Unmanned tunnel transport vehicle capable of cruising autonomously

Abstract

The invention discloses an underground tunnel unmanned transport vehicle capable of autonomous cruise, and belongs to the technical field of automation equipment, and the installation mechanism comprises an outer shell which is installed on the unmanned transport vehicle, the front side of the outer shell is provided with a receding groove, and the shape of the receding groove is consistent with the shape of an RFID tag; the installation platform is installed at the tail of the unmanned transport vehicle, the two sides of the installation platform extend towards the two sides of the unmanned transport vehicle, the two outer shells are installed at the ends of the two sides of the installation platform, and the front sides of the outer shells face the two sides of the unmanned transport vehicle; the switching table is rotatably mounted on the outer shell; the mechanism integrates punching and mounting functions, is accurate in positioning and continuous and reliable in operation, remarkably improves the mounting efficiency and quality of the RFID tag in a narrow tunnel environment, and reduces the risk of manual operation.

Description

Technical Field

[0001] This application relates to the field of automated equipment technology, and in particular to an unmanned tunnel transport vehicle capable of autonomous cruising. Background Technology

[0002] Currently, in tunnel environments such as mines, tunnels, and underground utility tunnels, to achieve precise positioning and path planning for unmanned transport vehicles, equipment, and other assets, it is usually necessary to deploy a large number of RFID (Radio Frequency Identification) tags on the tunnel sidewalls to form a positioning beacon network. Traditional tag installation methods mainly rely on manual operation. Workers need to carry electric drills, tags, and installation tools into the tunnel to manually complete a series of steps such as drilling, placing tags, and fastening installation.

[0003] This manual installation method has many drawbacks: First, the tunnel environment usually poses safety hazards, and long-term manual operation faces high risks; second, the installation efficiency is low, the labor intensity is high, and it is difficult to meet the needs of large-scale tag deployment; third, the installation quality and positional accuracy are highly dependent on the experience of the operators, which can easily lead to problems such as insecure installation and large positional deviations, affecting the accuracy and reliability of subsequent unmanned vehicle positioning.

[0004] While some automated or semi-automated installation equipment has emerged in the existing technology, it is often limited in function, capable only of drilling or installation, still requiring manual intervention and tool switching, thus failing to achieve full-process automation. Furthermore, these devices generally lack efficient automated material (labels and fasteners) supply systems, have poor fault tolerance, and are not well-suited to complex tunnel environments. More importantly, existing solutions mostly focus on single-sided operations; for applications requiring label deployment on both sides of the tunnel walls, frequent adjustments or repositioning of equipment are necessary, further reducing overall operational efficiency. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems by providing an autonomous tunnel unmanned transport vehicle.

[0006] The technical solution of this application is implemented as follows: This application provides an unmanned transport vehicle for tunnels that can autonomously cruise, and the unmanned transport vehicle is equipped with an onboard system and an installation mechanism. The vehicle-mounted system is used for: The control mechanism installs RFID tags on the sidewalls of different key node areas within the tunnel, and matches the UIDs of the deployed RFID tags with the information of the key nodes to generate location information that matches the UIDs of the RFID tags. It is also used in vehicle systems to cruise through tunnels based on location information; The installation mechanism includes: The outer casing is installed on the unmanned transport vehicle. A clearance groove is provided on the front side of the outer casing. The shape of the clearance groove is consistent with the shape of the RFID tag. The mounting platform is installed at the rear of the unmanned transport vehicle, with both sides of the mounting platform extending towards both sides of the unmanned transport vehicle. The outer shell has two parts, which are installed at the ends of both sides of the mounting platform, and the front side faces both sides of the unmanned transport vehicle. A switching platform is rotatably mounted on the outer casing. The side wall of the switching platform has a drilling station and an installation station. The drilling station and the installation station are located in the same plane perpendicular to the axis of the switching platform, and the drilling station and the installation station are offset from each other in the circumferential direction of the switching platform. The side wall of the switching platform also has a filling groove for accommodating fixed parts, and the filling groove is connected to the installation station. A drilling assembly is installed at the drilling station, and the drilling assembly can drill holes in the sidewall of the tunnel; The mounting assembly is installed at the installation station, and the mounting assembly can fix the RFID tag to the side wall of the tunnel through the fastener and the hole; A tag loading assembly for preloading RFID tags and providing RFID tags to the mounting assembly; The first rotating mechanism includes a first motor, a first driving bevel gear, and a first driven bevel gear disk meshing with the first driving bevel gear; wherein, the first motor is fixedly installed on the inner wall of the outer casing, the first driving bevel gear is installed on the output end of the first motor, and the first driven bevel gear disk is coaxially arranged with the switching table and fixed to the switching table; The switching platform can be rotated at a limited angle around its axis by the first rotating mechanism to align the drilling assembly or the mounting assembly with the clearance groove.

[0007] As a further improvement to the above structure, the fixing member includes: Transition tube; An expansion pin, the tip of which passes through the bottom surface of the transition cylinder and extends outward, with its head engaging at the opening of the transition cylinder; An expansion cap is fitted over the portion of the expansion pin that extends beyond the outer side of the transition cylinder. When the end of the expansion cap contacts the bottom of the hole, the expansion cap can expand outward by the compression and rotation of the expansion nail; The RFID tag has mounting ears with mounting holes that are adapted to the expansion pins.

[0008] As a further improvement to the above structure, the outer shell has a storage groove for accommodating the fixed component; When the drilling assembly is switched to the working position, the filling slot is connected to the receiving slot, so that the fixed parts in the receiving slot fall into the filling slot; When the mounting component is switched to the working position, the filling slot is misaligned with the storage slot, and the filling slot is blocked by the inner wall of the outer shell. The working position is the position corresponding to the clearance groove.

[0009] As a further improvement to the above structure, the drilling assembly includes: The first slide is movably mounted on the switching platform; An electric drill, fixedly mounted on the first slide, is used to drill holes in the sidewalls of the tunnel; The installation components include: The second slide is movably mounted on the switching platform; An electric screwdriver is mounted on the second slide. The position of the screwdriver tip corresponds to the filling slot. The screwdriver tip is a Phillips head screwdriver tip. The expansion bolt head has a Phillips head. The installation mechanism also includes: The cylinder has its cylinder end installed inside the housing, and its telescopic end has a first magnet. A second magnet is installed behind both the electric screwdriver and the electric drill. The first magnet and the second magnet are magnetically attracted to each other. The cylinder is used to push the electric drill or the electric screwdriver outward or pull the electric drill or the electric screwdriver into the switching table.

[0010] As a further improvement to the above structure, the front end of the outer casing has a loading space for pre-loaded RFID tags; The label loading component includes: A loading frame having a receiving space for accommodating RFID tags, the loading frame being vertically movable between the switching table and the housing, allowing it to switch between a first station and a second station; An outer cover, detachably mounted on the outside of the outer casing, is used to seal the filling space. The outer cover has a spring plate for pushing an RFID tag within the filling space into the receiving space. At the first workstation, the accommodating space and the filling space are matched, and the RFID tag located in the filling space can enter the accommodating space; In the second work station, the mounting holes of the mounting ears of the RFID tags located in the accommodating space are adapted to the filling slot.

[0011] As a further improvement to the above structure, an internal toothed ring is installed on the side of the switching table near the loading frame; The sidewall of the loading frame has a first rack set; The outer shell, corresponding to the inner gear ring, is rotatably equipped with a first drive gear and a second drive gear; The first drive gear extends into the ring of the internal gear ring and meshes with the internal gear ring. The first drive gear meshes with the second drive gear, and the second drive gear meshes with the first rack assembly.

[0012] As a further improvement to the above structure, the vehicle controller is also used to control the extension and retraction of the cylinder, and to rotate the switchboard by controlling the first rotating mechanism.

[0013] As a further improvement to the above structure, the vehicle system includes: An RFID reader, installed on a transport vehicle, is used to continuously scan and read the UIDs of passive tags on the tunnel sidewalls; An RFID antenna is installed on the transport vehicle. The RFID antenna is matched with the RFID reader / writer, points to the tag mounting side, and is used to transmit and receive radio frequency signals. A vehicle-mounted controller is installed inside the transport vehicle and is paired with an RFID reader / writer. The vehicle controller is used for: Control the movement of unmanned transport vehicles; Control the installation mechanism to install RFID tags; Match the information from key nodes with the UID of the RFID tags; The location information of the unmanned transport vehicle is confirmed based on the UID of the RFID tag, and the unmanned transport vehicle is controlled to cruise.

[0014] As a further improvement to the above structure, the key node areas include: long straight passages, intersections, curves, ramps, loading / unloading points, and speed limit zones; Among them, at the nodes of the long straight passage, the RFID tags in this area are installed at both ends of the long straight passage and the beginning of the passage, and the UID of the RFID tag is matched with the absolute coordinate data of its location. At the intersection node, RFID tags are installed at the intersection, and the UID of the RFID tags in this area is matched with the unique number of the intersection and the information of each direction; At the nodes of the curve, RFID tags are installed at the start, middle and end points of the curve, and the UID of the RFID tags in this area is matched with the speed data or curve curvature data. At the nodes of the slope, RFID tags are installed at the low and high points of the slope, and the UID information of the RFID tags in this area is matched with the slope value data. At the nodes of the speed-limited zone, RFID tags are installed at both the end and the beginning of the zone, and the UID of the RFID tags in this area matches the speed limit data of the speed-limited zone.

[0015] As a further improvement to the above structure, the matching of key node information with the RFID tag's UID includes: When the transport vehicle first enters the tunnel and reaches the key node area, the vehicle controller controls the installation mechanism to install the RFID tag on the tunnel sidewall and inputs the location information of the key node area. The vehicle controller matches the location information with the UID of the RFID tag and enters it into the database. When the transport vehicle enters the tunnel for the N+1th time, the onboard system reads the UID of the RFID tag and queries the database for the location information that matches the UID to obtain the vehicle's current location information.

[0016] The advantages or beneficial effects of the above technical solutions include at least the following: The integrated design of the symmetrically arranged installation mechanism and the unmanned transport vehicle platform enables efficient and synchronous installation of RFID tags on both sides of the tunnel, greatly improving deployment efficiency and operational coverage. The rotary switching mechanism of the cylindrical switching platform precisely coordinates the alternation of drilling and installation processes, ensuring the continuity and automation of the workflow. The transition cylinder structure effectively prevents the expansion nails from deviating or jamming during loading and pushing. Through the linkage control of the switching platform rotation and the lifting of the loading frame, automatic replenishment and precise alignment of tags and mounting components are achieved, reducing the need for manual intervention. The design of the clearance groove matching the tag shape ensures guidance and stability during installation, preventing tag offset or falling. It can meet the high-frequency tag deployment requirements in complex underground tunnel environments. Attached Figure Description

[0017] Figure 1 A schematic diagram of the installation mechanism of this invention installed on a transport vehicle is shown; Figure 2 A schematic diagram of the installation of the outer cover according to an embodiment of the present invention is shown; Figure 3 A schematic diagram of the first rotating mechanism according to an embodiment of the present invention is shown; Figure 4 A schematic diagram showing the installation position of the second drive gear and the second drive gear according to an embodiment of the present invention is shown; Figure 5The diagram illustrates the installation position of the loading frame and the internal toothed ring according to an embodiment of the present invention. Figure 6 The upper half shows a first schematic diagram when the drilling assembly is switched to the working position, and the lower half shows a first schematic diagram when the mounting assembly is switched to the working position. Figure 7 The upper half shows a second schematic diagram when the drilling assembly is switched to the working position, and the lower half shows a second schematic diagram when the mounting assembly is switched to the working position. Figure 8 A schematic diagram showing the position of the cylinder according to an embodiment of the present invention is shown; Figure 9 The diagram shows a cylinder ejecting an electric drill according to an embodiment of the present invention. The upper part represents the electric drill before ejection, and the lower part represents the electric drill after ejection. Figure 10 The diagram shows a cylinder ejecting an electric screwdriver according to an embodiment of the present invention. The upper part represents the electric screwdriver before ejection, and the lower part represents the electric screwdriver after ejection. Figure 11 A schematic diagram showing the expansion nails and mounting holes according to an embodiment of the present invention is shown; Figure 12 A cross-sectional schematic diagram of the fastener according to an embodiment of the present invention is shown; Figure 13 The diagram illustrates the installation steps of an RFID tag according to an embodiment of the present invention. Step a indicates that the fastener is aligned with the mounting hole of the RFID tag. Step b indicates that the expansion pin is inserted into the mounting hole. Step c indicates that the fastener, along with the RFID tag, is pressed against the side wall and the expansion pin is inserted into the hole. Step d indicates that the expansion pin is inserted into the hole, the expansion cap expands, and the RFID tag is successfully installed. Figure 14 A schematic diagram of the installation of an electric drill and an electric screwdriver according to an embodiment of the present invention is shown; Figure 15 A schematic diagram of the card block and card slot according to an embodiment of the present invention is shown, illustrating the structure of the card block and card slot.

[0018] Reference numerals: 10. Mounting mechanism; 11. Housing; 111. First drive gear; 112. Second drive gear; 113. Relief groove; 114. Storage groove; 115. Filling space; 12. Switching table; 121. Filling groove; 122. Internal gear ring; 123. First rotating mechanism; 1231. First motor; 1232. First driving bevel gear; 1233. First driven bevel gear disc; 13. Drilling assembly; 131. First slide table; 132. Electric drill; 14. Mounting assembly; 141. Second slide; 142. Electric screwdriver; 15. Tag loading assembly; 151. Loading frame; 1511. Accommodation space; 1512. First rack assembly; 152. Outer cover; 1521. Spring plate; 16. Fixing component; 161. Transition cylinder; 162. Expansion pin; 163. Expansion cap; 17. Cylinder; 18. Mounting platform; 20. Unmanned transport vehicle; 30. RFID tag; 31. Mounting ear; 32. Mounting hole. Detailed Implementation

[0019] Reference Figure 1 An autonomous tunnel unmanned transport vehicle is provided, which is equipped with an onboard system and an installation mechanism 10. The installation mechanism 10 is used to install RFID tags 30 on the side wall of the tunnel. The RFID tags 30 are passive RFID tags, with an overall card-like shape, and each RFID tag 30 has a unique UID. One side of the RFID tag 30 has a mounting ear 31 with a mounting hole 32 that is adapted to an expansion pin 162. The installation mechanism 10 can install the RFID tags 30 on the side wall of the tunnel through the expansion pin 162. The installation mechanism 10 includes: The outer casing 11 is installed on the unmanned transport vehicle. A clearance groove is provided on the front side of the outer casing 11. The shape of the clearance groove is consistent with the shape of the RFID tag 30. Mounting platform 18 is installed at the rear of the unmanned transport vehicle. The two sides of mounting platform 18 extend toward the sides of the unmanned transport vehicle. There are two outer shells 11, which are installed at the ends of the two sides of mounting platform 18, and the front side faces the sides of the unmanned transport vehicle. The switching platform 12 has an overall cylindrical structure and is rotatably mounted on the outer shell 11. The side wall of the switching platform 12 has a drilling station and an installation station. The drilling station and the installation station are located in the same plane perpendicular to the axis of the switching platform (consistent in the height direction of the cylinder), and the drilling station and the installation station are staggered in the circumferential direction of the switching platform 12 (the drilling station and the installation station are on the side wall of the cylindrical structure and are spaced apart along the circumferential direction of the cylinder). The side wall of the switching platform 12 also has a filling groove 121 for accommodating the fixed component 16, and the filling groove 121 is connected to the installation station. Drilling assembly 13, installed on the drilling station, can drill holes in the sidewall of the tunnel; specifically, drilling assembly 13 includes: a first slide 131, movably installed on the drilling station of the switching table 12; and an electric drill 132, fixedly installed on the first slide 131, used to drill holes in the sidewall of the tunnel. Mounting assembly 14 is installed at the installation station. Mounting assembly 14 can fix the RFID tag 30 to the side wall of the tunnel via fasteners 16 and holes. Specifically, mounting assembly 14 includes: a second slide 141, movably mounted on the switching table 12; and an electric screwdriver 142 mounted on the second slide 141. Tag 30 loading assembly 15 is used to preload RFID tags 30 and provide RFID tags 30 to mounting assembly 14; The first rotating mechanism 123 includes a first motor 1231, a first driving bevel gear 1232, and a first driven bevel gear disk 1233 meshing with the first driving bevel gear 1232. The first motor 1231 is fixedly mounted on the inner wall of the outer casing 11, the first driving bevel gear 1232 is mounted on the output end of the first motor 1231, and the first driven bevel gear disk 1233 is coaxially arranged with and fixed to the switching table 12. Figure 7 As shown, Figure 7 The upper part is the drilling assembly 13 moving to the working position, and the lower part is the installation assembly 14 moving to the working position.

[0020] The switching table 12 can rotate at a limited angle around its axis via the first rotating mechanism 123. Specifically, the rotation of the first motor 1231 drives the first driven bevel gear 1232 to rotate the driven gear plate, causing the switching table 12 to rotate so as to align the drilling assembly 13 or the mounting assembly 14 with the clearance groove. Figure 7 As shown, Figure 7 The upper part is the drilling assembly 13 moving to the working position, and the lower part is the installation assembly 14 moving to the working position.

[0021] The switching table 12 can rotate around its axis by a limited angle via the first rotating mechanism 123. Specifically, the rotation of the motor drives the driven gear plate to rotate via the active bevel gear, so that the switching table 12 rotates to align the drilling assembly 13 or the mounting assembly 14 with the clearance groove.

[0022] Specifically, the fastener 16 includes: a transition cylinder 161; an expansion pin 162, the tip of which passes through the bottom surface of the transition cylinder 161 and extends outward, with its head snapped into the opening of the transition cylinder 161; the head of an electric screwdriver 142 is positioned corresponding to the filling groove 121, the head of the electric screwdriver 142 is a Phillips head screwdriver, and the head of the expansion pin 162 has a Phillips head so that the electric screwdriver 142 can rotate the expansion pin 162; furthermore, the fastener 16 also includes an expansion cap 163, which is fitted onto the portion of the expansion pin 162 that extends outward from the transition cylinder 161; when the end of the expansion cap 163 contacts the bottom of the hole, the expansion cap 163 can expand outward through the compression and rotation of the expansion pin 162; Furthermore, the outer casing 11 has a receiving slot 114 for storing the fixing component 16; such as Figure 5 and Figure 11 As shown, the storage slot 114 can hold multiple fixed parts 16. When the drilling assembly 13 is switched to the working position, the filling slot 121 is connected to the storage slot 114, so that the fixed parts 16 in the storage slot 114 fall into the filling slot 121 to achieve automatic filling. When the installation assembly 14 is switched to the working position, the filling slot 121 and the storage slot 114 are misaligned. The filling slot 121 is blocked by the inner wall of the outer shell 11, and the fixed parts 16 in the storage slot 114 remain in position, waiting for the switching table 12 to rotate so that the filling slot 121 corresponds to the storage slot 114.

[0023] Furthermore, the installation device also includes: a cylinder 17, the cylinder end of which is installed inside the outer casing 11, the telescopic end of which has a first magnet, and a second magnet installed behind both the electric screwdriver 142 and the electric drill 132. The first magnet and the second magnet attract each other magnetically. The cylinder 17 is used to push the electric drill 132 or the electric screwdriver 142 to move outward, or to pull the electric drill 132 or the electric screwdriver 142 to move into the switching table 12. like Figure 8 As shown, Figure 8 The upper part is a schematic diagram of the drilling assembly 13 reaching the working position. At this time, the first magnet at the extension end of the cylinder 17 is magnetically attracted to the second magnet at the rear of the electric drill 132. The cylinder 17 can push the electric drill 132 forward to drill a hole. After drilling is completed, the electric drill 132 is pulled back by the magnetic attraction between the first and second magnets. Figure 8The lower half is a schematic diagram of the installation component 14 reaching the working position. At this time, the first magnet at the extension end of the cylinder 17 is magnetically attracted to the second magnet at the rear of the electric screwdriver 142. The cylinder 17 can push the electric screwdriver 142 forward. After the installation is completed, the cylinder 17 pulls the electric screwdriver 142 back through the magnetic attraction between the first magnet and the second magnet.

[0024] Of course, the connection between the telescopic end of the cylinder 17 and the electric drill 132 or electric screwdriver 142 can not only be achieved through the magnetic attraction method described above, but also through a locking block and slot connection. For example, the electric drill 132 and electric screwdriver 142 have slots at their rear ends, and the telescopic end of the cylinder 17 has a locking block. As the switching table 12 rotates, the slots at the rear of the electric drill 132 or electric screwdriver 142 automatically engage with the locking block at the telescopic end of the cylinder 17, allowing the locking block to embed into the slot and thus completing the connection. It should be noted that the opening of the slot faces the same direction as the rotation of the switching table 12. Only when the switching table 12 rotates can the locking block be inserted into or removed from the slot. Figure 15 As shown, both magnetic connection and card block-slot connection are within the scope of protection of this application.

[0025] Because the expansion nail 162 has a "T" shaped cross-section, if the transition cylinder 161 is not installed and the expansion nail 162 is directly placed into the filling slot 121, the tip of the expansion nail 162 will tilt downwards, forming a triangular structure area between the nail head and the tip, making it difficult to push. It is also easy to get stuck when stacking and filling. When the cylinder 17 pushes the electric screwdriver 142, the downward tilting tip will also be difficult to align with the mounting hole 32 of the RFID tag 30, and may even cause the expansion nail 162 to be misaligned with the hole, resulting in installation failure. It is the support of the transition cylinder 161 that ensures that the nail head of the expansion nail 162 always faces forward and does not tilt, making the entire fixing part 16 a cylindrical structure, which is convenient for filling and not easy to get stuck.

[0026] Furthermore, the installation mechanism 10 also includes: The tag loading assembly 15, for preloading RFID tags 30 and providing RFID tags 30 to the mounting assembly 14, has a loading space 115 for preloading RFID tags 30 at the front end of the housing 11. Label loading component 15 includes: The loading frame 151 has a receiving space 1511 for accommodating the RFID tag 30. The loading frame 151 is movably mounted between the switching table 12 and the housing 11 so that it can be switched between a first station and a second station. The outer cover 152, detachably mounted on the outside of the outer casing 11 by screws, is used to seal the filling space 115. The outer cover 152 has a spring tab 1521, such as... Figure 2 The spring plate 1521 shown is used to push the RFID tag 30 in the filling space 115 into the receiving space 1511; When the loading frame 151 is in the first station, the accommodating space 1511 fits into the loading space 115, and the RFID tag 30 located in the loading space 115 can enter the accommodating space 1511. When the loading frame 151 is in the second station, the mounting holes 32 of the mounting ears 31 of the RFID tag 30 located in the receiving space 1511 are adapted to the loading slot 121, and the loading frame 151 is switched in the following manner: An internal gear ring 122 is installed on the side of the switching table 12 near the loading frame 151; the side wall of the loading frame 151 has a first rack assembly 1512; a first drive gear 111 and a second drive gear 112 are rotatably installed on the part of the outer shell 11 corresponding to the internal gear ring 122.

[0027] The first drive gear 111 extends into the ring of the internal gear ring 122 and meshes with it. The first drive gear 111 meshes with the second drive gear 112, and the second drive gear 112 meshes with the first rack assembly 1512. Figure 7 As shown in the upper part, at this time, the first rotating mechanism 123 rotates the switching table 12, so that the drilling assembly 13 reaches the working position. At this time, the gear ring rotates clockwise with the switching table 12, driving the first drive gear 111 to rotate counterclockwise. The first drive gear 111 drives the second drive gear 112 to rotate clockwise. When the second drive gear 112 rotates clockwise, it will move the loading frame 151 downward through the first rack group 1512, so that the loading frame 151 reaches the first working position. like Figure 7 As shown in the lower part, the first rotating mechanism 123 rotates the switching table 12, causing the mounting assembly 14 to reach the working position. At this time, the gear ring rotates counterclockwise with the switching table 12, driving the first drive gear 111 to rotate, causing the first drive gear 111 to rotate clockwise. The first drive gear 111 drives the second drive gear 112 to rotate counterclockwise. When the second drive gear 112 rotates clockwise, it will move the loading frame 151 upward through the first rack group 1512, so that the loading frame 151 reaches the second station. When it reaches the second station, the RFID tag 30 in the loading space 115 will be tightly attached to the lower half of the loading frame 151. When the loading frame 151 returns to the first station, the spring plate 1521 will push the RFID tag 30 to be embedded into the receiving space 1511 again.

[0028] Based on the above structure, when the installation mechanism 10 needs to install the RFID tag 30 on the side wall of the tunnel, the following steps are required: 1. Making holes: The first rotating mechanism 123 rotates the switching table 12 to rotate the drilling assembly 13 to the working position. At this time, the telescopic end of the cylinder 17 is connected to the rear of the electric drill 132 of the drilling assembly 13 through the attraction of the first magnet and the second magnet (or the card block is embedded in the card slot). The first slide table 131 can make the telescopic end of the cylinder 17 easily push the electric drill 132 forward. The electric drill 132 rotates the drill bit with the electric drill 132, and a hole can be opened in the side wall of the tunnel. After the hole is opened, the cylinder 17 pulls the electric drill 132 back. The first slide table 131 can make the telescopic end of the cylinder 17 easily pull the electric drill 132 back. II. Loading RFID tags 30 and mounting components 16: Before drilling the hole, the spring plate 1521 of the outer cover 152 pushes the RFID tag 30 in the filling space 115, so that the innermost RFID tag 30 is embedded in the receiving space 1511 of the filling frame 151, waiting for installation. At the same time, when the first rotating mechanism 123 rotates the switching table 12, so that the drilling assembly 13 rotates to the working position, the storage slot 114 corresponds to the filling slot 121, and the fixed part 16 in the storage slot 114 falls into the filling slot 121, waiting for installation.

[0029] III. Install RFID tags 30: At this time, the first rotating mechanism 123 rotates the switching table 12 to rotate the mounting component 14 to the working position. At this time, the gear ring rotates counterclockwise with the switching table 12, driving the first drive gear 111 to rotate, so that the first drive gear 111 rotates clockwise. The first drive gear 111 drives the second drive gear 112 to rotate counterclockwise. When the second drive gear 112 rotates clockwise, it will move the loading frame 151 upward through the first rack group 1512, so that the loading frame 151 reaches the second working position, so that the mounting hole 32 of the mounting ear 31 of the RFID tag 30 located in the accommodating space 1511 matches the loading groove 121. When the mounting assembly 14 is rotated to the working position, the telescopic end of the cylinder 17 connects to the rear of the electric screwdriver 142 of the mounting assembly 14 through the attraction of the first and second magnets (or the locking block is embedded in the slot). At this time, the telescopic end of the cylinder 17 extends the electric screwdriver 142, and the tip of the electric screwdriver 142 extends into the filling groove 121 and contacts the fixed part 16. Specifically, the cross-head screwdriver tip of the electric screwdriver 142 matches the cross-head groove of the expansion bolt 162 (not shown in the figure), and the screwdriver tip can magnetically attract the expansion bolt 162 for initial connection. Since the fixed part 16 is close to the RFID tag 30 to be installed, as the cylinder 17 continues to push the electric screwdriver 142, it will push the fixed part 16 forward. The part of the expansion bolt 162 extending out of the transition cylinder 161 will first enter the mounting hole 32 of the mounting ear 31. Figure 11 as well as Figure 13 As shown in steps a and b; It is important to note that before installation, the unmanned transport vehicle 20 drives to the side wall of the tunnel, so that the outer shell 11 is in close contact with the side wall of the tunnel. The front end of the installation mechanism 10 is always in close contact with the side wall of the tunnel to minimize the gap between the outer shell 11 and the side wall. This can prevent the RFID tag 30 from falling out of the gap between the outer shell 11 and the side wall during installation. In addition, the shape of the clearance groove 113 is consistent with the shape of the RFID tag 30. When the RFID tag 30 is pushed out of the receiving space 1511, it will enter the clearance groove 113, which plays a guiding role and will not fall or deviate. At this time, the extension and retraction end of cylinder 17 continues to move forward, such as Figure 13 As shown in step c, the tip of the expansion pin 162 of the mounting component 16 will first enter the hole. When the tip of the expansion pin enters the hole, the mounting ear 31 is still in the relief groove 113 and will not fall off. The mounting ear 31 of the RFID tag 30 is restricted between the tunnel sidewall and the transition cylinder 161. As the telescopic end of the cylinder 17 continues to extend forward, the pin head of the expansion pin 162 will enter the transition cylinder 161. Figure 13 As shown in step d, the expansion cap 163 at the top of the expansion nail 162 is squeezed and expanded. The electric screwdriver 142 is started and the expansion nail 162 is rotated to further assist the expansion cap 163 in expanding outward. At this time, the expansion nail 162 is fixed, and the RFID tag 30 can be fixed to the side wall through the expansion nail 162.

[0030] IV. Preparing for the next installation: After the RFID tag 30 is installed, the telescopic end of the cylinder 17 retracts, pulling the electric screwdriver 142 back to its initial position. At this time, the first rotating mechanism 123 rotates, rotating the drilling assembly 13 to the working position. The gear ring rotates clockwise with the switching table 12, driving the first drive gear 111 to rotate counterclockwise. The first drive gear 111 drives the second drive gear 112 to rotate clockwise. When the second drive gear 112 rotates clockwise, it will move the loading frame 151 downward through the first rack group 1512, so that the loading frame 151 reaches the first working position. The accommodating space 1511 corresponds to the loading space 115. The spring plate 1521 pushes the RFID tag 30 in the loading space 115 into the accommodating space 1511. The loading groove 121 corresponds to the storage groove 114. The fixed part 16 in the storage groove 114 falls downward into the loading groove 121, ready for the second installation of the RFID tag 30.

[0031] The unmanned transport vehicle 20 is also equipped with: Mounting platform 18 is installed at the rear of unmanned transport vehicle 20, and the two sides of mounting platform 18 extend to the sides of unmanned transport vehicle 20. The mounting mechanism 10 is installed on the extended ends of both sides of the mounting platform 18, and the clearance slots 113 face the sides of the unmanned transport vehicle 20; the unmanned vehicle only needs to place one side of the mounting platform 18 close to the side wall of the tunnel for installation. The installation device also includes a camera installed next to the clearance slot 113 (not shown in the figure) to facilitate manual observation of the installation status of the RFID tag 30 during the manual operation of the RFID tag 30 installation process.

[0032] The unmanned transport vehicle is also equipped with an onboard system, which is used for: The control installation mechanism 10 installs RFID tags 30 on the sidewalls of different key node areas in the tunnel, and matches the UID of the deployed RFID tags 30 with the information of the key nodes to generate location information that matches the UID of the RFID tags 30. It is also used in vehicle systems to autonomously navigate through tunnels based on location information; The vehicle system is further used to control the extension and retraction of the cylinder 17, and to control the rotation of the switchboard by controlling the first rotating mechanism 123, specifically by controlling the rotation of the output end of the first motor 1231.

[0033] The vehicle-mounted system includes: An RFID reader, installed on a transport vehicle, is used to continuously scan and read the UID of the passive RFID tag 30 on the tunnel sidewall; An RFID antenna is installed on the transport vehicle. The RFID antenna is matched with the RFID reader and is pointed to the mounting side of the RFID tag 30. It is used to transmit and receive radio frequency signals. The vehicle-mounted controller is installed inside the transport vehicle and is compatible with the RFID reader / writer. The vehicle controller is used for: 1. Control the unmanned transport vehicle to move; 2. Control the installation mechanism 10 to install the RFID tag 30; 3. Match the information of key nodes with the UID of the RFID tag 30; 4. Confirm the location information of the unmanned transport vehicle according to the UID of the RFID tag 30, and control the unmanned transport vehicle to cruise. Specifically, key node areas include: long straight roads, intersections, curves, slopes, loading / unloading points, and speed-limited zones; 1. At the nodes of the long straight passage, the RFID tags 30 in this area are installed at both ends of the long straight passage, and the UID of the RFID tags 30 is matched with the absolute coordinate data of their location; 2. At the intersection node, RFID tag 30 is installed at the intersection, and the UID of the RFID tag 30 in this area is matched with the unique number of the intersection and the information of each direction; 3. At the nodes of the curve, RFID tags 30 are installed at the start, middle and end points of the curve, and the UID of the RFID tags 30 in this area is matched with the suggested speed data or curve curvature data. 4. At the nodes of the slope, RFID tags 30 are installed at the low and high points of the slope, and the UID information of the RFID tags 30 in this area is matched with the slope value data; 5. At the nodes of the speed-limited zone, RFID tags 30 are installed at both ends of the end and the beginning of the speed limit zone, and the UID of the RFID tags 30 in this area is matched with the speed limit data of the speed-limited zone.

[0034] The matching of key node information with the UID of RFID tag 30 includes: The operator manually controls the transport vehicle to enter the tunnel first through the vehicle controller. When it reaches the key node area, the vehicle controller controls the installation mechanism 10 to install the RFID tag 30 on the side wall of the tunnel and inputs the location information of the key node area. The operator manually matches the location information with the UID of the RFID tag 30 through the vehicle controller and enters it into the database. When the transport vehicle enters the tunnel for the N+1th time, the onboard system reads the UID of RFID tag 30 and queries the database for the location information that matches the UID to obtain the vehicle's current location information.

[0035] For example: 1. Long straight passage: RFID tag 30 deployment strategy: RFID tags 30 are spaced relatively far apart (e.g., one every 20 meters) and evenly installed at the same height on the side wall. All RFID tags 30 are only recorded in the database with their coordinates, without any special instructions.

[0036] Vehicle behavior: The vehicle travels at a cruising speed (e.g., 10 km / h).

[0037] The RFID tag 30UID: 0x1001 was read, and the database query showed the location as (100m, 0.8m, 1.5m).

[0038] Decision: Confirm that the vehicle is 100 meters away and takes no special action. Between the two RFID tags 30, the encoder calculates the travel distance, and the IMU ensures that the vehicle travels in a straight line; drive smoothly until the next RFID tag 300x1002 is read, then recalibrate the position to eliminate the cumulative error of the encoder.

[0039] 2. Curve: RFID tag 30 deployment strategy: RFID tags 30 are densely deployed at the start, middle, and end points of the curve, as well as in the middle (interval reduced to 3-5 meters). In the database, the attribute action "Start Steering" is added to the RFID tag 30 at the start point. Vehicle behavior: The UID of the RFID tag 30 at the start of the curve is read: 0x2001. Database information: coordinates: (200m, 0.8m, 1.5m), attribute: curve start, suggested speed: 8 km / h, steering angle: 15 degrees left. Decision: The vehicle control unit immediately issues an instruction: gently decelerate to 8 km / h, while continuously sending a steering command to the left. In another embodiment, RFID tags 30 can be densely arranged in the curve (0x2002, 0x2003...) to continuously provide absolute position feedback to the vehicle, fine-tuning the steering angle to ensure smooth cornering. The RFID tag 300x2009 at the end of the curve is read, with the attribute "Curve End". The vehicle straightens the steering wheel and accelerates back to cruising speed.

[0040] 3. Intersection: RFID Tag 30 Deployment Strategy: This is the most critical area. RFID tags 30 are densely deployed before, during, and after intersections. Each branch intersection entrance must have a dedicated RFID tag 30. The database assigns clear path instructions to these RFID tags 30. Vehicle Behavior: Approaching the intersection, the warning RFID tag 30 UID: 0x3001 is read, and the database is queried to determine: intersection ahead, prepare to turn right. Decision: The vehicle begins to slightly decelerate; upon reaching the core point of the intersection, RFID tag 30 UID: 0x3002 is read, database instruction: path: right branch; decision: the control unit executes a strict right-turn procedure to ensure the vehicle enters the correct branch. Once entering the right branch, the confirmation RFID tag 30 UID: 0x3003R is read, attribute: right branch entrance confirmation. The vehicle knows it has successfully entered the correct path and continues forward.

[0041] 4. Slope: RFID Tag 30 Deployment Strategy: Deploy RFID tags 30 at the bottom and top of the slope and add attributes. The deployment of RFID tags 30 on the slope itself is the same as on a straight road. Vehicle Behavior: Reading the RFID tag 30 UID (0x4001) at the bottom of the slope, a database query reveals: slope begins +5%, torque increases by 20%. Decision: The control unit increases the motor output torque to maintain vehicle speed and prevent slippage; while driving on the slope, the encoder and IMU are used to sense slope changes and maintain speed; reading the RFID tag 30 UID (0x4002) at the top of the slope reveals: slope ends, torque returns to normal. Motor output returns to normal.

[0042] 5. Loading / Unloading Point: RFID Tag 30 Deployment Strategy: Very dense deployment of RFID tags 30 (1-2 meters). Warning RFID tags 30, stop accuracy RFID tags 30, and work completion RFID tags 30 are provided. Vehicle Behavior: Reading UID: 0x5001, querying the database reveals: unloading point ahead 10m, reduce speed to 3 km / h. The vehicle begins to approach slowly; reading UID: 0x5002, querying the database reveals: stop accuracy point. Decision: The vehicle immediately executes a complete stop procedure, precisely braking to a stop; the onboard controller sends a signal via the CAN bus, triggering the unloading mechanism (such as conveyor belt, lifting device) to start working. After unloading is completed, the vehicle reads the next RFID tag 30 UID: 0x5003, queries the database reveal: work completed, permission to leave is granted. The vehicle restarts and drives towards the next target.

[0043] 6. Speed-limited zones: RFID tag 30 deployment strategy: Deploy RFID tags 30 at the start and end of the speed-limited zone.

[0044] Vehicle Behavior: Reading UID: 0x6001, querying the database reveals: Speed-limited zone begins, speed ≤ 5 km / h. Decision: The vehicle smoothly decelerates to 5 km / h. Reading UID: 0x6002, querying the database reveals: Speed-limited zone ends. The vehicle accelerates back to cruising speed.

Claims

1. An autonomously cruising unmanned transport vehicle for tunnels, characterized in that: The unmanned transport vehicle is equipped with an onboard system and mounting mechanism. The vehicle-mounted system is used for: The control mechanism installs RFID tags on the sidewalls of different key node areas within the tunnel, and matches the UIDs of the deployed RFID tags with the information of the key nodes to generate location information that matches the UIDs of the RFID tags. It is also used in vehicle systems to cruise through tunnels based on location information; The installation mechanism includes: The outer casing is installed on the unmanned transport vehicle. A clearance groove is provided on the front side of the outer casing. The shape of the clearance groove is consistent with the shape of the RFID tag. The mounting platform is installed at the rear of the unmanned transport vehicle, with both sides of the mounting platform extending towards both sides of the unmanned transport vehicle. The outer shell has two parts, which are installed at the ends of both sides of the mounting platform, and the front side faces both sides of the unmanned transport vehicle. A switching platform is rotatably mounted on the outer casing. The side wall of the switching platform has a drilling station and an installation station. The drilling station and the installation station are located in the same plane perpendicular to the axis of the switching platform, and the drilling station and the installation station are offset from each other in the circumferential direction of the switching platform. The side wall of the switching platform also has a filling groove for accommodating fixed parts, and the filling groove is connected to the installation station. A drilling assembly is installed at the drilling station, and the drilling assembly can drill holes in the sidewall of the tunnel; The mounting assembly is installed at the installation station, and the mounting assembly can fix the RFID tag to the side wall of the tunnel through the fastener and the hole; A tag loading assembly for preloading RFID tags and providing RFID tags to the mounting assembly; The first rotating mechanism includes a first motor, a first driving bevel gear, and a first driven bevel gear disk meshing with the first driving bevel gear; wherein, the first motor is fixedly installed on the inner wall of the outer casing, the first driving bevel gear is installed on the output end of the first motor, and the first driven bevel gear disk is coaxially arranged with the switching table and fixed to the switching table; The switching platform can be rotated at a limited angle around its axis by the first rotating mechanism to align the drilling assembly or the mounting assembly with the clearance groove.

2. The autonomously cruising unmanned transport vehicle in tunnels according to claim 1, characterized in that: The fastener includes: Transition tube; An expansion pin, the tip of which passes through the bottom surface of the transition cylinder and extends outward, with its head engaging at the opening of the transition cylinder; An expansion cap is fitted over the portion of the expansion pin that extends beyond the outer side of the transition cylinder. When the end of the expansion cap contacts the bottom of the hole, the expansion cap can expand outward by the compression and rotation of the expansion nail; The RFID tag has mounting ears with mounting holes that are adapted to the expansion pins.

3. The autonomously cruising unmanned transport vehicle in tunnels according to claim 2, characterized in that: The outer casing has a storage slot for accommodating the fixed component; When the drilling assembly is switched to the working position, the filling slot is connected to the receiving slot, so that the fixed parts in the receiving slot fall into the filling slot; When the mounting component is switched to the working position, the filling slot is misaligned with the storage slot, and the filling slot is blocked by the inner wall of the outer shell. The working position is the position corresponding to the clearance groove.

4. The autonomously cruising unmanned transport vehicle in tunnels according to claim 3, characterized in that: The drilling assembly includes: The first slide is movably mounted on the switching platform; An electric drill, fixedly mounted on the first slide, is used to drill holes in the sidewalls of the tunnel; The installation components include: The second slide is movably mounted on the switching platform; An electric screwdriver is mounted on the second slide. The position of the screwdriver tip corresponds to the filling slot. The screwdriver tip is a Phillips head screwdriver tip. The expansion bolt head has a Phillips head. The installation mechanism also includes: The cylinder has its cylinder end installed inside the housing, and its telescopic end has a first magnet. A second magnet is installed behind both the electric screwdriver and the electric drill. The first magnet and the second magnet are magnetically attracted to each other. The cylinder is used to push the electric drill or the electric screwdriver outward or pull the electric drill or the electric screwdriver into the switching table.

5. The autonomously cruising unmanned transport vehicle in tunnels according to claim 1, characterized in that: The front end of the outer casing has a loading space for pre-loaded RFID tags; The label loading component includes: A loading frame having a receiving space for accommodating RFID tags, the loading frame being vertically movable between the switching table and the housing, allowing it to switch between a first station and a second station; An outer cover, detachably mounted on the outside of the outer casing, is used to seal the filling space. The outer cover has a spring plate for pushing an RFID tag within the filling space into the receiving space. At the first workstation, the accommodating space and the filling space are matched, and the RFID tag located in the filling space can enter the accommodating space; In the second work station, the mounting holes of the mounting ears of the RFID tags located in the accommodating space are adapted to the filling slot.

6. The autonomously cruising unmanned tunnel transport vehicle according to claim 5, characterized in that: An internal toothed ring is installed on the side of the switching platform near the loading frame; The sidewall of the loading frame has a first rack set; The outer shell, corresponding to the inner gear ring, is rotatably equipped with a first drive gear and a second drive gear; The first drive gear extends into the ring of the internal gear ring and meshes with the internal gear ring. The first drive gear meshes with the second drive gear, and the second drive gear meshes with the first rack assembly.

7. The autonomously cruising unmanned tunnel transport vehicle according to claim 4, characterized in that: The vehicle-mounted system is further used to control the extension and retraction of the cylinder, and to rotate the switchboard by controlling the first rotating mechanism.

8. The autonomously cruising unmanned transport vehicle in tunnels according to claim 1, characterized in that: The vehicle-mounted system includes: An RFID reader, installed on a transport vehicle, is used to continuously scan and read the UIDs of passive tags on the tunnel sidewalls; An RFID antenna is installed on the transport vehicle. The RFID antenna is matched with the RFID reader / writer, points to the tag mounting side, and is used to transmit and receive radio frequency signals. A vehicle-mounted controller is installed inside the transport vehicle and is paired with an RFID reader / writer. The vehicle controller is used for: Control the movement of unmanned transport vehicles; Control the installation mechanism to install RFID tags; Match the information from key nodes with the UID of the RFID tags; The location information of the unmanned transport vehicle is confirmed based on the UID of the RFID tag, and the unmanned transport vehicle is controlled to cruise.

9. The autonomously cruising unmanned tunnel transport vehicle according to claim 8, characterized in that: The key node areas include: long straight roads, intersections, curves, slopes, loading / unloading points, and speed limit zones; Among them, at the nodes of the long straight passage, the RFID tags in this area are installed at both ends of the long straight passage and the beginning of the passage, and the UID of the RFID tag is matched with the absolute coordinate data of its location. At the intersection node, RFID tags are installed at the intersection, and the UID of the RFID tags in this area is matched with the unique number of the intersection and the information of each direction; At the nodes of the curve, RFID tags are installed at the start, middle and end points of the curve, and the UID of the RFID tags in this area is matched with the speed data or curve curvature data. At the nodes of the slope, RFID tags are installed at the low and high points of the slope, and the UID information of the RFID tags in this area is matched with the slope value data. At the nodes of the speed-limited zone, RFID tags are installed at both the end and the beginning of the zone, and the UID of the RFID tags in this area matches the speed limit data of the speed-limited zone.

10. The autonomously cruising unmanned transport vehicle in tunnels according to claim 9, characterized in that: The matching of key node information with the RFID tag's UID includes: When the transport vehicle first enters the tunnel and reaches the key node area, the vehicle controller controls the installation mechanism to install the RFID tag on the tunnel sidewall and inputs the location information of the key node area. The vehicle controller matches the location information with the UID of the RFID tag and enters it into the database. When the transport vehicle enters the tunnel for the N+1th time, the onboard system reads the UID of the RFID tag and queries the database for the location information that matches the UID to obtain the vehicle's current location information.

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