CN211543734U - Intelligent early warning roadway protection machine vehicle - Google Patents
Intelligent early warning roadway protection machine vehicle Download PDFInfo
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- CN211543734U CN211543734U CN201920992079.9U CN201920992079U CN211543734U CN 211543734 U CN211543734 U CN 211543734U CN 201920992079 U CN201920992079 U CN 201920992079U CN 211543734 U CN211543734 U CN 211543734U
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Abstract
The utility model discloses an intelligence early warning lane-protecting machine car relates to mine construction equipment technical field, has solved the problem that traditional country rock supporting technology is difficult to satisfy the timely requirement of strutting when the working face impels fast, and its technical scheme main points are: the locomotive main body comprises a locomotive body, a running driving mechanism and a supporting mechanism; the control system comprises a surrounding rock deformation damage early warning module, a wireless transmission module, a path planning module, a space positioning module, an obstacle avoidance module and a main controller; the surrounding rock deformation damage early warning module comprises a displacement sensor, a signal transmitter and a signal receiver, wherein the signal transmitter is electrically connected with the displacement sensor, and the signal receiver is electrically connected with the main controller; the path planning module is in communication connection with the main controller; the space positioning module comprises a storage and a positioning sensor which are in communication connection with the main controller, timeliness of reinforcing surrounding rock sections is achieved, probability of dangerous operation when roadway surrounding rocks are reinforced manually is reduced, and labor cost is reduced.
Description
Technical Field
The utility model relates to a mine construction equipment technical field, more specifically say, it relates to an intelligence early warning lane protection machine car.
Background
Coal resources are still energy foundation stones for guaranteeing the construction of five-base two-zone in China, and stress fields, displacement fields and fracture fields for determining the stability of roadway surrounding rocks are obviously changed along with the increase of mining strength (depth) and the improvement of mining technologies (methods).
The traditional supporting technology and the supporting process are difficult to be directly used for efficient, green and safe production of modern mines, particularly for the safety maintenance problem of dynamic pressure roadways when fully mechanized coal mining faces are rapidly pushed.
Based on the above problems, how to ensure the rapid reinforcement and support in the stoping roadway becomes a technical problem which needs to be solved urgently by engineering technicians in the field.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an intelligence early warning lane-protecting machine car has the reinforced promptness of reinforcing country rock section, faces the probability of dangerous operation when reducing the manpower and consolidating the country rock in tunnel, reduces the effect of human cost.
The above technical purpose of the present invention can be achieved by the following technical solutions: an intelligent early warning lane-protecting robot vehicle comprises a vehicle main body and a control system;
the locomotive main body comprises a locomotive body, a running driving mechanism and a supporting mechanism, wherein the running driving mechanism and the supporting mechanism are electrically connected with the main controller;
the control system comprises a surrounding rock deformation damage early warning module, a wireless transmission module, a path planning module, a space positioning module, an obstacle avoidance module and a main controller; the surrounding rock deformation and damage early warning module comprises a signal transmitter, a signal receiver and displacement sensors which are arranged in a roadway at intervals, the displacement sensors are electrically connected with the signal transmitter, and the signal receiver is electrically connected with the main controller; the path planning module is in communication connection with the main controller; the space positioning module comprises a memory and positioning sensors which are uniformly distributed on a roadway bottom plate, and the memory and the positioning sensors are in communication connection with the main controller; the obstacle avoidance module comprises a camera arranged at the driving front end of the vehicle body, and the camera is electrically connected with the main controller.
By adopting the technical scheme, when the deformation of the surrounding rock monitored by the corresponding displacement sensor reaches a preset early warning value, the early warning signal transmitted by the signal transmitter is transmitted to the signal receiver through the wireless transmission module; then, after confirming the target position, a path planning module plans an optimal route and optimal running time; the main controller controls the locomotive main body to run to a target according to the optimal route and the running time, and then drives the supporting mechanism to support the corresponding surrounding rock section; when the locomotive main body passes through the positioning sensor, the main controller senses the corresponding positioning sensor, positions the relative coordinate of the main controller relative to the positioning sensor, the absolute coordinate of the relative zero point and the relative coordinate of the relative target point according to the running distance of the locomotive main body to form a positioning algorithm, automatically stores and memorizes the running track of the locomotive main body in a memory, and returns to the zero point position according to the original running track after the standby locomotive main body finishes roadway protection to form a memory algorithm; the obstacle avoidance module identifies and judges obstacles according to the image information acquired by the camera and makes corresponding decisions; the timeliness of reinforcing the surrounding rock section is enhanced, the probability of dangerous operation when the surrounding rock of the roadway is reinforced manually is reduced, and the labor cost of surrounding rock supporting is reduced.
The utility model discloses further set up to: the automobile body includes the base, is located circular steel sheet and the first driving source of base top, and circular steel sheet rotates with the base relatively and is connected, first driving source and main control unit electric connection, and the cover is equipped with the rubber sleeve on the circumferencial direction of circular steel sheet.
Through adopting above-mentioned technical scheme, utilize circular steel sheet and base relative rotation to be connected for circular steel sheet is at the arbitrary angle of horizontal plane internal rotation, and the condition that reduces the orbit of going and the direction of locomotive main part and receive the interference takes place.
The utility model discloses further set up to: the driving mechanism that traveles includes four spherical wheels, drive mechanism and second driving source, and spherical wheel passes through drive mechanism and is connected with the output of second driving source, second driving source and main control unit electric connection.
By adopting the technical scheme, the spherical wheel rotates 360 degrees along the horizontal direction, so that the running direction of the locomotive main body can be flexibly adjusted, the locomotive main body can run in two directions, and space resources required by frequent turning are saved.
The utility model discloses further set up to: the supporting mechanism comprises a frame-type top beam, an oil cylinder and a plurality of hydraulic struts; one end of the oil cylinder is fixedly connected with the round steel plate, and the other end of the oil cylinder is fixedly connected with the frame-type top beam; the bottom end can contact with the tunnel bottom plate after the hydraulic prop stretches out and draws back, and the base is worn to be equipped with and supplies the central through-hole that the hydraulic prop stretches into.
By adopting the technical scheme, the bottom end of the telescopic hydraulic prop is in contact with the roadway bottom plate, so that the locomotive main body is suspended conveniently, and the condition that the locomotive main body is damaged by pressure is reduced; after the oil cylinder stretches, the frame-type top beam is in contact with the roadway top plate, so that the cross section of the surrounding rock can be supported conveniently.
The utility model discloses further set up to: the hydraulic prop is three or four, and the frame-type top beam is of a rectangular, circular or triangular grid structure.
By adopting the technical scheme, the stability of the frame-type top beam for supporting the cross section of the surrounding rock is enhanced conveniently.
The utility model discloses further set up to: and a parking chamber for parking the machine vehicle is dug in the wall of the roadway.
Through adopting above-mentioned technical scheme, be convenient for park locomotive main part temporarily.
The utility model discloses further set up to: the wireless transmission module is a wireless local area network.
By adopting the technical scheme, the stability of signal transmission is convenient to enhance.
To sum up, the utility model discloses following beneficial effect has: the repeatability is strong, the environmental protection performance is good, the implementation efficiency is high, and the transportation assistance and disaster early warning processing are intelligent and unmanned; the timeliness of reinforcing the surrounding rock section is enhanced, the probability of dangerous operation when the surrounding rock of the roadway is reinforced manually is reduced, and the labor cost is reduced; the spherical wheels rotate 360 degrees along the horizontal direction, so that the running direction of the locomotive main body can be flexibly adjusted, the locomotive main body can run in two directions, and space resources required by frequent turning are saved; the reliability of the operation of the locomotive main body is enhanced conveniently, and the condition that the surrounding rock section support is affected due to the blockage of the roadway is reduced.
Drawings
Fig. 1 is a schematic view of the installation of a displacement sensor according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a locomotive body in a folded state according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of an opened state of a motorcycle body according to an embodiment of the present invention;
fig. 4 is a block diagram of an architecture in an embodiment of the invention.
In the figure: 1. a support mechanism; 11. a frame-type top beam; 12. an oil cylinder; 13. a hydraulic prop; 2. a vehicle body; 21. a circular steel plate; 22. a base; 23. a central through hole; 24. a rubber sleeve; 3. a travel drive mechanism; 31. a spherical wheel; 4. a camera; 5. a roadway; 51. a displacement sensor; 52. a parking chamber; 53. a signal transmitter; 54. a signal receiver; 6. a main controller; 7. a positioning sensor; 71. a memory; 8. and a path planning module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying fig. 1-4.
Example (b): an intelligent early warning lane-protecting robot vehicle is shown in fig. 2 and comprises a vehicle main body and a control system. The locomotive body includes a vehicle body 2, a travel drive mechanism 3, and a support mechanism 1. The travel driving mechanism 3 is configured to drive the vehicle body 2 to move according to a travel control command generated by the main controller 6. The supporting mechanism 1 is used for unfolding a top plate of the supporting early warning section according to a supporting control command generated by the main controller 6.
As shown in fig. 1 and 4, the control system includes a surrounding rock deformation damage early warning module, a wireless transmission module, a path planning module 8, a space positioning module, an obstacle avoidance module, and a main controller 6. The surrounding rock deformation and damage early warning module comprises a signal transmitter 53, a signal receiver 54 and displacement sensors 51 arranged in the roadway 5 at intervals, the displacement sensors 51 are electrically connected with the signal transmitter 53, and the signal receiver 54 is electrically connected with the main controller 6. In this embodiment, the signal transmitter 53 is mounted in the tunnel 5, and the signal receiver 54 is mounted on the locomotive body. When the deformation of the surrounding rock monitored by the corresponding displacement sensor 51 reaches a preset early warning value, the early warning signal transmitted by the signal transmitter 53 is transmitted to the signal receiver 54 through the wireless transmission module.
As shown in fig. 4, the path planning module 8 is in communication connection with the main controller 6, and is configured to obtain position information of a corresponding early warning section and position information of the vehicle body 2 according to the early warning signal, and determine an optimal route and driving time. In the present embodiment, the route planning module 8 is a route planning unit in a conventional GPS positioning system, and has map information of the roadway 5 built therein.
As shown in fig. 1 and 4, the spatial positioning module includes a memory 71 and positioning sensors 7 uniformly distributed on the floor of the roadway 5, and both the memory 71 and the positioning sensors 7 are in communication connection with the main controller 6. When the vehicle body 2 runs through the corresponding positioning sensor 7, the positioning sensor 7 transmits the positioning information to the main controller 6, and the main controller 6 stores the running track of the vehicle body 2 in the memory 71 so that the vehicle body 2 can return to the initial position after finishing the lane protection work. When the locomotive main body passes through the positioning sensor 7, the main controller 6 senses the corresponding positioning sensor 7, positions the relative coordinate of the main body relative to the positioning sensor 7, the absolute coordinate of the relative zero point and the relative coordinate of the relative target point according to the running distance of the locomotive main body to form a positioning algorithm, automatically stores and memorizes the running track of the locomotive main body in the memory 71, and returns to the zero point position according to the original running track after the locomotive main body finishes the lane protection work to form a memory algorithm.
As shown in fig. 2 and 4, the obstacle avoidance module includes a camera 4 installed at the front end of the vehicle body 2, and the camera 4 is electrically connected to the main controller 6. In this embodiment, the vehicle body 2 is symmetrically provided with two cameras 4, and the main controller 6 activates the cameras 4 alternatively according to the traveling direction of the vehicle body 2. The camera 4 transmits the acquired running image information of the vehicle body 2 to the main controller 6. The main controller 6 identifies the shape and the outline of the obstacle on the driving path in real time according to the image information, calculates and analyzes the size of the obstacle and the action rule of the obstacle on the safe driving of the machine vehicle, and makes reasonable judgment and decision.
As shown in fig. 4, the main controller 6 is configured to generate a corresponding operation command after analyzing and processing information fed back by each module, so as to implement automatic work of the machine vehicle.
As shown in fig. 3 and 4, the vehicle body 2 includes a base 22, a circular steel plate 21 located above the base 22, and a first driving source (not shown in the figure), the circular steel plate 21 is connected to the base 22 in a relatively rotating manner, the first driving source is electrically connected to the main controller 6, and a rubber sleeve 24 is sleeved on the circular steel plate 21 in a circumferential direction. The circular steel plate 21 is connected with the base 22 in a relative rotating mode, so that the circular steel plate 21 can rotate at any angle in the horizontal plane, and the situation that the running track and the direction of the locomotive body are interfered is reduced.
As shown in fig. 2 and 4, the driving mechanism 3 includes four spherical wheels 31, a transmission mechanism, and a second driving source (not shown), the spherical wheels 31 are connected to an output end of the second driving source through the transmission mechanism, and the second driving source is electrically connected to the main controller 6. In this embodiment, the first driving source and the second driving source both employ servo motors. The spherical wheels 31 rotate 360 degrees along the horizontal direction, so that the driving direction of the locomotive main body can be flexibly adjusted, the locomotive main body can drive in two directions, and space resources required by frequent turning are saved.
As shown in fig. 3, the supporting mechanism 1 includes a frame-type top beam 11, a cylinder 12, and a plurality of hydraulic struts 13. One end of the oil cylinder 12 is fixedly connected with the round steel plate 21, and the other end is fixedly connected with the frame-type top beam 11; the bottom end of the hydraulic prop 13 can be contacted with the bottom plate of the roadway 5 after being stretched, and a central through hole 23 for the hydraulic prop 13 to extend into is arranged on the base 22 in a penetrating way. The bottom end of the hydraulic prop 13 is in contact with the bottom plate of the roadway 5 after being stretched, so that the locomotive main body is suspended conveniently, and the condition that the locomotive main body is damaged by pressure is reduced; after the oil cylinder 12 stretches, the frame-type top beam 11 is in contact with the top plate of the roadway 5, so that the cross section of the surrounding rock can be supported conveniently.
In the present embodiment, as shown in fig. 3, four hydraulic struts 13 are used, and three hydraulic struts may be used. The frame-type top beam 11 adopts a rectangular grid structure and can also be a circular or triangular grid structure, so that the stability of the frame-type top beam 11 on the support of the cross section of the surrounding rock is enhanced.
As shown in fig. 1, a parking chamber 52 for parking the machine vehicle is dug in the wall of the tunnel 5,
the parking chambers 52 are arranged at intervals along the extending direction of the roadway 5, so that the locomotive main body can be parked temporarily.
As shown in fig. 4, in the embodiment, the wireless transmission module employs a wireless local area network, so as to enhance the stability of signal transmission.
In this embodiment, the obstacle avoidance module includes a driving mode, a cleaning mode, and a stopping mode. And a running mode, wherein when the size and the shape of the obstacle are not enough to influence the safe running of the machine vehicle, the machine vehicle normally runs to roll the obstacle. A cleaning mode, when the size and the shape of the obstacle can influence the safe running of the machine vehicle, the machine vehicle stops advancing, and the main controller 6 generates an obstacle processing command; and after the obstacle is processed, the machine vehicle continues to drive towards the target. The stop mode, when the barrier can't be handled in time or the section shrink on the route seriously leads to the unable current of machine car, main control unit 6 generates the voice broadcast order, reminds the regional position of early warning. The reliability of the operation of the locomotive main body is enhanced conveniently, and the condition that the surrounding rock section support is affected due to the blocking of the roadway 5 is reduced.
The working process is as follows: when the deformation of the surrounding rock monitored by the corresponding displacement sensor 51 reaches a preset early warning value, the early warning signal emitted by the signal emitter 53 is transmitted to the signal receiver 54 through the wireless transmission module; then the path planning module 8 plans an optimal route and driving time after confirming the target position; the main controller 6 controls the locomotive main body to run to a target according to the optimal route and the running time, and then drives the supporting mechanism 1 to support the corresponding surrounding rock section; when the locomotive main body passes through the positioning sensor 7, the main controller 6 senses the corresponding positioning sensor 7, positions the relative coordinate of the main controller relative to the positioning sensor 7, the absolute coordinate of the relative zero point and the relative coordinate of the relative target point according to the running distance of the locomotive main body to form a positioning algorithm, automatically stores and memorizes the running track of the locomotive main body in the memory 71, and returns to the zero point position according to the original running track after the locomotive main body finishes lane protection work to form a memory algorithm; the obstacle avoidance module identifies and judges the obstacle according to the image information acquired by the camera 4 and makes a corresponding decision; the timeliness of reinforcing the surrounding rock section is enhanced, the probability of dangerous operation when the surrounding rock of the roadway 5 is reinforced manually is reduced, and the labor cost of surrounding rock supporting is reduced.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.
Claims (7)
1. The utility model provides an intelligence early warning lane protection machine car which characterized by: comprises a locomotive main body and a control system;
the locomotive main body comprises a locomotive body (2), a driving mechanism (3) and a supporting mechanism (1), wherein the driving mechanism (3) and the supporting mechanism (1) are electrically connected with a main controller (6);
the control system comprises a surrounding rock deformation damage early warning module, a wireless transmission module, a path planning module (8), a space positioning module, an obstacle avoidance module and a main controller (6); the surrounding rock deformation and damage early warning module comprises a signal transmitter (53), a signal receiver (54) and displacement sensors (51) which are arranged in a roadway (5) at intervals, wherein the displacement sensors (51) are electrically connected with the signal transmitter (53), and the signal receiver (54) is electrically connected with the main controller (6); the path planning module (8) is in communication connection with the main controller (6); the space positioning module comprises a memory (71) and positioning sensors (7) which are uniformly distributed on a bottom plate of the roadway (5), and the memory (71) and the positioning sensors (7) are in communication connection with the main controller (6); keep away barrier module is including installing camera (4) at automobile body (2) front end of traveling, camera (4) with main control unit (6) electric connection.
2. The intelligent early warning roadway-protecting machine vehicle as claimed in claim 1, wherein: automobile body (2) include base (22), be located circular steel sheet (21) and the first driving source of base (22) top, circular steel sheet (21) are connected with base (22) relative rotation, first driving source and main control unit (6) electric connection, and the cover is equipped with rubber sleeve (24) on the circumferencial direction of circular steel sheet (21).
3. The intelligent early warning roadway-protecting machine vehicle as claimed in claim 2, wherein: the driving mechanism (3) traveles includes four spherical wheels (31), drive mechanism and second driving source, and spherical wheel (31) are connected through the output of drive mechanism with the second driving source, second driving source and main control unit (6) electric connection.
4. The intelligent early warning roadway-protecting machine vehicle as claimed in claim 3, wherein: the supporting mechanism (1) comprises a frame-type top beam (11), an oil cylinder (12) and a plurality of hydraulic struts (13); one end of the oil cylinder (12) is fixedly connected with the round steel plate (21), and the other end of the oil cylinder is fixedly connected with the frame-type top beam (11); the bottom end of the telescopic hydraulic prop (13) can be in contact with a bottom plate of the roadway (5), and a central through hole (23) for the hydraulic prop (13) to extend into is arranged in the base (22) in a penetrating mode.
5. The intelligent early warning roadway-protecting machine vehicle as claimed in claim 4, wherein: the number of the hydraulic supports (13) is three or four, and the frame-type top beam (11) is of a rectangular, circular or triangular grid structure.
6. The intelligent early warning roadway-protecting machine vehicle as claimed in any one of claims 1-5, wherein: and a parking chamber (52) for parking the machine vehicle is dug in the wall of the roadway (5).
7. The intelligent early warning roadway-protecting machine vehicle as claimed in any one of claims 1-5, wherein: the wireless transmission module is a wireless local area network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920992079.9U CN211543734U (en) | 2019-06-27 | 2019-06-27 | Intelligent early warning roadway protection machine vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920992079.9U CN211543734U (en) | 2019-06-27 | 2019-06-27 | Intelligent early warning roadway protection machine vehicle |
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| CN211543734U true CN211543734U (en) | 2020-09-22 |
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| CN201920992079.9U Active CN211543734U (en) | 2019-06-27 | 2019-06-27 | Intelligent early warning roadway protection machine vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110194232A (en) * | 2019-06-27 | 2019-09-03 | 河南理工大学 | A kind of intelligent early-warning shield lane robot vehicle |
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2019
- 2019-06-27 CN CN201920992079.9U patent/CN211543734U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110194232A (en) * | 2019-06-27 | 2019-09-03 | 河南理工大学 | A kind of intelligent early-warning shield lane robot vehicle |
| CN110194232B (en) * | 2019-06-27 | 2024-03-12 | 河南理工大学 | Intelligent early warning roadway protection machine vehicle |
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