Underground scraper fixed-point unloading autonomous control system
An autonomous control, scraper technology, applied in the direction of electrical program control, program control in sequence/logic controllers, etc., to achieve the effect of simple working structure, stable and reliable work
Active Publication Date: 2015-10-07
BEIJING GENERAL RES INST OF MINING & METALLURGY +1
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Problems solved by technology
[0002] In recent years, the mining of mineral resources has gradually moved underground and extended to the deep. With the increasing depth, the underground working environment is getting worse and worse. At the same time, there are uncertain risk factors such as roof fall. Personnel working with transport equipment poses certain safety and risks
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Embodiment
[0023] figure 1 It is a schematic diagram of an autonomous control system for fixed-point unloading of an underground scraper provided in Embodiment 1 of the present invention. Such as figure 1 As shown, the system mainly includes:
[0024] The fixed-point unloading position detection module is used to judge whether the underground scraper has reached the unloading point;
[0025] The boom movement time processing module is used for timing and real-time transmission to the control processing module when the boom of the underground scraper is lifted and lowered;
[0026] The boom circuit hydraulic detection module is used to detect the hydraulic state of the boom circuit of the underground scraper in real time and transmit it to the control processing module in real time;
[0027] The control processing module is used to control the vehicle to stop driving when the underground scraper reaches the unloading point, and control the boom of the underground scraper to start lifti...
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The invention discloses an underground scraper fixed-point unloading autonomous control system which comprises a fixed-point unloading position detection module for judging whether an underground scraper reaches an unloading point; a big arm operation time processing module for carrying out timing and transmitting the time information to a control processing module in real time when a big arm of the underground scraper lifts and falls back; a big arm loop hydraulic detection module for detecting the big arm loop hydraulic state of the underground scraper in real time and transmitting the state information to the control processing module in real time; and the control processing module for controlling a vehicle to stop driving when the underground scraper reaches the unloading point and controlling the big arm of the underground scraper to lift, and then controlling the underground scraper to dump ores and take back the bucket according to the data sent by the big arm operation time processing module and the big arm loop hydraulic detection module, and thus underground scraper fixed-point unloading autonomous control can be realized. The system has the advantages of simple structure and reliable and stable operation.
Description
technical field [0001] The invention relates to the technical field of autonomous control of underground scrapers, in particular to an autonomous control system for fixed-point unloading of underground scrapers. Background technique [0002] In recent years, the mining of mineral resources has gradually moved underground and extended to the deep. As the depth continues to increase, the underground working environment is getting worse and worse. At the same time, there are uncertain risk factors such as roof fall. Personnel working with transport equipment poses certain safety and risks. [0003] In the actual application of underground mines, in the process conditions where the scraper is the main mining equipment, the working distance of the scraper in the mine is generally 200 meters, and the main tasks completed at the unloading point include parking, lifting the boom, dumping, collecting A series of processes such as the bucket, the recovery boom, etc., as the most crit...
Claims
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IPC IPC(8): G05B19/04
CPCG05B19/04
Inventor 李建国战凯李恒通段辰玥姜勇郭鑫石峰
Owner BEIJING GENERAL RES INST OF MINING & METALLURGY