An unmanned driving control system for electric scraper

Abstract

The present invention relates to an unmanned driving control system for an electric scraper, and belongs to the field of mining automation technology. The system includes an uninterruptible UPS power supply unit, an electric control drive unit, a weighing data acquisition unit, an automatic navigation unit, a wireless communication unit, a safe driving unit, a path sending unit, and a remote control and monitoring unit. The present invention has the advantages of simple equipment and stable operation, can realize unmanned driving of the scraper, eliminate the on-site operating driver, and in the unmanned driving process, can effectively eliminate safety risks, improve the efficiency of ore transportation, and is easy to promote and apply.

Description

Technical Field

[0001] The invention belongs to the technical field of mining automation, and in particular relates to an unmanned driving control system for an electric scraper. Background Art

[0002] Mining ore shoveling involves multiple links such as manual dispatching of on-site vehicles and manual adjustment and matching of chutes. It is difficult for various types of work to cross-coordinate underground operations, there is a lot of manual intervention on site, and there are many safety hazards, which affect the actual production efficiency and increase the difficulty coefficient of on-site safety production management.

[0003] In order to improve on-site production efficiency and operating rate, reduce the difficulty of production management, reduce safety accidents and eliminate potential safety hazards, the ore shoveling system is systematically developed and upgraded to realize remote control loading, automatic driving and automatic unloading of on-site shovel loaders. This not only actively responds to the notification requirements issued by the State Administration of Work Safety, improves the quality of safety management, eliminates potential safety hazards, improves production efficiency and meets production needs, but also lays a solid foundation and guarantee for the system development of digital mines and intelligent mines. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the prior art and provide an unmanned driving control system for an electric scraper.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] An unmanned driving control system for an electric scraper, comprising:

[0007] Uninterruptible UPS power supply unit, electronic control drive unit, weighing data acquisition unit, automatic navigation unit, wireless communication unit, safe driving unit, path distribution unit, remote server, remote control and monitoring unit, video acquisition unit;

[0008] in:

[0009] The uninterruptible UPS power supply unit is electrically connected to the power supply of the scraper, the electric control drive unit, the weighing data acquisition unit, the automatic navigation unit, and the wireless module of the electric scraper onboard part in the wireless communication unit, respectively, and is used to convert the power supply of the scraper to supply power to the power supply of the scraper, the electric control drive unit, the weighing data acquisition unit, the automatic navigation unit, the wireless module of the electric scraper onboard part in the wireless communication unit, and the video acquisition unit;

[0010] The electronic control drive unit, weighing data acquisition unit, automatic navigation unit, safe driving unit, path sending unit, remote server, and video acquisition unit are all connected to the wireless communication unit; the remote server is connected to the remote control and monitoring unit;

[0011] The electric control drive unit is used to control the operation of the electric scraper; the electric control drive unit is also connected to the automatic navigation unit to receive the driving data sent by the automatic navigation unit, thereby controlling the travel of the electric scraper, and at the same time receiving the unloading instructions sent by the automatic navigation unit to drive the arm and bucket to perform automatic unloading actions;

[0012] The weighing data acquisition unit is used to collect the hydraulic pressure data of the hydraulic pressure sensor installed inside the boom, and then calculate the ore weight data, and then upload the ore weight data to the remote server;

[0013] The automatic navigation unit is used to collect the distance data between the electric scraper and the tunnel at various angles, the electric scraper posture information data, and the current electric scraper mileage data and calculate to obtain the current electric scraper position and the speed and steering angle of the scraper target position at the next moment; then, the current electric scraper position and the speed and steering angle of the scraper target position at the next moment are sent to the electronic control drive unit and the remote server; the automatic navigation unit determines in real time whether the unloading point has been reached based on the calculated position information, and when the scraper reaches the unloading point, it sends an unloading instruction to the electronic control drive unit;

[0014] The wireless communication unit is used for wireless communication;

[0015] The safety driving unit is used to detect whether a person or vehicle breaks into the driving area. If a person or vehicle breaks into the driving area, an alarm is sounded and the alarm information is sent to the electric control drive unit through the wireless communication unit to realize emergency stop of the electric scraper;

[0016] The path sending unit is used to send the scraper path to the automatic navigation unit through the wireless communication unit;

[0017] Remote servers are used for data storage;

[0018] The remote control and monitoring unit is used to send the working control signal of the electric scraper to the electric control drive unit through the remote server and the wireless communication unit. After the electric control drive unit receives the signal, it controls the working of the electric scraper. It is also used to display the position information, posture information and speed of the electric scraper.

[0019] The video acquisition unit is used to collect video data of the electric scraper's surrounding environment, and sends the collected video data to the remote server through the wireless communication unit. The remote control and monitoring unit retrieves the video data from the remote server for display.

[0020] Furthermore, preferably, the uninterruptible UPS power supply unit, the electric control drive unit, the weighing data acquisition unit, and the automatic navigation unit are all installed inside the electric scraper; the safe driving unit is installed at the entrance and exit of the driving area of ​​the electric scraper; and the remote control and monitoring unit is installed in the remote operation room on the well.

[0021] Furthermore, preferably, after the uninterruptible UPS power supply unit converts the power supply of the scraper loader into V power supply, it supplies power to the electronic control drive unit, the weighing data acquisition unit, the automatic navigation unit, the wireless module of the on-board part of the electric scraper loader in the wireless communication unit, and the video acquisition unit.

[0022] Further, preferably, the electric control drive unit includes a first MCU main control module, a first Ethernet communication module, a first power supply module, an analog output module, a switch output module, an analog acquisition module, a switch acquisition module, a pulse signal acquisition module, and a PWM signal output module;

[0023] The first power supply module is connected to the intermittent UPS power supply unit, and is used to use the power transmitted from the intermittent UPS power supply unit to power the first MCU main control module, the first Ethernet communication module, the analog output module, the switch output module, the analog acquisition module, the switch acquisition module, the pulse signal acquisition module, and the PWM signal output module;

[0024] The first MCU main control module is respectively connected to the first Ethernet communication module, the analog output module, the switch output module, the analog acquisition module, the switch acquisition module, the pulse signal acquisition module, and the PWM signal output module, and is used to obtain information collected by the analog acquisition module, the switch acquisition module, and the pulse signal acquisition module, and after processing, control the operation of the analog output module, the switch output module, and the PWM signal output module;

[0025] The analog output module is used to output the throttle, steering and brake signals for driving the electric scraper;

[0026] The switch output module is used to output the start, stop, gear selection, horn, front and rear headlight signals of the electric scraper;

[0027] The analog quantity acquisition module is used to collect hydraulic oil temperature, steering pump pressure, boom pressure, bucket pressure, transmission oil temperature, and transmission oil pressure signals;

[0028] The switch quantity acquisition module is used to collect feedback signals of the start, stop and gear selection of the scraper;

[0029] The pulse signal acquisition module is used to collect the odometer signal of the scraper;

[0030] The PWM signal output module is used to output the arm and bucket control signals of the scraper;

[0031] The first MCU main control module is connected to the automatic navigation unit through the first Ethernet communication module.

[0032] Further, preferably, the control of the work of the electric scraper includes the control of the start, stop, gear, steering, boom, bucket, throttle, and brake of the electric scraper;

[0033] The driving data includes the speed and steering data of the electric scraper.

[0034] Further, preferably, the weighing data acquisition unit includes a second MCU main control module, a second Ethernet communication module, a second power supply module, and a second pressure signal acquisition module;

[0035] The second power supply module is connected to the intermittent UPS power supply unit, and is used to use the power transmitted from the intermittent UPS power supply unit to power the second MCU main control module, the second Ethernet communication module, and the second pressure signal acquisition module;

[0036] The second MCU main control module is electrically connected to the second Ethernet communication module and the second pressure signal acquisition module respectively;

[0037] The second pressure signal acquisition module is used to collect the hydraulic pressure data of the hydraulic pressure sensor installed inside the boom, and then transmit it to the second MCU main control module for calculation to obtain the ore weight data; then, the second MCU main control module controls the second Ethernet communication module to upload the ore weight data to the remote server via Ethernet.

[0038] Further, preferably, the automatic navigation unit includes an industrial computer, a laser radar device, an IMU inertial gyroscope, an odometer and a communication module;

[0039] The industrial computer is connected to the laser radar device, IMU inertial gyroscope, odometer, and communication module respectively;

[0040] The laser radar device is used to collect the distance data between the electric scraper and the roadway at various angles;

[0041] The IMU inertial gyroscope is used to collect attitude information data of the electric scraper;

[0042] The odometer is used to collect the current mileage data of the electric scraper;

[0043] The industrial computer is used to calculate the data collected by the laser radar device, IMU inertial gyroscope and odometer to obtain the current position of the electric scraper and the speed and steering angle at the next moment; then, the current position of the electric scraper and the speed and steering angle at the next moment are sent to the electronic control drive unit and the remote server through the communication module.

[0044] In the present invention, the next moment refers to time, generally with 50 ms as the minimum unit.

[0045] In the present invention, preferably, the communication module of the automatic navigation unit transmits data with the electronically controlled drive unit via Ethernet to realize automatic driving; and transmits data with the remote driving and monitoring unit via wireless communication to realize position and posture display.

[0046] The present invention has no limitation on the specific structural content of the wireless communication unit. Preferably, it includes a wireless module installed on the onboard part of the electric scraper, wireless modules of each vein access route, an optical fiber module from underground to surface, and a switch and gateway module in the surface operating room.

[0047] The present invention has no restriction on the specific structural content of the safe driving unit. Preferably, it includes infrared gratings installed on both sides of the entrance and exit of the unmanned driving area of ​​the electric scraper, and a safety trigger and communication module installed on the side wall of the tunnel; when the scraper enters automatic unmanned driving, the safe driving unit will be triggered to run. If a person or vehicle breaks into the driving area, the safety trigger will be triggered to alarm, and the alarm information will be sent to the electric control drive unit of the electric scraper through the communication module and the wireless communication unit, so as to realize the emergency parking of the electric scraper, prevent the occurrence of safety accidents such as vehicle damage, and ensure the safety of equipment and personnel.

[0048] The data sent by the path sending unit includes the starting point and the end point of the electric scraper.

[0049] In the present invention, preferably, the remote control and monitoring unit includes a remote operating console and a remote monitoring module, wherein the remote operating console includes a control signal collector, a start button, an emergency brake button, an automatic / remote control mode selection switch, an accelerator control pedal, a brake control pedal, a boom control rocker, a bucket control rocker, a gear shift knob, a horn button, and a light control knob; the control signal collector realizes the input of the loader control signal by collecting signals from each button, knob, pedal, and rocker; the remote monitoring module includes the display of position information, posture information, speed, and vehicle-mounted camera video information.

[0050] In the present invention, the amount of ore shoveled by the shovel loader is collected through the weighing data collection unit, and the ore output of the mining point on the shift or the day can be obtained. Then, by counting the ore output data of all shovel loader, the ore output production data analysis is realized, which is convenient for production decision-making and provides data support for intelligent mining equipment and systems (such as intelligent rail transportation systems) during ore transportation. In principle, the weighing data collection unit of the present invention uses the weighing collection interface of the original system of the shovel loader to realize the weighing data collection function. If the original system does not meet the system design, the ore weight collection function is realized by adding sensors.

[0051] The remote operator (or driver) sends the loading and unloading points that the electric shovel loader needs to travel to the automatic navigation unit through the path sending unit. The automatic navigation unit automatically controls the electric control drive unit to drive the electric shovel loader according to the path, and triggers the safety driving unit to operate. When the electric shovel loader drives to the loading point, it automatically switches to the remote control operation mode. The remote operator (or driver) drives the electric shovel loader through the remote control and monitoring unit and the wireless communication unit to perform the shoveling action. After the shoveling is completed, it switches to the automatic operation mode. The automatic navigation unit automatically controls the electric control drive unit to drive the electric shovel loader to the unloading point to automatically unload the ore according to the path. At the same time, the weighing data acquisition unit collects the ore weight data and sends it to the remote operation and monitoring unit through the wireless communication unit to complete an automatic driving shoveling process.

[0052] The present invention can realize unmanned driving of the scraper, eliminating the need for on-site operating drivers. The present invention upgrades the scraper to remote control through laser radar navigation technology, wireless technology, embedded technology, automatic control technology, IT technology, etc. The remote dispatcher (or driver) plans the shoveling point and unloading point of the electric scraper through the remote dispatch system according to the blasting volume information of the day. The scraper runs autonomously to the shoveling point, and the remote operating driver performs the shoveling action through the remote operating system, and then switches to the automatic operation mode. The scraper runs autonomously to the unloading point and performs the unloading action autonomously, and generates a data report related to ore production at the same time.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] (1) The present invention has the advantages of simple equipment and stable operation;

[0055] (2) By transforming the scraper into a remote unmanned one, the present invention can reduce the number of on-site operators at a single operation point by more than two, effectively eliminating safety risks and improving the working environment of workers. At the same time, the remote driver can control multiple scrapers to shovel ore, thereby improving the ore transportation efficiency by more than 20%;

[0056] (3) The present invention can provide effective data support for ore allocation in chute by connecting the generated data reports to the relevant information systems, thereby reducing the production costs of enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0058] Figure 1A schematic diagram of the structure of an automatic driving control system for an electric scraper provided by an embodiment of the present invention;

[0059] Figure 2 A schematic diagram of the structure of an electric control drive unit provided in an embodiment of the present invention;

[0060] Figure 3 A schematic diagram of the structure of a weighing data acquisition unit provided in an embodiment of the present invention;

[0061] Figure 4 A schematic diagram of the structure of an automatic navigation unit provided by an embodiment of the present invention;

[0062] Figure 5 An operation flow chart of an unmanned control system for an electric scraper provided in an embodiment of the invention. DETAILED DESCRIPTION

[0063] The present invention is further described in detail below in conjunction with embodiments.

[0064] Those skilled in the art will understand that the following examples are only used to illustrate the present invention and should not be considered to limit the scope of the present invention. If no specific technology, connection relationship or condition is specified in the examples, the technology, connection relationship, condition described in the literature in the field or the product specification is used. If the manufacturer of the materials, instruments or equipment used is not specified, they are all conventional products that can be purchased.

[0065] Those skilled in the art will appreciate that, unless expressly stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" to another element, it may be directly connected to the other element, or there may be intermediate elements. In addition, the "connection" used here may include wireless connections. The term "and / or" used here includes any unit and all combinations of one or more associated listed items.

[0066] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two. The terms "inside", "upper", "lower", etc., indicating positions or state relationships, are based on the positions or state relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operate in a specific position, and therefore cannot be understood as limiting the present invention.

[0067] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "provided with" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention will be understood according to specific circumstances.

[0068] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0069] like Figures 1 to 4 As shown, an unmanned driving control system for an electric scraper includes:

[0070] Uninterruptible UPS power supply unit 1, electric control drive unit 2, weighing data acquisition unit 3, automatic navigation unit 4, wireless communication unit 5, safe driving unit 6, path sending unit 7, remote server 8, remote control and monitoring unit 9, video acquisition unit 10;

[0071] in:

[0072] The uninterruptible UPS power supply unit 1 is electrically connected to the power supply of the scraper, the electric control drive unit 2, the weighing data acquisition unit 3, the automatic navigation unit 4, and the wireless module of the electric scraper onboard part in the wireless communication unit 5, respectively, and is used to convert the power supply of the scraper to supply power to the power supply of the scraper, the electric control drive unit 2, the weighing data acquisition unit 3, the automatic navigation unit 4, the wireless module of the electric scraper onboard part in the wireless communication unit 5, and the video acquisition unit 10;

[0073] The electric control drive unit 2, the weighing data acquisition unit 3, the automatic navigation unit 4, the safe driving unit 6, the path sending unit 7, the remote server 8, and the video acquisition unit 10 are all connected to the wireless communication unit 5; the remote server 8 is connected to the remote control and monitoring unit 9;

[0074] The electric control drive unit 2 is used to control the operation of the electric scraper; the electric control drive unit 2 is also connected to the automatic navigation unit 4, and is used to receive the driving data transmitted by the automatic navigation unit 4, so as to control the driving of the electric scraper, and at the same time receive the unloading instruction sent by the automatic navigation unit 4, and drive the arm and bucket to perform the automatic unloading action;

[0075] The weighing data acquisition unit 3 is used to collect the hydraulic pressure data of the hydraulic pressure sensor installed inside the boom, and then calculate to obtain the ore weight data, and then upload the ore weight data to the remote server 8;

[0076] The automatic navigation unit 4 is used to collect the distance data between the electric scraper and the tunnel at various angles, the electric scraper posture information data, and the current electric scraper mileage data and calculate to obtain the current electric scraper position and the speed and steering angle of the scraper target position at the next moment; then, the current electric scraper position and the speed and steering angle of the scraper target position at the next moment are sent to the electronic control drive unit 2 and the remote server 8; the automatic navigation unit determines in real time whether the unloading point has been reached based on the calculated position information, and when the scraper reaches the unloading point, it sends an unloading instruction to the electronic control drive unit 2;

[0077] The wireless communication unit 5 is used for wireless communication;

[0078] The safety driving unit 6 is used to detect whether a person or a vehicle breaks into the driving area. If a person or a vehicle breaks into the driving area, an alarm is issued, and the alarm information is sent to the electric control drive unit 2 through the wireless communication unit 5 to realize the emergency stop of the electric scraper;

[0079] The path sending unit 7 is used to send the scraper path to the automatic navigation unit 4 through the wireless communication unit 5;

[0080] The remote server 8 is used for data storage;

[0081] The remote control and monitoring unit 9 is used to send the working control signal of the electric scraper to the electric control drive unit 2 through the remote server 8 and the wireless communication unit 5. After the electric control drive unit 2 receives the signal, it controls the working of the electric scraper. It is also used to display the position information, posture information and speed of the electric scraper.

[0082] The video acquisition unit 10 is used to collect video data of the electric scraper's surrounding environment, and sends the collected video data to the remote server 8 through the wireless communication unit 5. The remote control and monitoring unit 9 retrieves the video data from the remote server 8 for display.

[0083] In the present invention, the remote control and monitoring unit 9 can retrieve the data sent by each unit to the remote server 8 for display, and can also use these data for further analysis and processing.

[0084] The preferred solution is that the uninterruptible UPS power supply unit 1, the electric control drive unit 2, the weighing data acquisition unit 3, and the automatic navigation unit 4 are all installed inside the electric scraper; the safe driving unit 6 is installed at the entrance and exit of the driving area of ​​the electric scraper; the remote control and monitoring unit 9 is installed in the remote operation room on the well.

[0085] The preferred solution is that the uninterruptible UPS power supply unit 1 converts the power supply of the scraper into a 24V power supply, and then supplies power to the electronic control drive unit 2, the weighing data acquisition unit 3, the automatic navigation unit 4, the wireless module of the electric scraper onboard part in the wireless communication unit 5, and the video acquisition unit 10.

[0086] In a preferred embodiment, the electric control drive unit 2 includes a first MCU main control module 201, a first Ethernet communication module 202, a first power supply module 203, an analog output module 204, a switch output module 205, an analog acquisition module 206, a switch acquisition module 207, a pulse signal acquisition module 208, and a PWM signal output module 209;

[0087] The first power supply module 203 is connected to the intermittent UPS power supply unit 1, and is used to use the power transmitted from the intermittent UPS power supply unit 1 to supply power to the first MCU main control module 201, the first Ethernet communication module 202, the analog output module 204, the switch output module 205, the analog acquisition module 206, the switch acquisition module 207, the pulse signal acquisition module 208, and the PWM signal output module 209;

[0088] The first MCU main control module 201 is respectively connected to the first Ethernet communication module 202, the analog output module 204, the switch output module 205, the analog acquisition module 206, the switch acquisition module 207, the pulse signal acquisition module 208, and the PWM signal output module 209, and is used to obtain the information collected by the analog acquisition module 206, the switch acquisition module 207, and the pulse signal acquisition module 208, and after processing, control the operation of the analog output module 204, the switch output module 205, and the PWM signal output module 209;

[0089] The analog output module 204 is used to output the throttle, steering and brake signals for driving the electric scraper;

[0090] The switch output module 205 is used to output the start, stop, gear selection, horn, front and rear headlight signals of the electric scraper;

[0091] The analog quantity acquisition module 206 is used to collect hydraulic oil temperature, steering pump pressure, boom pressure, bucket pressure, transmission oil temperature, and transmission oil pressure signals;

[0092] The switch quantity acquisition module 207 is used to collect feedback signals of the start, stop and gear selection of the scraper;

[0093] The pulse signal acquisition module 208 is used to collect the scraper odometer signal;

[0094] The PWM signal output module 209 is used to output the arm and bucket control signals of the scraper;

[0095] The first MCU main control module 201 is connected to the automatic navigation unit 4 via the first Ethernet communication module 202 .

[0096] The preferred solution is to control the work of the electric scraper, including the control of the start, stop, gear, steering, boom, bucket, throttle and brake of the electric scraper;

[0097] The driving data includes the speed and steering data of the electric scraper.

[0098] In a preferred embodiment, the weighing data acquisition unit 3 includes a second MCU main control module 301, a second Ethernet communication module 302, a second power supply module 303, and a second pressure signal acquisition module 304;

[0099] The second power supply module 303 is connected to the intermittent UPS power supply unit 1, and is used to use the power transmitted from the intermittent UPS power supply unit 1 to supply power to the second MCU main control module 301, the second Ethernet communication module 302, and the second pressure signal acquisition module 304;

[0100] The second MCU main control module 301 is electrically connected to the second Ethernet communication module 302 and the second pressure signal acquisition module 304 respectively;

[0101] The second pressure signal acquisition module 304 is used to collect the hydraulic pressure data of the hydraulic pressure sensor installed inside the boom, and then transmit it to the second MCU main control module 301 for calculation to obtain the ore weight data; then, the second MCU main control module 301 controls the second Ethernet communication module 302 to upload the ore weight data to the remote server 8 via Ethernet.

[0102] In a preferred embodiment, the automatic navigation unit 4 includes an industrial computer 401, a laser radar device 402, an IMU inertial gyroscope 403, an odometer 404 and a communication module 405;

[0103] The industrial computer 401 is respectively connected to the laser radar device 402, the IMU inertial gyroscope 403, the odometer 404, and the communication module 405;

[0104] The laser radar device 402 is used to collect the distance data between the electric scraper and the roadway at various angles;

[0105] The IMU inertial gyroscope 403 is used to collect the attitude information data of the electric scraper;

[0106] The odometer 404 is used to collect the current mileage data of the electric scraper;

[0107] The industrial computer 401 is used to calculate the collected data transmitted by the laser radar device 402, the IMU inertial gyroscope 403, and the odometer 404 to obtain the current position of the electric scraper and the speed and steering angle at the next moment; then, the current position of the electric scraper and the speed and steering angle at the next moment are sent to the electronic control drive unit 2 and the remote server 8 through the communication module 405.

[0108] Preferably, the uninterruptible UPS power supply unit 1 also provides power for the electric scraper onboard equipment.

[0109] Preferably, the remote server 8 is used for remote control and monitoring of the unit 9 backend software, database storage and operation.

[0110] The wireless communication unit 5 uses WIFI wireless network transmission technology based on IEEE 802.11n to realize data exchange and sharing among various units of the system.

[0111] like Figure 5 , the operation process of the system of the present invention is as follows:

[0112] S101, after the scraper is ignited and started, the position of the scraper is initialized by the automatic navigation unit 4; the automatic navigation unit 4 determines whether the initialization position is successful;

[0113] S102, if the acquisition is successful, after obtaining the current scraper position, the path is sent through the path sending unit 7;

[0114] S103, switching to the automatic driving mode through the automatic navigation unit 4, and triggering the safe driving mode at the same time;

[0115] S104, the automatic navigation unit 4 sends the speed and steering angle at the next moment to the electronically controlled drive unit 2, and the electronically controlled drive unit 2 enables the scraper to automatically drive to the mining point;

[0116] S105, remote control shoveling of the mine by switching to remote control mode through the remote driving and monitoring unit 8 and the electric control drive unit 2;

[0117] S106, after the shoveling is completed, the automatic navigation unit 4 and the electric control drive unit 2 are switched to the automatic driving mode;

[0118] S107, automatically driving to the unloading point to unload the ore through the automatic navigation unit 4, the electric control drive unit 2, and the weighing data acquisition unit 3, completing an automatic operation of the electric scraper;

[0119] S108, safe driving mode operation;

[0120] S109, determining whether a security alarm is triggered;

[0121] S110, if the safety alarm is triggered, emergency stop is performed and the vehicle is awaiting on-site confirmation; if the safety alarm is not triggered, the vehicle continues to operate in the safe driving mode;

[0122] The method further includes: S111, if the position of the scraper fails to be obtained, emergency parking is performed by the electronically controlled drive unit 2, and the position information is waited for confirmation on site;

[0123] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An unmanned driving control system for an electric scraper, characterized in that: include: Uninterruptible UPS power supply unit (1), electric control drive unit (2), weighing data acquisition unit (3), automatic navigation unit (4), wireless communication unit (5), safe driving unit (6), path sending unit (7), remote server (8), remote control and monitoring unit (9), video acquisition unit (10); in: The uninterruptible UPS power supply unit (1) is electrically connected to the power supply of the scraper, the electric control drive unit (2), the weighing data acquisition unit (3), the automatic navigation unit (4), and the wireless module of the electric scraper onboard part in the wireless communication unit (5), respectively, and is used to convert the power supply of the scraper to supply power to the power supply of the scraper, the electric control drive unit (2), the weighing data acquisition unit (3), the automatic navigation unit (4), the wireless module of the electric scraper onboard part in the wireless communication unit (5), and the video acquisition unit (10); The electric control drive unit (2), the weighing data acquisition unit (3), the automatic navigation unit (4), the safe driving unit (6), the path sending unit (7), the remote server (8), and the video acquisition unit (10) are all connected to the wireless communication unit (5); the remote server (8) is connected to the remote control and monitoring unit (9); The electric control drive unit (2) is used to control the operation of the electric scraper; the electric control drive unit (2) is also connected to the automatic navigation unit (4) and is used to receive drive data transmitted by the automatic navigation unit (4) to control the travel of the electric scraper, and at the same time receive an ore unloading instruction sent by the automatic navigation unit (4) to drive the arm and the bucket to perform an automatic ore unloading action; A weighing data acquisition unit (3) is used to collect hydraulic pressure data from a hydraulic pressure sensor installed inside the boom, and then calculate to obtain ore weight data, and then upload the ore weight data to a remote server (8); The automatic navigation unit (4) is used to collect data on the distance between the electric scraper and the tunnel at various angles, data on the posture information of the electric scraper, and data on the current mileage of the electric scraper, and to perform calculations to obtain the current position of the electric scraper and the speed and steering angle of the scraper's target position at the next moment; then, the current position of the electric scraper and the speed and steering angle of the scraper's target position at the next moment are sent to the electronic control drive unit (2) and the remote server (8); the automatic navigation unit determines in real time whether the ore unloading point has been reached based on the calculated position information, and when the ore unloading point has been reached, a ore unloading instruction is sent to the electronic control drive unit (2); The wireless communication unit (5) is used for wireless communication; The safe driving unit (6) is used to detect whether a person or a vehicle has entered the driving area. When a person or a vehicle has entered the driving area, an alarm is sounded and the alarm information is sent to the electric control drive unit (2) via the wireless communication unit (5), thereby realizing emergency stopping of the electric scraper; The path sending unit (7) is used to send the scraper path to the automatic navigation unit (4) via the wireless communication unit (5); The remote server (8) is used for data storage; The remote control and monitoring unit (9) is used to send the working control signal of the electric scraper to the electric control drive unit (2) through the remote server (8) and the wireless communication unit (5); after the electric control drive unit (2) receives the signal, it controls the working of the electric scraper; and is also used to display the position information, posture information and speed of the electric scraper; The video acquisition unit (10) is used to acquire video data of the environment surrounding the electric scraper, and sends the acquired video data to a remote server (8) via a wireless communication unit (5); the remote control and monitoring unit (9) retrieves the video data from the remote server (8) for display; The electric control drive unit (2) comprises a first MCU main control module (201), a first Ethernet communication module (202), a first power supply module (203), an analog output module (204), a switch output module (205), an analog acquisition module (206), a switch acquisition module (207), a pulse signal acquisition module (208), and a PWM signal output module (209); The first power supply module (203) is connected to the intermittent UPS power supply unit (1) and is used to use the electric energy transmitted from the intermittent UPS power supply unit (1) to supply power to the first MCU main control module (201), the first Ethernet communication module (202), the analog output module (204), the switch output module (205), the analog acquisition module (206), the switch acquisition module (207), the pulse signal acquisition module (208), and the PWM signal output module (209); The first MCU main control module (201) is respectively connected to the first Ethernet communication module (202), the analog quantity output module (204), the switch quantity output module (205), the analog quantity acquisition module (206), the switch quantity acquisition module (207), the pulse signal acquisition module (208), and the PWM signal output module (209), and is used to obtain information collected by the analog quantity acquisition module (206), the switch quantity acquisition module (207), and the pulse signal acquisition module (208), and after processing, control the operation of the analog quantity output module (204), the switch quantity output module (205), and the PWM signal output module (209); The analog output module (204) is used to output throttle, steering and brake signals for driving the electric scraper; The switch output module (205) is used to output the start, stop, gear selection, horn, and front and rear headlight signals of the electric scraper; The analog quantity acquisition module (206) is used to collect hydraulic oil temperature, steering pump pressure, boom pressure, bucket pressure, transmission oil temperature, and transmission oil pressure signals; The switch quantity acquisition module (207) is used to collect feedback signals of the start, stop and gear selection of the scraper; The pulse signal acquisition module (208) is used to collect the odometer signal of the scraper; The PWM signal output module (209) is used to output the arm and bucket control signals of the scraper; The first MCU main control module (201) is connected to the automatic navigation unit (4) via a first Ethernet communication module (202); The automatic navigation unit (4) comprises an industrial computer (401), a laser radar device (402), an IMU inertial gyroscope (403), an odometer (404) and a communication module (405); The industrial control computer (401) is respectively connected to the laser radar device (402), the IMU inertial gyroscope (403), the odometer (404), and the communication module (405); The laser radar device (402) is used to collect distance data between the electric scraper and the roadway at various angles; The IMU inertial gyroscope (403) is used to collect attitude information data of the electric scraper; The odometer (404) is used to collect the current mileage data of the electric scraper; The industrial computer (401) is used to calculate the collected data transmitted by the laser radar device (402), the IMU inertial gyroscope (403), and the odometer (404) to obtain the current position of the electric scraper and the speed and steering angle at the next moment; then, the current position of the electric scraper and the speed and steering angle at the next moment are sent to the electric control drive unit (2) and the remote server (8) through the communication module (405); The weighing data acquisition unit (3) comprises a second MCU main control module (301), a second Ethernet communication module (302), a second power supply module (303), and a second pressure signal acquisition module (304); The second power supply module (303) is connected to the intermittent UPS power supply unit (1) and is used to use the electric energy transmitted from the intermittent UPS power supply unit (1) to supply power to the second MCU main control module (301), the second Ethernet communication module (302), and the second pressure signal acquisition module (304); The second MCU main control module (301) is electrically connected to the second Ethernet communication module (302) and the second pressure signal acquisition module (304) respectively; The second pressure signal acquisition module (304) is used to collect hydraulic pressure data from a hydraulic pressure sensor installed inside the boom, and then transmit the data to the second MCU main control module (301) for calculation to obtain ore weight data; then, the second MCU main control module (301) controls the second Ethernet communication module (302) to upload the ore weight data to a remote server (8) via Ethernet.

2. The unmanned driving control system of an electric scraper according to claim 1, characterized in that: The uninterruptible UPS power supply unit (1), the electric control drive unit (2), the weighing data acquisition unit (3), and the automatic navigation unit (4) are all installed inside the electric scraper; the safety driving unit (6) is installed at the entrance and exit of the driving area of ​​the electric scraper; and the remote control and monitoring unit (9) is installed in the remote operation room above the well.

3. The unmanned driving control system of the electric scraper according to claim 1 is characterized in that: After the uninterruptible UPS power supply unit (1) converts the power supply of the scraper into a 24V power supply, it supplies power to the electric control drive unit (2), the weighing data acquisition unit (3), the automatic navigation unit (4), the wireless module of the electric scraper onboard part in the wireless communication unit (5), and the video acquisition unit (10).

4. The unmanned driving control system of an electric scraper according to claim 1, characterized in that: The work of controlling the electric scraper includes the control of the start, stop, gear, steering, boom, bucket, throttle and brake of the electric scraper; The driving data includes the speed and steering data of the electric scraper.

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