CN210639277U - Automatic anti-collision system of underground unmanned electric locomotive - Google Patents
Automatic anti-collision system of underground unmanned electric locomotive Download PDFInfo
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- CN210639277U CN210639277U CN201920951914.4U CN201920951914U CN210639277U CN 210639277 U CN210639277 U CN 210639277U CN 201920951914 U CN201920951914 U CN 201920951914U CN 210639277 U CN210639277 U CN 210639277U
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- electric locomotive
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- guide rail
- locomotive body
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Abstract
The utility model provides an automatic anti-collision system of an underground unmanned electric locomotive, wherein a vehicle-mounted camera is arranged at the top of an electric locomotive body; the bottom of the electric locomotive body is provided with a stone removing device; the stone removing device is provided with a connecting bolt, an upper triangular bracket and a lower triangular bracket; the three vertexes of the upper triangular support are correspondingly connected with the three vertexes of the lower triangular support through connecting bolts; the connecting bolt is sleeved with a spring; the upper end of the connecting bolt is connected with the bottom of the electric locomotive body; the lower triangular support is provided with a rubber plate. The vehicle-mounted stone removing device cleans the two sides of the running guide rail, and the rubber sheets at the lower end of the stone removing device clean the guide rail, clean small broken stones on the guide rail and ensure good contact between wheels of the electric locomotive and the guide rail. The utility model discloses safe and reliable, stable performance both can use in unmanned electric locomotive system, also can use in the electric locomotive of manual driving.
Description
Technical Field
The utility model relates to a belong to mine locomotive unmanned equipment, especially relate to an automatic collision avoidance system of unmanned electric locomotive in pit.
Background
In China, tens of thousands of various mines exist, and most of the mines are mined underground. In the process of ore, need to pass through the electric locomotive to transport the ore in the stope district to the drop shaft, this kind of transportation mode is transported by manual operation electric locomotive usually, in electric locomotive transport system in the pit, judges the road conditions in the place ahead through the driver on the locomotive.
Thereby carrying out operations such as braking, whistling and the like on the electric locomotive. Because of adopting the mode of manual judgement, operating personnel is highly concentrated, causes the visual fatigue of navigating mate very easily, and the inevitable maloperation that appears even takes place the electric locomotive and covers the rail, the accident of colliding the people.
And in addition, in the driving process of the underground unmanned electric locomotive, due to the fact that some areas are in an unmanned monitoring state, if broken stones or small obstacles exist on the guide rail, the underground unmanned electric locomotive cannot normally drive and cannot normally work, and the underground unmanned electric locomotive cannot play a due role.
SUMMERY OF THE UTILITY MODEL
In order to overcome not enough among the above-mentioned prior art, the utility model provides an automatic collision avoidance system of unmanned electric locomotive in pit, include: an electric locomotive body; the top of the electric locomotive body is provided with a vehicle-mounted camera for shooting images of the front part of the electric locomotive body;
the bottom of the electric locomotive body is provided with a stone removing device;
the stone removing device is provided with a connecting bolt, an upper triangular bracket and a lower triangular bracket;
the three vertexes of the upper triangular support are correspondingly connected with the three vertexes of the lower triangular support through connecting bolts;
the connecting bolt is sleeved with a spring;
the upper end of the connecting bolt is connected with the bottom of the electric locomotive body;
the lower triangular support is provided with a rubber plate.
It should be further noted that the front end of the electric locomotive body is connected with a follow-up device;
the servo device is provided with a servo motor and a worm and gear device;
the servo motor and the worm gear device are respectively fixed at the front end of the electric locomotive body;
the output end of the servo motor is connected with the worm gear device through a coupler;
the output end of the worm gear device is connected with the radar mounting bracket;
and a vehicle-mounted radar is mounted on the radar mounting bracket.
It should be further noted that the rubber plate mounted on the lower triangular bracket is in contact with the guide rail.
It should be further noted that the electric locomotive body is also provided with a vehicle-mounted controller, a wireless communication device and a servo motor control circuit;
the wireless communication device, the vehicle-mounted camera and the vehicle-mounted radar are respectively connected with the vehicle-mounted controller;
the vehicle-mounted controller is connected with the servo motor through a servo motor control circuit; the vehicle-mounted controller uploads video information and vehicle-mounted radar information shot by a vehicle-mounted camera to an upper computer through a wireless communication device; and acquiring a servo motor control command through a wireless communication device.
According to the technical scheme, the utility model has the advantages of it is following:
the vehicle-mounted stone removing device cleans the two sides of the running guide rail through the front end triangular device, and meanwhile, the rubber sheet at the lower end of the stone removing device cleans the guide rail, cleans small stones on the guide rail, and ensures that the wheels of the electric locomotive are in good contact with the guide rail. The broken stone on the guide rail is avoided, the underground unmanned electric locomotive cannot normally run, and the underground unmanned electric locomotive cannot play a due role.
The vehicle-mounted radar continuously scans the obstacles which are higher than 20 centimeters in the front route of the electric locomotive by presetting the length and the width of a scanning area. When an obstacle higher than 20 centimeters is found in a scanning area of the vehicle-mounted radar, a locomotive action command is sent out through a vehicle-mounted controller.
The utility model discloses safe and reliable, stable performance both can use in unmanned electric locomotive system, also can use in the electric locomotive of manual driving.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of an automatic collision avoidance system for an underground unmanned electric locomotive;
FIG. 2 is a schematic view of a stone removing device of the present invention;
FIG. 3 is a schematic view of the servo device of the present invention;
fig. 4 is a schematic view of the electric control system of the present invention.
Detailed Description
The utility model provides an automatic collision avoidance system of unmanned electric locomotive in pit, as shown in fig. 1 to 4, include: an electric locomotive body 6; the top of the electric locomotive body 6 is provided with a vehicle-mounted camera 2 for shooting images of the front part of the electric locomotive body 6; the shooting angle of the vehicle-mounted camera 2 forms an angle of 10 degrees with the guide rail 5, and the transmission rate of the vehicle-mounted camera 2 at least meets 20 frames per second.
The bottom of the electric locomotive body 6 is provided with a stone removing device 4; the stone removing device 4 is provided with a connecting bolt 13, an upper triangular bracket 11 and a lower triangular bracket 12; three vertexes of the upper triangular support 11 are correspondingly connected with three vertexes of the lower triangular support 12 through connecting bolts 13; the connecting bolt 13 is sleeved with a spring 14; the upper end of the connecting bolt 13 is connected with the bottom of the electric locomotive body 6; the lower triangular bracket 12 is provided with a rubber plate 15. The vehicle-mounted stone removing device 4 is installed at the bottom of the electric locomotive body 6, the distance from the guide rail 5 is 1 cm, and a rubber device is installed at the lower end of the stone removing device 4 and is in soft contact with the guide rail 5. The whole stone removing device is fixed at the bottom of the locomotive through a bolt 2, and the gap between the lower bracket 3 and the guide rail can be adjusted up and down.
On the electric locomotive body 6 of on-vehicle controller 1 installation, on-vehicle camera 2 installed on electric locomotive body 6 and the camera image outer with the contained angle of guide rail less than or equal to 10, on-vehicle radar 3 installed on servo device 7, servo device 7 is fixed at the front end of electric locomotive body 6, on-vehicle radar 3 and 5 vertical distance 20 centimetres on the guide rail, radar scanning distance is greater than 15 meters.
The front end of the electric locomotive body 6 is connected with a follow-up device 7; the servo device 7 is provided with a servo motor 21 and a worm gear device 23; the servo motor 21 and the worm gear device 23 are respectively fixed at the front end of the electric locomotive body 6; the output end of the servo motor 21 is connected with a worm gear device 23 through a coupler 22; the output end of the worm gear device 23 is connected with a radar mounting bracket 24; the vehicle-mounted radar 3 is mounted on the radar mounting bracket 24. The vertical distance between the vehicle-mounted radar 3 and the guide rail 5 is 20 cm-25 cm. The transformation ratio of the worm gear and worm device 23 is 2 mm to 0.5 degrees, and the adjustable angle is 10 degrees. The electric locomotive body 6 is also provided with a vehicle-mounted controller 1, a wireless communication device 9 and a servo motor control circuit 8; the wireless communication device 9, the vehicle-mounted camera 2 and the vehicle-mounted radar 3 are respectively connected with the vehicle-mounted controller 1; the vehicle-mounted controller 1 is connected with a servo motor 21 through a servo motor control circuit 8; the vehicle-mounted controller 1 uploads the video information and the vehicle-mounted radar information shot by the vehicle-mounted camera 2 to an upper computer through a wireless communication device 9; acquiring a servo motor control instruction through a wireless communication device 9; the vehicle-mounted controller 1 adopts an MSP430FG4618 singlechip and a peripheral circuit, or adopts an STC12C4052AD singlechip and a peripheral circuit, or TM4C123GH6PZ17R and a peripheral circuit.
The wireless communication device 9 may use radio frequency transmission, bluetooth transmission, WIFI transmission, etc. commonly used in the art.
The utility model discloses a control principle does: the vehicle-mounted camera 3 records an image of a guide rail in front of the electric locomotive in real time, the image is input into a video analysis system to be analyzed and corresponded with a prestored picture, the image is analyzed through controller software, a real-time running route in front of the electric locomotive is drawn, an angle between the electric locomotive and the running route in front is calculated, a calculation result is sent to the vehicle-mounted controller 1, the vehicle-mounted controller 1 calculates an angle difference according to the current angle and a pre-judgment angle, a transformation ratio between the servo electric locomotive and a worm gear is calculated, a stepping distance and a stepping speed are calculated, the calculation result is sent to a servo motor control circuit, the servo motor control circuit drives a servo motor to act, meanwhile, the worm gear is driven to rotate, linear motion is changed into circular motion, and. Satisfy the requirement of on-vehicle radar scanning distance, avoid touchhing the tunnel inner wall or the personnel that pass through outside the twice safe distance of guide rail.
The controller software of the utility model calculates the running route angle and the like between the electric locomotive and the front, and adopts the technical means commonly used in the field, and the concrete mode is the known technology in the field and is not limited specifically.
The utility model discloses by camera acquisition image, the controller carries out image analysis, reachs the electric locomotive in the route map of traveling, and servo system is according to the route of will traveling, adjusts radar scanning direction in real time, predetermines radar scanning area and scans the barrier in the place region. The utility model discloses safe and reliable, stable performance can realize the automatic prevention collision of unmanned electric locomotive in the pit.
The vehicle-mounted radar 3 continuously scans the obstacles which are higher than 20 centimeters in the front route of the electric locomotive 6 by presetting the length and the width of the scanning area. When an obstacle higher than 20 cm is found in the scanning area of the vehicle-mounted radar 3, a locomotive action command is sent out through the vehicle-mounted controller 1.
The vehicle-mounted stone removing device 4 cleans the two sides of the running guide rail through the broken stones lower than 20 cm in the front end triangular device, and meanwhile, the rubber sheets at the lower end of the stone removing device 4 clean the guide rail, clean the small broken stones on the guide rail and ensure that the wheels of the electric locomotive are in good contact with the guide rail.
The utility model discloses safe and reliable, stable performance both can use in unmanned electric locomotive system, also can use in the electric locomotive of manual driving.
Spatially relative terms such as "under …", "below", "lower", "above", "over", and the like, as may be used herein for ease of description, describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative terms used herein should be interpreted accordingly.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The utility model provides an automatic collision avoidance system of unmanned electric locomotive in pit which characterized in that includes: an electric locomotive body (6); the top of the electric locomotive body (6) is provided with a vehicle-mounted camera (2) for shooting images of the front part of the electric locomotive body (6);
the bottom of the electric locomotive body (6) is provided with a stone removing device (4);
the stone removing device (4) is provided with a connecting bolt (13), an upper triangular bracket (11) and a lower triangular bracket (12);
three vertexes of the upper triangular support (11) are correspondingly connected with three vertexes of the lower triangular support (12) through connecting bolts (13);
a spring (14) is sleeved on the connecting bolt (13);
the upper end of the connecting bolt (13) is connected with the bottom of the electric locomotive body (6);
the lower triangular bracket (12) is provided with a rubber plate (15).
2. The automatic anti-collision system for underground unmanned electric locomotive according to claim 1,
the front end of the electric locomotive body (6) is connected with a follow-up device (7);
the follow-up device (7) is provided with a servo motor (21) and a worm gear device (23);
the servo motor (21) and the worm gear device (23) are respectively fixed at the front end of the electric locomotive body (6);
the output end of the servo motor (21) is connected with a worm gear device (23) through a coupling (22);
the output end of the worm gear device (23) is connected with a radar mounting bracket (24);
and a vehicle-mounted radar (3) is arranged on the radar mounting bracket (24).
3. The automatic anti-collision system for underground unmanned electric locomotive according to claim 2,
the vertical distance between the vehicle-mounted radar (3) and the guide rail (5) is 20 cm-25 cm.
4. The automatic anti-collision system for underground unmanned electric locomotive according to claim 2,
the transformation ratio of the worm gear and worm device (23) is 2 mm: 0.5 degrees, and the adjustable angle is 10 degrees.
5. The automatic collision avoidance system of the underground unmanned electric locomotive according to claim 1 or 2,
the rubber plate (15) arranged on the lower triangular support (12) is contacted with the guide rail (5).
6. The automatic anti-collision system for underground unmanned electric locomotive according to claim 2,
the electric locomotive body (6) is also provided with a vehicle-mounted controller (1), a wireless communication device (9) and a servo motor control circuit (8);
the wireless communication device (9), the vehicle-mounted camera (2) and the vehicle-mounted radar (3) are respectively connected with the vehicle-mounted controller (1);
the vehicle-mounted controller (1) is connected with a servo motor (21) through a servo motor control circuit (8);
the vehicle-mounted controller (1) uploads video information and vehicle-mounted radar information which are shot by the vehicle-mounted camera (2) to an upper computer through a wireless communication device (9); acquiring a servo motor control instruction through a wireless communication device (9);
the vehicle-mounted controller (1) adopts an MSP430FG4618 singlechip and a peripheral circuit, or adopts an STC12C4052AD singlechip and a peripheral circuit, or TM4C123GH6PZ17R and a peripheral circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920951914.4U CN210639277U (en) | 2019-06-21 | 2019-06-21 | Automatic anti-collision system of underground unmanned electric locomotive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920951914.4U CN210639277U (en) | 2019-06-21 | 2019-06-21 | Automatic anti-collision system of underground unmanned electric locomotive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210639277U true CN210639277U (en) | 2020-05-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920951914.4U Active CN210639277U (en) | 2019-06-21 | 2019-06-21 | Automatic anti-collision system of underground unmanned electric locomotive |
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| Country | Link |
|---|---|
| CN (1) | CN210639277U (en) |
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- 2019-06-21 CN CN201920951914.4U patent/CN210639277U/en active Active
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