first sliding blocks are arranged in the sliding grooves;
the vertical rod is arranged at the top of the vertical plate and is vertically staggered with the first sliding block, and compared with the first sliding block, the vertical rod is close to the outer side face of the vertical plate;
the first gear is arranged on the inner side surface of the vertical rod and is parallel to the vertical plate;
the bottom end of the first connecting rod is pivoted with the top end of the second connecting rod, a first pivot point and a second pivot point are arranged at intervals along the length direction of the top end of the first connecting rod, the two pivot points are pivoted with the inner side surface of the first gear, the second pivot point is closer to the center of the circle of the first gear than the first pivot point, and the bottom end of the second connecting rod is pivoted with the inner side surface of the first sliding block;
the second gear is positioned above the first gear, is connected with the vertical rod through a shaft rod and is meshed with the first gear;
the two ends of the spring are respectively connected with the shaft rod and the inner side surface of the first sliding block;
the bottom end of the supporting rod is fixedly connected with the shaft rod, the top end of the shaft rod is pivoted with a second sliding block, and the second sliding block is slidably arranged in the sliding rail.
The mobile chassis is provided with a control module, a video acquisition module, a visual identification module and a driving module;
the video acquisition module, the visual identification module and the driving module are connected with the control module, and the driving module is connected with a driving motor of the mobile chassis;
the control module is used for converting the motion trail into a control signal and sending the control signal to the driving module, and the driving module controls the mobile chassis to move according to the control signal;
the video acquisition module is used for acquiring video images around the mobile chassis;
the visual recognition module judges the motion trail of the operator through the video image.
The video acquisition module is a high-definition camera with binocular vision.
The control method comprises
Step S101: pre-training the Yolov3 model through image data to obtain personnel characteristics and visual context;
step S102: inputting the video into a visual identification module through a visual acquisition module, and identifying a personnel target frame through Yolov 3;
step S103: inputting the video processed in the step S202 into a DeepSort track recognition model to obtain the motion track of the staff;
step S104: and (3) enabling the control module to adjust the movement direction of the movable chassis according to the personnel movement track obtained in the step S203.
The control method further comprises the following steps:
step S100: storing length data of the platform and width data of the mobile chassis in the control module;
step S105: judging path width data of a front path through a visual recognition module;
if the path width data is greater than the width data of the mobile chassis and less than the length data of the platform, the platform is controlled to rotate by 90 degrees;
and if the path width data is smaller than the mobile chassis width data, sending a path error alarm to the remote control terminal.
The beneficial effects of the invention are as follows:
1. when the carrying platform is basically unloaded, the lifting platform can be highly self-locked, and paper pens can be conveniently placed and taken when data are recorded by check points.
2. The system can automatically identify the track of the operator and track the track, thereby reducing the labor intensity of workers and improving the working efficiency.
3. The device can be switched between a manual following mode and an automatic following mode, and has better control flexibility;
4. the carrying platform can rotate, and a plurality of supporting points can keep stable when rotating, so that the carrying platform can pass through a narrow road section under the condition of larger carrying quantity.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a schematic view of a mobile chassis of the present invention;
FIG. 2 is a schematic view of the load platform, floor and mounting plate of the present invention;
FIG. 3 is an enlarged view of the portion of FIG. 2A in accordance with the present invention;
FIG. 4 is a schematic view of a support structure of the present invention;
fig. 5 is a schematic diagram of the working principle of the carrying platform of the present invention.
Description of the reference numerals
100. A bottom plate 110, a first through hole 120, a second through hole;
200. the device comprises a mounting plate, 210, grooves, 220, planetary gears, 221, a supporting rotating rod, 230, a sun gear, 231 and a rotating shaft;
130. the support structure comprises a support structure, 131, vertical plates, 1311, vertical rods, 132, first sliding blocks, 1321, support plates, 133, first connecting rods, 1331, first pivot points, 1332, second pivot points, 134, second connecting rods, 135, first gears, 136, second gears, 1361, shaft rods, 140, supporting rods, 141, second sliding blocks, 15 and springs;
301. the device comprises driving wheels 302, a belt-releasing wheel 303, a loading wheel 304, a guide wheel tensioning device 305 and a guide wheel;
400. and a carrying platform.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
The invention is described in further detail below with reference to the accompanying drawings.
An auxiliary transportation platform for mines comprises a remote control terminal and a transportation platform;
the remote control terminal is realized by a PC (personal computer) hand-held machine and comprises a touch screen display, a hand-held key and a wireless image transmission module I, wherein the touch screen display, the hand-held key and the wireless image transmission module I are connected, and the wireless image transmission module I is provided with an antenna I;
the transportation platform comprises a wireless transmission module II, a control module, an obstacle avoidance module, a power supply module, a video acquisition module, an information acquisition module, a visual identification module, a driving module, a crawler-type mobile chassis and a pressure sensor module;
the second wireless line transmission module is provided with a second antenna, and the second wireless line transmission module, the control module, the obstacle avoidance module, the power supply module, the video acquisition module, the information acquisition module, the visual identification module, the driving module and the pressure sensor module are all arranged on the crawler-type mobile chassis;
the wireless image transmission module II, the obstacle avoidance module, the power supply module, the video acquisition module, the information acquisition module, the visual identification module, the driving module and the pressure sensor module are connected with the control module.
The remote control terminal is in wireless connection with the transport platform through two wireless image transmission modules and is used for remotely controlling the transport platform, transmitting data and commands. The remote control terminal sends a command to the transport platform in a wireless mode. The control module processes the control command through the CAN bus protocol and transmits the command to the corresponding module for execution. This means that the control module communicates with other parts of the transport platform to enable control and operation of the transport platform.
Specifically, the center positions of the front end and the rear end of the transportation platform are provided with video acquisition modules, and the video acquisition modules consist of high-definition cameras with binocular vision.
The auxiliary transportation platform for the mine has a personnel following function and a manual control function, and in the following state, when a worker needs to go to another working area, the transportation platform can automatically follow the worker to walk.
By setting the operation mode, the manual mode or the follow mode can be selected.
1. In the following mode, the vision recognition module is used for collecting the image data information of personnel in front of the transportation platform, and the control module is used for analyzing and processing the image data information. If the personnel target is detected, target tracking is carried out, and the transportation platform is controlled to correspondingly move; this mode is suitable for occasions where safety protection of workers is not required.
The method specifically comprises the following steps:
1: firstly, pretraining a Yolov3 model through a large amount of image data to obtain personnel characteristics and visual context;
2: performing iterative training on the neural network model; when training the neural network model, performing iterative training for a plurality of times until the model converges or reaches the preset iteration times;
3: outputting a convolutional neural network model; when training is completed, outputting a trained model;
4: inputting a video image to a visual recognition module, and inputting the video image to a neural network model for target detection and tracking;
that is, the model training of Yolov3 is completed, and the person in the input image can be recognized and the person target frame can be generated.
5: detecting a target; and inputting an image sequence into the Yolov3 model, detecting the position of a person in the image, and determining the position and the shape of the person.
6: calculating the center coordinates of the target table frame; after a personnel target is detected, the Yolov3 model represents the detected target by a rectangular frame, and calculates the center coordinate of the rectangular frame;
7: performing target tracking by using a deep start model; for a sequence of consecutive image frames, the direction of motion of the robot is adjusted according to the relative position of the object in the image. If the target is at the left side of the image, the control module controls the transportation platform to move leftwards; if the target is on the right side of the image, the control module controls the transportation platform to move rightwards so as to realize the following function of personnel.
8: in the continuous recognition process of the recognition module, if the personnel in the image disappear, the target is judged to be lost, and the control module controls the transmission of a stop command to the transportation platform;
9: the transportation platform acquires information of the transportation platform and surrounding environment through the obstacle avoidance module, the video acquisition module, the information acquisition module and the pressure sensor module, and transmits the acquired information to the remote control terminal;
10: after receiving the data information sent by the transport platform, the remote control terminal performs CRC (cyclic redundancy check) on the data information;
11: if the CRC of the data information passes, the remote control terminal performs data analysis on the data information, otherwise, the data information is discarded, and the process goes to the step 10 to continue waiting for receiving new information;
the data analysis is specifically to divide hexadecimal data information in order of low byte preceding and high byte following. The segmented low byte portion is then converted to a decimal value and the result is stored in a corresponding variable. The segmented high byte portion is then converted to a decimal value and the result is stored in a corresponding variable. Finally, merging the converted decimal values of the low byte and the high byte to obtain final analysis data and displaying the final analysis data;
12: the remote control terminal converts the analyzed data information into parameters such as information, gas information, pressure information and the like and displays the parameters on the touch screen display;
in the processing process, if faults or alarm information occur, the remote control terminal prompts and displays the corresponding alarm information on the touch screen display.
2. Manual mode
This mode is suitable for applications where fine control of the transport platform is required.
1: in a manual mode scene, an operator performs corresponding operation control through a touch screen display and a handheld key of a remote control terminal;
2: converting the operation control into a control command and sending the control command to the transport platform;
3: and the control module performs CRC check on the control command, and if the control command passes the CRC check, the control module jumps to the next execution step. If not, discarding the control command, and waiting for the operator to input a new command;
4: the control module analyzes the control command and sends the corresponding operation to the corresponding module for control execution;
5: the transportation platform acquires information of the transportation platform and surrounding environment through the obstacle avoidance module, the video acquisition module, the information acquisition module and the pressure sensor module, and transmits the acquired information to the remote control terminal;
6: after receiving the data information sent by the transport platform, the remote control terminal performs CRC (cyclic redundancy check) on the data information;
7: and if the CRC of the data information is passed, the remote control terminal performs data analysis on the data information. Otherwise, discarding the data information, turning to step 6, and continuing to wait for receiving new information;
8: and the remote control terminal converts the analyzed data information into parameters such as information, gas information, pressure information and the like and displays the parameters on the touch screen display.
The driving module is connected with a driving motor of the crawler-type mobile chassis;
as shown in fig. 1, the crawler-type mobile chassis comprises an all-terrain high-strength crawler, an inner all-metal framework, a climbing angle of maximum 38 degrees, a crossing height of 250mm, a maximum walking speed of 1.6m/s, and an independent suspension damping system which is of a bilateral symmetry structure, and comprises a driving wheel 301, a pulley-off 302, a bogie 303, a guide wheel tensioning device 304 and a guide wheel 305 as an example on the left side, and can flexibly move under various terrains. The system and the control method break the limitation of the traditional operation mode, improve the working efficiency and the safety,
specifically, when the control module receives a control command from the remote control terminal, it processes the command. The processing includes parsing the content of the command, verifying the validity of the command, and performing the corresponding operations.
The remote control terminal sends a control instruction to a control module of the transport platform through a wireless transmission module I, and after the control module finishes the processing of the command, the control module sends the processed command to a driving module by using a CAN bus protocol to control the transport platform to perform corresponding operation; and the control module of the transportation platform feeds back feedback information to the remote control terminal through the wireless transmission module II and displays the feedback information on a touch screen display screen.
When the control module exchanges data with the remote control terminal, the program firstly needs to establish a communication receiving and transmitting event, the data transmission task receives data by adopting a timing overtime mechanism, and after the event is set, the correctness and the integrity of the received data frame are checked; if the data frame is correct, processing the data, storing the data into a corresponding buffer memory, if the received data frame or check frame is incorrect, not processing the data, starting a timeout mechanism after continuously receiving the error data, and returning a fault code;
after receiving the command from the control module, the driving module can enable the crawler-type mobile chassis to execute corresponding operations, such as forward, backward, left turn, right turn, adjustment of braking pressure, change of steering angle and the like, and simultaneously reads parameters of speed, travel and the like of the transport platform body, packages and sends the parameters to the remote control terminal. The driving module is connected with a driving motor of the crawler-type movable chassis and comprises an encoder, a driver, a direct current motor and a speed reducer, wherein the encoder is used for detecting the position and the speed of the crawler-type movable chassis, and the driver controls the rotating speed and the direction of the direct current motor according to a feedback signal of the encoder. The direct current motor is a core component for driving the crawler-type mobile chassis, and the direct current motor drives the crawler to move through converting electric energy into mechanical energy. The speed reducer is used for reducing the rotating speed of the direct current motor, so that the precise control of the crawler belt movement is realized. Under the command of the remote control terminal, the motor of the driving module drives the crawler-type movable chassis to move forwards, backwards, stop, turn and the like.
Further, as shown in fig. 2 to 4, the top of the mobile chassis is fixedly connected with a mounting plate 200, and a bottom plate 100 is arranged above the mounting plate 200;
specifically, the mounting plate 200 is fixedly connected with the top of the mobile chassis through screws;
a circular groove 210 is formed in the top of the mounting plate 200, and teeth in rows are formed on the side walls of the groove 210;
the groove 210 is coaxially provided with a vertical rotatable rotating shaft 231, and a sun gear 230 which is coaxial with and fixedly connected with the rotating shaft 231 is arranged in the groove 210;
a plurality of planet gears 220 are arranged on the inner circumference of the groove 210 at equal intervals, the planet gears 220 are simultaneously meshed with the gears 230 and the inner wall of the groove 210, and a supporting rotary rod 221 is fixedly arranged at the top of the planet gears 220;
the bottom plate 100 is provided with a first through hole 110 and a plurality of second through holes 120 which are circumferentially and equidistantly arranged, the tops of a plurality of supporting rotary rods 221 are respectively connected with the plurality of second through holes 120 through a plurality of bearings, and the tops of rotating shafts 231 are connected with the first through hole 110 through the bearings;
the rotation shaft 231 is driven by a motor located inside the mobile chassis, and the motor is connected with the control module.
The rotation of the rotating shaft 231 is controlled by the control module, so that the plurality of planetary gears 220 are driven to rotate, the rotation of the bottom plate 100 is realized, and the bottom plate 100 is supported by the bottom rotating shaft 231 and the plurality of supporting rotating rods 221 in the rotation process, so that the rotation of the bottom plate 100 is more stable.
When in use, the bottom plate 100 can be used for carrying objects, and the length data of the bottom plate 100 and the width data of the movable chassis are stored in the control module;
judging path width data of a front path through a visual recognition module;
if the path width data is greater than the width data of the base plate 100 and less than the length data of the base plate 100, the control platform is rotated 90 degrees;
and if the path width data is smaller than the mobile chassis width data, sending a path error alarm to the remote control terminal.
The prior art for judging the width of a path is very mature, for example, the following judging method is as follows:
a, acquiring a video image of the mobile equipment, namely inputting a video screen image acquired by a video acquisition module into a visual identification module;
b, preprocessing the image through a visual recognition module, such as denoising, image enhancement and the like;
c, extracting edge information in the image by using an edge detection algorithm, such as Canny edge detection;
d analyzing and processing the extracted edges, and detecting straight lines or curves by using Hough transformation;
e calculating the width of the channel according to the detected straight line or curve. The width can be estimated by the distance between straight line segments or the curve radian;
f, judging whether the channel is wide enough to pass through according to the width data.
The meaning of this part is that when the rectangular bottom plate 100 is used for carrying objects, the bottom plate 100 and the movable chassis should be selected to be perpendicular to each other, especially when the carrying amount is large, the bottom plate 100 and the movable chassis can be prevented from being turned over to the left or right side in a decentered manner, but when the front path is narrow, the bottom plate 100 can be temporarily rotated, so that the transportation platform can pass through.
With a hand-held terminal, the rotation of the base plate 100 can also be manually operated.
Further, a rectangular carrying platform 400 with the same size is arranged above the bottom plate 100, the carrying platform 400 replaces the bottom plate 100 to serve as a carrying plane, and the bottom of the carrying platform 400 is connected with the top of the bottom plate 100 through a plurality of supporting mechanisms 130;
the bottom surface of the carrying platform 400 is provided with two parallel sliding rails (not shown) along the length direction;
the support mechanism 130 includes
The vertical plates 131 are arranged at four corners of the top surface of the bottom plate 100, one surface of each vertical plate 131 facing the middle of the bottom plate 100 is an inner side surface, a vertical sliding groove (not shown) is formed in the inner side surface of each vertical plate 131, and a first sliding block 132 is arranged in each sliding groove;
the vertical rod 1311 is disposed at the top of the vertical plate 131, the vertical rod 1311 and the first slider 132 are vertically staggered, and compared with the first slider 132, the vertical rod 1311 is close to the outer side surface of the vertical plate 131;
the first gear 135 is disposed on the inner side surface of the vertical rod 1311, and the first gear 135 is parallel to the vertical plate 131;
the first connecting rod 133 and the second connecting rod 134 are pivoted at the bottom end of the first connecting rod 133 and the top end of the second connecting rod 134, a first pivot point 1331 and a second pivot point 1332 are arranged at the top end of the first connecting rod 133 along the length direction at intervals, the two pivot points are pivoted with the inner side surface of the first gear 135, the second pivot point 1332 is closer to the center of the first gear 135 than the first pivot point 1331, and the bottom end of the second connecting rod 134 is pivoted with the inner side surface of the first slider 132;
a second gear 136 located above the first gear 135, the second gear 136 being connected to the vertical rod 1311 by a shaft 1361, the second gear 136 being meshed with the first gear 135;
a spring 15, wherein one end of the spring 15 is pivoted with the shaft 1361, and the other end is connected with the supporting plate 1321 at the bottom of the inner side surface of the first slider 132;
the supporting rod 140, the bottom end of the supporting rod 140 is fixedly connected with the shaft 1361, the top end of the shaft 1361 is pivoted with the second slider 141, and the second slider 141 is slidably disposed in the sliding rail on the bottom surface of the carrying platform 400.
The meaning of the carrying platform 400 and the supporting mechanism 130 is as follows:
when an operator moves to a check point to be checked and recorded, for example, recording equipment operation data or equipment working conditions, unloading the load from the carrying platform 400, and only placing extremely light articles such as a record form, a pen and the like on the load;
as shown by the arrow in fig. 5, the carrying platform 400 is lifted, the second slider 141 moves outwards, the supporting rod 140 is turned vertically, the force transmitted by the supporting rod 140 to the first gear 135 through the shaft 1361 and the second gear 136 gradually decreases as the angle of the supporting rod 140 changes, that is, the vertical downward component force transmitted to the second gear 136 gradually decreases as the supporting rod 140 rotates, at this time, the first gear 135 rotates anticlockwise, the second pivot point 1332 is matched for auxiliary transmission, the first slider 132 is lifted by the transmission of the first connecting rod 133 and the second connecting rod 134, the spring 15 is shortened, the pulling force is reduced, the weight of the carrying platform 400 is balanced by the tensile strength of the spring 15 and the inclination degree of the supporting rod 140 are balanced and offset by the tensile force of the spring 15 and the vertical downward component force of the supporting rod 140, so that the carrying platform 400 can be maintained at any height without being influenced by external force.
Thus, when an operator can check the point, the operator can place paper and pen on the carrying platform 400 after recording one data, then overhaul or adjust the equipment, test again after adjusting and recording after waiting for the next group of data, and the operator does not need to bend down to take paper and pen every time after the carrying platform 400 is lifted.
Similarly, after the inspection point is processed, the inspection point is pressed down on the carrying platform 400, and then the load is placed on the carrying platform 400.
The pressure sensor module is arranged at the bottom of the bottom plate 100, and can detect the weight and the gravity center position of the cargo carried by the transportation platform. The transportation platform is communicated with the remote control terminal in a wireless communication mode;
preferably, a pressure sensor module is mounted below the base plate 100 for detecting the weight of the load and transmitting this information to the control module for processing. When the weight of the load exceeds the carrying capacity, for example 30KG, the pressure sensor module will immediately detect and send an alarm signal to the control module. Meanwhile, the system can prompt operators to take measures in time so as to ensure the safety of the operators and equipment.
Further, the information acquisition module is arranged at the rear end of the upper part of the transportation platform and comprises a gas sensor, a temperature and humidity sensor, a pressure sensor, a current sensor and a voltage sensor, the acquisition mode of the sensor is diffusion type detection and is used for monitoring the state of the transportation platform, monitoring a wireless communication network and acquiring network state, transportation platform information and surrounding environment information, and the control module analyzes the data information acquired by the information acquisition module and transmits an analysis result to the remote control terminal.
The gas sensor includes: the gas sensor can detect the gas concentration around the transportation platform, such as oxygen, carbon dioxide and the like, so as to ensure personnel safety. For a gas sensor, the control module analyzes whether the gas concentration exceeds a safe range according to a set safety standard. If the safety range is exceeded, the control module triggers an audible and visual alarm to prompt personnel to pay attention to safety.
The temperature and humidity sensor can detect the temperature and humidity condition of the transportation platform.
The pressure sensor can detect pressure changes of the transport platform.
The current sensor may detect the flow of current in order to monitor the operating condition of the power system.
The voltage sensor may detect a change in voltage in order to monitor a stable operation of the power system.
Collecting environment information; the method comprises the steps of collecting parameters such as ambient gas, temperature, pressure, current, voltage and the like and transportation platform current and voltage data information by using sensors such as gas, temperature, pressure and the like, interrupting receiving data by a timer, then returning the data to a control module through data processing, polling by the control module to send an inquiry command to each sensor, returning the data by a serial port, judging whether the received data is correct by the serial port through a receiving frame head and a check bit, and then entering interruption for data processing, analysis and display.
Further, an obstacle avoidance module can be further arranged and is respectively arranged at the front end, the rear end, the left end and the right end of the transportation platform.
The obstacle avoidance module selects an ultrasonic obstacle avoidance mode, the transportation platform utilizes ultrasonic obstacle avoidance modules which are arranged in front of, behind, left and right of the transportation platform, the ultrasonic obstacle avoidance modules are fed back to the remote control terminal after scanning the front obstacle, and then the remote control terminal issues a deceleration and stop command to find an optimal obstacle avoidance strategy, so that autonomous obstacle avoidance is realized.
Specifically, the visual recognition module comprises an obstacle avoidance algorithm, the obstacle avoidance algorithm observes an object by means of a binocular vision camera by using two cameras with parallel optical axes, a depth image can be generated through algorithm calculation according to parallax information generated by shooting of the two cameras, and the depth image can be converted into point cloud data by using the depth image and an internal camera reference matrix. The point cloud data can represent the three-dimensional shape and position of an object, and the obstacle in the point cloud is identified by using the point cloud data through a clustering-based algorithm, so that the depth information of the obstacle is perceived, and the obstacle avoidance algorithm is executed to effectively prevent collision in following.
Preferably, the wireless data transmission can realize point-to-point transmission, the wireless line figure integrated transmission system of the transport platform and the remote control terminal can realize a point-to-point control mode, and the maximum transmission distance can be 1.5km in an open environment.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (7)
1. The mining auxiliary transportation platform is characterized by comprising a movable chassis;
the top of the movable chassis is provided with a mounting plate through a screw;
the top of the mounting plate is provided with a circular groove, and the side wall of the groove is provided with teeth in a row;
the groove is coaxially provided with a vertical rotatable rotating shaft, and a sun gear which is coaxial with and fixedly connected with the rotating shaft is arranged in the groove;
the inner circumference of the groove is equidistantly provided with a plurality of planet gears, the planet gears are simultaneously meshed with the sun gear and the inner wall of the groove, and the top of each planet gear is provided with a supporting rotating rod;
the object carrying platform is provided with a first through hole and a plurality of second through holes which are circumferentially and equidistantly arranged, the tops of the supporting rotating rods are respectively connected with the second through holes through a plurality of bearings, and the tops of the rotating shafts are connected with the first through holes through bearings;
the rotating shaft is driven by a motor positioned in the movable chassis, and the motor is connected with the control module.
2. The mining auxiliary transportation platform according to claim 1, wherein a rectangular carrying platform is arranged above the bottom plate, and the bottom of the carrying platform is connected with the top of the bottom plate through a plurality of supporting mechanisms;
the carrying platform can move vertically and is self-locked at the position after moving vertically.
3. An auxiliary transportation platform for mines according to claim 1, wherein,
the bottom surface of the carrying platform is provided with two parallel sliding rails along the length direction;
the supporting mechanism comprises
The vertical plates are arranged at four corners of the top surface of the bottom plate, one surface of each vertical plate, which faces the middle part of the bottom plate, is an inner side surface, vertical sliding grooves are formed in the inner side surfaces of the vertical plates, and first sliding blocks are arranged in the sliding grooves;
the vertical rod is arranged at the top of the vertical plate and is vertically staggered with the first sliding block, and compared with the first sliding block, the vertical rod is close to the outer side face of the vertical plate;
the first gear is arranged on the inner side surface of the vertical rod and is parallel to the vertical plate;
the bottom end of the first connecting rod is pivoted with the top end of the second connecting rod, a first pivot point and a second pivot point are arranged at intervals along the length direction of the top end of the first connecting rod, the two pivot points are pivoted with the inner side surface of the first gear, the second pivot point is closer to the center of the circle of the first gear than the first pivot point, and the bottom end of the second connecting rod is pivoted with the inner side surface of the first sliding block;
the second gear is positioned above the first gear, is connected with the vertical rod through a shaft rod and is meshed with the first gear;
the two ends of the spring are respectively connected with the shaft rod and the inner side surface of the first sliding block;
the bottom end of the supporting rod is fixedly connected with the shaft rod, the top end of the shaft rod is pivoted with a second sliding block, and the second sliding block is slidably arranged in the sliding rail.
4. A mining auxiliary transportation platform according to any one of claims 1 to 3, wherein a control module, a video acquisition module, a visual identification module and a driving module are arranged on the mobile chassis;
the video acquisition module, the visual identification module and the driving module are connected with the control module, and the driving module is connected with a driving motor of the mobile chassis;
the control module is used for converting the motion trail into a control signal and sending the control signal to the driving module, and the driving module controls the mobile chassis to move according to the control signal;
the video acquisition module is used for acquiring video images around the mobile chassis;
the visual recognition module judges the motion trail of the operator through the video image.
5. The mining auxiliary transportation platform according to claim 4, wherein the video acquisition module is a high-definition camera with binocular vision.
6. The control method for the auxiliary transportation platform for mines according to claim 5, comprising the following steps of
Step S101: pre-training the Yolov3 model through image data to obtain personnel characteristics and visual context;
step S102: inputting the video into a visual identification module through a visual acquisition module, and identifying a personnel target frame through Yolov 3;
step S103: inputting the video processed in the step S202 into a DeepSort track recognition model to obtain the motion track of the staff;
step S104: and (3) enabling the control module to adjust the movement direction of the movable chassis according to the personnel movement track obtained in the step S203.
7. The method for controlling a mine auxiliary transport platform as claimed in claim 6, further comprising the steps of:
step S100: storing length data of the platform and width data of the mobile chassis in the control module;
step S105: judging path width data of a front path through a visual recognition module;
if the path width data is greater than the width data of the mobile chassis and less than the length data of the platform, the platform is controlled to rotate by 90 degrees;
and if the path width data is smaller than the mobile chassis width data, sending a path error alarm to the remote control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311525063.4A CN117446436B (en) | 2023-11-15 | 2023-11-15 | Mining auxiliary transportation platform and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311525063.4A CN117446436B (en) | 2023-11-15 | 2023-11-15 | Mining auxiliary transportation platform and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117446436A true CN117446436A (en) | 2024-01-26 |
| CN117446436B CN117446436B (en) | 2024-05-17 |
Family
ID=89579793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311525063.4A Active CN117446436B (en) | 2023-11-15 | 2023-11-15 | Mining auxiliary transportation platform and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117446436B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1654184A1 (en) * | 1988-08-10 | 1991-06-07 | Научно-Производственное Объединение "Складских Систем" | Apparatus for transferring workpieces |
| AU3246695A (en) * | 1994-08-22 | 1996-03-14 | Ani Mining Services Pty. Ltd. | Vehicle for underground mine shafts |
| JPH08277019A (en) * | 1995-04-07 | 1996-10-22 | Hitachi Electron Eng Co Ltd | Jamming releasing device of device carrying path |
| JP2000062933A (en) * | 1998-08-21 | 2000-02-29 | 良雄 ▲だい▼木 | Cam-type carried article attitude holding device for three-dimensional conveyance |
| CN105021225A (en) * | 2015-07-08 | 2015-11-04 | 江苏大学 | Greenhouse intelligent and mobile detection platform |
| CN108563241A (en) * | 2018-03-30 | 2018-09-21 | 哈尔滨理工大学 | A kind of shared based on embedded vision module independently follows carrying apparatus |
| CN110238630A (en) * | 2019-07-23 | 2019-09-17 | 山东科技大学 | A kind of pin shaft of mine hydraulic support automatic dismantling equipment and its application |
| CN110362090A (en) * | 2019-08-05 | 2019-10-22 | 北京深醒科技有限公司 | A kind of crusing robot control system |
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
| CN112849283A (en) * | 2021-03-01 | 2021-05-28 | 中煤科工集团西安研究院有限公司 | Coal mine underground autonomous mobile platform and method capable of realizing remote interaction |
| CN113022408A (en) * | 2021-04-15 | 2021-06-25 | 中国矿业大学 | 360-degree self-adaptive loading and unloading unmanned mining dump truck and control method thereof |
| CN215923502U (en) * | 2021-06-10 | 2022-03-01 | 龚远舟 | Intelligent transfer robot with grabbing function |
| CN114803347A (en) * | 2022-04-29 | 2022-07-29 | 徐州锋儒智能科技有限公司 | Raw material automatic lifting machine for non-ferrous metal calendering |
| WO2022252221A1 (en) * | 2021-05-31 | 2022-12-08 | 山东建筑大学 | Mobile robot queue system, path planning method and following method |
| CN115568332A (en) * | 2022-10-31 | 2023-01-06 | 江苏大学 | Automatic following transportation platform for field environment and control method thereof |
-
2023
- 2023-11-15 CN CN202311525063.4A patent/CN117446436B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1654184A1 (en) * | 1988-08-10 | 1991-06-07 | Научно-Производственное Объединение "Складских Систем" | Apparatus for transferring workpieces |
| AU3246695A (en) * | 1994-08-22 | 1996-03-14 | Ani Mining Services Pty. Ltd. | Vehicle for underground mine shafts |
| JPH08277019A (en) * | 1995-04-07 | 1996-10-22 | Hitachi Electron Eng Co Ltd | Jamming releasing device of device carrying path |
| JP2000062933A (en) * | 1998-08-21 | 2000-02-29 | 良雄 ▲だい▼木 | Cam-type carried article attitude holding device for three-dimensional conveyance |
| CN105021225A (en) * | 2015-07-08 | 2015-11-04 | 江苏大学 | Greenhouse intelligent and mobile detection platform |
| CN108563241A (en) * | 2018-03-30 | 2018-09-21 | 哈尔滨理工大学 | A kind of shared based on embedded vision module independently follows carrying apparatus |
| CN110238630A (en) * | 2019-07-23 | 2019-09-17 | 山东科技大学 | A kind of pin shaft of mine hydraulic support automatic dismantling equipment and its application |
| CN110362090A (en) * | 2019-08-05 | 2019-10-22 | 北京深醒科技有限公司 | A kind of crusing robot control system |
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
| CN112849283A (en) * | 2021-03-01 | 2021-05-28 | 中煤科工集团西安研究院有限公司 | Coal mine underground autonomous mobile platform and method capable of realizing remote interaction |
| CN113022408A (en) * | 2021-04-15 | 2021-06-25 | 中国矿业大学 | 360-degree self-adaptive loading and unloading unmanned mining dump truck and control method thereof |
| WO2022252221A1 (en) * | 2021-05-31 | 2022-12-08 | 山东建筑大学 | Mobile robot queue system, path planning method and following method |
| CN215923502U (en) * | 2021-06-10 | 2022-03-01 | 龚远舟 | Intelligent transfer robot with grabbing function |
| CN114803347A (en) * | 2022-04-29 | 2022-07-29 | 徐州锋儒智能科技有限公司 | Raw material automatic lifting machine for non-ferrous metal calendering |
| CN115568332A (en) * | 2022-10-31 | 2023-01-06 | 江苏大学 | Automatic following transportation platform for field environment and control method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 王松岩;李超宇;徐浩;: "履带牵引式换带装置液压系统动态特性研究", 工程设计学报, no. 04, 28 August 2018 (2018-08-28) * |
| 肖育林, 张小明, 金群: "基于UG的SF32601型自卸车运动学分析与仿真", 机械研究与应用, no. 05, 30 October 2005 (2005-10-30) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117446436B (en) | 2024-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111620024B (en) | Transfer robot, container taking method and container placing method | |
| WO2019134453A1 (en) | Suspension slide rail platform-based greenhouse information automatic monitoring method | |
| CN108098738A (en) | Mobile manipulator operation horizontal stability control method and apparatus based on hybrid mechanism | |
| CN106985145A (en) | One kind carries transfer robot | |
| CN104898671A (en) | Automatic polling trolley with obstacle clearing function for track mine conveyer | |
| CN104723318A (en) | Autonomous working robot system | |
| CN213499234U (en) | Wheeled intelligent inspection robot | |
| CN107932528B (en) | control method for intelligent storage loading and unloading equipment | |
| US8417423B2 (en) | Robotic platform for collecting data to emulate material handling vehicle mast angles | |
| CN109993788B (en) | Deviation rectifying method, device and system for tyre crane | |
| CN206501121U (en) | A kind of multi-function robot | |
| CN117446436B (en) | Mining auxiliary transportation platform and control method | |
| CN208314095U (en) | A kind of charging pile inspection dedicated track robot | |
| CN215522515U (en) | Automatic remove over-and-under type collection intelligence check equipment | |
| US20220057808A1 (en) | Inspection vehicle | |
| CN107433621A (en) | A kind of autonomous type lightweight climbing robot detecting system and its application method | |
| CN111076706A (en) | Intelligent monitoring system for shipyard | |
| CN217738461U (en) | Portable check out test set suitable for transformer substation patrols and examines | |
| CN114743892B (en) | Wafer box correction method and transport equipment of high-altitude buffer | |
| CN109968321A (en) | A kind of crusing robot for vcehicular tunnel | |
| CN216830900U (en) | Explosion-proof intelligent inspection robot | |
| CN108453698A (en) | Intelligent measurement robot for detecting SCR inside reactor situations | |
| CN209755194U (en) | A patrol and examine robot for highway tunnel | |
| CN219666703U (en) | Robot supervision system for coal conveying plant | |
| CN219987624U (en) | Inspection robot and conveyor inspection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |