Laser measuring device and measuring method for sliding distance of unmanned mine truck

Abstract

The application discloses an unmanned mine truck sliding distance laser measuring device and a measuring method, and belongs to the technical field of mine truck detection. The unmanned mine truck sliding distance laser measuring device and the measuring method, which belong to the technical field of mine truck detection, comprise a mine truck with a first mounting hole, and a second clamping plate and a first clamping plate are arranged at the upper and lower ends of the outer side of the first mounting hole, respectively. The application solves the problem that the additional scale plate needs to be laid on a relatively flat position close to the subsequent moving position of the mine truck during detection, and the efficiency is low and the accuracy is poor. After the second clamping plate and the first clamping plate are clamped and fixed, the laser Doppler velocimeter can be unfolded by rotating the second adjusting frame, the unfolded laser Doppler velocimeter can be adjusted in angle by rotating around the connecting roller as the center, the installation position is adapted, and different installation positions and installation heights can be adjusted and adapted during the unfolding process.

Description

Technical Field

[0001] This invention relates to the field of mining truck detection technology, specifically to a laser measurement device and method for measuring the sliding distance of unmanned mining trucks. Background Technology

[0002] The core of the laser measurement equipment for the slip distance of unmanned mining trucks is a laser Doppler velocimeter, which directly and accurately measures the vehicle's real speed relative to the ground in real time. At the same time, it collects wheel speed sensor signals to obtain the theoretical wheel speed and calculates accurate slip ratio data. This equipment provides key control data for unmanned driving systems, effectively optimizes traction control, prevents slippage, thereby ensuring safety, reducing tire wear, and improving operating efficiency.

[0003] Chinese patent CN220568072U discloses an unmanned mining truck sliding measurement device, including an unmanned mining truck. A scale rail plate parallel to the unmanned mining truck is set on the outer side of the unmanned mining truck. A support plate is fixedly connected to the surface of the scale rail plate. The device can quickly perform actual sliding detection of the unmanned mining truck while adapting to the usage environment of the unmanned mining truck. It has high reliability and flexibility. Furthermore, the air pump, the first air supply pipe and the second air supply pipe form a wind blowing structure. When used with the above-mentioned sliding measurement device, it can give the sliding measurement device a self-cleaning effect, improving the overall practicality of the device.

[0004] During the testing process, the aforementioned patented mining card slip measurement device requires a scale plate to be laid on the side of the mining card. The additional scale plate needs to be laid in a relatively flat position and close to the subsequent movement position of the mining card. When the mining card slips during movement, it is easy to directly squeeze and damage the mining card slip measurement device with the scale plate. The safety during use is poor, the accuracy of the test cannot be guaranteed, and the use is subject to many restrictions, low efficiency and poor accuracy. Summary of the Invention

[0005] The purpose of this invention is to provide a laser measurement device and method for the sliding distance of unmanned mining trucks. After being clamped and fixed by the second clamping plate and the first clamping plate, the laser Doppler velocimeter can be unfolded by rotating the second adjustment frame. For the clamping position, the unfolded laser Doppler velocimeter can be rotated around the connecting roller as the center to adjust the angle. This allows the laser Doppler velocimeter to adapt to the installation position and remain perpendicular to the ground. The entire structure can be folded and installed on the outer wall of the mining truck and unfolded after installation. During the unfolding process, it can also be adjusted and adapted to different installation positions and installation heights, thus solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a laser measurement device for the sliding distance of an unmanned mining truck, comprising a mining truck with a first mounting hole, a second clamping plate and a first clamping plate respectively provided at the upper and lower ends of the outer side of the first mounting hole, a cleaning brush and a detection wheel respectively provided at the front and rear ends of the first clamping plate, a rotary encoder provided at one end of the detection wheel, a motor provided at one end of the cleaning brush, a second adjustment frame rotatably connected to the outer side of the first clamping plate via a connecting shaft, a second movable rail with a second adjustment arm provided on one side of the second adjustment frame, and a laser Doppler velocimeter provided on one side of the second adjustment arm. The cleaning brush cleans the tire of the mining truck that is in contact with the detection wheel, and the accuracy of tire rotation speed detection is improved by cleaning the auxiliary detection wheel, thereby improving the accuracy of subsequent measurement of the sliding distance of the unmanned mining truck.

[0007] Preferably, the upper ends of the cleaning brush and the detection wheel are each provided with a first adjusting arm. The two first adjusting arms are rotatably connected to the detection wheel and the cleaning brush, respectively. The first adjusting arms support the cleaning brush and the detection wheel at the lower end, and also facilitate the subsequent adaptation to the shaking caused by the movement of the mining card.

[0008] Preferably, the two first adjusting arms are respectively provided with first adjusting frames facing the front and rear ends of the first clamping plate. One end of the first adjusting frame is recessed and provided with a first movable rail. The first adjusting arm is slidably embedded in the first movable rail. The first adjusting frame is welded and fixed to the first clamping plate. When the mining truck shakes during movement, the first adjusting arm can adjust its position along the first movable rail in a longitudinal reciprocating trajectory, providing a movement trajectory so that the detection wheel and cleaning brush can continuously adhere to the tire surface of the mining truck.

[0009] Preferably, a spring is vertically installed at the lower end of the first movable rail. The two ends of the spring are fixedly connected to the first adjusting arm and the first adjusting frame by bolts. When adjusting the position of the first adjusting arm, the spring's rebound energy continuously pulls the first adjusting arm, causing the first adjusting arm to continuously drive the detection wheel at the lower end and the cleaning brush to adhere to the outer wall of the mining truck tire.

[0010] Preferably, the second movable rail is internally rotatably provided with a first threaded rod that is embedded in the second adjusting arm. The outer part of the first threaded rod is threadedly engaged with the embedded position of the second adjusting arm. The position of the second adjusting arm can be adjusted horizontally and vertically by rotating the first threaded rod. By pushing the second adjusting arm, the laser Doppler velocimeter connected to the lower end can be pushed, thereby adjusting the distance between the laser Doppler velocimeter and the ground.

[0011] Preferably, a connecting roller is laterally rotatably mounted on the lower end of the second adjusting arm. One end of the connecting roller is fixedly connected to the laser Doppler velocimeter by bolts. Fixing holes are arranged around the rotatable connection position of the connecting roller and the second adjusting arm. The other end of the connecting roller extends toward the fixing holes. A pin is inserted through the extended position of the connecting roller and connected to the slot of the fixing hole. The outside of the pin is threadedly engaged with the through position of the connecting roller. The reserved fixing holes can accommodate different rotation adjustment angle requirements of the laser Doppler velocimeter. After the laser Doppler velocimeter has been rotated and adjusted, the pin can pass through to the inside to complete the fixation.

[0012] Preferably, a fan is provided on one side of the cleaning brush corresponding to the first adjusting arm. When the cleaning brush rotates to clean the tire surface, the dust generated by the rotation of the cleaning brush is cleaned by the rotation of the fan.

[0013] Preferably, a third movable rail is provided on one side of the second movable rail. A second threaded rod, which is welded and fixed to the second adjusting arm, is provided transversely inside the third movable rail. A first nut is provided on one side of the second threaded rod. The reserved third movable rail can be used to limit the maximum sliding distance of the second threaded rod and also facilitates further fixing of the second adjusting arm after the position is adjusted.

[0014] Preferably, a fourth movable rail is provided inside the second adjustment frame facing the connecting shaft. A mounting groove is recessed on one side of the fourth movable rail. A fourth threaded rod is provided on one side of the mounting groove and welded and fixed to the first clamping plate. A second nut is provided at the upper end of the outer side of the first clamping plate. During the flipping process of the second adjustment frame, the fourth threaded rod can move within the fourth movable rail. In both the unfolded and folded states, the second adjustment frame can be fixed by rotating the second nut to the outside of the fourth threaded rod, which can improve the stability in the unfolded and folded states.

[0015] The measurement method of the laser measurement equipment for the sliding distance of unmanned mining trucks includes the following steps:

[0016] Step 1: Align the second mounting hole with the first mounting hole reserved on the outer wall of the mining truck. At the same time, slide the first adjusting arm in the first movable rail to adjust the position of the detection wheel and the cleaning brush so that the detection wheel and the cleaning brush rest on the outer wall of the mining truck tire.

[0017] Step 2: The bolt passes through the second mounting hole and is embedded inside the first mounting hole to fix the second clamping plate;

[0018] Step 3: Manually twist the third threaded rod to create relative movement with the second clamping plate, so that the second clamping plate fits against the upper end of the outer wall of the mining card. At the same time, use bolts to pass through the second mounting hole to fix the measuring equipment.

[0019] Step 4: The second adjustment frame rotates around the connecting shaft, and the nut rotates on the outer wall of the second threaded rod and fits against the outer wall of the second adjustment frame, thus realizing the unfolding of the measuring equipment;

[0020] Step 5: The rotation of the first threaded rod generates relative motion with the second adjusting arm. After the second adjusting arm passes the constraint of the second movable rail, it longitudinally adjusts the position of the laser Doppler velocimeter.

[0021] Step 6: Rotate the laser Doppler velocimeter around the connecting roller to adjust its tilt angle;

[0022] Step 7: Insert the pin through the connecting roller and embed it into the fixing hole at the corresponding angle to fix the connecting roller and the laser Doppler velocimeter after the angle adjustment;

[0023] Step 8: The rotation of the mining truck tires will directly drive the rotation of the detection wheel. The rotation speed of the detection wheel corresponds to the theoretical moving speed of the mining truck. The rotation speed of the detection wheel per millisecond is detected by the rotary encoder at one end.

[0024] Step 9: The laser Doppler velocimeter continuously detects the moving ground while the mining truck is moving, and detects the actual moving speed of the mining truck, thereby obtaining the true speed of the mining truck per millisecond.

[0025] Step 10: Subtract the speed detected by the laser Doppler velocimeter from the speed detected by the rotary encoder to obtain the sliding distance of the mining truck per millisecond. Accumulate the sliding distance of the mining truck per millisecond during the movement of the mining truck until the accumulated time reaches the movement time of the mining truck, and obtain the sliding distance of the unmanned mining truck in this detection.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. The second adjustment frame of this invention connects and supports the laser Doppler velocimeter, while the detection wheel for detecting the moving speed of the mining truck is connected and supported by the first clamping plate. The two speed measuring positions can be initially fixed to the mining truck installation position by clamping the second clamping plate and the first clamping plate. The installation is efficient and convenient. After clamping and fixing, the final fixation can be completed by bolts passing through the second mounting hole and embedding into the first mounting hole. After fixing, the second adjustment frame can be rotated to unfold the laser Doppler velocimeter. For the clamping positions of the second clamping plate and the first clamping plate, the unfolded laser Doppler velocimeter can be rotated around the connecting roller as the center to adjust the angle. This allows the laser Doppler velocimeter to adapt to the installation position and remain perpendicular to the ground. The entire structure can be folded and installed on the outer wall of the mining truck and unfolded after installation. During the unfolding process, it can also be adjusted and adapted to different installation positions and installation heights.

[0028] 2. The first adjusting arm outside the detection wheel and cleaning brush of the present invention is continuously pulled by the elasticity of the spring, which continuously allows the detection wheel and cleaning brush to contact the outer wall of the mining truck tire. The process of the first adjusting arm sliding in the first movable rail is also the process of adapting the distance between the first clamping plate and the mining truck tire. At the same time, when the distance between the first clamping plate and the mining truck tire changes due to vibration reduction during the mining truck's operation, the elasticity of the spring will not restrict the first adjusting arm from sliding along the first movable rail. It can adapt to the bumps generated during the normal operation of the mining truck and can cope with relatively complex driving environments.

[0029] 3. In this invention, when the detection wheel contacts the mining card wheel and rotates with it, the motor contacts the mining card wheel earlier than the detection wheel. The start of the motor enables the cleaning brush to rotate and clean the mining card wheel, avoiding excessive dust and foreign matter adhering to the mining card wheel from affecting the contact between the detection wheel and the mining card wheel. In addition, during the rotation of the cleaning brush and the cleaning process, the start of the fan can blow the dust generated by friction away from the surface of the mining card wheel, preventing dust from contacting the detection wheel and preventing dust from accumulating and remaining at the clamping position of the second clamping plate and the first clamping plate for a long time, thereby improving the safety of the equipment during use and the stability of data detection. Attached Figure Description

[0030] Figure 1 This is a perspective view of the external structure of the present invention when it is installed but not unfolded.

[0031] Figure 2 This is the front view of the external structure of the present invention when it is not unfolded after installation;

[0032] Figure 3 This is a schematic diagram of the second adjustment frame rotating and unfolding according to the present invention;

[0033] Figure 4 This is a schematic diagram of the installation trajectory of the present invention;

[0034] Figure 5 For the present invention Figure 4 Enlarged view of a portion of region A in the middle;

[0035] Figure 6 This is a schematic diagram showing the positional relationship between the cleaning brush and the detection wheel of the present invention;

[0036] Figure 7 This is a schematic diagram of the first threaded rod transmission structure of the present invention;

[0037] Figure 8 This is a schematic diagram showing the position of the second nut embedded in the mounting groove according to the present invention;

[0038] Figure 9 This is a schematic diagram of the fixed trajectory of the laser Doppler velocimeter after angle adjustment according to the present invention;

[0039] Figure 10For the present invention Figure 9 Enlarged view of a portion of region B in the middle.

[0040] In the diagram: 1. First mounting hole; 2. First clamping plate; 3. Second clamping plate; 4. Second mounting hole; 5. Detection wheel; 6. Cleaning brush; 7. First adjusting frame; 8. First adjusting arm; 9. First movable rail; 10. Spring; 11. Fan; 12. First threaded rod; 13. Second adjusting arm; 14. Second adjusting frame; 15. Laser Doppler velocimeter; 16. Connecting roller; 17. Fixing hole; 18. Pin; 19. Second movable rail; 20. Rotary encoder; 21. Second threaded rod; 22. First nut; 23. Connecting shaft; 24. Mounting groove; 25. Mining card; 26. Third movable rail; 27. Fourth movable rail; 28. Motor; 29. ​​Third threaded rod; 30. Guide rod; 31. Fourth threaded rod; 32. Second nut. Detailed Implementation

[0041] The present invention will be further described below with reference to specific embodiments.

[0042] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the unmanned mining truck sliding distance laser measuring device of this embodiment includes a first mounting hole 1, which is located on the outer wall of the mining truck 25 and corresponds to the installation position of the distance laser measuring device.

[0043] A first clamping plate 2 is provided at the lower end of one side of the first mounting hole 1, and a second clamping plate 3 is provided at the upper end of the other side of the first mounting hole 1. The second clamping plate 3 and the first clamping plate 2 can be moved relative to each other to clamp the device at the position of the first mounting hole 1. The clamping of the second clamping plate 3 and the first clamping plate 2 can fix the laser measuring device when measurement is required.

[0044] In addition, the front and rear ends of the second clamping plate 3 are provided with second mounting holes 4. When the second clamping plate 3 needs to be fixed again after the first clamping plate 2 and the second clamping plate 3 are clamped, the center of the second mounting hole 4 overlaps with the center of the first mounting hole 1. The overlap of the centers can facilitate the penetration of bolts and further fixation.

[0045] Furthermore, when adjusting the distance between the second clamping plate 3 and the first clamping plate 2, a third threaded rod 29 is provided through the middle of the interior of the second clamping plate 3, and the outside of the third threaded rod 29 is threadedly engaged with the through position of the second clamping plate 3. The rotation of the third threaded rod 29 can generate relative movement with the through position of the second clamping plate 3. Guide rods 30 are vertically provided at both ends of the third threaded rod 29, and the guide rods 30 pass through and extend to the upper and lower ends of the second clamping plate 3. The second clamping plate 3 is slidably connected to the through position of the guide rods 30. Under the constraint of the guide rods 30, the second clamping plate 3 can be transformed from rotational movement to longitudinal linear movement after the third threaded rod 29 is rotated, so that the clamping can be adjusted and adapted to the thickness of different installation positions.

[0046] To facilitate the detection of the tire rotation speed of the mining truck 25, such as Figure 6 As shown, a cleaning brush 6 is horizontally arranged at the front end of the first clamping plate 2, and a detection wheel 5 is horizontally arranged at the rear end of the first clamping plate 2. When detecting the rotation speed of the mining truck 25 tire, the detection wheel 5 can be attached to the ground and rotate with the mining truck 25 tire to complete the detection, which is convenient for subsequent measurement of the sliding distance of the unmanned mining truck.

[0047] It is worth mentioning that a rotary encoder 20 is provided at one end of the detection wheel 5, and the detection position of the rotary encoder 20 is fixedly connected to the center position of the detection wheel 5 by bolts. A motor 28 is provided at one end of the cleaning brush 6, and the output shaft of the motor 28 is fixedly connected to the center position of one end of the cleaning brush 6 by bolts. The starting of the motor 28 can actively drive the cleaning brush 6 to rotate. The rotation of the cleaning brush 6 can clean the surface of the mining truck 25 tire that subsequently contacts the detection wheel 5, so as to avoid foreign objects affecting the detection of the detection wheel 5 and also to avoid damage caused by the detection wheel 5 colliding with foreign objects.

[0048] To accommodate the shaking caused by the movement of the mining truck 25 during travel and to prevent damage to the detection wheel 5 and cleaning brush 6 during travel and detection of slip distance, a first adjusting arm 8 is provided on the upper part of the outer side of both the cleaning brush 6 and the detection wheel 5. The two first adjusting arms 8 are rotatably connected to the center position of the detection wheel 5 and the cleaning brush 6, respectively. The two first adjusting arms 8 are fixed to the outer wall of the motor 28 and the rotary encoder 20 by bolts. The first adjusting arms 8 can support and connect the cleaning brush 6 and the detection wheel 5 at the front and rear ends, respectively.

[0049] To accommodate changes in the distance between the first clamping plate 2 and the tire of the mining truck 25 caused by shaking, two first adjusting arms 8 are respectively provided with first adjusting frames 7 facing the front and rear ends of the first clamping plate 2. One end of the first adjusting frame 7 is recessed with a first movable rail 9. The first adjusting arm 8 slides into the first movable rail 9. The first adjusting frame 7 is welded and fixed to the first clamping plate 2. When the mining truck 25 travels and shakes, the first adjusting arm 8 actively slides along the first movable rail 9 when the distance changes. To facilitate the continuous approach and contact between the detection wheel 5 and the cleaning brush 6 and the outer wall of the mining truck 25 tire, the first adjusting arm 8... A spring 10 is vertically installed at the lower end of the movable rail 9. The two ends of the spring 10 are fixedly connected to the first adjusting arm 8 and the first adjusting frame 7 by bolts. The elasticity of the spring 10 will actively pull the first adjusting arm 8. By pulling the first adjusting arm 8, the detection wheel 5 and the cleaning brush 6 can continuously approach and adhere to the outer wall of the mining truck 25 tire. When the mining truck 25 shakes and the distance between the first clamping plate 2 and the mining truck 25 tire changes, the detection wheel 5 and the cleaning brush 6 can continuously approach and adhere to the outer wall of the mining truck 25 tire, which can continuously assist the detection wheel 5 in detection.

[0050] To facilitate the deployment of the equipment after the laser measurement equipment is installed, such as Figure 3 As shown, a second adjustment frame 14 is provided on one side of the outside of the first clamping plate 2. The second adjustment frame 14 is rotatably connected to the first clamping plate 2 via a connecting shaft 23, and the connecting shaft 23 is welded and fixed to the first clamping plate 2. After the first clamping plate 2 and the second clamping plate 3 are clamped and installed in the position, the second adjustment frame 14 flips over and unfolds.

[0051] To detect the actual moving speed of the mining truck 25, a second movable rail 19 is recessed on one side of the second adjustment frame 14. A second adjustment arm 13 is vertically arranged inside the second movable rail 19, and the outside of the second adjustment arm 13 is slidably connected to the inside of the second movable rail 19. A laser Doppler velocimeter 15 is arranged on one side of the second adjustment arm 13. When the second adjustment arm 13 slides along the second movable rail 19, the position of the laser Doppler velocimeter 15 can be adjusted longitudinally, and the distance between the laser Doppler velocimeter 15 and the ground can be adjusted to meet the detection needs of different mining trucks 25.

[0052] When adjusting the horizontal position of the second adjusting arm 13, such as Figure 7 and Figure 8 As shown, a first threaded rod 12 is vertically arranged inside the second movable rail 19. The upper end of the first threaded rod 12 is rotatably connected to the inside of the second adjusting frame 14. The first threaded rod 12 is embedded inside the second adjusting arm 13. The outside of the first threaded rod 12 is threadedly engaged with the embedded position of the second adjusting arm 13. The position of the laser Doppler velocimeter 15 can be horizontally adjusted by rotating the first threaded rod 12 in conjunction with the constraint of the second movable rail 19.

[0053] In order to adjust the angle of the laser Doppler velocimeter 15, a connecting roller 16 is horizontally installed through the lower end of the second adjusting arm 13. The outside of the connecting roller 16 is rotatably connected to the lower end of the second adjusting arm 13. One end of the connecting roller 16 is fixedly connected to the laser Doppler velocimeter 15 by bolts. After the laser Doppler velocimeter 15 rotates around the connecting roller 16, the vertical angle of the laser Doppler velocimeter 15 can be directly adjusted.

[0054] Furthermore, a fixing hole 17 is provided around the rotatable connection position between the connecting roller 16 and the second adjusting arm 13. The pre-drilled fixing hole 17 facilitates the fixing of the connecting roller 16 and the laser Doppler velocimeter 15. The other end of the connecting roller 16 extends toward the fixing hole 17, such as... Figure 9 and Figure 10 As shown, a pin 18 is provided through the extension of the connecting roller 16. The outside of the pin 18 is threadedly engaged with the through position of the connecting roller 16. One end of the pin 18 is connected to the internal slot of the fixing hole 17. After the angle is adjusted, the pin 18 is rotated and embedded into the fixing hole 17, thereby fixing the laser Doppler velocimeter 15 after the angle is adjusted.

[0055] To prevent the cleaning brush 6 from rotating and the fumes generated during cleaning from remaining at the installation position of the laser measuring equipment, a fan 11 is provided on one side of the cleaning brush 6 corresponding to the first adjusting arm 8. The fan 11 is fixedly connected to the first adjusting arm 8 by bolts. When the cleaning brush 6 is driven by the motor 28 and completes the cleaning of the surface of the tire of the mining truck 25, the fan 11 can actively blow the fumes away from the installation position of the laser measuring equipment.

[0056] To further fix the position of the second adjusting arm 13 after horizontal adjustment and reduce the pressure on the first threaded rod 12, a third movable rail 26 is provided on one side of the second movable rail 19. The third movable rail 26 extends through and to both sides of the second adjusting frame 14. A second threaded rod 21 is transversely provided inside the third movable rail 26 and is welded to the second adjusting arm 13. During the transverse movement of the second adjusting arm 13, the second threaded rod 21 slides within the third movable rail 26. The sliding of the third movable rail 26 helps to prevent the second adjusting arm 13 from falling off and also facilitates the fixation of the second adjusting arm 13 by the second threaded rod 21. A first nut 22 is provided on one side of the second threaded rod 21, and the inside of the first nut 22 engages with the outside thread of the second threaded rod 21. After the second threaded rod 21 slides along the third movable rail 26, the first nut 22 rotates and fits against the second adjusting frame 14, which can further fix the second adjusting arm 13 after position adjustment and provide support for the shaking caused by the movement of the mining truck 25.

[0057] Furthermore, in order to fix the second adjustment frame 14 when folded, a fourth movable rail 27 is provided through the second adjustment frame 14 facing the connecting shaft 23. A mounting groove 24 is recessed on one side of the fourth movable rail 27. A fourth threaded rod 31 is vertically provided on one side of the mounting groove 24 and is welded and fixed to the first clamping plate 2. A second nut 32 is provided at the upper end of the first clamping plate 2. The inside of the second nut 32 is engaged with the external thread of the fourth threaded rod 31. After the second nut 32 is rotated outside the fourth threaded rod 31, it can be embedded inside the mounting groove 24. After the second nut 32 is rotated into the mounting groove 24, the folded second adjustment frame 14 can be fixed.

[0058] It is worth mentioning that when the second adjustment frame 14 is rotated and unfolded, the second nut 32 needs to be removed, and the fourth threaded rod 31 will extend vertically into the fourth movable rail 27. After the second adjustment frame 14 is fully unfolded, the fourth threaded rod 31 can be exposed from the outside of the fourth movable rail 27. When the second adjustment frame 14 is rotated and unfolded, the second nut 32 can rotate to cover the surface of the second adjustment frame 14, which can cover and fix the unfolded second adjustment frame 14. The rotation of the second nut 32 can adapt to the unfolding and folding of the second adjustment frame 14.

[0059] Working principle: By holding the handles at the upper ends of the first clamping plate 2 and the second clamping plate 3, the second clamping plate 3 and the first clamping plate 2 are respectively placed on the outer wall of the mining truck 25. The second mounting hole 4 is aligned with the first mounting hole 1 reserved on the outer wall of the mining truck 25. At the same time, the first adjusting arm 8 slides within the first movable rail 9 to adjust the position of the detection wheel 5 and the cleaning brush 6, so that the detection wheel 5 and the cleaning brush 6 rest on the outer wall of the tire of the mining truck 25. The bolt passes through the second mounting hole 4 and is embedded in the first mounting hole 1 to fix the second clamping plate 3. The third threaded rod 29 is manually turned to generate relative movement with the second clamping plate 3. After being restricted by the guide rod 30, the first clamping plate 2 can be adjusted longitudinally so that the first clamping plate 2 fits against the lower part of the outer wall of the mining truck 25. The second clamping plate 3 is positioned so that it fits against the upper end of the outer wall of the mining card 25. Simultaneously, a bolt passes through the second mounting hole 4 to secure the measuring equipment. Holding the handle on the outer wall of the second adjusting frame 14 causes it to rotate around the connecting shaft 23, flipping the laser Doppler velocimeter 15 towards the ground. After the nut 22 rotates and fits against the outer wall of the second threaded rod 21, it secures the rotated second adjusting frame 14, allowing the measuring equipment to unfold. To adjust the height of the mining card 25, the first threaded rod 12 is rotated and twisted. The rotation of the first threaded rod 12 creates relative movement with the second adjusting arm 13. The second adjusting arm 13 is then longitudinally adjusted after being constrained by the second movable rail 19. The position of the laser Doppler velocimeter 15 is determined by the tilt angle of the clamping positions of the first clamping plate 2 and the second clamping plate 3. The laser Doppler velocimeter 15 rotates at the lower end of the second adjusting arm 13 via the connecting roller 16, adjusting the tilt angle of the laser Doppler velocimeter 15 around the connecting roller 16. A pin 18 passes through the connecting roller 16 and is embedded in a fixing hole 17 at the corresponding angle. The threaded engagement between the pin 18 and the connecting roller 16 results in the pin being embedded inside the fixing hole 17. After the connecting roller 16 and the laser Doppler velocimeter 15 are fixed and adjusted, the mining truck 25 moves to the required detection position and performs the detection. The rotation of the tires of the mining truck 25 directly drives the detection wheel 5 to rotate. The rotation speed of the detection wheel 5... The theoretical moving speed of the mining truck 25 is measured in meters per millisecond (m / ms). The rotational speed of the detection wheel 5 is detected by the rotary encoder 20 at one end. The laser Doppler velocimeter 15 continuously detects the moving ground while the mining truck 25 is moving, and detects the actual moving speed of the mining truck 25, measured in meters per millisecond (m / ms). This gives the true speed of the mining truck 25 per millisecond. The speed detected by the rotary encoder 20 is subtracted from the speed detected by the laser Doppler velocimeter 15 to obtain the sliding distance of the mining truck 25 per millisecond. The sliding distance of the mining truck 25 per millisecond during its movement is accumulated until the accumulated time reaches the moving time of the mining truck 25, thus obtaining the sliding distance of the unmanned mining truck in this detection.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0061] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. A laser distance measuring device for unmanned mine truck, comprising a mine truck (25) with a first mounting hole (1), characterized in that, The upper and lower ends of the outer side of the first mounting hole (1) are respectively provided with a second clamping plate (3) and a first clamping plate (2), the front and rear ends of the first clamping plate (2) are respectively provided with a cleaning brush (6) and a detection wheel (5), one end of the detection wheel (5) is provided with a rotary encoder (20), one end of the cleaning brush (6) is provided with a motor (28), the outer side of the first clamping plate (2) is provided with a second adjusting frame (14) which is rotatably connected through a connecting shaft (23), one side of the second adjusting frame (14) is provided with a second movable rail (19) with a second adjusting arm (13), one side of the second adjusting arm (13) is provided with a laser Doppler velocimeter (15), the upper ends of the outer sides of the cleaning brush (6) and the detection wheel (5) are provided with a first adjusting arm (8), the two first adjusting arms (8) are rotatably connected with the detection wheel (5) and the cleaning brush (6) respectively, the two first adjusting arms (8) are respectively provided with a first adjusting frame (7) towards the front and rear ends of the first clamping plate (2), one end of the first adjusting frame (7) is recessed to provide a first movable rail (9), the first adjusting arm (8) is slidably embedded in the inside of the first movable rail (9), the first adjusting frame (7) is welded and fixed with the first clamping plate (2), the lower end of the inside of the first movable rail (9) is vertically provided with a spring (10), the two ends of the spring (10) are respectively fixedly connected with the first adjusting arm (8) and the first adjusting frame (7) through bolts, the inside of the second movable rail (19) is rotatably provided with a first threaded rod (12) embedded in the second adjusting arm (13), the outside of the first threaded rod (12) is threadedly matched with the embedded position of the second adjusting arm (13).

2. The unmanned mine truck slip distance laser measuring device according to claim 1, characterized in that, The lower end of the inside of the second adjusting arm (13) is transversely rotatably provided with a connecting roller (16), one end of the connecting roller (16) is fixedly connected with the laser Doppler velocimeter (15) through a bolt, the connecting roller (16) is rotatably connected with the second adjusting arm (13) around the position, the other end of the connecting roller (16) has an extension towards the fixed hole (17), the extension position of the connecting roller (16) is provided with a bolt (18) which is connected with the clamping groove of the fixed hole (17), the outside of the bolt (18) is threadedly matched with the penetration position of the connecting roller (16).

3. The unmanned mine truck slip distance laser measuring device according to claim 2, wherein, The side of the cleaning brush (6) corresponding to the first adjusting arm (8) is provided with a fan (11).

4. The unmanned mine truck slip distance laser measuring device according to claim 3, wherein, The outer side of the second movable rail (19) is provided with a third movable rail (26), the inside of the third movable rail (26) is transversely provided with a second threaded rod (21) which is welded and fixed with the second adjusting arm (13), the outer side of the second threaded rod (21) is provided with a first nut (22).

5. The unmanned mine truck slip distance laser measuring device according to claim 4, wherein, The fourth movable rail (27) is provided inside the second adjusting frame (14) and located towards the connecting shaft (23), one side of the fourth movable rail (27) is recessed to form a mounting groove (24), one side of the mounting groove (24) is provided with a fourth threaded rod (31) welded with the first clamping plate (2), and the upper end of the outer wall of the first clamping plate (2) is provided with a second nut (32).

6. A measuring method based on the measuring device for the sliding distance of an unmanned mine truck according to claim 5, characterized in that, The method comprises the following steps: Step one, align the second mounting hole (4) with the first mounting hole (1) reserved on the outer wall of the mine card (25), and adjust the position of the detection wheel (5) and the cleaning brush (6) in the first movable rail (9) by sliding the first adjusting arm (8), so that the detection wheel (5) and the cleaning brush (6) are placed on the outer wall of the tire of the mine card (25); Step two, the bolt is inserted into the first mounting hole (1) through the second mounting hole (4) to fix the second clamping plate (3); Step three, manually twist the third threaded rod (29) to generate relative motion with the second clamping plate (3), so that the second clamping plate (3) is attached to the upper end of the outer wall of the mine card (25), and the bolt is inserted through the second mounting hole (4) to fix the measuring device; Step four, rotate the second adjusting frame (14) with the connecting shaft (23) as the center, and rotate the nut (22) on the outer wall of the second threaded rod (21) to attach to the outer wall of the second adjusting frame (14), so as to unfold the measuring device; Step five, the rotation of the first threaded rod (12) generates relative motion with the second adjusting arm (13), and the second adjusting arm (13) adjusts the position of the laser Doppler velocimeter (15) longitudinally after being limited by the second movable rail (19); Step six, rotate the connecting roller (16) as the center to adjust the inclination angle of the laser Doppler velocimeter (15); Step seven, the bolt (18) is inserted into the fixing hole (17) of the corresponding angle through the connecting roller (16), and the connecting roller (16) and the laser Doppler velocimeter (15) are fixed after the adjustment angle; Step eight, the rotation of the tire of the mine card (25) will directly drive the detection wheel (5) to rotate, and the rotation speed of the detection wheel (5) corresponds to the theoretical moving speed of the mine card (25), and the rotation speed of the detection wheel (5) per millisecond is detected by the rotary encoder (20) at one end; Step nine, the laser Doppler velocimeter (15) continuously detects the moving ground when the mine card (25) moves, and detects the actual moving speed of the mine card (25) when the mine card (25) moves, so as to obtain the real speed of the mine card (25) per millisecond; Step ten, subtract the speed detected by the laser Doppler velocimeter (15) from the speed detected by the rotary encoder (20) to obtain the slip distance of the mine card (25) per millisecond, and accumulate the slip distance of the mine card (25) per millisecond during the movement of the mine card (25) until the accumulation time reaches the movement time of the mine card (25), so as to obtain the slip distance of the unmanned mine card during the detection.

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