CN213262099U - Side-dumping type pure electric unmanned mining transport vehicle - Google Patents
Side-dumping type pure electric unmanned mining transport vehicle Download PDFInfo
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- CN213262099U CN213262099U CN202021683456.XU CN202021683456U CN213262099U CN 213262099 U CN213262099 U CN 213262099U CN 202021683456 U CN202021683456 U CN 202021683456U CN 213262099 U CN213262099 U CN 213262099U
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Abstract
The utility model discloses a side-dumping pure electric unmanned mining transport vehicle, including the wide-body car, and set up the unmanned function module on the wide-body car, and set up the vehicle-mounted terminal on the wide-body car, and the dispatch system, monitored control system, long-range remote control system and GPS positioning system that are connected through communication system with the vehicle-mounted terminal, and the information management system who is connected with wide-body car, unmanned function module, vehicle-mounted terminal, communication system, dispatch system, monitored control system, long-range remote control system and GPS positioning system; the mining transport vehicle realizes intellectualization and unmanned operation, reduces operation cost and management difficulty, improves the service efficiency and other problems of the whole vehicle, and has high production efficiency, safety and controllability.
Description
Technical Field
The utility model belongs to the technical field of the automobile manufacturing, concretely relates to side dump formula electricelectric moves unmanned mining transport vechicle.
Background
At present, mining automobiles are being developed in large-scale, intelligent and unmanned manners. The mine transportation condition is severe, the number of mine car drivers is large, the wage cost is high, the labor force is insufficient, the safety of drivers and other factors are caused, and the research and development of unmanned mine cars are urgently needed to be promoted and applied as soon as possible. Therefore, the driver can be liberated from a severe working environment, casualties and occupational diseases are prevented from being damaged, driving errors of the driver are eliminated, the operation time is prolonged, and the vehicle utilization rate and the transportation efficiency are improved.
Research data show that under the condition of considering relevant factors, seven unmanned mine cars can replace the workload of at least nine same-model cars, the fuel oil cost is reduced by 6%, the tire wear and the vehicle loss are reduced by more than 7.5%, and if the labor cost is saved, the overall yield can be improved by 49%. Driverless transport has advantages in terms of safety and vehicle wear. Through planning the overall arrangement and eliminating the error of traveling, can improve mining area operation efficiency, avoid the emergence of accident, and can reduce driver's cost of labor to and the wearing and tearing and the consumption of vehicle itself. The unmanned mining wide-body vehicle has higher technological content and wider market prospect. The research and development of the unmanned mining automobile is invested as early as possible, the technical high point is seized, and the market share is contended. The dump truck which is required to be used in the strip mine does not need to carry out other operations on materials except loading and unloading, and the main work is to travel along a fixed route. This type of mine car is therefore more readily adaptable to unmanned technology. Unmanned driving and remote monitoring are carried out on the transport vehicles, 1 person simultaneously monitors the operation of a plurality of vehicles, operators 1/3-1/2 are reduced, few emergency treatment and maintenance personnel are reserved in a mining field, and high-efficiency and low-consumption operation is achieved through continuous learning in reasonable vehicle speed, standard load and vehicle operation processes.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing an intelligent, unmanned, reduce the operation cost and the management degree of difficulty, improve the all-new-type side dump formula electricelectric motor unmanned mining transport vechicle of the availability factor scheduling problem of whole car.
In order to solve the technical problem, the technical scheme of the utility model is that:
a side-dumping type pure electric unmanned mining transport vehicle comprises a wide vehicle body, an unmanned function module arranged on the wide vehicle body, a vehicle-mounted terminal arranged on the wide vehicle body, a dispatching system, a monitoring system, a remote control system and a GPS positioning system which are connected with the vehicle-mounted terminal through a communication system, and an information management system connected with the wide vehicle body, the unmanned function module, the vehicle-mounted terminal, the communication system, the dispatching system, the monitoring system, the remote control system and the GPS positioning system.
Preferably, the unmanned function module comprises a perception module, an information acquisition function module, a prediction module, an electronic map automatic updating module, a path planning module and a vehicle control module; the sensing module is a multi-sensor which comprises a laser radar, a magnetic track sensor, an electromagnetic radar, an inertial navigation system, a GPS (global positioning system) and a millimeter wave radar system.
Preferably, the communication system mainly comprises a 4G communication network covering the whole mining area, a CAN bus communication network between the vehicle-mounted intelligent terminal and the vehicle-mounted central controller, and a short-distance communication mode Zigbee between the equipment.
Preferably, the monitoring system is connected with the vehicle-mounted terminal through a 4G communication network, the dispatching system is connected with the equipment airborne terminal through the 4G communication network, and the remote control system is connected with the vehicle-mounted terminal through the 4G communication network.
Preferably, the GPS is responsible for acquiring the position information of the equipment, providing position parameters for path planning and tracking of the vehicle-mounted terminal intelligent navigation system, providing vehicle global positioning information for the monitoring system through a 4G or 5G communication network, and providing reference for a scheduling system to issue a scheduling instruction.
Preferably, the remote control system comprises 2 displays, 1 computer host and 2 handle remote control electric appliance cabinets.
Preferably, the vehicle-mounted terminal is responsible for acquiring and processing the ambient environment information of the equipment, executing scheduling or remote control instructions, forwarding specific control information to the central controller to control the execution mechanism, and acquiring the state parameters of the equipment.
Preferably, the information management system manages data generated by the entire system by automatically recording, measuring, counting, analyzing, and the like, the operations of the mining equipment.
Preferably, the wide-body vehicle comprises a cab, a radar, a power battery, a carriage, a frame, an axle, a motor, tires, a door lock cylinder, a lifting cylinder and the like.
The utility model discloses technical effect mainly embodies in following aspect: the utility model discloses a set up unmanned function module and vehicle mounted terminal on the wide-body car, and pass through communication system and dispatch system with vehicle mounted terminal, monitored control system, long-range remote control system and GPS positioning system are connected, simultaneously with information management system and wide-body car, unmanned function module, vehicle mounted terminal, communication system, dispatch system, monitored control system, long-range remote control system and GPS positioning system are connected, thereby mining vehicle's intellectuality and unmanned have been realized, the operation cost and the management degree of difficulty have been reduced, the input of navigating mate and operating personnel has been reduced, practice thrift labour and manufacturing cost, the availability factor scheduling problem of whole car has been improved, high-efficient low consumption operation has been realized, wide market prospect has.
Drawings
FIG. 1 is a schematic structural view of a wide body vehicle in the side dump type pure electric unmanned mining transport vehicle of the present invention;
FIG. 2 is a schematic structural view of the utility model of a side dump type pure electric unmanned mining transport vehicle during side dump of a wide body vehicle;
FIG. 3 is a flow chart of the monitoring system in the side dump type pure electric unmanned mining transport vehicle of the present invention;
FIG. 4 is a flow chart of a dispatching system in the side-dumping pure electric unmanned mining transport vehicle of the utility model;
FIG. 5 is a flow chart of a remote control system in the side dump type pure electric unmanned mining transport vehicle of the present invention;
FIG. 6 is a flow chart of a communication system in the side-dumping type pure electric unmanned mining transport vehicle of the present invention;
fig. 7 is the utility model discloses two accuse structural principle pictures of the automatically controlled parallel of mining equipment machinery in the pure electric unmanned mining transport vechicle of side dump formula.
Detailed Description
The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings 1-7, so as to make the technical solution of the present invention easier to understand and master.
A side-dumping type pure electric unmanned mining transport vehicle comprises a wide vehicle body, an unmanned function module arranged on the wide vehicle body, a vehicle-mounted terminal arranged on the wide vehicle body, a dispatching system, a monitoring system, a remote control system and a GPS positioning system which are connected with the vehicle-mounted terminal through a communication system, and an information management system connected with the wide vehicle body, the unmanned function module, the vehicle-mounted terminal, the communication system, the dispatching system, the monitoring system, the remote control system and the GPS positioning system.
As shown in fig. 1-2, the wide body vehicle comprises a cab 1, a radar 2, a power battery 3, a carriage 4, a frame, an axle 5, a motor 6, tires 7, a door lock cylinder 8, a lift cylinder 9 and the like. The total length of the whole vehicle is 10m, the length of a carriage is 6.5m, four 25T steering axles are used, a 215KW motor gearbox is directly connected with the axles, and rear double-axle driving or front axle and middle axle driving can be realized, and four axles can be driven simultaneously. The tire takes the form of a single tire. The power battery is arranged at the front position and the rear position, the unloading mode is a side unloading mode, the side plates are directly contacted with the ground to play a supporting role and prevent side overturning, the side door is opened and closed by adopting a hydraulic oil cylinder, the functional module is opened according to an unloading instruction sent after the side door reaches an unloading place, and the side door is closed after the side door is unloaded.
The unmanned function module comprises a perception module, an information acquisition function module, a prediction module, an electronic map automatic updating module, a path planning module and a vehicle control module.
(1) A perception module: the sensing module adopts a multi-sensor fusion technology to realize the identification of surrounding road conditions. The dump truck has the functions of environment sensing, path planning, autonomous transportation, remote monitoring and unloading, safe obstacle avoidance, running state monitoring and fault diagnosis, short-range information interaction with the electric shovel, automatic weighing, transportation and production process management and the like. The sensor includes: laser radar, magnetic track sensing, electromagnetic radar, inertial navigation systems, GPS positioning systems, millimeter wave radar systems, and the like. The device realizes accurate road perception through the magnetic track sensor, realizes the identification of obstacles through a laser radar and a millimeter wave radar, and realizes auxiliary perception through an electromagnetic radar, an inertial navigation system and a GPS positioning system. The magnetic track sensor realizes accurate perception of the mine road through information interaction between the magnetic track and the sensor. So that the device is not influenced by factors such as light, weather and the like. The requirement of continuous operation of the transport vehicle in the mining area is met.
(2) The information acquisition functional module: the sensor is additionally arranged on the equipment, so that information including mining area video information, vehicle-mounted sensor detection environment information, vehicle state parameter information, equipment operation parameters, equipment position, posture and the like is acquired.
(3) Prediction module, i.e. motion trajectory prediction: due to the lack of traffic rules and traffic signs in the mine, the prediction of unmanned driving in the mine is very small in information quantity, and the project mainly predicts obstacles and walking objects through the judgment of the laser radar and the millimeter wave radar on the surrounding environment. And the magnetic track sensor performs auxiliary prediction.
(4) The electronic map automatic updating module: the mining area state changes in real time, and the map is automatically updated by a laser radar on the equipment in an SLAM mode.
(5) A path planning module: and planning the path of the transport vehicle by using a grid method based on the sensing and predicting results, wherein the grid method divides the working space into regular and uniform grids containing binary information. The size and position of the grid are unchanged during the movement of the unmanned vehicle. The binary information respectively indicates whether obstacles exist at the grid, the grid without obstacles is called as a free grid, and otherwise, the grid is an obstacle grid. The size of the grid is generally adapted to the basic movement step of the drone vehicle, so that the drone vehicle movement translates from one free grid to the next, the path length traveled by the drone vehicle corresponding to the number of grids it climbs over. The grid method is intuitive and modeling is relatively easy. And the Dijkstra algorithm based on the dynamic constraint realizes the planning of the shortest path under the dynamic constraint.
(6) Vehicle control: vehicle control is the foothold of the entire project. The vehicle control algorithm is very important, as the working conditions of a mine operation field are more complicated and changeable, the transport vehicle is large in size and heavier in load, great challenge is brought to the control algorithm, and the project can realize high-precision control of large vehicles based on the digital PID and the Simi predictor. The technology can finish the operations of parking, stopping and track running accurately, stably and smoothly on a mine site, and can also finish the operations of automatic dumping, autonomous obstacle avoidance and the like.
As shown in fig. 3, a monitoring center in the monitoring system displays a monitoring picture of the whole mining area in real time; the electronic map of the monitoring center can monitor information such as the running and safety states of the mining equipment in real time, and display the running position, the state and the production progress of the mining equipment. The user can define the monitoring object range by self, can realize grouping and grading monitoring, and meets the requirements of the mine according to different stopes, different departments and different authority users.
As shown in fig. 4, after the scheduling system completes assignment of job tasks according to the production index of the current day, the scheduling system issues commands such as job location, job time, job frequency and the like of each device, and transmits the commands to the intelligent terminal of each device through the 4G network.
As shown in fig. 5, the operation platform of the remote control system includes 2 displays, 1 computer host and 2 handle remote control electrical cabinets. And the display respectively displays the running state parameters of the equipment, the angle of a driver and the video interface of the angle of the operating mechanism. The handle remote control electric appliance cabinet respectively controls the operations of starting, stopping, walking, operating and the like of the equipment, and the operation requirement of a driver in a cab is reproduced.
As shown in fig. 6, the communication system mainly includes a 4G communication network covering the whole mining area, a CAN bus communication network between the vehicle-mounted intelligent terminal and the vehicle-mounted central controller, and a short-distance communication mode Zigbee between devices.
The GPS positioning system is responsible for acquiring the position information of the equipment, providing position parameters for path planning and tracking of the vehicle-mounted terminal intelligent navigation system, providing vehicle global positioning information for the monitoring system through a 4G or 5G network, and providing reference for the dispatching system to issue a dispatching instruction.
As shown in the electrification modification of fig. 7, the vehicle-mounted terminal is responsible for collecting and processing the ambient environment information of the device, executing scheduling or remote control instructions, forwarding specific control information to the central controller to control the execution mechanism, and collecting device state parameters. The automatic open pit mining equipment comprises 3 types of equipment including a rotary drill rig, an electric shovel and a dump truck. The vehicle-mounted terminal of the dump truck has autonomous navigation and remote control operation functions, the rotary drill has remote control hole searching (intelligent equipment assistance) and automatic drilling functions, the electric shovel has the remote control function, and meanwhile 3 types of equipment keep the manned operation mode with higher priority.
The information management system carries out automatic recording, metering, statistics, analysis and the like on the operation of the mining equipment, and manages the data generated by the whole system. The electronic map is constructed and updated: a global map is established by adopting a GPS (global positioning system) in advance, and a local area is updated in real time by adopting an SLAM (SLAM) mode in the mine production process.
The safety mechanism of the side-dumping type pure electric unmanned mining transport vehicle is as follows: (1) and (4) obstacle avoidance is safe, all equipment detects the surrounding environment according to radar ranging information, the driver is prompted or the equipment is prompted to avoid the obstacles through an autonomous program after the equipment touches the obstacles, and the equipment is controlled to brake after the distance between the equipment and the obstacles exceeds a set safe limit and the driver is prompted to process the distance. (2) Communication safety, a communication detection mechanism is arranged between the monitoring dispatching room/remote control platform and the vehicle-mounted terminal and between the vehicle-mounted terminal and the central controller, the communication state between the devices is monitored in real time, and the device action mechanism is self-locked when abnormality occurs and prompts a driver to process. (3) And the three-level control mode adopts the three-level control mode with the priority level from high to low for manned operation, remote control and autonomous driving operation, so that an operator can take over vehicle control and troubleshoot abnormal conditions when the system is abnormal.
The utility model discloses technical effect mainly embodies in following aspect: the utility model discloses a set up unmanned function module and vehicle mounted terminal on the wide-body car, and pass through communication system and dispatch system with vehicle mounted terminal, monitored control system, long-range remote control system and GPS positioning system are connected, simultaneously with information management system and wide-body car, unmanned function module, vehicle mounted terminal, communication system, dispatch system, monitored control system, long-range remote control system and GPS positioning system are connected, thereby mining vehicle's intellectuality and unmanned have been realized, the operation cost and the management degree of difficulty have been reduced, the input of navigating mate and operating personnel has been reduced, practice thrift labour and manufacturing cost, the availability factor scheduling problem of whole car has been improved, high-efficient low consumption operation has been realized, wide market prospect has.
Of course, the above is only a typical example of the present invention, and besides, the present invention can also have other various specific embodiments, and all technical solutions adopting equivalent replacement or equivalent transformation are all within the scope of the present invention as claimed.
Claims (9)
1. The utility model provides a side dump formula electricelectric moves unmanned mining transport vechicle which characterized in that: the system comprises a wide-body vehicle, an unmanned function module arranged on the wide-body vehicle, a vehicle-mounted terminal arranged on the wide-body vehicle, a dispatching system, a monitoring system, a remote control system and a GPS (global positioning system) positioning system which are connected with the vehicle-mounted terminal through a communication system, and an information management system connected with the wide-body vehicle, the unmanned function module, the vehicle-mounted terminal, the communication system, the dispatching system, the monitoring system, the remote control system and the GPS positioning system.
2. The side-dumping pure electric unmanned mining transport vehicle of claim 1, characterized in that: the unmanned function module comprises a sensing module, an information acquisition function module, a prediction module, an electronic map automatic updating module, a path planning module and a vehicle control module; the sensing module is a multi-sensor which comprises a laser radar, a magnetic track sensor, an electromagnetic radar, an inertial navigation system, a GPS (global positioning system) and a millimeter wave radar system.
3. The side-dumping pure electric unmanned mining transport vehicle of claim 1, characterized in that: the communication system mainly comprises a 4G communication network covering the whole mining area, a CAN bus communication network between the vehicle-mounted intelligent terminal and the vehicle-mounted central controller, and a short-distance communication mode Zigbee between equipment.
4. The side-dumping pure electric unmanned mining transport vehicle of claim 1, characterized in that: the monitoring system is connected with the vehicle-mounted terminal through a 4G communication network, the dispatching system is connected with the equipment airborne terminal through the 4G communication network, and the remote control system is connected with the vehicle-mounted terminal through the 4G communication network.
5. The side-dumping pure electric unmanned mining transport vehicle of claim 1, characterized in that: the GPS is responsible for collecting the position information of the equipment, providing position parameters for path planning and tracking of the vehicle-mounted terminal intelligent navigation system, providing vehicle global positioning information for the monitoring system through a 4G or 5G communication network, and providing reference for the dispatching system to issue a dispatching instruction.
6. The side-dumping pure electric unmanned mining transport vehicle of claim 1, characterized in that: the remote control system comprises 2 displays, 1 computer host and 2 handle remote control electric appliance cabinets.
7. The side-dumping pure electric unmanned mining transport vehicle of claim 1, characterized in that: the vehicle-mounted terminal is responsible for acquiring and processing the ambient environment information of the equipment, executing scheduling or remote control instructions, forwarding specific control information to the central controller to control the executing mechanism and acquiring the state parameters of the equipment.
8. The side-dumping pure electric unmanned mining transport vehicle of claim 1, characterized in that: the information management system carries out automatic recording, metering, statistics, analysis and the like on the operation of the mining equipment, and manages the data generated by the whole system.
9. The side-dumping pure electric unmanned mining transport vehicle of claim 1, characterized in that: the wide-body vehicle comprises a cab, a radar, a power battery, a carriage, a frame, an axle, a motor, tires, a door lock oil cylinder, a lifting oil cylinder and the like.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115288620A (en) * | 2022-07-07 | 2022-11-04 | 湖南翰文云机电设备有限公司 | Rotary drilling rig capable of carrying out attitude regulation and control based on remote intelligent remote control |
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2020
- 2020-08-13 CN CN202021683456.XU patent/CN213262099U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115288620A (en) * | 2022-07-07 | 2022-11-04 | 湖南翰文云机电设备有限公司 | Rotary drilling rig capable of carrying out attitude regulation and control based on remote intelligent remote control |
| CN115288620B (en) * | 2022-07-07 | 2024-04-09 | 湖南翰文云机电设备有限公司 | Cone drill based on remote intelligent remote control can carry out gesture regulation and control |
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