CN206344815U - Mine locomotive Unmanned Systems based on mixed scheduling pattern - Google Patents
Mine locomotive Unmanned Systems based on mixed scheduling pattern Download PDFInfo
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- CN206344815U CN206344815U CN201621438291.3U CN201621438291U CN206344815U CN 206344815 U CN206344815 U CN 206344815U CN 201621438291 U CN201621438291 U CN 201621438291U CN 206344815 U CN206344815 U CN 206344815U
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Abstract
The utility model discloses a kind of mine locomotive Unmanned Systems based on mixed scheduling pattern, belong to the unmanned field of mine locomotive, including power dispatch system operation and management machine, at least one remote control operation platform and mine locomotive Vehicle Controller；Power dispatch system operation and management machine is connected with least one remote control operation platform, is connected by cable LAN and WIFI network with mine locomotive Vehicle Controller respectively by cable LAN, and the communication link detected with communication handshake is formed between remote control operation platform and mine locomotive Vehicle Controller.Power dispatch system operation and management machine in the utility model has multiple-working mode, it is applicable to unpiloted controlled locomotive and does not transform the scene for the locomotive mixed running that complete manual site drives, make mine locomotive from non-automated to automation gradually transition, construction risk is reduced, and improves the utilization ratio of mine locomotive.
Description
Technical field
The utility model is related to the unmanned technical field of mine locomotive, more particularly to a kind of based on mixed scheduling pattern
Mine locomotive Unmanned Systems.
Background technology
At present, underground mine is mainly operated using rail locomotive, but with the continuous expansion for the scale of adopting that lands, country
Administration of Security Supervision required in large-scale mine, by thus use electric locomotive Remote, rail travel intelligent dispatch and control,
Video wireless transmission, Xin Ji close the technologies such as monitoring, using the rail travel with Remote or full-automatic unmanned driving's function
Electric locomotive, with reference to supporting means such as automatic ore drawing, drop shaft monitoring material position, automatic weighting meterings, instead of pilot steering locomotive etc.
Technology and equipment, realizes that underground rail mounted transport system is unattended, reduces operating personnel more than 50%.But, due to non-coal
The site environment of mine down-hole mining is severe, and dust is dense, and live operating personnel need to wear bulky dust-proof apparatus progress
Work, operating efficiency is low, therefore is driven using ground remote control and unmanned have become a kind of necessary trend.
At present, the domestic mine locomotive Unmanned Systems used can only be carried out in one mode, and Dang Yitai is controlled
Locomotive break down when, system can not carry out pattern switching, there is very big potential safety hazard, cause Unmanned Systems can not
It is applicable the Minepit environment of complexity.
Utility model content
The purpose of this utility model is a kind of mine locomotive Unmanned Systems based on mixed scheduling pattern of offer, with
Mine locomotive Unmanned Systems are enable to carry out various modes switching.
To realize object above, the technical solution adopted in the utility model is：There is provided a kind of based on mixed scheduling pattern
Mine locomotive Unmanned Systems, the system includes power dispatch system operation and management machine, at least one remote control operation platform and mining machine
Car Vehicle Controller；
Power dispatch system operation and management machine is connected, by wired with least one remote control operation platform respectively by cable LAN
LAN and WIFI network are connected with mine locomotive Vehicle Controller, remote control operation platform and mine locomotive Vehicle Controller it
Between formed with communication handshake detect communication link.
Compared with prior art, there is following technique effect in the utility model：Power dispatch system operation and management in the utility model
Machine has multiple-working mode, is applicable to unpiloted controlled locomotive and does not transform the locomotive that complete manual site drives
The scene of mixed running, makes mine locomotive from non-automated to automation gradually transition, reduces construction risk, and improve ore deposit
The utilization ratio of well locomotive.
Brief description of the drawings
Fig. 1 is the structure of the mine locomotive Unmanned Systems based on mixed scheduling pattern in the embodiment of the utility model one
Schematic diagram；
Fig. 2 is another mine locomotive Unmanned Systems based on mixed scheduling pattern in the embodiment of the utility model one
Structural representation
Fig. 3 is the working mode change schematic diagram in the embodiment of the utility model one.
Embodiment
With reference to shown in Fig. 1 to Fig. 3, the utility model is described in further detail.
As shown in figure 1, present embodiment discloses a kind of mine locomotive Unmanned Systems based on mixed scheduling pattern, should
System includes：Power dispatch system operation and management machine 10, at least one remote control operation platform 20 and mine locomotive Vehicle Controller 30；Scheduling
Operational management machine 10 is connected, by cable LAN and WIFI by cable LAN with least one remote control operation platform 20
Network is connected with mine locomotive Vehicle Controller 30, is formed between remote control operation platform 20 and mine locomotive Vehicle Controller 30
The communication link detected with communication handshake.
It should be noted that the WIFI network at this is provided by WIFI base stations 70.
Specifically, the power dispatch system operation and management machine 10 at this has monitoring operational mode, management and running pattern, monitoring operation mould
Four kinds of mode of operations such as formula and protection operational mode, the application scenarios of four kinds of mode of operations are as follows：
Monitor operational mode：Suitable for unpiloted controlled locomotive and only operating mode transfer function transformation complete it is artificial
Scene drives the situation that locomotive is used in mixed way, and power dispatch system operation and management machine 10 only receives what managed equipment was uploaded in this mode
Work information, without carrying out any processing to work information；
Management and running pattern：Completed suitable for unpiloted controlled locomotive and operating mode transfer function, scheduling feature transformation
Manual site drive locomotive situation about being used in mixed way, in this mode, power dispatch system operation and management machine 10 receives managed equipment
The work information of upload, and logical calculated is carried out to work information, then issuing corresponding scheduling according to logical calculated result refers to
Order；
Monitor operational mode：Suitable for unpiloted controlled locomotive and operating mode transfer function, scheduling feature and monitoring
The manual site that function modificationses are completed drives the situation that locomotive is used in mixed way, and in this mode, power dispatch system operation and management machine 10 is received
The work information that the equipment managed is uploaded, carries out logical calculated to work information, then issues tune according to logical calculated result
Degree instructs and issues speed limit protection instruction to remote control operation platform 20；
Protect operational mode：Suitable for unpiloted controlled locomotive and operating mode transfer function, scheduling feature, monitoring function
And the safeguard function manual site that all transformation is completed drives the situation that locomotive is used in mixed way, in this mode, management and running
Supervisor 10 receives the work information that managed equipment is uploaded, and logical calculated is carried out to work information, and according to logical calculated
As a result dispatch command is issued, and the anti-finger shield of speed limit is issued to remote control operation platform 20 and mine locomotive Vehicle Controller 30
Order.
Specifically, as shown in Fig. 2 above-mentioned power dispatch system operation and management machine 10 also passes through cable LAN and WIFI network and hand
Hold formula remote terminal 40 to connect, hand-held remote control terminal 40 is also connected by WIFI network with mine locomotive Vehicle Controller 30.
It should be noted that the hand-held remote control terminal 40 at this is used to carry out low coverage to mine locomotive Vehicle Controller 30
From straighforward operation.Therefore, the system in the present embodiment can realize long-distance remote control driving model, can also realize closely distant
Control driving model.
Specifically, as shown in Fig. 2 above-mentioned power dispatch system operation and management machine 10 is also controlled by cable LAN and ore loading
Device 50 is connected.Luggage ore deposit operation is entered in the remote control that ore loading controller 50 is used to receive hand-held remote control terminal 40.
Specifically, the fixed point that above-mentioned system also includes being connected with mine locomotive Vehicle Controller 30 by RFID network is examined
Survey device 60.Wherein, the locomotive speed that management and running control machine 10 is measured according to mine locomotive Vehicle Controller 30 calculates locomotive
Position, the fixed position information that detects of fixed point detection means is then obtained to meter by mine locomotive Vehicle Controller 30 again
The locomotive position calculated is corrected.
Specifically, above-mentioned power dispatch system operation and management machine 10 and at least one remote control operation platform 20 are installed on the ground,
Mine locomotive Vehicle Controller 30 is arranged on every locomotive, and hand-held remote control terminal 40 is hand-held by dress ore deposit point operating personnel, ore deposit
Stone loading controller 50 is arranged on around ore drawing machine in preset range, fixed point detection means 60 compartment in orbit arrangement.
Specifically, referred to around ore drawing machine here in preset range near ore drawing machine, in orbit at interval of one section
Distance is disposed with a set of fixed point detection means.
Specifically, as shown in figure 3, the mode of operation of power dispatch system operation and management machine 10 includes：Monitor operational mode, management and running
Pattern, monitoring operational mode and protection operational mode；
Wherein, under monitoring operational mode, power dispatch system operation and management machine 10 only receives remote control operation platform 20 and mine locomotive
The work information that Vehicle Controller 30 is uploaded；
Under management and running pattern, power dispatch system operation and management machine 10 receives remote control operation platform 20 and mine locomotive vehicle-mounted control
The work information of the upload of device 30 simultaneously carries out logical operation according to work information；
Monitor under operational mode, power dispatch system operation and management machine 10 receives remote control operation platform 20 and mine locomotive vehicle-mounted control
The work information that device 30 is uploaded, speed limit protection instruction issued after logical calculated to remote control operation platform according to work information
20；
Protect under operational mode, power dispatch system operation and management machine 10 receives remote control operation platform 20 and mine locomotive vehicle-mounted control
The work information that device 30 is uploaded, speed limit protection instruction issued after logical calculated to remote control operation platform according to work information
20 and mine locomotive Vehicle Controller 30.
Here remote control operation platform 20 and mine locomotive vehicle-mounted control of the power dispatch system operation and management machine 10 for its management
Different mode of operations are can be set in device 30, and different mode of operations can also be set for whole Unmanned Systems, are met
Application scenarios under mining site difference construction environment.
It should also be noted that, monitoring operational mode, management and running pattern, monitoring operational mode and protection operational mode
These four mode of operations can any switching laws in a manual fashion, but need to record in power dispatch system operation and management machine 10 in switching
Enter operator password, while the user must also possess the authority of switch mode.
Specifically, the present embodiment disclosed example the making of a kind of mine locomotive Unmanned Systems based on mixed scheduling pattern
It is as follows with flow：
（1）Remote control operation platform 20 and mine locomotive Vehicle Controller 30 are set by power dispatch system operation and management machine 10 and worked as
The mode of operation of preceding environment；
（2）Under the mode of operation of current environment, power dispatch system operation and management machine 10 sends out the transport task of every locomotive respectively
Deliver to corresponding remote control operation platform 20 and mine locomotive Vehicle Controller 30；
（3）Corresponding remote control operation platform 20 is received after transport task, with corresponding mine locomotive Vehicle Controller
30 set up communication link by handshake communication；
（4）Corresponding remote control operation platform 20 sends locomotive control instruction to corresponding mine locomotive Vehicle Controller 30
To control locomotive operation；
（5）Mine locomotive Vehicle Controller 30 in the process of running, is detected in front of position and the locomotive driving of locomotive in real time
Traffic information and the traffic information in front of the position of locomotive and locomotive driving is sent to power dispatch system operation and management machine by network
10 and corresponding remote control operation platform 20；
（6）Mine locomotive Vehicle Controller 30 judges whether locomotive runs to dress mining area according to the locomotive position detected
Domain；
（7）After locomotive operation to dress mining area domain, mine locomotive Vehicle Controller 30 sends transport task and completes instruction extremely
Power dispatch system operation and management machine 10；
（8）After the completion of transport task, power dispatch system operation and management machine 10 issues dress ore deposit task to hand-held remote control terminal 40, ore
Loading controller 50 and the corresponding mine locomotive Vehicle Controller 30；
（9）By corresponding mine locomotive Vehicle Controller 30 described in hand-held remote control terminal 40 closely remote control to control
Locomotive driving is to below ore bin boxhole；
（10）When below locomotive driving to ore bin boxhole, by hand-held remote control terminal 40, closely remote control ore is filled
Vehicle controller 50 enters luggage ore deposit operation；
（11）When filling the completion of ore deposit task, dress ore deposit task completion instruction extremely scheduling is sent by hand-held remote control terminal 40 and transported
Row supervisor 10 is so that power dispatch system operation and management machine 10 re-issues new transport task.
In addition, said system also includes in use：
The locomotive running speed that power dispatch system operation and management machine 10 is measured according to mine locomotive Vehicle Controller 30 calculates locomotive
Position；
Mine locomotive Vehicle Controller 30 reads the locomotive fixed point position that fixed point detection means 60 is detected by RFID network
Confidence ceases and transmitted to power dispatch system operation and management machine 10；
Power dispatch system operation and management machine 10 is corrected according to locomotive fixed position information to the locomotive position calculated.
Claims (5)
1. a kind of mine locomotive Unmanned Systems based on mixed scheduling pattern, it is characterised in that including power dispatch system operation and management
Machine（10）, at least one remote control operation platform（20）With mine locomotive Vehicle Controller（30）；
Power dispatch system operation and management machine（10）Pass through cable LAN and at least one remote control operation platform（20）Connect, by wired
LAN and WIFI network and mine locomotive Vehicle Controller（30）Connection, remote control operation platform（20）It is vehicle-mounted with mine locomotive
Controller（30）Between formed with communication handshake detect communication link.
2. the system as claimed in claim 1, it is characterised in that described power dispatch system operation and management machine（10）Also pass through wired local
Net and WIFI network and hand-held remote control terminal（40）Connection, hand-held remote control terminal（40）Also pass through WIFI network and mining machine
Car Vehicle Controller（30）Connection.
3. the system as claimed in claim 1, it is characterised in that described power dispatch system operation and management machine（10）Also pass through wired local
Net and ore loading controller（50）Connection.
4. the system as claimed in claim 1, it is characterised in that also including passing through RFID network and mine locomotive Vehicle Controller
（30）The fixed point detection means of connection（60）.
5. the system as described in claim any one of 1-4, it is characterised in that described power dispatch system operation and management machine（10）At least
One remote control operation platform（20）Install on the ground, mine locomotive Vehicle Controller（30）On every locomotive, hand
Hold formula remote terminal（40）By dress ore deposit, point operating personnel are hand-held, ore loading controller（50）Model is preset around ore drawing machine
In enclosing, detection means is pinpointed（60）Compartment arrangement in orbit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621438291.3U CN206344815U (en) | 2016-12-26 | 2016-12-26 | Mine locomotive Unmanned Systems based on mixed scheduling pattern |
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|---|---|---|---|
| CN201621438291.3U CN206344815U (en) | 2016-12-26 | 2016-12-26 | Mine locomotive Unmanned Systems based on mixed scheduling pattern |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515757A (en) * | 2016-12-26 | 2017-03-22 | 合肥工大高科信息科技股份有限公司 | Unmanned driving system of mine locomotive based on hybrid dispatching model and controlling method thereof |
-
2016
- 2016-12-26 CN CN201621438291.3U patent/CN206344815U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515757A (en) * | 2016-12-26 | 2017-03-22 | 合肥工大高科信息科技股份有限公司 | Unmanned driving system of mine locomotive based on hybrid dispatching model and controlling method thereof |
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