Automatic gangue falling control system based on laser radars and ultrasonic radars

Abstract

The invention discloses an automatic gangue falling control system based on laser radars and ultrasonic radars, and relates to the technical field of gangue loading and transporting control. The system comprises a mine car, laser radars installed on the left side and the right side of an exit of a loading site, ultrasonic radars installed on the periphery of a gangue discharging port, a cloud data recording module, a calculation unit, an OBU module and an electromagnetic relay installed on the gangue discharging port, wherein the OBU module is installed in a mine car bridge, the laser radars and the ultrasonic radars are electrically connected with the cloud data recording module, and the calculation unit is electrically connected with the cloud data recording module and the electromagnetic relay. According to the invention, the high-precision point cloud matching technology of the laser radar is used for detecting related markers of the vehicle body so as to determine the precise position of the vehicle at the loading point, the ultrasonic radar is used for detecting the height of gangue accumulated in the compartment, and the calculation unit controls the electromagnetic relay to realize the automatic opening and closing of the gangue discharge port, and finally the automatic gangue falling of the unmanned mine card is realized.

Description

technical field [0001] The invention relates to the technical field of gangue shipment control, in particular to an automatic gangue drop control system based on laser radar and ultrasonic radar. Background technique [0002] For a long time to come, coal will still be the main energy source and important industrial raw material in our country. Coal gangue is a black-gray rock with low carbon content and harder than coal that is associated with coal seams during the coal-forming process. With the increase of mine rock roadway excavation, the output of mine excavation gangue increases, and the gangue rate (ratio of gangue to output) in some mines reaches about 12% to 18%. an important part of. [0003] The gangue control system is an important subsystem of the gangue transportation system. Its function is to accurately load the gangue into the compartment of the transport vehicle by controlling the opening switch of the gangue silo and the position of the gangue transport v...

AI Technical Summary

Problems solved by technology

Although this traditional gangue control system based on manual operation is widely used in the production process of coal mines, it has many disadvantages, including (1) a large number of personnel, and one operator is required for each loading point during working hours. A total of 3 operators need to be assigned to work for 8 hours; (2) The labor intensity is high, and the operators focus on the surveillance video during work, and need to operate keys continuously; (3) The entire system requires manual operation, and the degree of automation is low , low efficiency and error-prone, can no longer meet the "green, safe and efficient" modern coal mine production process

[0004] For the problems in related technologies, the industry has not yet proposed an effective solution, and the relevant references have not been retrieved

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