CN217048593U - Electric wheel type mining dump truck and unmanned system thereof - Google Patents

Abstract

The utility model discloses a mining dump truck of electronic wheel and unmanned system thereof, the unmanned system of mining dump truck of electronic wheel includes unmanned hydraulic braking module, and unmanned hydraulic braking module includes: the brake system comprises a front brake energy accumulator, a rear brake energy accumulator, a pedal brake valve, a front relay valve, a rear relay valve, an unmanned front brake valve bank and an unmanned rear brake valve bank. The unmanned system realizes unmanned braking and manual driving braking, and realizes switching between the manual driving braking and the unmanned braking; the original vehicle is changed slightly, the modification cost is reduced, and the popularization and the use are convenient. The unmanned system of the electric wheel type mining dump truck also realizes the control and fault acquisition of steering, hopper, loading brake, engine starting flameout, gear switching, engine acceleration and deceleration, horn, car lamp, warning lamp, AC drive stop and override in the unmanned mode.

Description

Electric wheel type mining dump truck and unmanned system thereof

Technical Field

The utility model relates to a mining dump truck technical field, more specifically say, relate to an electronic wheeled mining dump truck and unmanned driving system thereof.

Background

The mining dump truck is widely applied to the earth and stone transportation in the industries of metallurgy, nonferrous metal, chemical industry, coal, building materials, water and electricity and the like, and is a main transportation tool of the current large-scale open-pit mine. In many mining enterprises, huge mining machinery works continuously for 24 hours every day, operators must endure severe working environments such as noise, floating dust, jolt and the like, high temperature, high humidity, noise, vibration and the like in the working environments cause great harm to the health of mining equipment operators, young people in the new century do not want to do the work, and enterprises have the problem of difficult job recruitment. Under such a large environment, the unmanned mine transportation technology is gradually emerging and becomes a key technology for automation of mine engineering equipment.

Among mining dump trucks, an electric wheel type mining dump truck is one of the commonly used types, such as a pint 830E/930E electric wheel type mining dump truck. At present, how to transform an electric wheel type mining dump truck to realize switching between manual driving braking and unmanned driving braking, and meet the requirements of manual driving and unmanned driving, and the technical personnel in the field need to solve the problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an unmanned system of electronic wheeled mining dump truck to the realization switches between manual driving braking and unmanned braking, satisfies the demand that can manual driving also can unmanned driving. Another object of the utility model is to provide an electronic wheeled mining dump truck of including above-mentioned unmanned system.

In order to achieve the above object, the present invention provides the following technical solutions:

the unmanned system of the electric wheel type mining dump truck comprises an unmanned hydraulic braking module, wherein the unmanned hydraulic braking module comprises: the brake system comprises a front brake energy accumulator, a rear brake energy accumulator, a pedal brake valve, a front relay valve, a rear relay valve, an unmanned front brake valve bank and an unmanned rear brake valve bank;

the first valve inlet port of the pedal brake valve and the first valve inlet port of the front relay valve are communicated with the valve outlet port of the front brake energy accumulator, and the second valve inlet port of the pedal brake valve and the first valve inlet port of the rear relay valve are communicated with the valve outlet port of the rear brake energy accumulator;

the unmanned front brake valve group is provided with a front brake first valve port, a front brake second valve port and a front brake third valve port, the front brake first valve port is communicated with an oil outlet of the front brake energy accumulator, the front brake second valve port is communicated with a front brake outlet valve port of the pedal brake valve, and the front brake third valve port is communicated with a second inlet valve port of the front relay valve;

the unmanned rear brake valve group is provided with a rear brake first valve port, a rear brake second valve port and a rear brake third valve port, the rear brake first valve port is communicated with an oil outlet of the rear brake energy accumulator, the rear brake second valve port is communicated with a rear brake outlet valve port of the pedal brake valve, and the rear brake third valve port is communicated with a second inlet valve port of the rear brake valve;

if the electric wheel type mining dump truck adopts unmanned braking, the front braking first valve port is communicated with the front braking third valve port, and the rear braking first valve port is communicated with the rear braking third valve port;

if the electric wheel type mining dump truck adopts manual driving braking, the front braking second valve port is communicated with the front braking third valve port, and the rear braking second valve port is communicated with the rear braking third valve port.

Optionally, the pilotless front brake valve assembly comprises: the brake valve group comprises a front proportional valve, a front switch valve, a front shuttle valve and a front pressure sensor for detecting the pressure in the front proportional valve, wherein the unmanned rear brake valve group comprises: the rear proportional valve, the rear switch valve, the rear shuttle valve and a rear pressure sensor for detecting the pressure in the rear proportional valve;

the first valve port of the front proportional valve is a front brake first valve port, the second valve port of the front proportional valve is communicated with the first valve port of the front switch valve, the second valve port of the front switch valve is communicated with the first valve port of the front shuttle valve, the second valve port of the front shuttle valve is a front brake second valve port, and the third valve port of the front shuttle valve is a front brake third valve port;

the first valve port of the rear proportional valve is a rear brake first valve port, the second valve port of the rear proportional valve is communicated with the first valve port of the rear switch valve, the second valve port of the rear switch valve is communicated with the first valve port of the rear shuttle valve, the second valve port of the rear shuttle valve is a rear brake second valve port, and the third valve port of the rear shuttle valve is a rear brake third valve port;

if the electric wheel type mining dump truck adopts unmanned braking, the first valve port of the front shuttle valve is communicated with the third valve port of the front shuttle valve, and the first valve port of the rear shuttle valve is communicated with the third valve port of the rear shuttle valve;

if the electric wheel type mining dump truck adopts manual driving braking, the second valve port of the front shuttle valve is communicated with the third valve port of the front shuttle valve, and the second valve port of the rear shuttle valve is communicated with the third valve port of the rear shuttle valve;

if the electric wheel type mining dump truck adopts unmanned braking and manual braking, one of the first valve port of the front shuttle valve and the second valve port of the front shuttle valve with higher pressure is communicated with the third valve port of the front shuttle valve, and one of the first valve port of the rear shuttle valve and the second valve port of the rear shuttle valve with higher pressure is communicated with the third valve port of the rear shuttle valve.

Optionally, the unmanned system of the electric wheeled mining dump truck further comprises: the host computer, the electronic control unit that communicates with said host computer through the network cable; the electronic control unit controls the unmanned front brake valve bank and the unmanned rear brake valve bank to be selectable according to the instruction of the host, the unmanned system of the electric wheel type mining dump truck further comprises an unmanned hydraulic steering module, and the unmanned hydraulic steering module comprises: a diverter, a flow amplifier and a rotation angle sensor;

the steering gear is an electric control hydraulic steering gear, and the corner sensor is used for detecting the corner of the steering oil cylinder;

the steering gear inputs hydraulic oil to the flow amplifier through a steering tube group, and the steering tube group comprises: the steering shuttle valve, the steering one-way valve, the R pipeline, the L pipeline, the T pipeline, the LS pipeline, the P pipeline and the auxiliary pipeline;

the R valve port of the steering gear is communicated with the R valve port of the flow amplifier through a steering R pipeline, the L valve port of the steering gear is communicated with the L valve port of the flow amplifier through an L pipeline, the T valve port of the steering gear is communicated with the T valve port of the flow amplifier through a T pipeline, the LS valve port of the steering gear is communicated with the LS valve port of the flow amplifier through an LS pipeline, and the P valve port of the steering gear is communicated with the P valve port of the flow amplifier through a P pipeline;

the first valve port of the steering shuttle valve is communicated with the R pipeline, the second valve port of the steering shuttle valve is communicated with the L pipeline, the third valve port of the steering shuttle valve is communicated with the first valve port of the steering one-way valve, the second valve port of the steering one-way valve is communicated with the LS pipeline, and the steering one-way valve can only be conducted from the steering shuttle valve to the LS pipeline;

the P pipeline and the LS pipeline are communicated through an auxiliary pipeline, and the communication position of the auxiliary pipeline on the LS pipeline is located between the steering one-way valve and the flow amplifier.

Optionally, the unmanned system of the electric wheel type mining dump truck further comprises a host and a steering controller which are in communication connection through a network cable, and the steering controller controls the steering device to output hydraulic oil with a set proportion to the flow amplifier according to an instruction of the host.

Optionally, the unmanned system of the electric wheel type mining dump truck further comprises an unmanned bucket hydraulic control module, and the unmanned bucket hydraulic control module comprises: a lifting valve, a lifting pilot valve and an unmanned car hopper control valve group;

wherein, unmanned car hopper valve unit includes: the automatic control system comprises a first switching valve, a hopper valve group, a second switching valve a and a second switching valve b;

the first valve port of the first switching valve is used for feeding oil into the pump group, the second valve port of the first switching valve is communicated with the first valve port of the lifting pilot valve, and the third valve port of the first switching valve is communicated with the first valve port of the hopper valve group;

the first valve port of the second switching valve a is communicated with the first valve port of the lifting valve, the second valve port of the second switching valve a is communicated with the second valve port of the lifting pilot valve, and the third valve port of the second switching valve a is communicated with the second valve port of the hopper valve group;

a first valve port of the second switching valve b is communicated with a second valve port of a lifting valve of the lifting pilot valve, a second valve port of the second switching valve b is communicated with a third valve port of the lifting pilot valve, and a third valve port of the second switching valve b is communicated with a third valve port of the car hopper valve group;

if the electric wheel type mining dump truck is in a manual driving truck hopper control mode, a first valve port of the first switching valve is communicated with a second valve port of the first switching valve, a first valve port of the second switching valve a is communicated with a second valve port of the second switching valve a, and a first valve port of the second switching valve b is communicated with a second valve port of the second switching valve b;

if the electric wheel type mining dump truck is in the unmanned truck hopper control mode, the first valve port of the first switching valve is communicated with the third valve port of the first switching valve, the first valve port of the second switching valve a is communicated with the third valve port of the second switching valve a, and the first valve port of the second switching valve b is communicated with the third valve port of the second switching valve b;

if the electric wheel type mining dump truck is in an unmanned truck hopper control mode, when the truck hopper valve group is in a first state, the first valve port of the second switching valve a outputs hydraulic oil to enable the truck hopper to be in a power descending state, when the truck hopper valve group is in a second state, the first valve port of the second switching valve b outputs hydraulic oil to enable the truck hopper to be in a power lifting state, when the truck hopper valve group is in a third state, the first valve port of the second switching valve a is communicated with the first valve port of the second switching valve b to enable the truck hopper to be in a floating state, and when the truck hopper valve group is in a fourth state, the oil return valve port of the truck hopper valve group outputs hydraulic oil to enable the truck hopper to be in a holding state.

Optionally, the hopper valve set of the unmanned system of the electric wheel type mining dump truck includes: a third switching valve, a fourth switching valve, a fifth switching valve, and a sixth switching valve;

wherein the third switching valve has a first port, a second port, a third port and a fourth port; if the third switching valve is in the first state, the first valve port, the second valve port, the third valve port and the fourth valve port of the third switching valve are all disconnected, if the third switching valve is in the second state, the first valve port of the third switching valve is communicated with the third valve port of the third switching valve, and the fourth valve port of the third switching valve is communicated with the second valve port of the third switching valve;

the sixth switching valve is provided with a first valve port, a second valve port, a third valve port and a fourth valve port; if the sixth switching valve is in the first state, the first valve port, the second valve port, the third valve port and the fourth valve port of the sixth switching valve are all disconnected, and if the sixth switching valve is in the second state, the first valve port of the sixth switching valve is communicated with the fourth valve port of the sixth switching valve, and the third valve port of the sixth switching valve is communicated with the second valve port of the sixth switching valve;

the fourth switching valve is provided with a first valve port and a second valve port, if the fourth switching valve is in a first state, the first valve port and the second valve port of the fourth switching valve are communicated, and if the fourth switching valve is in a second state, the fourth switching valve is disconnected;

the fifth switching valve is provided with a first valve port and a second valve port, if the fifth switching valve is in a first state, the fifth switching valve is disconnected, and if the fifth switching valve is in a second state, the first valve port and the second valve port of the fifth switching valve are connected;

the first valve port of the sixth switching valve is communicated with the first pipeline through a second pipeline;

a second valve port of the sixth switching valve is communicated with an oil return pipeline through a third pipeline, a second valve port of the third switching valve is communicated with the third pipeline through a fourth pipeline, the fourth switching valve is connected in series with a fifth pipeline, one end of the fifth pipeline is communicated with the first pipeline, and the other end of the fifth pipeline is communicated with the third pipeline; on the first pipeline, the fifth pipeline is positioned between the third port of the first switching valve and the second pipeline; on the third pipeline, the fifth pipeline is positioned between the fourth pipeline and the oil return pipeline;

the third port of the sixth switching valve is communicated with the third port of the second switching valve b through a sixth pipeline, and the fourth port of the sixth switching valve is communicated with the third port of the second switching valve a through a seventh pipeline;

a second port of the fifth switching valve is communicated with a third port of the third switching valve through an eighth pipeline, a middle part of the eighth pipeline is communicated with the sixth pipeline, a first port of the fifth switching valve is communicated with the seventh pipeline through a ninth pipeline, a fourth port of the third switching valve is communicated with the sixth pipeline through a tenth pipeline, and on the seventh pipeline, the fourth port of the sixth switching valve, the ninth pipeline, the tenth pipeline and a third port of the second switching valve a are distributed in sequence.

Optionally, the unmanned system of the electric wheeled mining dump truck further comprises: the host computer is an electronic control unit which is in communication connection with the host computer through a network cable; the electronic control unit controls the unmanned hopper control valve group according to the instruction of the host.

Optionally, the unmanned system of the electric wheeled mining dump truck further includes an unmanned wheel brake locking module, and the unmanned wheel brake locking module includes: the brake locking electromagnetic valve, the brake locking switch, the first manual automatic switcher, the first loading brake relay, the second manual automatic switcher, the second loading brake relay, the first lead, the second lead, the third lead and the fourth lead;

one end of the first lead is electrically connected with the brake locking electromagnetic valve, and the other end of the first lead is used for being electrically connected with the electric cabinet; one end of the second wire is used for being in communication connection with the auxiliary box control module, and the other end of the second wire is used for being in communication connection with the electric control box; the brake locking switch is connected in series with the first conductor through a first input end and a first output end of the brake locking switch, and the brake locking switch is connected in series with the second conductor through a second input end and a second output end of the brake locking switch;

one end of the third wire is electrically connected with the brake locking electromagnetic valve, and the other end of the third wire is used for being electrically connected with the electric cabinet; one end of the fourth wire is used for being in communication connection with the auxiliary box control module, and the other end of the fourth wire is used for being in communication connection with the electric cabinet; the first loading brake relay is connected in series with the third conductor, and the second loading brake relay is connected in series with the fourth conductor;

the first manual automatic switcher switches the first wire and the third wire to be connected between the electric cabinet and the brake locking solenoid valve in series, and the second manual automatic switcher switches the second wire and the fourth wire to be connected between the auxiliary cabinet control module and the electric cabinet in series;

if the electric wheel type mining dump truck is manually braked and locked, the first manual automatic switch is switched to a state that the first lead is connected between the electric cabinet 100 and the brake locking electromagnetic valve in series, and the second manual automatic switch is switched to a state that the second lead is connected between the auxiliary cabinet control module and the electric cabinet in series;

if the electric wheel type mining dump truck is locked by unmanned braking, the first manual automatic switch is switched to a state that the third wire is connected between the electric cabinet and the brake locking electromagnetic valve in series, and the second manual automatic switch is switched to a state that the fourth wire is connected between the auxiliary cabinet control module and the electric cabinet in series;

the first loading brake relay and the second loading brake relay are in the same state.

Optionally, the first manual automatic switch and the second manual automatic switch are both manual automatic switch relays;

the input interface of the first manual-automatic switch is used for being electrically connected with the electric cabinet, the first output interface of the first manual-automatic switch is electrically connected with the first wire, and the second output interface of the first manual-automatic switch is electrically connected with the third wire;

the third lead is electrically connected with the first lead, and the connection position of the third lead and the first lead is positioned between the brake locking electromagnetic valve and the first output end of the brake locking switch;

the input interface of the second hand-operated automatic switcher is used for being electrically connected with the auxiliary box control module, the first output interface of the second hand-operated automatic switcher is electrically connected with the second lead, and the second output interface of the second hand-operated automatic switcher is electrically connected with the fourth lead;

the fourth conducting wire is electrically connected with the second conducting wire, and the connecting position of the fourth conducting wire and the second conducting wire is located between the electric cabinet and the second output end of the brake locking switch.

Optionally, the unmanned system of the electric wheeled mining dump truck further comprises: the host computer, the electronic control unit that communicates with said host computer through the network cable;

the electronic control unit controls the first manual automatic switch, the second manual automatic switch, the first loading brake relay and the second loading brake relay according to the instruction of the host.

Optionally, the unmanned system of the electric wheeled mining dump truck further comprises an unmanned engine control module, the unmanned engine control module comprising: the device comprises a power supply, a key switch, a power supply relay, an electric cabinet, an ignition relay, a flameout relay, an ignition circuit, a manual-automatic switching unit and an electronic control unit;

the key switch is powered by the power supply through a first power supply lead, and the flameout relay is connected to the first power supply lead in series and controls the on-off of the first power supply lead;

the power supply supplies power to the electric cabinet through a second power supply lead, and the power supply relay is connected in series to the second power supply lead and controls the on-off of the second power supply lead;

the communication interface of the power supply relay is in communication connection with a power supply gear of the key switch, and the power supply relay conducts the second power supply lead when the key switch is in the power supply gear;

the electronic control unit is in communication connection with a power supply gear of the key switch and acquires whether the key switch is in the power supply gear;

the manual-automatic switching unit is provided with an unmanned driving gear and a manual driving gear, and the electronic control unit is electrically connected with the manual-automatic switching unit and acquires the gear of the manual-automatic switching unit;

the communication interface of the ignition relay and the communication interface of the flameout relay are both in communication connection with the electronic control unit;

the ignition relay is connected in series with an automatic ignition circuit, one end of the automatic ignition circuit is electrically connected with the ignition circuit, the other end of the automatic ignition circuit is electrically connected with a power supply gear of the key switch, and the ignition circuit is electrically connected with an ignition gear of the key switch;

if the manual-automatic switching unit is in an unmanned driving gear and the key switch is in a power supply gear, the electronic control unit controls the ignition relay to conduct the automatic ignition circuit.

Optionally, the unmanned engine control module further comprises an unmanned system power supply for supplying power to the unmanned system power supply and the electronic control unit;

the electronic control unit is in communication connection with the host through a network cable, and controls the on-off of the ignition relay and the flameout relay according to the instruction of the host;

and/or the manual-automatic switching unit comprises at least one mode selection switch and/or at least one mode selection button, each mode selection switch is provided with an unmanned driving gear and a manual driving gear, and each mode selection button is provided with an unmanned driving gear and a manual driving gear.

Optionally, the unmanned system of the electric wheel type mining dump truck further comprises an unmanned gear switching module, and the unmanned gear switching module comprises: the direction selection switch, the direction selection relay, the electric control box and the electronic control unit are arranged on the electric control box;

the direction selection switch is provided with a parking communication interface, a reversing communication interface, a neutral communication interface and an advancing communication interface, and the electronic control unit is provided with an automatic parking communication interface, an automatic reversing communication interface, an automatic neutral communication interface and an automatic advancing communication interface;

the direction selection relay is provided with a first neutral position input interface, a second neutral position input interface, a first parking input interface, a second parking input interface, a first reversing input interface, a second reversing input interface, a first advancing input interface, a second advancing input interface, a first output interface, a second output interface, a third output interface, a fourth output interface and a switching input interface;

the neutral position communication interface is in communication connection with the first neutral position input interface, the parking communication interface is in communication connection with the first parking input interface, the reverse communication interface is in communication connection with the first reverse input interface, and the forward communication interface is in communication connection with the first forward input interface;

the automatic neutral position communication interface is in communication connection with the second neutral position input interface, the automatic parking communication interface is in communication connection with the second parking input interface, the automatic reverse communication interface is in communication connection with the second reverse input interface, and the automatic forward communication interface is in communication connection with the second forward input interface; if the direction selection relay is in a first state, the first output interface is in communication connection with a first neutral input interface, the second output interface is in communication connection with a first parking input interface, the third output interface is in communication connection with a first reverse input interface, and the fourth output interface is in communication connection with a first forward input interface;

if the direction selection relay is in a second state, the first output interface is in communication connection with the second neutral input interface, the second output interface is in communication connection with the second parking input interface, the third output interface is in communication connection with the second reverse input interface, and the fourth output interface is in communication connection with the second forward input interface;

the electronic control unit is in communication connection with the switching input interface to control the state of the direction selection relay;

the electronic control unit is in communication connection with the direction selection switch to acquire the state of the direction selection switch, and the electronic control unit is in signal connection with the electric cabinet to acquire gear signals sent by the electric cabinet.

Optionally, the unmanned system of the electric wheel type mining dump truck further comprises a host, and the electronic control unit is in communication connection with the host through a network cable;

if the direction selection switch is in a parking gear, the electronic control unit inputs a gear signal to the direction selection relay according to an instruction of the host; and if the direction selection switch is not in the parking gear, the electronic control unit inputs a gear signal to the direction selection relay according to the gear of the direction selection switch.

Optionally, the unmanned system of the electric wheeled mining dump truck further comprises an unmanned engine speed control module, and the unmanned engine speed control module comprises: the system comprises an accelerator pedal, a brake pedal, a switching relay, an electronic control unit and an electric cabinet;

the switching relay is provided with a communication interface, a first acceleration input interface, a second acceleration input interface, a first deceleration input interface, a second deceleration input interface, an acceleration output interface and a deceleration output interface;

the first acceleration input interface is in communication connection with the accelerator pedal, and the first deceleration input interface is in communication connection with the brake pedal; the second acceleration input interface and the second deceleration input interface are both in communication connection with the electronic control unit; the acceleration output interface and the deceleration output interface are both in communication connection with the electric cabinet;

if the switching relay is in a first state, the first acceleration input interface is electrically connected with the acceleration output interface, and the first deceleration input interface is electrically connected with the deceleration output interface; if the switching relay is in a second state, the second acceleration input interface is electrically connected with the acceleration output interface, and the second deceleration input interface is electrically connected with the deceleration output interface; the electronic control unit is connected with the communication interface of the switching relay to control the state of the switching relay.

Optionally, the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit is in communication connection with the host through a network cable, and the electronic control unit sends a signal to the electric cabinet according to an instruction of the host; the electronic control unit is in communication connection with the accelerator pedal to acquire the state of the accelerator pedal and feed back the state to the host, and the electronic control unit is in communication connection with the brake pedal to acquire the state of the brake pedal and feed back the state to the host;

and/or, the output end of the brake pedal is in communication connection with the first deceleration input interface through a deceleration line, the electronic control unit is in communication connection with the deceleration line through a voltage dividing line, and the voltage dividing line is connected with a voltage dividing resistor in series.

Optionally, the unmanned system of the electric wheeled mining dump truck further comprises an unmanned horn control module, and the unmanned horn control module comprises: the horn relay comprises a horn button, a first horn relay, a second horn relay and an electronic control unit;

the first horn relay and the second horn relay are arranged in parallel, and a branch where the first horn relay is located and a branch where the second horn relay is located are both connected with the horn in series;

the horn button is connected with a communication interface of the first horn relay to control the on-off of the first horn relay, and the electronic control unit is connected with a communication interface of the second horn relay to control the on-off of the second horn relay.

Optionally, the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit is in communication connection with the host through a network cable, and the electronic control unit controls the on-off of the second horn relay according to an instruction of the host.

Optionally, the unmanned system of the electric wheel type mining dump truck further includes an unmanned vehicle lamp control module, and the unmanned vehicle lamp control module includes: the system comprises a dipped headlight relay, a high beam relay, a near and high beam change-over switch, a headlight switch, a turn light signal switch and an electronic control unit; the communication interface of the headlight switch and the dipped headlight relay is connected to control the on-off of the dipped headlight relay, the dipped headlight relay is connected in series on a dipped headlight circuit, if the dipped headlight relay is switched on, the dipped headlight is switched on, and if the dipped headlight relay is switched off, the dipped headlight is switched off;

the headlight switch is connected with a communication interface of the high beam relay through the near and high beam changeover switch to control the on-off of the high beam relay, the high beam relay is connected in series on a high beam circuit, if the high beam relay is switched on, the high beam is switched on, and if the high beam relay is switched off, the high beam is switched off;

the turn light signal switch is used for controlling the opening and closing of the left turn light, the left contour light, the right turn light and the right contour light;

electronic control unit with the communication interface connection of passing light relay is in order to control passing light relay's break-make, electronic control unit with left indicator connection is in order to control left indicator's switching, electronic control unit with left side contour light is connected in order to control left side contour light's switching, electronic control unit with right indicator connection is in order to control right indicator's switching, electronic control unit with right side contour light is connected in order to control right side contour light's switching.

Optionally, the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit is in communication connection with the host through a network cable, the electronic control unit controls the on-off of the dipped headlight relay and the on-off of the high beam relay according to an instruction of the host, the electronic control unit controls the on-off of the left turn light and the left contour light according to an instruction of the host, and the electronic control unit controls the on-off of the right turn light and the right contour light according to an instruction of the host.

Optionally, the unmanned system of electronic wheeled mining dump truck still includes unmanned warning light control module, unmanned warning light control module includes: the warning lamp comprises three warning lamp groups, a warning lamp relay and an electronic control unit;

each warning lamp group comprises at least one warning lamp, the warning lamp of one warning lamp group is a red lamp, the warning lamp of the other warning lamp group is a yellow lamp, the warning lamp of the other warning lamp group is a blue lamp, and the warning lamp relays correspond to the warning lamp groups one to one;

the warning lamp relay is connected in series between the warning lamp group and the electronic control unit corresponding to the warning lamp relay to control the on-off of each lamp in the warning lamp group, and the electronic control unit is connected with a communication interface of the warning lamp relay to control the on-off of the warning lamp relay;

if the electric wheel type mining dump truck is in the unmanned mode, the blue light flashes; if the electric wheel type mining dump truck is in a manual driving mode, the yellow light flashes; and if the electric wheel type mining dump truck is in a failure mode, the red light is on.

Optionally, the unmanned system of the electric wheel type mining dump truck further comprises a host, the host is in communication connection with the electronic control unit through a network cable, and the electronic control unit controls the on-off of the corresponding warning lamp relay according to an instruction sent by the host and sends a signal to the corresponding warning lamp relay to control the corresponding warning lamp set.

Optionally, the unmanned system of the electric wheeled mining dump truck further comprises: an AC drive stop switch, an override switch, an electric cabinet, an AC drive stop relay, an override relay, and an electronic control unit;

the AC drive stop relay and the AC drive stop switch are arranged in parallel, a branch where the AC drive stop relay is located and a branch where the AC drive stop switch is located are both in communication connection with the electric cabinet, and the electronic control unit is connected with a communication interface of the AC drive stop relay to control the on-off of the AC drive stop relay;

the override relay and the override switch are arranged in parallel, a branch where the override relay is located and a branch where the override switch is located are both in communication connection with the electric cabinet, and the electronic control unit is connected with a communication interface of the override relay to control the on-off of the override relay.

Optionally, the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit is in communication connection with the host through a network cable, and the electronic control unit controls the on-off of the AC driving stop relay and the on-off of the override relay according to an instruction of the host.

Unmanned system based on the electronic wheeled mining dump truck that the aforesaid provided, the utility model also provides an electronic wheeled mining dump truck, this electronic wheeled mining dump truck includes above-mentioned any unmanned system of electronic wheeled mining dump truck.

Optionally, the electric wheeled mining dump truck is a pinus electric wheeled mining dump truck, and the pinus electric wheeled mining dump truck is a pinus 830E electric wheeled mining dump truck or a pinus 930E electric wheeled mining dump truck.

The utility model provides an among the unmanned system of electronic wheeled mining dump truck, among the unmanned system of above-mentioned electronic wheeled mining dump truck, through addding unmanned front brake valves and unmanned back brake valves, through the cooperation of unmanned front brake valves, unmanned back brake valves, front brake energy storage ware, back brake energy storage ware, footboard brake valve, preceding relay valve, follow-on valve, can realize unmanned braking, also can realize the manual driving braking; by switching the states of the front unmanned brake valve bank and the rear unmanned brake valve bank, the switching between the manual driving brake and the unmanned brake is realized, and the requirements of both manual driving and unmanned driving are met; moreover, the front unmanned brake valve bank and the rear unmanned brake valve bank are added, so that the original vehicle is slightly changed, the transformation cost is reduced, and the popularization and the use are convenient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic diagram of hydraulic braking in an unmanned system of an electric wheel type mining dump truck provided by an embodiment of the invention;

fig. 2 is a schematic block diagram of the manual driving brake in the unmanned system of the electric wheel type mining dump truck provided by the embodiment of the present invention;

fig. 3 is a schematic block diagram of the unmanned braking in the unmanned system of the electric wheeled mining dump truck according to the embodiment of the present invention;

fig. 4 is a schematic diagram of hydraulic steering in the unmanned system of the electric wheeled mining dump truck according to the embodiment of the present invention;

fig. 5 is a schematic block diagram of bucket control in the unmanned system of the electric wheeled mining dump truck according to the embodiment of the present invention;

fig. 6 is a schematic block diagram of a manually controlled car hopper in an unmanned system of an electric wheeled mining dump truck according to an embodiment of the present invention;

fig. 7 is a schematic view of a bucket control valve in the unmanned system of the electric wheeled mining dump truck according to the embodiment of the present invention;

fig. 8 is a schematic diagram of a braking and locking module for an unmanned wheel in an unmanned system of an electric wheeled mining dump truck according to an embodiment of the present invention;

fig. 9 is a schematic diagram of an unmanned engine control module in an unmanned system of an electric wheeled mining dump truck according to an embodiment of the present invention;

fig. 10 is a schematic diagram of an unmanned gear shifting module in an unmanned system of an electric wheeled mining dump truck according to an embodiment of the present invention;

fig. 11 is a schematic diagram of an unmanned engine speed control module in an unmanned system of an electric wheeled mining dump truck according to an embodiment of the present invention;

fig. 12 is a schematic diagram of an unmanned horn control module in the unmanned system of the electric wheel type mining dump truck according to the embodiment of the present invention;

fig. 13 is a schematic diagram of a control module of a pilotless vehicle lamp in the pilotless system of the electric wheeled mining dump truck according to the embodiment of the present invention;

fig. 14 is a schematic diagram of a control module of a pilotless warning lamp in a pilotless system of the electric wheeled mining dump truck according to the embodiment of the present invention;

fig. 15 is a control schematic diagram of an AC driving stop switch and an override switch in the unmanned system of the electric wheel type mining dump truck according to the embodiment of the present invention;

fig. 16 is a block diagram of an unmanned system of an electric wheeled mining dump truck according to an embodiment of the present invention.

In FIG. 1: the system comprises a front brake energy accumulator 11, a rear brake energy accumulator 12, a front relay valve 13, a rear relay valve 14, an unmanned front brake valve bank 15, an unmanned rear brake valve bank 16, a pedal brake valve 17 and an oil distribution valve bank 18;

in fig. 4: a diverter 21, a flow amplifier 22, a diverter shuttle valve 23, a diverter check valve 24, an R line 25, an L line 26, a T line 27, an LS line a28, a P line 29, an LS line b210, an auxiliary line 211;

in FIG. 7: an oil return pipeline 312, a pump group oil inlet pipe 313, a lifting pilot valve first valve port 314, a lifting pilot valve second valve port 315, a lifting pilot valve third valve port 316, a lifting valve first valve port 317, a lifting valve second valve port 317, a fifth switching valve E1, a sixth switching valve E2, a third switching valve E3, a fourth switching valve E4, a second switching valve aE51, a second switching valve b E52, a first switching valve E6, a check valve E7, a pressure relief valve E8, a first pipeline 31, a second pipeline 32, a third pipeline 33, a fourth pipeline 34, a fifth pipeline 35, a sixth pipeline 36, a seventh pipeline 37, an eighth pipeline 38, a ninth pipeline 39, a tenth pipeline 310 and an eleventh pipeline 311;

in fig. 8: a brake lock solenoid valve 41, a brake lock switch 42, a first wire 43, a second wire 44, a third wire 45, a fourth wire 46, a first load brake relay 47, a second load brake relay 48, a first manual automatic switch 49, a second manual automatic switch 410;

in fig. 9: a mode selection button 51, a first power supply conductor 52, a key switch 53, an off-position 53a, a power supply position 53b, an ignition position 53c, a second power supply conductor 54, a power relay 55, a mode selection switch 56, an ignition circuit 57, an ignition relay 58, a kill relay 59, an auto-ignition circuit 510, an unmanned system power supply 511;

in fig. 10: a direction selection switch 61, a direction selection relay 62, a parking communication interface P, a reverse communication interface R, a neutral communication interface N, a forward communication interface D, an automatic parking communication interface P ', an automatic reverse communication interface R', an automatic neutral communication interface N ', an automatic forward communication interface D', a first neutral input interface 621, a first parking input interface 622, a first reverse input interface 623, a first forward input interface 624, a second neutral input interface 625, a second parking input interface 626, a second reverse input interface 627, a second forward input interface 628, a first output interface 629, a second output interface 6210, a third output interface 6211, a fourth output interface 6212, a switching input interface 6213, and a ground interface 6214;

in fig. 11: an accelerator pedal 71, a brake pedal 72, an acceleration line 73, a switching relay 74, a deceleration line 75, a voltage dividing line 76, and a voltage dividing resistor 77;

in fig. 12: a horn button 81, a first horn relay 82, a second horn relay 83, a horn 84;

in fig. 13: a headlight switch 91, a dipped headlight relay 92, a dipped headlight 93, a voltage input line 94, a low and high beam changeover switch 95, a high beam 96, a high beam relay 97, a left turn signal lamp 98, a left contour lamp 99, a right turn signal lamp 910, a right contour lamp 911, a turn signal switch 912;

in fig. 14: a warning lamp relay 01, a red lamp 02, a yellow lamp 03 and a blue lamp 04;

in fig. 15: AC drive stop switch 001, AC drive stop relay 002, override switch 003, override relay 004;

in FIGS. 8-15: the electric cabinet 100, the auxiliary cabinet control module 200, the electronic control unit 300 and the power supply 400.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

As shown in fig. 1 to 16, the electric wheel type mining dump truck provided by this embodiment has an unmanned function through modification of a hydraulic system and an electrical system, and in particular, the electric wheel type mining dump truck with a small size loose 830E has an unmanned function, and the electric wheel type mining dump truck with a small size loose 930E has an unmanned function. Moreover, the technical scheme provided by the embodiment can meet the unmanned operation and also can meet the manual operation.

The small-loose electric wheel type mining dump truck is a large-sized mine truck, and the power source of the small-loose electric wheel type mining dump truck is a diesel engine which is directly connected with an electric drive system and a hydraulic main pump. Electrical energy is converted to mechanical energy by a traction motor and a planetary gear drive system mounted directly on the two rear wheel assemblies. The small-size loose electric wheel type mining dump truck mainly comprises an electric propulsion system (a driving system), a steering system, a braking system, a lifting system and a whole truck electric control system. And the mine truck is the off-highway mine dump truck.

Because the performance parameters of each electric wheel type mining dump truck are different, the influence on the original truck system is reduced as much as possible by the unmanned transformation scheme. The modification provided by the technical scheme provided by the embodiment mainly comprises the following steps: hydraulic brake control, steering control, hopper control, loading brake control, engine start control, engine stall control, gear shift control, engine acceleration and deceleration control, horn control, vehicle lamp control, warning lamp control, AC drive stop control, override control, and fault collection.

The driving decisions such as path planning and the like of automatic driving are obtained by identifying the sensors according to the actual road traffic conditions, and the signals are electric signals, so that the original vehicle chassis needs to be modified to be suitable for automatic driving. The original vehicle chassis is modified by a related hydraulic control valve group and a corresponding electric control circuit so that the original vehicle chassis can be controlled by an unmanned operation signal, namely the process of line control modification. The technical scheme provided by the embodiment mainly relates to drive-by-wire modification, and does not relate to path planning of automatic driving.

In the original vehicle system, signals such as gear switching, an accelerator pedal 71 and a brake pedal 72 directly enter an electric cabinet 100, and the technical scheme provided by the embodiment is as follows: signals are output by the electronic control unit 300 to simulate gear shifting, signals of the accelerator pedal 71 and signals of the brake pedal 72, and the electric cabinet 100 executes corresponding operations.

The embodiment of the utility model provides an among the unmanned system of electronic wheeled mining dump truck, make it possess liquid accuse and automatically controlled function simultaneously through installing braking system, a steering system, the relevant hydraulic control valves of car hopper control system and corresponding automatically controlled circuit additional to former car to satisfy the requirement of unmanned operation and manual driving operation. Specifically, an unmanned front brake valve group 15 and an unmanned rear brake valve group 16 are added on a hydraulic brake related pipeline, an unmanned hopper control valve group is added on a hopper control hydraulic pipeline, an original steering gear is replaced by an electric control hydraulic steering gear, a corner sensor is added on a steering oil cylinder to feed back a corner of the steering oil cylinder in real time, and a corresponding hydraulic valve group control circuit is added to meet the electric control requirements on braking, hopper and steering.

In order to realize unmanned braking and switch between the manual driving braking and the unmanned braking and meet the requirements of both manual driving and unmanned driving, the unmanned system of the electric wheel type mining dump truck provided by the embodiment comprises an unmanned hydraulic braking module. The unmanned hydraulic brake module is used for work braking.

The hydraulic brake is mainly divided into: service braking, parking braking, brake locking, and low pressure automatic braking. The working brake is a service brake, the working brake adopts a full hydraulic wet friction plate brake, and the front axle and the rear axle are simultaneously applied. Used when truck speed is below 8 miles per square meter for truck stops. The method can also be used for assisting in vehicle hill starting and emergency. The parking brake is applied when the truck is stopped, the parking brake being normally closed. When the automobile runs, the parking brake is opened through the hydraulic system and is positioned on the rear axle. The brake lock is load brake, and is used when the truck is loaded, and braking force is applied through a rear axle service brake disc. The low-pressure automatic brake is that when the pressure switch detects that the pressure of the brake accumulator is lower than about 127bar, the system automatically applies the brake. The low-pressure automatic braking refers to applying braking force through front and rear axle service brake discs.

As shown in fig. 1-3, the unmanned hydraulic brake module includes: a front brake accumulator 11, a rear brake accumulator 12, a pedal brake valve 17, a front relay valve 13, a rear relay valve 14, a front driverless brake valve bank 15, and a rear driverless brake valve bank 16. The front unmanned brake valve bank 15 and the rear unmanned brake valve bank 16 are valve banks added on an original vehicle, and the front brake energy accumulator 11, the rear brake energy accumulator 12, the pedal brake valve 17, the front relay valve 13 and the rear relay valve 14 are all existing on the original vehicle.

In the above unmanned hydraulic brake module, the oil distribution valve group 18 is used for supplying oil to the front brake accumulator 11 and the rear brake accumulator 12. The unmanned front brake valve bank 15 and the unmanned rear brake valve bank 16 both have oil return ports to ensure oil return.

The first inlet valve port of the pedal brake valve 17 and the first inlet valve port of the front relay valve 13 are communicated with the outlet valve port of the front brake accumulator 11, and the second inlet valve port of the pedal brake valve 17 and the first inlet valve port of the rear relay valve 14 are communicated with the outlet valve port of the rear brake accumulator 12.

The pilotless front brake valve group 15 is provided with a front brake first valve port, a front brake second valve port and a front brake third valve port, the front brake first valve port is communicated with an oil outlet of the front brake energy accumulator 11, the front brake second valve port is communicated with a front brake outlet valve port of the pedal brake valve 17, and the front brake third valve port is communicated with a second inlet valve port of the front relay valve 13. The unmanned front brake valve group 15 is in a first state, and the front brake first valve port is communicated with the front brake third valve port; the pilotless front brake valve group 15 is in a second state, and the front brake second valve port is communicated with the front brake third valve port.

The unmanned rear brake valve group 16 is provided with a rear brake first valve port, a rear brake second valve port and a rear brake third valve port, the rear brake first valve port is communicated with an oil outlet of the rear brake energy accumulator 12, the rear brake second valve port is communicated with a rear brake outlet valve port of the pedal brake valve 17, and the rear brake third valve port is communicated with a second inlet valve port of the rear brake valve 14. The rear braking valve group 16 is in a first state, and the rear braking first valve port is communicated with the rear braking third valve port; the unmanned rear brake valve set 16 is in the second state, and the rear brake second valve port is communicated with the rear brake third valve port.

If the electric wheel type mining dump truck adopts unmanned braking, the front braking first valve port is communicated with the front braking third valve port, the rear braking first valve port is communicated with the rear braking third valve port, and at the moment, the unmanned front braking valve bank 15 and the unmanned rear braking valve bank 16 are both in a first state; if the electric wheel type mining dump truck adopts manual driving braking, the front braking second valve port is communicated with the front braking third valve port, the rear braking second valve port is communicated with the rear braking third valve port, and the unmanned front braking valve group 15 and the unmanned rear braking valve group 16 are both in a second state.

In the unmanned system of the electric wheel type mining dump truck, the unmanned front brake valve bank 15 and the unmanned rear brake valve bank 16 are additionally arranged, and the unmanned brake and the manual brake can be realized through the cooperation of the unmanned front brake valve bank 15, the unmanned rear brake valve bank 16, the front brake energy accumulator 11, the rear brake energy accumulator 12, the pedal brake valve 17, the front relay valve 13 and the rear relay valve 14; by switching the states of the front unmanned brake valve bank 15 and the rear unmanned brake valve bank 16, switching between manual driving brake and unmanned brake is realized, and the requirements of both manual driving and unmanned driving are met; moreover, the unmanned front brake valve bank 15 and the unmanned rear brake valve bank 16 are added, so that the original vehicle is slightly changed, the modification cost is reduced, and the popularization and the use are facilitated.

The specific structures of the unmanned front brake valve group 15 and the unmanned rear brake valve group 16 are selected according to actual needs. Optionally, the pilotless front brake valve assembly 15 comprises: preceding proportional valve, preceding ooff valve, preceding shuttle valve and the preceding pressure sensor that detects preceding proportional valve internal pressure, unmanned rear brake valves 16 includes: the rear proportional valve, the rear switch valve, the rear shuttle valve and a rear pressure sensor for detecting the pressure in the rear proportional valve.

The first valve port of the front proportional valve is a front brake first valve port, the second valve port of the front proportional valve is communicated with the first valve port of the front switch valve, the second valve port of the front switch valve is communicated with the first valve port of the front shuttle valve, the second valve port of the front shuttle valve is a front brake second valve port, and the third valve port of the front shuttle valve is a front brake third valve port.

The first valve port of the rear proportional valve is a rear brake first valve port, the second valve port of the rear proportional valve is communicated with the first valve port of the rear switch valve, the second valve port of the rear switch valve is communicated with the first valve port of the rear shuttle valve, the second valve port of the rear shuttle valve is a rear brake second valve port, and the third valve port of the rear shuttle valve is a rear brake third valve port.

It can be understood that the front shuttle valve is in the first state, and the first valve port and the third valve port of the front shuttle valve are communicated; the front shuttle valve is in a second state, and the second valve port and the third valve port of the front shuttle valve are communicated. The rear shuttle valve is in a first state, and a first valve port and a third valve port of the rear shuttle valve are communicated; the rear shuttle valve is in a second state, and a second valve port of the rear shuttle valve is communicated with a third valve port; the front shuttle valve and the rear shuttle valve are in the first state or the second state simultaneously.

If the electric wheel type mining dump truck adopts unmanned braking, the first valve port of the front shuttle valve is communicated with the third valve port of the front shuttle valve, and the first valve port of the rear shuttle valve is communicated with the third valve port of the rear shuttle valve; if the electric wheel type mining dump truck adopts manual driving braking, the second valve port of the front shuttle valve is communicated with the third valve port of the front shuttle valve, and the second valve port of the rear shuttle valve is communicated with the third valve port of the rear shuttle valve; if the electric wheel type mining dump truck adopts unmanned braking and manual braking, one of the first valve port of the front shuttle valve and the second valve port of the front shuttle valve with higher pressure is communicated with the third valve port of the front shuttle valve, and one of the first valve port of the rear shuttle valve and the second valve port of the rear shuttle valve with higher pressure is communicated with the third valve port of the rear shuttle valve.

For the convenience of control, the front proportional valve, the front switch valve, the front shuttle valve, the rear proportional valve, the rear switch valve and the rear shuttle valve are all electromagnetic valves. Specifically, if each electromagnetic valve is in a power-off state, the electric wheel type mining dump truck is in an unmanned braking state, or the electric wheel type mining dump truck is in the unmanned braking state and a manual driving state at the same time; if the front switch valve and the rear switch valve are both in the power-on state, the electric wheel type mining dump truck is only in the manual driving braking state.

If each electromagnetic valve is in a power-off state and the electric wheel type mining dump truck is in an unmanned braking state, the proportional valve is adjusted to the maximum opening, the unmanned front braking valve bank 15 and the unmanned rear braking valve bank 16 both output full-pressure braking, and the front wheels and the rear wheels are both in a locking state; if the front switch valve and the rear switch valve are both in the power-on state, the electric wheel type mining dump truck is in a manual driving braking state; if the front switch valve and the rear switch valve are both in a power-off state and the electric wheel type mining dump truck is in an automatic driving braking state, the front proportional valve and the rear proportional valve are both controlled by the controller and output braking pressure according to a control instruction of the controller.

Further, the unmanned system of the electric wheel type mining dump truck further comprises: a host computer, an electronic control unit 300 connected with the host computer through network cable communication; the electronic control unit 300 controls the front unmanned brake valve bank 15 and the rear unmanned brake valve bank 16 according to the command of the host. Specifically, the host sends a command of unmanned braking, and the electronic control unit 300 controls the front unmanned brake valve bank 15 and the rear unmanned brake valve bank 16 to be in the first state; the main machine sends a manual driving braking instruction, and the electronic control unit 300 controls the front unmanned brake valve bank 15 and the rear unmanned brake valve bank 16 to be in the second state.

If the front unmanned brake valve set 15 includes a front proportional valve and the rear unmanned brake valve set 16 includes a rear proportional valve, the electronic control unit 300 controls the brake pressures of the front proportional valve and the rear proportional valve according to the command of the host. In the case of a hydraulic braking action, 100% electric braking is required.

In order to realize unmanned control steering and switch between manual control steering and unmanned control steering so as to meet the requirements of both manual driving and unmanned driving, the unmanned system of the electric wheel type mining dump truck provided by the embodiment comprises an unmanned hydraulic steering module. As shown in fig. 4, the unmanned hydraulic steering module includes: the steering system comprises a steering device 21, a flow amplifier 22 and a corner sensor, wherein the steering device 21 is an electric control hydraulic steering device, and the corner sensor is used for detecting the corner of a steering oil cylinder. The steering gear 21 inputs hydraulic oil to the steering cylinder through a flow amplifier 22. In the above-described unmanned hydraulic steering module, the flow amplifier 22 is an original vehicle flow amplifier.

The steering gear 21 is additionally provided with an electric control proportional hydraulic system on the basis of the original steering wheel input. The proportional hydraulic oil can be output to the flow amplifier 22 through the electric control proportional system, and the rotation angle closed-loop control is performed through the rotation angle sensor. In addition, the steering wheel input part is the same as the existing car for driver driving.

The electric control hydraulic steering gear can be a Danfoss electric control hydraulic steering gear or other types, and is selected according to actual needs; the rotation angle sensor can be a magnetostrictive displacement sensor which is arranged in the steering oil cylinder. Of course, the above-mentioned rotation angle sensor may be another type, such as a cable displacement sensor, which needs to be disposed outside the steering cylinder.

The above-mentioned steering gear 21 has no priority valve, the feedback oil path of the steering gear 21 does not generate the control pressure, and if the feedback oil path of the steering gear 21 is directly installed with the flow rate amplifier 22 of the original vehicle, it may cause a mismatch, and it is necessary to increase the feedback control pressure. And the steering gear 21 needs to acquire a dynamic feedback oil circuit control pressure. Based on this, as shown in fig. 4, the steering gear 21 inputs the hydraulic oil to the flow rate amplifier 22 through a steering tube group including: a steering shuttle valve 23, a steering check valve 24, an R pipe 25, an L pipe 26, a T pipe 27, an LS pipe, a P pipe 29, and an auxiliary pipe 211.

The R port of the diverter 21 and the R port of the flow amplifier 22 are communicated through a diverting R pipe 25, the L port of the diverter 21 and the L port of the flow amplifier 22 are communicated through an L pipe 26, the T port of the diverter 21 and the T port of the flow amplifier 22 are communicated through a T pipe 27, the LS port of the diverter 21 and the LS port of the flow amplifier 22 are communicated through an LS pipe, and the P port of the diverter 21 and the P port of the flow amplifier 22 are communicated through a P pipe 29.

The first port of the steering shuttle valve 23 is communicated with the R pipe 25, the second port of the steering shuttle valve 23 is communicated with the L pipe 26, the third port of the steering shuttle valve 23 is communicated with the first port of the steering check valve 24, the second port of the steering check valve 24 is communicated with the LS pipe, and the steering check valve 24 can only be conducted from the steering shuttle valve 23 to the LS pipe.

The above-mentioned P pipe 29 and LS pipe are communicated through an auxiliary pipe 211, and the communication position of the auxiliary pipe 211 on the LS pipe is located between the steering check valve 24 and the flow amplifier 22.

It can be understood that, when the steering shuttle valve 23 is in the first state, the first valve port and the third valve port of the steering shuttle valve 23 are communicated; when the steering shuttle valve 23 is in the second state, the second valve port and the third valve port of the steering shuttle valve 23 are communicated.

For convenience of installation, the first port of the steering shuttle valve 23 is communicated with the R pipe 25 through a three-way valve, and the second port of the steering shuttle valve 23 is communicated with the L pipe 26 through a three-way valve; the LS pipeline comprises an LS pipeline a28 and an LS pipeline b210, one end of the LS pipeline a28 is communicated with an LS valve port of the steering gear 21, one end of the LS pipeline b210 is communicated with an LS valve port of the flow amplifier 22, and the other end of the LS pipeline a28, the other end of the LS pipeline b210 and a second valve port of the steering one-way valve 24 are communicated through a three-way valve; one end of the auxiliary line 211 is communicated with the P line 29 through a three-way valve, and the other end of the auxiliary line 211 is communicated with the LS line b210 through a three-way valve.

In the present embodiment, it is considered that the load pressure is taken from the R pipe 25, the L pipe 26, and the P pipe 29 for the flow amplifier 22. The control pressure and the pressure relief are generated by the steering shuttle valve 23 and the LS port of the steering gear 21.

Further, the unmanned system of the electric wheel type mining dump truck is characterized by further comprising a host machine and a steering controller which are in communication connection through a network cable, wherein the steering controller controls the steering device 21 to output hydraulic oil with a set proportion to the flow amplifier 22 according to an instruction of the host machine so as to control the steering oil cylinder to rotate for a set rotation angle.

It will be appreciated that the steering gear 21, the steering tube set and the rotation angle sensor are all communicatively connected to the steering controller.

In the unmanned system of the electric wheel type mining dump truck, the steering control is compatible with manual driving operation in an unmanned mode.

In order to realize the unmanned control of the hopper and the switching between the unmanned control hopper and the manual control hopper, so as to meet the requirements of both manual driving and unmanned driving, the unmanned system of the electric wheel type mining dump truck provided in this embodiment further includes an unmanned hopper hydraulic control module, as shown in fig. 5 and 6, the unmanned hopper hydraulic control module includes: the system comprises a lifting valve, a lifting pilot valve and an unmanned car hopper control valve group. The unmanned car hopper control valve group is a newly added valve group, the lifting valve is a valve of an original car, and the lifting pilot valve is a valve of the original car.

As shown in fig. 5 to 7, the above-mentioned unmanned hopper control valve set includes: a first switching valve E6, a hopper valve group, a second switching valve aE51, and a second switching valve b E52.

The first valve port of the first switching valve E6 is used for feeding oil into the pump group, the second valve port of the first switching valve E6 is communicated with the first valve port 314 of the lifting pilot valve, and the third valve port of the first switching valve E6 is communicated with the first valve port of the car hopper valve group.

The first port of the second switching valve aE51 is communicated with the first lift valve port 317 of the lift valve 36, the second port of the second switching valve aE51 is communicated with the second lift pilot valve port 315 of the lift pilot valve, and the third port of the second switching valve aE51 is communicated with the second port of the bucket valve group.

The first port of the second switching valve bE52 is communicated with the second lifting valve port 318 of the lifting valve, the second port of the second switching valve bE52 is communicated with the third lifting pilot valve port 316 of the lifting pilot valve, and the third port of the second switching valve bE52 is communicated with the third port of the bucket valve group.

If the electric wheel type mining dump truck is in a manual driving truck hopper control mode, a first valve port of a first switching valve E6 is communicated with a second valve port of a first switching valve E6, a first valve port of a second switching valve aE51 is communicated with a second valve port of a second switching valve aE51, and a first valve port of a second switching valve bE52 is communicated with a second valve port of a second switching valve bE 52;

if the electric wheel type mining dump truck is in the unmanned truck hopper control mode, the first valve port of the first switching valve E6 is communicated with the third valve port of the first switching valve E6, the first valve port of the second switching valve aE51 is communicated with the third valve port of the second switching valve aE51, and the first valve port of the second switching valve bE52 is communicated with the third valve port of the second switching valve bE 52;

if the electric wheel type mining dump truck is in an unmanned bucket control mode, when the bucket valve group is in a first state, the first valve port of the second switching valve aE51 outputs hydraulic oil to enable the bucket to bE in a power descending state, when the bucket valve group is in a second state, the first valve port of the second switching valve bE52 outputs hydraulic oil to enable the bucket to bE in a power lifting state, when the bucket valve group is in a third state, the first valve port of the second switching valve aE51 is communicated with the first valve port of the second switching valve bE52 to enable the bucket to bE in a floating state, and when the bucket valve group is in a fourth state, the oil return valve port of the bucket valve group outputs hydraulic oil to enable the bucket to bE in a holding state.

It will be appreciated that the return valve port of the hopper valve block communicates with the return line 312. The first port of the first switching valve E6 is communicated with the pump group oil inlet pipe 313 for feeding the pump group with oil.

In order to facilitate the control of the hopper in a desired state, the hopper valve set may be selected to include: a third switching valve E3, a fourth switching valve E4, a fifth switching valve E1, and a sixth switching valve E2, as shown in fig. 7.

The third switching valve E3 has a first port, a second port, a third port, and a fourth port; when the third switching valve E3 is in the first state, the first port, the second port, the third port, and the fourth port of the third switching valve E3 are all disconnected, and when the third switching valve E3 is in the second state, the first port of the third switching valve E3 is communicated with the third port of the third switching valve E3, and the fourth port of the third switching valve E3 is communicated with the second port of the third switching valve E3.

The sixth switching valve E2 has a first port, a second port, a third port, and a fourth port; when the sixth switching valve E2 is in the first state, the first port, the second port, the third port, and the fourth port of the sixth switching valve E2 are all open, and when the sixth switching valve E2 is in the second state, the first port of the sixth switching valve E2 is communicated with the fourth port of the sixth switching valve E2, and the third port of the sixth switching valve E2 is communicated with the second port of the sixth switching valve E2.

Fourth switching valve E4 has a first port and a second port, and fourth switching valve E4 is turned on when fourth switching valve E4 is in the first state, and is turned off when fourth switching valve E4 is in the second state, fourth switching valve E4 being in the second state.

The fifth switching valve E1 has a first port and a second port, and when the fifth switching valve E1 is in the first state, the fifth switching valve E1 is turned off, and when the fifth switching valve E1 is in the second state, the first port and the second port of the fifth switching valve E1 are turned on.

The first port of the third switching valve E3 communicates with the third port of the first switching valve E6 via the first pipe line 31, and the first port of the sixth switching valve E2 communicates with the first pipe line 31 via the second pipe line 32.

The second port of the sixth switching valve E2 is communicated with the return line 312 via a third line 33, the second port of the third switching valve E3 is communicated with the third line 33 via a fourth line 34, the fourth switching valve E4 is connected in series to the fifth line 35, one end of the fifth line 35 is communicated with the first line 31, and the other end of the fifth line 35 is communicated with the third line 33; on the first line 31, the fifth line 35 is located between the third port of the first switching valve E6 and the second line 352; on the third line 33, a fifth line 35 is located between the fourth line 34 and the return line 312.

The third port of the sixth switching valve E2 is communicated with the third port of the second switching valve bE52 via a sixth line 36, and the fourth port of the sixth switching valve E2 is communicated with the third port of the second switching valve aE51 via a seventh line.

The second port of the fifth switching valve E1 is connected to the third port of the third switching valve E3 through an eighth line 38, the middle portion of the eighth line 38 is connected to the sixth line 36, the first port of the fifth switching valve E1 is connected to the seventh line 37 through a ninth line 39, the fourth port of the third switching valve E3 is connected to the sixth line 36 through a tenth line 310, and the fourth port of the sixth switching valve E2, the ninth line 39, the tenth line 310, and the third port of the second switching valve aE51 are sequentially distributed on the seventh line 37.

In order to avoid backflow, the hopper valve group further comprises a check valve E7, and a check valve E7 is connected in series with the first pipeline 31; on the first line 31, a non-return valve E7 is located between the second line 32 and the fifth line 35.

In order to ensure safety, the hopper valve group further comprises a pressure release valve E8, the pressure release valve E8 is connected in series to the eleventh pipeline 311, one end of the eleventh pipeline 311 is communicated with the seventh pipeline 37, the other end of the eleventh pipeline 311 is communicated with the oil return pipeline 312, the pressure release valve E8 is turned on to release pressure when the pressure in the seventh pipeline 37 is greater than a set value, and the pressure release valve E8 is turned off when the pressure in the seventh pipeline 37 is not greater than the set value; in the seventh line 37, the eleventh line 311 is located between the tenth line 310 and the third port of the second switching valve aE 51.

For the sake of simplifying the structure, the fourth pipeline 34, the fifth pipeline 35, and the eleventh pipeline 311 may be communicated with the third pipeline 33 and the return pipeline 312, and the second valve port of the sixth switching valve E2, the fourth pipeline 34, the fifth pipeline 35, the eleventh pipeline 311, and the return pipeline 312 are distributed in sequence on the third pipeline 33.

Alternatively, in the above unmanned hopper control valve group, the first switching valve E6, the second switching valve aE51, the second switching valve b E52, the third switching valve E3, the fourth switching valve E4, the fifth switching valve E1, and the sixth switching valve E2 are all solenoid valves, and each solenoid valve realizes each state of the hopper according to a state indicated by a control logic table of the unmanned hopper control valve group. The state shown in fig. 7 means that the hopper is in a holding state, that is, each solenoid valve is not energized.

Control logic table of unmanned vehicle hopper control valve set

In the above table, E1 denotes a fifth switching valve, E2 denotes a sixth switching valve, E3 denotes a third switching valve, E4 denotes a fourth switching valve, E51 denotes a second switching valve a, E52 denotes a second switching valve b, and E6 denotes a first switching valve. In the above table, the driver mode is the manual driving mode, and the power lifting, maintaining, floating and power descending are all in the unmanned driving mode.

In practical applications, the hopper valve may be selected to have other structures, and is not limited to the above embodiments.

Further, the unmanned system of the electric wheel type mining dump truck further comprises: a host, an electronic control unit 300 connected to the host through a network cable; wherein, the electronic control unit 300 controls the unmanned hopper control valve set according to the instruction of the host. It will be appreciated that the electronic control unit 300 is connected to each valve in the drone hopper control valve block to effect control of each valve in the drone hopper control valve block.

When the electric wheel type mining dump truck stops at the unloading position, wheel brake locking, namely loading brake, is applied, and then the truck hopper is lifted by power. In order to realize the unmanned braking locking, the unmanned system of the electric wheel type mining dump truck also comprises an unmanned wheel braking locking module. As shown in fig. 8, the unmanned wheel brake locking module includes: a brake lock solenoid valve 41, a brake lock switch 42, a first manual auto-changer 49, a first load brake relay 47, a second manual auto-changer 410, a second load brake relay 48, a first wire 43, a second wire 44, a third wire 45, and a fourth wire 46. The first manual automatic switch 49, the first load brake relay 47, the second manual automatic switch 410, the second load brake relay 48, the third wire 45 and the fourth wire 46 are newly added components, and the others are original vehicle components.

One end of the first wire 43 is electrically connected to the brake locking solenoid valve 41, and the other end of the first wire 43 is electrically connected to the electric cabinet 100; one end of the second wire 44 is used for being in communication connection with the auxiliary box control module 200, and the other end of the second wire 44 is used for being in communication connection with the electric cabinet 100; the brake lock switch 42 is connected in series via its first input and first output to a first line 43, and the brake lock switch 42 is connected in series via its second input and second output to a second line 44.

It is understood that the auxiliary box control module 200 is used to collect brake lock signals.

One end of the third wire 45 is electrically connected to the brake locking solenoid valve 41, and the other end of the third wire 45 is electrically connected to the electric cabinet 100; one end of the fourth wire 46 is used for being in communication connection with the auxiliary box control module 200, and the other end of the fourth wire 46 is used for being in communication connection with the electric cabinet 100; a first charging brake relay 47 is connected in series to the third line 45, and a second charging brake relay 48 is connected in series to the fourth line 46. It will be appreciated that the first load brake relay 47 controls the make and break of the third conductor 45 and the second load brake relay 48 controls the make and break of the fourth conductor 46. If the first loading brake relay 47 is in the off state, the third wire 45 is disconnected; if the first loading brake relay 47 is in the closed state, the third wire 45 is conducted; if the second load brake relay 48 is in the off state, the fourth wire 46 is open; if the second load brake relay 48 is in the closed state, the fourth wire 46 is conducted.

The first manual automatic switch 49 switches the first wire 43 and the third wire 45 for series connection between the electric cabinet 100 and the brake lock solenoid valve 41, and the second manual automatic switch 410 switches the second wire 44 and the fourth wire 46 for series connection between the auxiliary cabinet control module 200 and the electric cabinet 100.

If the electric wheel type mining dump truck is locked by manual braking, the first manual-automatic switch 49 is switched to a state that the first lead 43 is connected between the electric cabinet 100 and the brake locking electromagnetic valve 41 in series, and the second manual-automatic switch 410 is switched to a state that the second lead 44 is connected between the auxiliary cabinet control module 200 and the electric cabinet 100 in series; if the electric wheel type mining dump truck is locked by unmanned braking, the first manual-automatic switch 49 is switched to a state that the third lead 45 is connected between the electric cabinet 100 and the brake locking electromagnetic valve 41 in series, and the second manual-automatic switch 410 is switched to a state that the fourth lead 46 is connected between the auxiliary cabinet control module 200 and the electric cabinet 100 in series.

It will be appreciated that the first and second load brake relays 47 and 48 are in the same state.

Specifically, in the manual brake locking mode, the electric cabinet 100 supplies power to the brake locking solenoid valve 41 through the first wire 43 and the brake locking switch 42, and the electric cabinet 100 transmits a signal to the auxiliary cabinet control module 200 through the second wire 44 and the brake locking switch 42. In the unmanned braking locking mode, the electric cabinet 100 supplies power to the braking locking solenoid valve 41 through the third wire 45 and the first loading braking relay 47, and the electric cabinet 100 transmits signals to the auxiliary cabinet control module 200 through the fourth guide 46 and the second loading braking relay 48.

For convenience of control, if the electric wheel type mining dump truck adopts manual braking locking, the first manual automatic switch 49, the first loading brake relay 47, the second manual automatic switch 410 and the second loading brake relay 48 are all powered off; if the electric wheel type mining dump truck is locked by unmanned braking, the first manual automatic switch 49, the first loading brake relay 47, the second manual automatic switch 410 and the second loading brake relay 48 are all powered.

It will be appreciated that the first load brake relay 47 is de-energized and open, and the third conductor 45 is open; the first loading brake relay 47 is closed by electrifying, and the third lead 45 is conducted; the second loading brake relay 48 is disconnected when power is lost, and the fourth lead 46 is disconnected; the second load brake relay 48 is electrically closed and the fourth conductor 46 is conductive.

Optionally, the first manual-automatic switch 49 and the second manual-automatic switch 410 are both manual-automatic switching relays; the input interface of the first manual-automatic switch 49 is electrically connected with the electric cabinet 100, the first output interface of the first manual-automatic switch 49 is electrically connected with the first wire 43, and the second output interface of the first manual-automatic switch 49 is electrically connected with the third wire 45; the third wire 45 is electrically connected with the first wire 43, and the connection position of the third wire 45 and the first wire 43 is located between the brake lock solenoid valve 41 and the first output end of the brake lock switch 42; the input interface of the second hand-operated automatic switch 410 is used for being electrically connected with the auxiliary box control module 200, the first output interface of the second hand-operated automatic switch 410 is electrically connected with the second wire 44, and the second output interface of the second hand-operated automatic switch 410 is electrically connected with the fourth wire 46; the fourth wire 46 and the second wire 44 are electrically connected, and the connection position of the fourth wire 46 and the second wire 44 is located between the electric cabinet 100 and the second output terminal of the brake lock switch 42.

It is understood that if the first manual switch 49 is in the first state, the input interface and the first output interface of the first manual switch 49 are conducted; if the first manual-automatic switch 49 is in the second state, the input interface and the second output interface of the first manual-automatic switch 49 are connected; if the second manual-automatic switch 410 is in the first state, the input interface and the first output interface of the second manual-automatic switch 410 are connected; if the second manual-automatic switch 410 is in the second state, the input interface and the second output interface of the second manual-automatic switch 410 are conducted.

Further, the unmanned system of the electric wheel type mining dump truck further comprises: a host computer, an electronic control unit 300 connected with the host computer through network cable communication; the communication interfaces of the first manual automatic switch 49, the second manual automatic switch 410, the first load brake relay 47 and the second load brake relay 48 are all in communication connection with the electronic control unit 300, and the electronic control unit 300 controls the first manual automatic switch 49, the second manual automatic switch 410, the first load brake relay 47 and the second load brake relay 48 according to the instruction of the host.

It should be noted that fig. 8 does not show: the electronic control unit 300, and the communication interfaces of the first manual automatic switch 49, the second manual automatic switch 410, the first load brake relay 47 and the second load brake relay 48 are all in communication connection with the electronic control unit 300.

In order to realize the ignition and flameout of the unmanned control engine, the unmanned system of the electric wheel type mining dump truck further comprises an unmanned engine control module, as shown in fig. 9, the unmanned engine control module comprises: the device comprises a power supply 400, a key switch 53, a power supply relay 55, an electric cabinet 100, an ignition relay 58, a flameout relay 59, an ignition circuit 57, a manual-automatic switching unit and an electronic control unit 300. The ignition relay 58, the flameout relay 59, the manual-automatic switching unit and the electronic control unit 300 are newly added components, and the power supply 400, the key switch 53, the power supply relay 55, the electric cabinet 100 and the ignition circuit 57 are original vehicle components.

The power supply 400 supplies power to the key switch 53 through the first power supply lead 52, and the flameout relay 59 is connected in series to the first power supply lead 52 and controls the on/off of the first power supply lead 52.

The power supply 400 supplies power to the electric cabinet 100 through the second power supply lead 54, and the power supply relay 55 is connected in series to the second power supply lead 54 and controls the on/off of the second power supply lead 54.

The communication interface of the power relay 55 is in communication connection with the power supply position 53b of the key switch 53, and when the key switch 53 is in the power supply position 53b, the power relay 55 conducts the second power supply lead 54.

The electronic control unit 300 is communicatively connected to the power supply position 53b of the key switch 53 and acquires whether the key switch 53 is in the power supply position 53 b.

The manual-automatic switching unit has an unmanned driving gear and a manual driving gear, and the electronic control unit 300 is electrically connected with the manual-automatic switching unit and acquires the gear at which the manual-automatic switching unit is located.

The communication interface of the ignition relay 58 and the communication interface of the ignition-off relay 59 are both connected to the electronic control unit 300 in communication.

The ignition relay 58 is connected in series with the automatic ignition circuit 510, one end of the automatic ignition circuit 510 is electrically connected with the ignition circuit 57, the other end of the automatic ignition circuit 510 is electrically connected with the power supply position 53b of the key switch 53, and the ignition circuit 57 is electrically connected with the ignition position 53c of the key switch 53;

if the manual-automatic switching unit is in the unmanned range and the key switch 53 is in the power supply range 53b, the electronic control unit 300 controls the ignition relay 58 to turn on the automatic ignition circuit 510.

It is understood that the key switch 53 has an off position 53a, a power supply position 53b, and an ignition position 53 c. The key switch 53 is in the power supply position 53b, the power supply relay 55 is powered on, and the electric cabinet 100 is powered on.

Further, the above-mentioned unmanned engine control module further comprises an unmanned system power supply 511, and the power supply 400 is used for supplying power to the unmanned system power supply 511 and the electronic control unit 300.

Further, the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit 300 is in communication connection with the host through a network cable, and the electronic control unit 300 controls the on-off of the ignition relay 58 and the flameout relay 59 according to instructions of the host.

Specifically, the main engine sends an ignition command to the electronic control unit 300, and the electronic control unit 300 controls the ignition relay 58 to be energized, so that the engine is started. The host sends a flameout command to the electronic control unit 300, the flameout relay 59 is powered on, the engine is flameout, and the flameout relay 59 is powered off after a preset time. The preset time can be 5min or other times, and is selected according to actual needs, which is not limited in the implementation.

The structure of the manual-automatic switching unit is selected according to actual needs. In order to improve safety, the above-mentioned manual-automatic switching unit comprises at least one mode selection switch 56 and/or at least one mode selection button 51, each mode selection switch 56 having a unmanned gear and a manual gear, and each mode selection button 51 having a unmanned gear and a manual gear.

Specifically, if the manual-automatic switching unit only includes at least one mode selection switch 56, when each mode selection switch 56 is in the unmanned range, the manual-automatic switching unit is in the unmanned range; if the manual-automatic switching unit only comprises at least one mode selection button 51, when each mode selection button 51 is in the unmanned gear, the manual-automatic switching unit is in the unmanned gear; if the manual-automatic switching unit includes at least one mode selection switch 56 and at least one mode selection button 51, the manual-automatic switching unit is in the unmanned range when each mode selection button 51 and each mode selection switch 56 are in the unmanned range.

In order to realize the unmanned gear switching, the unmanned system of the electric wheel type mining dump truck further comprises an unmanned gear switching module, as shown in fig. 10, the unmanned gear switching module comprises: a direction selection switch 61, a direction selection relay 62, an electric cabinet 100 and an electronic control unit 300. The direction selection relay 62 and the electronic control unit 300 are added components, and the direction selection switch 61 and the electric cabinet 100 are original vehicle components.

The direction selection switch 61 includes a parking communication interface P, a reverse communication interface R, a neutral communication interface N, and a forward communication interface D.

The electronic control unit 300 includes an automatic parking communication interface P ', an automatic reverse communication interface R', an automatic neutral communication interface N ', and an automatic forward communication interface D'.

The direction selection relay 62 includes a first neutral input port 621, a second neutral input port 625, a first parking input port 622, a second parking input port 626, a first reverse input port 623, a second reverse input port 627, a first forward input port 624, a second forward input port 628, a first output port 629, a second output port 6210, a third output port 6211, a fourth output port 6212, and a switching input port 6213. It will be appreciated that the direction selection relay 62 has a ground interface 6214, the ground interface 6214 being for ground.

The neutral communication interface N is in communication connection with the first neutral input interface 621, the parking communication interface P is in communication connection with the first parking input interface 622, the reverse communication interface R is in communication connection with the first reverse input interface 623, and the forward communication interface D is in communication connection with the first forward input interface 624; the automatic neutral communication interface N 'is communicatively connected to the second neutral input interface 625, the automatic parking communication interface P' is communicatively connected to the second parking input interface 626, the automatic reverse communication interface R 'is communicatively connected to the second reverse input interface 627, and the automatic forward communication interface D' is communicatively connected to the second forward input interface 628.

If the direction selection relay 62 is in the first state, the first output interface 629 is in communication connection with the first neutral input interface 621, the second output interface 6210 is in communication connection with the first parking input interface 622, the third output interface 6211 is in communication connection with the first reverse input interface 623, and the fourth output interface 6212 is in communication connection with the first forward input interface 624; if the direction selection relay 62 is in the second state, the first output interface 629 is communicatively connected to the second neutral input interface 625, the second output interface 6210 is communicatively connected to the second parking input interface 626, the third output interface 6211 is communicatively connected to the second reverse input interface 627, and the fourth output interface 6212 is communicatively connected to the second forward input interface 628.

The electronic control unit 300 is in communication with the switching input interface 6213 to control the state of the direction selection relay 62; the electronic control unit 300 is in communication connection with the direction selection switch 61 to acquire the state of the direction selection switch 61, and the electronic control unit 300 is in signal connection with the electric cabinet 100 to acquire a gear signal sent by the electric cabinet 100.

Further, the unmanned system of the electric wheel type mining dump truck further comprises a host, wherein the electronic control unit 300 is in communication connection with the host through a network cable; if the direction selection switch 61 is in the parking position, the electronic control unit 300 inputs a gear signal to the selection relay 62 according to a command of the host; if the direction selector switch 61 is not in the parking position, the electronic control unit 300 inputs a shift position signal to the direction selector relay 62 according to the shift position in which the direction selector switch 61 is located.

Specifically, if the direction selection switch 61 is in the reverse gear, the electronic control unit 300 inputs a reverse gear signal to the direction selection relay 62 to implement reverse; if the direction selection switch 61 is in the neutral position, the electronic control unit 300 inputs a neutral position signal to the direction selection relay 62 to realize the neutral position; if the direction selection switch 61 is in the forward range, the electronic control unit 300 inputs a forward range signal to the direction selection relay 62 to realize forward range.

It should be noted that before the engine is started, the electric wheel type mining dump truck must be placed in a parking gear, otherwise, the starting fails. When the gears are switched, the speed of the vehicle is 0, the hopper is arranged in a floating gear, and otherwise, the switching is invalid.

In order to realize the speed control of the unmanned engine, the unmanned system of the electric wheel type mining dump truck further comprises an unmanned engine speed control module, as shown in fig. 11, the unmanned engine speed control module comprises: an accelerator pedal 71, a brake pedal 72, a switching relay 74, an electronic control unit 300 and an electric cabinet 100. The accelerator pedal 71, the brake pedal 72 and the electric cabinet 100 are original vehicle components, and the switching relay 74 and the electronic control unit 300 are newly added components.

The switching relay 74 has a communication interface, a first acceleration input interface, a second acceleration input interface, a first deceleration input interface, a second deceleration input interface, an acceleration output interface, and a deceleration output interface. The first acceleration input interface is in communication connection with an accelerator pedal 71, and the first deceleration input interface is in communication connection with a brake pedal 72; the second acceleration input interface and the second deceleration input interface are both in communication connection with the electronic control unit 300; the acceleration output interface and the deceleration output interface are both in communication connection with the electric cabinet 100.

If the switching relay 74 is in the first state, the first acceleration input interface is electrically connected to the acceleration output interface, and the first deceleration input interface is electrically connected to the deceleration output interface; if the switching relay 74 is in the second state, the second acceleration input interface is electrically connected to the acceleration output interface, and the second deceleration input interface is electrically connected to the deceleration output interface; the electronic control unit 300 is connected to the communication interface of the switching relay 74 to control the state of the switching relay 74.

Further, the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit 300 is in communication connection with the host through a network cable, and the electronic control unit 300 sends a signal to the electric cabinet 100 according to an instruction of the host; the electronic control unit 300 is in communication connection with the accelerator pedal 71 to acquire the state of the accelerator pedal 71 and feed back the state to the host, and the electronic control unit 300 is in communication connection with the brake pedal 72 to acquire the state of the brake pedal 72 and feed back the state to the host. It will be appreciated that the signal from the electronic control unit 300 is sent to the electric cabinet 100 via the switching relay 74.

In the system, under the speed control mode of a manual driving engine, signals of an accelerator pedal 71 and a brake pedal 72 enter an electric cabinet 100; in the unmanned engine speed control mode, the electronic control unit 300 sends a signal to the electric cabinet 100 according to an instruction of the host machine.

In order to reduce the influence on the original system, the output end of the brake pedal 72 is in communication connection with the first deceleration input interface through a deceleration line 75, the electronic control unit 300 is in communication connection with the deceleration line 75 through a voltage division line 76, and the voltage division line 76 is connected in series with a voltage division resistor 77.

The number of resistance values of the voltage dividing resistor 77 is selected according to actual needs, for example, the resistance of the voltage dividing resistor 77 is 200K Ω, which is not limited in this embodiment.

The output end of the accelerator pedal 71 is connected in communication with a first acceleration input interface through an acceleration line 73.

In order to realize the unmanned horn control, the unmanned system of the electric wheel type mining dump truck further comprises an unmanned horn control module, as shown in fig. 12, the unmanned horn control module comprises: a horn button 81, a first horn relay 82, a second horn relay 83, and an electronic control unit 300. The horn button 81 and the first horn relay 82 are existing components of the original vehicle, and the second horn relay 83 and the electronic control unit 300 are newly added components.

The first horn relay 82 and the second horn relay 83 are arranged in parallel, and a branch where the first horn relay 82 is located and a branch where the second horn relay 83 is located are both connected in series with the horn 84; the horn button 81 is connected to the communication interface of the first horn relay 82 to control the on/off of the first horn relay 82, and the electronic control unit 300 is connected to the communication interface of the second horn relay 83 to control the on/off of the second horn relay 83.

Further, the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit 300 is in communication connection with the host through a network cable, and the electronic control unit 300 controls the on-off of the second horn relay 83 according to an instruction of the host.

Specifically, if in the manual driving mode, the second horn relay 83 is in the power-off state; if the vehicle is in the unmanned mode, the host sends an instruction to the electronic control unit 300, the electronic control unit 300 controls the second horn relay 83 to be powered on according to the instruction, the branch where the second horn relay 83 is located is conducted, and the horn 84 is powered on.

In order to realize the control of the unmanned vehicle lamp, the unmanned system of the electric wheel type mining dump truck further comprises an unmanned vehicle lamp control module, as shown in fig. 13, the unmanned vehicle lamp control module comprises: a low beam relay 92, a high beam relay 97, a low and high beam changeover switch 95, a headlight switch 91, a turn signal switch 912, and an electronic control unit 300. The electronic control unit 300 is a newly added component, and the low beam relay 92, the high beam relay 97, the low and high beam selector switch 95, the headlight switch 91 and the turn signal switch 912 are all original vehicle components.

The communication interface between the headlight switch 91 and the low beam relay 92 is connected to control the on/off of the low beam relay 92, the low beam relay 92 is connected in series to the low beam line, the low beam relay 93 is turned on if the low beam relay 92 is turned on, and the low beam relay 93 is turned off if the low beam relay 92 is turned off.

The headlight switch 91 is connected to the communication interface of the high beam relay 97 through the low beam and high beam changeover switch 95, and the high beam relay 97 is connected in series on the high beam circuit, so that the high beam 96 is turned on if the high beam relay 97 is turned on, and the high beam 96 is turned off if the high beam relay 97 is turned off.

It can be understood that, when the low beam and high beam changeover switch 95 is in the first state, the communication interface of the high beam relay 97 and the headlight switch 91 are disconnected; when the high beam and low beam changeover switch 95 is in the second state, the communication interface of the high beam relay 97 and the headlight switch 91 are turned on, and at this time, the headlight switch 91 can realize the control of the high beam relay 97.

The turn signal lamp switch 912 is used to control the turning on and off of the left turn lamp 98, the left contour lamp 99, the right turn lamp 910 and the right contour lamp 911.

The electronic control unit 300 is connected with the communication interface of the low beam relay 92 to control the on/off of the low beam relay 92, the electronic control unit 300 is connected with the communication interface of the high beam relay 97 to control the on/off of the high beam relay 97, the electronic control unit 300 is connected with the left turn light 98 to control the on/off of the left turn light 98, the electronic control unit 300 is connected with the left contour light 99 to control the on/off of the left contour light 99, the electronic control unit 300 is connected with the right turn light 910 to control the on/off of the right turn light 910, and the electronic control unit 300 is connected with the right contour light 911 to control the on/off of the right contour light 911.

Further, the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit 300 is in communication connection with the host through a network cable, the electronic control unit 300 controls the on-off of the low beam relay 92 and the on-off of the high beam relay 97 according to instructions of the host, the electronic control unit 300 controls the on-off of the left turn light 98 and the left contour light 99 according to instructions of the host, and the electronic control unit 300 controls the on-off of the right turn light 910 and the right contour light 911 according to instructions of the host.

Specifically, if the electric wheel type mining dump truck is in a manual driving mode, the on-off of the low beam relay 92 and the on-off of the high beam relay 97 are controlled through the headlight switch 91, the on-off of the left turn light 98 and the left contour light 99 are controlled through the turn light signal switch 912, and the on-off of the right turn light 910 and the right contour light 911 are controlled through the turn light signal switch 912; if the electric wheel type mining dump truck is in the unmanned driving mode, the electronic control unit 300 controls the on-off of the dipped headlight relay 92 and the on-off of the high beam relay 97 according to the instruction of the host, the electronic control unit 300 sends out signals according to the instruction of the host to control the on-off of the left steering lamp 98 and the left contour lamp 99, and the electronic control unit 300 sends out signals according to the instruction of the host to control the on-off of the right steering lamp 910 and the right contour lamp 911.

It should be noted that the voltage input line 94 is used to provide voltage, the voltage input line 94 has two voltage input branches, the low beam relay 92 is connected in series to one voltage input branch, and the low beam relay 93 is disposed on the voltage input branch; the high beam relay 97 is connected in series to a voltage input branch on which the high beam 96 is provided.

In order to provide warning information in the unmanned mode, the unmanned system of the electric wheel type mining dump truck further comprises an unmanned warning light control module, as shown in fig. 14, the unmanned warning light control module comprises: three warning light groups, warning light relay 01 and electronic control unit 300. It can be understood that the unmanned driving warning light control module is a newly added module.

Every above-mentioned warning light group includes at least one warning light, and the warning light of a warning light group is red light 02, the warning light of a warning light group is yellow lamp 03, and the warning light of another warning light group is blue lamp 04, warning light relay 01 and warning light group one-to-one.

The warning light relay 01 is connected in series between the corresponding warning light group and the electronic control unit 300 to control the on/off of each light in the warning light group, and the electronic control unit 300 is connected with the communication interface of the warning light relay 01 to control the on/off of the warning light relay 01.

If the electric wheel type mining dump truck is in the unmanned mode, the blue lamp 04 flashes; if the electric wheel type mining dump truck is in a manual driving mode, the yellow lamp 03 flashes; if the electric wheel type mining dump truck is in a failure mode, the red light 02 is on.

In order to improve the reliability, at least two warning lamps are arranged in each warning lamp group. Specifically, three warning lamps in each warning lamp group can be selected.

Furthermore, the unmanned system of the electric wheel type mining dump truck further comprises a host, the host is in communication connection with the electronic control unit 300 through a network cable, and the electronic control unit 300 controls the on-off of the warning light relay 01 and sends a signal to the warning light relay 01 according to an instruction sent by the host so as to control the corresponding warning light set.

Specifically, if the electric wheel type mining dump truck is in the unmanned driving mode, the host machine sends a blue light flashing command, the electronic control unit 300 controls the warning light relay 01 corresponding to the blue light to be powered on and conducted, and the electronic control unit 300 sends a signal to the warning light relay 01 corresponding to the blue light so as to enable the blue light 04 to flash; if the electric wheel type mining dump truck is in a manual driving mode, the host sends out a yellow light flashing command, the electronic control unit 300 controls the warning light relay 01 corresponding to the yellow light to be powered on and conducted, and the electronic control unit 300 sends out a signal to the warning light relay 01 corresponding to the yellow light so as to enable the yellow light 02 to flash; if the electric wheel type mining dump truck is in a fault mode, the host sends a red light lightening instruction, the electronic control unit 300 controls the warning light relay 01 corresponding to the red light to be powered on and conducted, and the electronic control unit 300 sends a signal to the warning light relay 01 corresponding to the red light so that the red light 02 is lightened.

In order to implement the unmanned AC drive stop control and the unmanned override control, as shown in fig. 15, the unmanned system for the electric wheel type mining dump truck further includes: AC drive stop switch 001, override switch 003, electric cabinet 100, AC drive stop relay 002, override relay 004, and electronic control unit 300. Among them, the AC drive stop relay 002, the override relay 004, and the electronic control unit 300 are newly added components, and the AC drive stop switch 001, the override switch 003, and the electric cabinet 100 are original vehicle components.

The AC driving stop relay 002 and the AC driving stop switch 001 are arranged in parallel, the branch where the AC driving stop relay 002 is located and the branch where the AC driving stop switch 001 is located are both in communication connection with the electric cabinet 100, and the electronic control unit 300 is connected with the communication interface of the AC driving stop relay 002 to control the on/off of the AC driving stop relay 002.

The override relay 004 and the override switch 003 are arranged in parallel, a branch where the override relay 004 is located and a branch where the override switch 003 is located are both in communication connection with the electric cabinet 100, and the electronic control unit 300 is connected with a communication interface of the override relay 004 to control the on-off of the override relay 004.

It should be noted that the AC drive stop switch 001 is used when the engine is ignited and the electric wheel type mining dump truck does not operate, and the entire vehicle electric drive system does not operate, which is beneficial to energy saving. The override switch 003 is used when loading goods, and loading brake locks the rear wheel, and the whole car can not go forward, presses override switch 003, and electronic wheeled mining dump truck can go forward.

Further, the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit 300 is in communication connection with the host through a network cable, and the electronic control unit 300 controls the on-off of the AC drive stop relay 002 and the on-off of the override relay 004 according to instructions of the host.

Specifically, if the electric wheel type mining dump truck is in a manual driving mode, the AC driving stop switch 001 sends a signal to the electric cabinet 100, and the override switch 003 sends a signal to the electric cabinet 100; if the electric wheel type mining dump truck is in the unmanned mode, the electronic control unit 300 controls the AC drive stop relay 002 to be conducted according to the instruction of the host machine so as to send a signal to the electric cabinet 100, and the electronic control unit 300 controls the override relay 004 to be conducted according to the instruction of the host machine so as to send a signal to the electric cabinet 100.

To explain the host and the electronic control unit 300 more specifically, as shown in fig. 16, the host and the sensors such as radar and camera are connected by a controller area network or a network cable directly, the host, the steering controller and the electronic control unit 300 are connected by a communication cable, the electronic control unit 300 collects data of the engine through the network cable, the electronic control unit 300 collects a manual/automatic switching signal and failure information displayed in the cab, and the electronic control unit 300 controls the hopper, the hydraulic brake, the engine start, the engine stall, the engine acceleration/deceleration, the gear shift, the warning lamp, the horn 84, the vehicle lamp, the load brake, the override switch 003 and the AC drive stop switch 001 according to the instruction of the host. The information of the manual operation state of the cab is acquired mainly by gear switching, starting, flameout, loading and braking, an accelerator pedal 71 and a brake pedal 72.

The engine data collected by the electronic control unit 300 include: engine speed, oil pressure, water temperature, water level, battery voltage, air intake temperature, atmospheric pressure, hours of operation.

The vehicle states collected by the electronic control unit 300 include: the speed of a vehicle, the temperature of hydraulic oil, the oil level of fuel oil, the state of a limit switch on a car hopper and the state of a limit switch under the car hopper. In addition, the electronic control unit 300 may further collect the load weight of the electric wheel type mining dump truck.

The fault alarm data of the vehicle collected by the electronic control unit 300 includes: the electronic control unit 300 acquires any fault alarm, and the electric wheel type mining dump truck stops with 100% electric braking force.

It should be noted that all the communication connections mentioned herein are through network cable communication connections.

Based on the unmanned system of the electric wheel type mining dump truck provided by the above embodiment, the embodiment also provides an electric wheel type mining dump truck, and the electric wheel type mining dump truck comprises the unmanned system of the electric wheel type mining dump truck provided by the above embodiment.

Since the unmanned system of the electric wheel type mining dump truck has the technical effects, and the electric wheel type mining dump truck comprises the unmanned system of the electric wheel type mining dump truck, the electric wheel type mining dump truck also has corresponding technical effects, and the details are not repeated herein.

Optionally, the electric wheel type mining dump truck is a small-release electric wheel type mining dump truck. Specifically, the pinus electric wheeled mining dump truck is a pinus 830E electric wheeled mining dump truck or a pinus 930E electric wheeled mining dump truck. Of course, the electric wheel type mining dump truck may also be of other types, which is not limited in this embodiment.

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 (27)

1. The unmanned system of the electric wheel type mining dump truck is characterized by comprising an unmanned hydraulic braking module, wherein the unmanned hydraulic braking module comprises: the brake system comprises a front brake energy accumulator (11), a rear brake energy accumulator (12), a pedal brake valve (17), a front relay valve (13), a rear relay valve (14), an unmanned front brake valve bank (15) and an unmanned rear brake valve bank (16);

the first valve inlet port of the pedal brake valve (17) and the first valve inlet port of the front relay valve (13) are communicated with the valve outlet port of the front brake accumulator (11), and the second valve inlet port of the pedal brake valve (17) and the first valve inlet port of the rear relay valve (14) are communicated with the valve outlet port of the rear brake accumulator (12);

the unmanned front brake valve group (15) is provided with a front brake first valve port, a front brake second valve port and a front brake third valve port, the front brake first valve port is communicated with an oil outlet of the front brake energy accumulator (11), the front brake second valve port is communicated with a front brake outlet valve port of the pedal brake valve (17), and the front brake third valve port is communicated with a second inlet valve port of the front relay valve (13);

the unmanned rear brake valve group (16) is provided with a rear brake first valve port, a rear brake second valve port and a rear brake third valve port, the rear brake first valve port is communicated with an oil outlet of the rear brake accumulator (12), the rear brake second valve port is communicated with a rear brake outlet valve port of the pedal brake valve (17), and the rear brake third valve port is communicated with a second inlet valve port of the rear brake valve (14);

if the electric wheel type mining dump truck adopts unmanned braking, the front braking first valve port is communicated with the front braking third valve port, and the rear braking first valve port is communicated with the rear braking third valve port;

if the electric wheel type mining dump truck adopts manual driving braking, the front braking second valve port is communicated with the front braking third valve port, and the rear braking second valve port is communicated with the rear braking third valve port.

2. The unmanned system of claim 1,

the pilotless front brake valve block (15) comprises: the brake valve group (16) comprises a front proportional valve, a front switch valve, a front shuttle valve and a front pressure sensor for detecting the pressure in the front proportional valve, and comprises: the rear proportional valve, the rear switch valve, the rear shuttle valve and a rear pressure sensor for detecting the pressure in the rear proportional valve;

the first valve port of the front proportional valve is the front brake first valve port, the second valve port of the front proportional valve is communicated with the first valve port of the front switch valve, the second valve port of the front switch valve is communicated with the first valve port of the front shuttle valve, the second valve port of the front shuttle valve is the front brake second valve port, and the third valve port of the front shuttle valve is the front brake third valve port;

the first valve port of the rear proportional valve is the rear brake first valve port, the second valve port of the rear proportional valve is communicated with the first valve port of the rear switch valve, the second valve port of the rear switch valve is communicated with the first valve port of the rear shuttle valve, the second valve port of the rear shuttle valve is the rear brake second valve port, and the third valve port of the rear shuttle valve is the rear brake third valve port;

if the electric wheel type mining dump truck adopts unmanned braking, the first valve port of the front shuttle valve is communicated with the third valve port of the front shuttle valve, and the first valve port of the rear shuttle valve is communicated with the third valve port of the rear shuttle valve;

if the electric wheel type mining dump truck adopts manual driving and braking, the second valve port of the front shuttle valve is communicated with the third valve port of the front shuttle valve, and the second valve port of the rear shuttle valve is communicated with the third valve port of the rear shuttle valve;

if the electric wheel type mining dump truck adopts unmanned braking and manual braking, one of the first valve port of the front shuttle valve and the second valve port of the front shuttle valve with higher pressure is communicated with the third valve port of the front shuttle valve, and one of the first valve port of the rear shuttle valve and the second valve port of the rear shuttle valve with higher pressure is communicated with the third valve port of the rear shuttle valve.

3. The unmanned system of claim 2, further comprising: the system comprises a host and an electronic control unit (300) which is in communication connection with the host through a network cable; wherein the electronic control unit (300) controls the pre-unmanned brake valve bank (15) and the post-unmanned brake valve bank (16) according to the command of the host.

4. The unmanned system of claim 1, further comprising an unmanned hydraulic steering module, the unmanned hydraulic steering module comprising: a steering (21), a flow amplifier (22), and a rotation angle sensor;

the steering gear (21) is an electric control hydraulic steering gear, and the corner sensor is used for detecting the corner of a steering oil cylinder;

the steering gear (21) inputs hydraulic oil to the flow amplifier (22) through a steering tube group, which includes: a steering shuttle valve (23), a steering one-way valve (24), an R pipeline (25), an L pipeline (26), a T pipeline (27), an LS pipeline, a P pipeline (29) and an auxiliary pipeline (211);

the R valve port of the steering gear (21) is communicated with the R valve port of the flow amplifier (22) through a steering R pipeline (25), the L valve port of the steering gear (21) is communicated with the L valve port of the flow amplifier (22) through an L pipeline (26), the T valve port of the steering gear (21) is communicated with the T valve port of the flow amplifier (22) through a T pipeline (27), the LS valve port of the steering gear (21) is communicated with the LS valve port of the flow amplifier (22) through an LS pipeline, and the P valve port of the steering gear (21) is communicated with the P valve port of the flow amplifier (22) through a P pipeline (29);

the first valve port of the steering shuttle valve (23) is communicated with the R pipeline (25), the second valve port of the steering shuttle valve (23) is communicated with the L pipeline (26), the third valve port of the steering shuttle valve (23) is communicated with the first valve port of the steering one-way valve (24), the second valve port of the steering one-way valve (24) is communicated with the LS pipeline, and the steering one-way valve (24) can only be communicated from the steering shuttle valve (23) to the LS pipeline;

the P pipe (29) and the LS pipe are communicated through an auxiliary pipe (211), and the communication position of the auxiliary pipe (211) on the LS pipe is located between the steering one-way valve (24) and the flow amplifier (22).

5. The unmanned system of claim 4, further comprising a host machine and a steering controller connected through a network cable, wherein the steering controller controls the steering device (21) to output a set proportion of hydraulic oil to the flow amplifier (22) according to a command of the host machine.

6. The drone system of claim 1, further comprising a drone bucket hydraulic control module, the drone bucket hydraulic control module comprising: a lifting valve, a lifting pilot valve and an unmanned car hopper control valve group;

wherein, unmanned car hopper valve unit includes: a first switching valve (E6), a hopper valve group, a second switching valve a (E51), and a second switching valve b (E52);

the first valve port of the first switching valve (E6) is used for feeding oil into the pump group, the second valve port of the first switching valve (E6) is communicated with the first valve port (314) of the lifting pilot valve, and the third valve port of the first switching valve (E6) is communicated with the first valve port of the hopper valve group;

the first valve port of the second switching valve a (E51) is communicated with the first valve port (317) of the lifting valve, the second valve port of the second switching valve a (E51) is communicated with the second valve port (315) of the lifting pilot valve, and the third valve port of the second switching valve a (E51) is communicated with the second valve port of the hopper valve group;

the first port of the second switching valve b (E52) is communicated with the second port (318) of the lifting valve, the second port of the second switching valve b (E52) is communicated with the third port (316) of the lifting pilot valve, and the third port of the second switching valve b (E52) is communicated with the third port of the hopper valve group;

if the electric wheel type mining dump truck is in a manual driving hopper control mode, a first valve port of the first switching valve (E6) is communicated with a second valve port of the first switching valve (E6), a first valve port of the second switching valve a (E51) is communicated with a second valve port of the second switching valve a (E51), and a first valve port of the second switching valve b (E52) is communicated with a second valve port of the second switching valve b (E52);

if the electric wheel type mining dump truck is in the unmanned truck hopper control mode, the first valve port of the first switching valve (E6) is communicated with the third valve port of the first switching valve (E6), the first valve port of the second switching valve a (E51) is communicated with the third valve port of the second switching valve a (E51), and the first valve port of the second switching valve b (E52) is communicated with the third valve port of the second switching valve b (E52);

if the electric wheel type mining dump truck is in an unmanned truck hopper control mode, when the truck hopper valve group is in a first state, the first valve port of the second switching valve a (E51) outputs hydraulic oil to enable the truck hopper to be in a power descending state, when the truck hopper valve group is in a second state, the first valve port of the second switching valve b (E52) outputs hydraulic oil to enable the truck hopper to be in a power lifting state, when the truck hopper valve group is in a third state, the first valve port of the second switching valve a (E51) is communicated with the first valve port of the second switching valve b (E52) to enable the truck hopper to be in a floating state, and when the truck hopper valve group is in a fourth state, the oil return valve port of the truck hopper valve group outputs hydraulic oil to enable the truck hopper to be in a keeping state.

7. The drone system of claim 6, wherein the hopper valve set comprises: a third switching valve (E3), a fourth switching valve (E4), a fifth switching valve (E1), and a sixth switching valve (E2);

wherein the third switching valve (E3) has a first port, a second port, a third port and a fourth port; when the third switching valve (E3) is in the first state, the first port, the second port, the third port, and the fourth port of the third switching valve (E3) are all open, and when the third switching valve (E3) is in the second state, the first port of the third switching valve (E3) is communicated with the third port of the third switching valve (E3), and the fourth port of the third switching valve (E3) is communicated with the second port of the third switching valve (E3);

the sixth switching valve (E2) has a first port, a second port, a third port, and a fourth port; when the sixth switching valve (E2) is in the first state, the first port, the second port, the third port, and the fourth port of the sixth switching valve (E2) are all open, and when the sixth switching valve (E2) is in the second state, the first port of the sixth switching valve (E2) is communicated with the fourth port of the sixth switching valve (E2), and the third port of the sixth switching valve (E2) is communicated with the second port of the sixth switching valve (E2);

the fourth switching valve (E4) has a first port and a second port, and the first port and the second port of the fourth switching valve (E4) are open when the fourth switching valve (E4) is in the first state, and the fourth switching valve (E4) is open when the fourth switching valve (E4) is in the second state;

the fifth switching valve (E1) has a first port and a second port, the fifth switching valve (E1) is disconnected when the fifth switching valve (E1) is in the first state, and the first port and the second port of the fifth switching valve (E1) are connected when the fifth switching valve (E1) is in the second state;

the first port of the third switching valve (E3) is connected to the third port of the first switching valve (E6) via a first line (31), and the first port of the sixth switching valve (E2) is connected to the first line (31) via a second line (32);

a second valve port of the sixth switching valve (E2) is communicated with an oil return pipeline (312) through a third pipeline (33), a second valve port of the third switching valve (E3) is communicated with the third pipeline (33) through a fourth pipeline (34), the fourth switching valve (E4) is connected to a fifth pipeline (35) in series, one end of the fifth pipeline (35) is communicated with the first pipeline (31), and the other end of the fifth pipeline (35) is communicated with the third pipeline (33); on the first line (31), the fifth line (35) is located between the third port of the first switching valve (E6) and the second line (32); -on the third line (33), the fifth line (35) is located between the fourth line (34) and the return line (312);

the third port of the sixth switching valve (E2) is communicated with the third port of the second switching valve b (E52) through a sixth line (36), and the fourth port of the sixth switching valve (E2) is communicated with the third port of the second switching valve a (E51) through a seventh line;

the second port of the fifth switching valve (E1) is communicated with the third port of the third switching valve (E3) through an eighth line (38), the middle portion of the eighth line (38) is communicated with the sixth line (36), the first port of the fifth switching valve (E1) is communicated with the seventh line (37) through a ninth line (39), the fourth port of the third switching valve (E3) is communicated with the sixth line (36) through a tenth line (310), and the fourth port of the sixth switching valve (E2), the ninth line (39), the tenth line (310) and the third port of the second switching valve a (E51) are sequentially distributed on the seventh line (37).

8. The unmanned system of claim 6, further comprising: the system comprises a host and an electronic control unit (300) which is in communication connection with the host through a network cable; the electronic control unit (300) controls the unmanned hopper control valve group according to the instruction of the host.

9. The drone system of claim 1, further comprising a drone wheel brake lock module, the drone wheel brake lock module comprising: a brake locking solenoid valve (41), a brake locking switch (42), a first manual automatic switch (49), a first loading brake relay (47), a second manual automatic switch (410), a second loading brake relay (48), a first lead (43), a second lead (44), a third lead (45) and a fourth lead (46);

one end of the first lead (43) is electrically connected with the brake locking solenoid valve (41), and the other end of the first lead (43) is used for being electrically connected with an electric cabinet (100); one end of the second wire (44) is used for being connected with the auxiliary box control module (200) in a communication mode, and the other end of the second wire (44) is used for being connected with the electric control box (100) in a communication mode; the brake locking switch (42) is connected in series with a first input end and a first output end thereof on the first conducting wire (43), and the brake locking switch (42) is connected in series with a second input end and a second output end thereof on the second conducting wire (44);

one end of the third lead (45) is electrically connected with the brake locking electromagnetic valve (41), and the other end of the third lead (45) is used for being electrically connected with the electric cabinet (100); one end of the fourth wire (46) is used for being in communication connection with the auxiliary box control module (200), and the other end of the fourth wire (46) is used for being in communication connection with the electric control box (100); the first load brake relay (47) is connected in series to the third line (45), and the second load brake relay (48) is connected in series to the fourth line (46);

the first manual automatic switch (49) switches the first wire (43) and the third wire (45) for series connection between the electric cabinet (100) and the brake locking solenoid valve (41), the second manual automatic switch (410) switches the second wire (44) and the fourth wire (46) for series connection between the auxiliary cabinet control module (200) and the electric cabinet (100);

if the electric wheel type mining dump truck is manually braked and locked, the first manual automatic switch (49) is switched to a state that the first lead (43) is connected between the electric cabinet (100) and the brake locking electromagnetic valve (41) in series, and the second manual automatic switch (410) is switched to a state that the second lead (44) is connected between the auxiliary cabinet control module (200) and the electric cabinet (100) in series;

if the electric wheel type mining dump truck is locked by unmanned braking, the first manual automatic switch (49) is switched to a state that the third lead (45) is connected between the electric cabinet (100) and the braking locking electromagnetic valve (41) in series, and the second manual automatic switch (410) is switched to a state that the fourth lead (46) is connected between the auxiliary cabinet control module (200) and the electric cabinet (100) in series;

the first load brake relay (47) and the second load brake relay (48) are in the same state.

10. The unmanned system of claim 9,

the first manual automatic switch (49) and the second manual automatic switch (410) are both manual automatic switch relays;

the input interface of the first manual automatic switch (49) is used for being electrically connected with the electric cabinet (100), the first output interface of the first manual automatic switch (49) is electrically connected with the first lead (43), and the second output interface of the first manual automatic switch (49) is electrically connected with the third lead (45);

the third lead wire (45) is electrically connected with the first lead wire (43), and the connection position of the third lead wire (45) and the first lead wire (43) is positioned between the brake locking solenoid valve (41) and the first output end of the brake locking switch (42);

the input interface of the second manual automatic switch (410) is used for being electrically connected with the auxiliary box control module (200), the first output interface of the second manual automatic switch (410) is electrically connected with the second lead (44), and the second output interface of the second manual automatic switch (410) is electrically connected with the fourth lead (46);

the fourth lead (46) and the second lead (44) are electrically connected, and the connection position of the fourth lead (46) and the second lead (44) is positioned between the electric cabinet (100) and the second output end of the brake locking switch (42).

11. The unmanned system of claim 9, further comprising: the system comprises a host and an electronic control unit (300) which is in communication connection with the host through a network cable;

wherein the communication interfaces of the first manual automatic switch (49), the second manual automatic switch (410), the first load brake relay (47) and the second load brake relay (48) are all in communication connection with the electronic control unit (300), and the electronic control unit (300) controls the first manual automatic switch (49), the second manual automatic switch (410), the first load brake relay (47) and the second load brake relay (48) according to the instruction of the host.

12. The unmanned system of claim 1, further comprising an unmanned engine control module, the unmanned engine control module comprising: the device comprises a power supply (400), a key switch (53), a power supply relay (55), an electric cabinet (100), an ignition relay (58), a flameout relay (59), an ignition circuit (57), a manual-automatic switching unit and an electronic control unit (300);

the power supply (400) supplies power to the key switch (53) through a first power supply lead (52), and the flameout relay (59) is connected to the first power supply lead (52) in series and controls the on-off of the first power supply lead (52);

the power supply (400) supplies power to the electric cabinet (100) through a second power supply lead (54), and the power supply relay (55) is connected in series to the second power supply lead (54) and controls the on-off of the second power supply lead (54);

the communication interface of the power supply relay (55) is in communication connection with a power supply gear position (53b) of the key switch (53), and the power supply relay (55) conducts the second power supply lead (54) when the key switch (53) is in the power supply gear position (53 b);

the electronic control unit (300) is in communication connection with a power supply gear position (53b) of the key switch (53) and acquires whether the key switch (53) is in the power supply gear position (53 b);

the manual-automatic switching unit is provided with an unmanned driving gear and a manual driving gear, and the electronic control unit (300) is electrically connected with the manual-automatic switching unit and acquires the gear of the manual-automatic switching unit;

the communication interface of the ignition relay (58) and the communication interface of the flameout relay (59) are both in communication connection with the electronic control unit (300);

the ignition relay (58) is connected in series with an automatic ignition circuit (510), one end of the automatic ignition circuit (510) is electrically connected with the ignition circuit (57), the other end of the automatic ignition circuit (510) is electrically connected with a power supply gear (53b) of the key switch (53), and the ignition circuit (57) is electrically connected with an ignition gear (53c) of the key switch (53);

if the manual-automatic switching unit is in the unmanned driving gear and the key switch (53) is in the power supply gear (53b), the electronic control unit (300) controls the ignition relay (58) to conduct the automatic ignition circuit (510).

13. The unmanned system of claim 12,

the unmanned engine control module further comprising an unmanned system power supply (511), the power supply (400) for powering the unmanned system power supply (511) and the electronic control unit (300);

and/or the unmanned system of the electric wheel type mining dump truck further comprises a host, the electronic control unit (300) is in communication connection with the host through a network cable, and the electronic control unit (300) controls the on-off of the ignition relay (58) and the flameout relay (59) according to the instruction of the host;

and/or the manual-automatic switching unit comprises at least one mode selection switch (56) and/or at least one mode selection button (51), each mode selection switch (56) is provided with an unmanned driving gear and a manual driving gear, and each mode selection button (51) is provided with an unmanned driving gear and a manual driving gear.

14. The unmanned system of claim 1, further comprising an unmanned gear shifting module, the unmanned gear shifting module comprising: a direction selection switch (61), a direction selection relay (62), an electric cabinet (100) and an electronic control unit (300);

the direction selection switch (61) is provided with a parking communication interface (P), a reverse communication interface (R), a neutral communication interface (N) and a forward communication interface (D), and the electronic control unit (300) is provided with an automatic parking communication interface (P '), an automatic reverse communication interface (R'), an automatic neutral communication interface (N ') and an automatic forward communication interface (D');

the direction selection relay (62) is provided with a first neutral position input interface (621), a second neutral position input interface (625), a first parking input interface (622), a second parking input interface (626), a first reverse input interface (623), a second reverse input interface (627), a first forward input interface (624), a second forward input interface (628), a first output interface (629), a second output interface (6210), a third output interface (6211), a fourth output interface (6212) and a switching input interface (6213);

wherein the neutral communication interface (N) is communicatively connected with the first neutral input interface (621), the parking communication interface (P) is communicatively connected with the first parking input interface (622), the reverse communication interface (R) is communicatively connected with the first reverse input interface (623), and the forward communication interface (D) is communicatively connected with the first forward input interface (624);

the automatic neutral communication interface (N ') is communicatively connected with the second neutral input interface (625), the automatic parking communication interface (P') is communicatively connected with the second parking input interface (626), the automatic reverse communication interface (R ') is communicatively connected with the second reverse input interface (627), and the automatic forward communication interface (D') is communicatively connected with the second forward input interface (628);

if the direction selection relay (62) is in a first state, the first output interface (629) is in communication connection with the first neutral input interface (621), the second output interface (6210) is in communication connection with the first parking input interface (622), the third output interface (6211) is in communication connection with the first reverse input interface (623), and the fourth output interface (6212) is in communication connection with the first forward input interface (624);

if the direction selection relay (62) is in a second state, the first output interface (629) is in communication connection with the second neutral input interface (625), the second output interface (6210) is in communication connection with the second parking input interface (626), the third output interface (6211) is in communication connection with the second reverse input interface (627), and the fourth output interface (6212) is in communication connection with the second forward input interface (628);

the electronic control unit (300) and the switching input interface (6213) are communicatively connected to control the state of the direction selection relay (62);

the electronic control unit (300) is in communication connection with the direction selection switch (61) to acquire the state of the direction selection switch (61), and the electronic control unit (300) is in signal connection with the electric cabinet (100) to acquire gear signals sent by the electric cabinet (100).

15. The unmanned system of claim 14, further comprising a host computer, the electronic control unit (300) and the host computer being communicatively connected via a network cable;

if the direction selection switch (61) is in a parking position, the electronic control unit (300) inputs a gear position signal to the direction selection relay (62) according to an instruction of the host; if the direction selection switch (61) is not in the parking position, the electronic control unit (300) inputs a gear position signal to the direction selection relay (62) according to the gear position of the direction selection switch (61).

16. The unmanned system of claim 1, further comprising an unmanned engine speed control module, the unmanned engine speed control module comprising: the device comprises an accelerator pedal (71), a brake pedal (72), a switching relay (74), an electronic control unit (300) and an electric cabinet (100);

the switching relay (74) is provided with a communication interface, a first acceleration input interface, a second acceleration input interface, a first deceleration input interface, a second deceleration input interface, an acceleration output interface and a deceleration output interface;

the first acceleration input interface is in communication connection with the accelerator pedal (71), and the first deceleration input interface is in communication connection with the brake pedal (72); the second acceleration input interface and the second deceleration input interface are both in communication connection with the electronic control unit (300); the acceleration output interface and the deceleration output interface are both in communication connection with the electric cabinet (100);

if the switching relay (74) is in a first state, the first acceleration input interface is electrically connected with the acceleration output interface, and the first deceleration input interface is electrically connected with the deceleration output interface; if the switching relay (74) is in a second state, the second acceleration input interface is electrically connected with the acceleration output interface, and the second deceleration input interface is electrically connected with the deceleration output interface;

the electronic control unit (300) is connected to the communication interface of the switching relay (74) to control the state of the switching relay (74).

17. The unmanned system according to claim 16, further comprising a host computer, wherein the electronic control unit (300) and the host computer are connected through network cable communication, and the electronic control unit (300) sends a signal to the electric cabinet (100) according to a command of the host computer; the electronic control unit (300) is in communication connection with the accelerator pedal (71) to acquire the state of the accelerator pedal (71) and feed back the state to a host, and the electronic control unit (300) is in communication connection with the brake pedal (72) to acquire the state of the brake pedal (72) and feed back the state to the host;

and/or the output end of the brake pedal (72) is in communication connection with the first deceleration input interface through a deceleration line (75), the electronic control unit (300) is in communication connection with the deceleration line (75) through a voltage division line (76), and the voltage division line (76) is connected with a voltage division resistor (77) in series.

18. The drone system of claim 1, further comprising a drone horn control module, the drone horn control module comprising: a horn button (81), a first horn relay (82), a second horn relay (83), and an electronic control unit (300);

the first horn relay (82) and the second horn relay (83) are arranged in parallel, and a branch where the first horn relay (82) is located and a branch where the second horn relay (83) is located are both connected with a horn (84) in series;

the horn button (81) is connected with a communication interface of the first horn relay (82) to control the on-off of the first horn relay (82), and the electronic control unit (300) is connected with a communication interface of the second horn relay (83) to control the on-off of the second horn relay (83).

19. The unmanned system of claim 18, further comprising a host computer, wherein the electronic control unit (300) and the host computer are in communication connection through a network cable, and the electronic control unit (300) controls the on-off of the second horn relay (83) according to a command of the host computer.

20. The drone system of claim 1, further comprising a drone lamp control module, the drone lamp control module comprising: a dipped headlight relay (92), a high beam relay (97), a near-high beam switch (95), a headlight switch (91), a turn signal switch (912) and an electronic control unit (300);

wherein the communication interface of the headlight switch (91) and the low beam relay (92) is connected to control the on-off of the low beam relay (92), the low beam relay (92) is connected in series on a low beam line, if the low beam relay (92) is switched on, the low beam (93) is switched on, and if the low beam relay (92) is switched off, the low beam (93) is switched off;

the headlight switch (91) is connected with a communication interface of the high beam relay (97) through the near and high beam switch (95) to control the on-off of the high beam relay (97), the high beam relay (97) is connected in series on a high beam circuit, if the high beam relay (97) is switched on, the high beam (96) is switched on, and if the high beam relay (97) is switched off, the high beam (96) is switched off;

the turn signal lamp switch (912) is used for controlling the opening and closing of the left turn lamp (98), the left contour lamp (99), the right turn lamp (910) and the right contour lamp (911);

the electronic control unit (300) is connected with a communication interface of the dipped headlight relay (92) to control the on-off of the dipped headlight relay (92), the electronic control unit (300) is connected with a communication interface of the high beam relay (97) to control the on-off of the high beam relay (97), the electronic control unit (300) is connected with the left turn light (98) to control the on-off of the left turn light (98), the electronic control unit (300) is connected with the left contour light (99) to control the on-off of the left contour light (99), the electronic control unit (300) is connected with the right turn light (910) to control the on-off of the right turn light (910), and the electronic control unit (300) is connected with the right contour light (911) to control the on-off of the right contour light (911).

21. The unmanned aerial vehicle system of claim 20, further comprising a host computer, wherein the electronic control unit (300) and the host computer are connected through a network communication, the electronic control unit (300) controls the on/off of the low beam relay (92) and the on/off of the high beam relay (97) according to a command of the host computer, the electronic control unit (300) controls the on/off of the left turn light (98) and the left contour light (99) according to a command of the host computer, and the electronic control unit (300) controls the on/off of the right turn light (910) and the right contour light (911) according to a command of the host computer.

22. The unmanned system of claim 1, further comprising an unmanned warning light control module, the unmanned warning light control module comprising: the warning lamp set comprises three warning lamp groups, a warning lamp relay (01) and an electronic control unit (300);

each warning lamp group comprises at least one warning lamp, the warning lamp of one warning lamp group is a red lamp (02), the warning lamp of the other warning lamp group is a yellow lamp (03), the warning lamp of the other warning lamp group is a blue lamp (04), and the warning lamp relays (01) correspond to the warning lamp groups one to one;

the warning lamp relay (01) is connected in series between the corresponding warning lamp group and the electronic control unit (300) to control the on-off of each lamp in the warning lamp group, and the electronic control unit (300) is connected with a communication interface of the warning lamp relay (01) to control the on-off of the warning lamp relay (01);

if the electric wheel type mining dump truck is in the unmanned mode, the blue lamp (04) flashes; if the electric wheel type mining dump truck is in a manual driving mode, the yellow lamp (03) flashes; and if the electric wheel type mining dump truck is in a failure mode, the red light (02) is on.

23. The unmanned aerial vehicle system of claim 22, further comprising a host computer, wherein the host computer is in communication connection with the electronic control unit (300) through a network cable, and the electronic control unit (300) controls the on/off of the corresponding warning light relay (01) according to a command sent by the host computer and sends a signal to the corresponding warning light relay (01) to control the corresponding warning light set.

24. The unmanned system of claim 1, further comprising: an AC drive stop switch (001), an override switch (003), an electric cabinet (100), an AC drive stop relay (002), an override relay (004), and an electronic control unit (300);

the AC driving stop relay (002) and the AC driving stop switch (001) are arranged in parallel, a branch where the AC driving stop relay (002) is located and a branch where the AC driving stop switch (001) is located are both in communication connection with the electric cabinet (100), and the electronic control unit (300) is connected with a communication interface of the AC driving stop relay (002) to control the on-off of the AC driving stop relay (002);

the override relay (004) and the override switch (003) are arranged in parallel, a branch where the override relay (004) is located and a branch where the override switch (003) is located are both in communication connection with the electric cabinet (100), and the communication interfaces of the electronic control unit (300) and the override relay (004) are connected to control the on-off of the override relay (004).

25. The unmanned system of claim 24, further comprising a host computer, wherein the electronic control unit (300) and the host computer are communicatively connected via a network cable, and the electronic control unit (300) controls the on/off of the AC drive stop relay (002) and the on/off of the override relay (004) according to a command from the host computer.

26. An electrically powered wheeled mining dump truck comprising the unmanned system of any one of claims 1-25.

27. The electrically powered wheeled mining dump truck of claim 26, wherein the electrically powered wheeled mining dump truck is a pint electrically powered wheeled mining dump truck, and the pint electrically powered wheeled mining dump truck is a pint 830E electrically powered wheeled mining dump truck or a pint 930E electrically powered wheeled mining dump truck.

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