A method for positioning a continuous miner by a shuttle car in a mine

Abstract

The present application belongs to the technical field of autonomous positioning of mine shuttle car, solves the problems of how to position the continuous miner and how to turn from which connecting lane during autonomous operation of the shuttle car. A method for autonomous positioning of continuous miner by mine shuttle car is provided, which includes autonomous operation of the shuttle car, recognition of lane turning, recognition and automatic positioning of the continuous miner on the tunneling face. The shuttle car can autonomously operate on the continuous tunneling face with double lanes, autonomously recognize the turning, autonomously recognize the continuous miner, autonomously position the continuous miner, and automatically complete the loading and unloading of coal. The entire process and procedure of the shuttle car is completed, realizing automatic straight walking, automatic turning, automatic positioning, automatic loading and unloading of coal, and walking along the trajectory. The present application can free the shuttle car driver from the tunneling face, realize unmanned operation of the shuttle car, and realize linkage operation with the continuous miner, opening a new mode of continuous tunneling operation.

Description

Technical Field

[0001] This invention belongs to the field of autonomous positioning technology for mining shuttle cars, and specifically relates to a method for autonomous operation and positioning of a continuous mining machine using a mining shuttle car. Background Technology

[0002] As an auxiliary transportation device in continuous mining faces, the shuttle car plays a role in transferring coal between the continuous miner and the crusher. Continuous mining faces mostly adopt a double-roadway excavation process, and the working face is relatively closed. The continuous miner and the bolting machine work alternately in the two roadways, and the shuttle car runs between the continuous miner and the crusher.

[0003] However, the shuttle car and the continuous mining machine may not be in the same roadway, so the autonomous operation of the shuttle car faces the problem of how to determine the location of the continuous mining machine; moreover, since there is a connecting roadway between the two roadways, and a connecting roadway is arranged at an interval of about 50 meters, the autonomous operation of the shuttle car faces the problem of which connecting roadway to turn from. Summary of the Invention

[0004] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides a method for autonomous operation and positioning of a mining shuttle machine.

[0005] This invention is achieved using the following technical solution: a method for autonomous operation and positioning of a continuous mining machine using a mining shuttle, comprising the following steps:

[0006] S1: The shuttle car departs from the crusher and moves towards the continuous mining machine;

[0007] S2: If magnetic positioning devices are laid at intervals at the power cable between the crusher and the continuous mining machine, proceed to step S3; otherwise, proceed to step S4.

[0008] S3: The magnetic induction receiver on the shuttle car identifies the magnetic positioning device on the power cable, enabling the shuttle car to run autonomously along the direction of the power cable until the identification device on the shuttle car identifies the feature at the tail of the continuous mining machine, at which point it decelerates and achieves alignment and parking with the continuous mining machine.

[0009] S4: When the shuttle car is traveling in a single straight lane, execute step S5; when the shuttle car is traveling in a connecting lane, execute step S6.

[0010] S5: The shuttle car moves toward the continuous mining machine. When the identification device on the shuttle car identifies the feature at the tail of the continuous mining machine, it decelerates and aligns with the continuous mining machine for parking.

[0011] S6: When the signal light camera on the shuttle car detects the traffic light, the shuttle car slows down. At the same time, the distance sensor on the shuttle car detects the position information of the connecting roadway and obtains the coordinate information of the connecting roadway. The shuttle car is then controlled to complete the turn of the connecting roadway. Then the shuttle car travels in the straight roadway until the identification device on the shuttle car detects the feature at the tail of the continuous mining machine. At that time, the shuttle car slows down and achieves alignment and parking with the continuous mining machine.

[0012] Preferably, after the identification device identifies the feature at the tail of the continuous mining machine, it simultaneously establishes the three-dimensional coordinate position information of the shuttle car and the continuous mining machine, obtains the relative position and angular relationship between the shuttle car and the continuous mining machine, and sends the information to the shuttle car main controller. The shuttle car main controller realizes the alignment and parking of the shuttle car and the continuous mining machine according to the coordinate information of the continuous mining machine.

[0013] Preferably, the alignment and parking of the shuttle car and the continuous miner refers to the alignment of the scraper chain of the shuttle car with the scraper chain of the continuous miner. After alignment and parking, the parking information is transmitted to the continuous miner controller. After receiving the information, the continuous miner automatically starts the scraper chain to transport the coal from the loading point to the coal loading point of the shuttle car.

[0014] Preferably, the height sensor at the coal loading point of the shuttle car identifies the height of the coal pile and transmits the height information to the shuttle car main controller. When the height exceeds or equals the set height, the shuttle car starts the shuttle car scraper chain and controls the scraper conveyor to move the coal pile through the frequency converter until the coal pile moves to the unloading section. At this time, the detection device at the unloading section detects the coal pile at the unloading section, and the shuttle car stops loading and moving coal.

[0015] Preferably, the sensor for identifying the height at the shuttle loading point includes a camera or a 4D millimeter-wave sensor.

[0016] Preferably, in step S3, several magnetic positioning devices are spaced apart on the power cable. The magnetic receiver on the shuttle car obtains the position information of the cable and sends the information to the shuttle car main controller. The shuttle car main controller automatically controls the direction and speed of the shuttle car based on the obtained distance coordinate information.

[0017] Preferably, the distance sensor in step S6 includes a lidar sensor and an ultrasonic rangefinder.

[0018] Preferably, the shuttle car can detect its distance from the coal face through a distance sensor, keep itself between the two coal faces, and avoid obstacles through an obstacle detection device.

[0019] Preferably, the shuttle car has a built-in route memory module, which can autonomously memorize the trajectory information of the shuttle car traveling on the continuous mining machine. The shuttle car can return to the starting point according to the original trajectory and carry out coal transfer in a cycle.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] In this invention, the shuttle car can autonomously operate in continuous mining faces with single straight roadways and interconnected roadways. It can autonomously identify turns, recognize the continuous mining machine, align itself with the machine, and automatically complete coal loading and unloading. The entire process and all procedures of the shuttle car are completed, achieving automatic straight-line movement, automatic turning, automatic alignment, automatic coal loading and unloading, and movement along a designated track. This frees the shuttle car operator from the working face, enabling unmanned operation of the shuttle car and its coordinated operation with the continuous mining machine, thus opening a new mode of continuous mining operations. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the shuttle car operating autonomously in a single straight aisle;

[0024] Figure 2 This is a schematic diagram of the shuttle car operating independently in the connecting lanes;

[0025] Figure 3 This is a magnetic nail guide diagram for the power cable of a continuous mining machine (connecting tunnels);

[0026] Figure 4 This is a magnetic nail guide diagram for the power cable of a continuous mining machine (single straight tunnel);

[0027] Figure 5 Traffic signal guidance map for connecting lanes. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0030] This invention provides an embodiment:

[0031] like Figures 1 to 5 As shown, a method for autonomous operation and positioning of a continuous mining machine using a mining shuttle includes the following steps:

[0032] S1: The shuttle car departs from the crusher and moves towards the continuous mining machine;

[0033] S2: If magnetic positioning devices are laid at intervals at the power cable between the crusher and the continuous mining machine, proceed to step S3; otherwise, proceed to step S4.

[0034] S3: The magnetic induction receiver on the shuttle car identifies the magnetic positioning device on the power cable, enabling the shuttle car to run autonomously along the direction of the power cable until the identification device on the shuttle car identifies the feature at the tail of the continuous mining machine, at which point it decelerates and achieves alignment and parking with the continuous mining machine.

[0035] S4: When the shuttle car is traveling in a single straight lane, execute step S5; when the shuttle car is traveling in a connecting lane, execute step S6.

[0036] S5: The shuttle car moves toward the continuous mining machine. When the identification device on the shuttle car identifies the feature at the tail of the continuous mining machine, it decelerates and aligns with the continuous mining machine for parking.

[0037] S6: When the traffic light camera on the shuttle car detects the traffic light, the shuttle car slows down. At the same time, the laser radar sensor and ultrasonic rangefinder on the shuttle car detect the position information of the connecting roadway and obtain the coordinate information of the connecting roadway. The shuttle car automatically enters the turning mode in advance and automatically controls the steering and speed of the shuttle car to complete the turning of the connecting roadway. Then the shuttle car travels in the straight roadway until the identification device on the shuttle car detects the feature at the tail of the continuous mining machine. When it does, it slows down and achieves alignment and parking with the continuous mining machine.

[0038] The shuttle car and continuous miner is a device that tows a power cable, which is about 200 meters long. Therefore, it operates in the area between the continuous miner and the crusher within 200 meters. The shuttle car operates autonomously in this area and always stays on the center line of the roadway.

[0039] In this invention, after the identification device identifies the feature at the tail of the continuous mining machine, it simultaneously establishes the three-dimensional coordinate position information of the shuttle car and the continuous mining machine, obtains the relative position and angle relationship between the shuttle car and the continuous mining machine, and sends the information to the shuttle car main controller. The shuttle car main controller realizes the alignment and parking of the shuttle car and the continuous mining machine according to the coordinate information of the continuous mining machine.

[0040] The alignment and parking of the shuttle car with the continuous miner refers to the alignment of the shuttle car's scraper chain with the continuous miner's scraper chain. After alignment and parking, the parking information is transmitted to the continuous miner controller. Upon receiving this information, the continuous miner automatically starts the scraper chain to transport coal from the loading area to the shuttle car's loading area. A camera, 4D millimeter-wave sensor, or other height-identifying sensor at the shuttle car's loading area identifies the height of the coal pile and transmits this height information to the shuttle car's main controller. When the height exceeds or equals the set height, the shuttle car starts its scraper chain. Through the control frequency converter, the scraper conveyor moves the coal pile until it reaches the unloading section. At this point, the detection device at the unloading section detects the coal pile, and the shuttle car stops loading and moving coal; the shuttle car then proceeds to the next process.

[0041] In step S3, several magnetic positioning devices are set at intervals on the power cable. The magnetic receiver on the shuttle car obtains the position information of the cable and sends the information to the shuttle car main controller. The shuttle car main controller automatically controls the direction and speed of the shuttle car based on the obtained distance coordinate information.

[0042] The shuttle car uses distance sensors to detect its distance from the coal face, maintaining its position between the two sides of the coal face and avoiding obstacles using an obstacle detection device. The shuttle car has a built-in route memory module, allowing it to autonomously remember its trajectory within the continuous mining machine. It can then return to its starting point along the same route, repeatedly transferring coal.

[0043] When the shuttle car is in autonomous operation mode, the shuttle car itself is first set to autonomous operation mode. Simultaneously, the downhole or surface control center sets the shuttle car to autonomous operation mode via a knob. When the shuttle car receives this command, and the shuttle car's own setting matches the remote control command, the shuttle car is ready for automatic operation. When the remote control center issues an automatic operation command for the shuttle car, the shuttle car first starts the oil pump and then automatically enters autonomous driving operation. As an autonomous shuttle car, it can achieve autonomous positioning and navigation, as well as perceive surrounding obstacles, enabling autonomous decision-making, planning, and vehicle control. According to the transportation task, the shuttle car automatically docks at the loading area for loading, autonomously positions and navigates through branch lines and main roads, and automatically unloads at the unloading area. During its journey, it needs to accurately perceive static and dynamic obstacles and autonomously avoid them to successfully complete the task.

[0044] This disclosure relates to underground shuttle cars and continuous mining tunneling machines in coal mines. In dual-roadway tunneling, the shuttle car automatically runs back and forth between the continuous mining machine and the crusher. It involves how the shuttle car automatically locates the continuous mining machine. This is achieved by setting up turning signal lights in the roadway or installing magnetic nails on the cable to guide the shuttle car to the continuous mining machine roadway. At the same time, beacons are installed on the continuous mining machine, and identification radar or cameras are installed on the shuttle car to enable the shuttle car to automatically stop at the tail of the continuous mining machine, completing the docking of the shuttle car and the continuous mining machine.

[0045] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for positioning a continuous miner by an autonomous shuttle vehicle in a mine, the method comprising: The method comprises the following steps: ​ S1: the shuttle vehicle starts from the crusher and moves towards the continuous miner; S2: if a magnetic positioner is arranged at intervals on the power cable between the crusher and the continuous miner, step S3 is performed, otherwise step S4 is performed; S3: the magnetic induction receiver on the shuttle vehicle identifies the magnetic positioner on the power cable, so that the shuttle vehicle autonomously moves along the power cable until the identification device on the shuttle vehicle identifies the feature of the tail of the continuous miner, and then the shuttle vehicle slows down and is parked in position with the continuous miner; S4: when the shuttle vehicle is moving in a single straight roadway, step S5 is performed; when the shuttle vehicle is moving in a combined roadway, step S6 is performed; S5: the shuttle vehicle moves towards the continuous miner, and when the identification device on the shuttle vehicle identifies the feature of the tail of the continuous miner, the shuttle vehicle slows down and is parked in position with the continuous miner; S6: when the signal light camera on the shuttle vehicle identifies the traffic signal light, the shuttle vehicle slows down, and at the same time, the distance sensor on the shuttle vehicle detects the position information at the combined roadway, obtains the coordinate information of the combined roadway, and controls the shuttle vehicle to complete the turning in the combined roadway; then the shuttle vehicle moves in the straight roadway until the identification device on the shuttle vehicle identifies the feature of the tail of the continuous miner, and then the shuttle vehicle slows down and is parked in position with the continuous miner; After the identification device identifies the feature of the tail of the continuous miner, three-dimensional coordinate position information of the shuttle vehicle and the continuous miner is established, the relative position and angle relationship between the shuttle vehicle and the continuous miner are obtained, and the information is sent to the shuttle vehicle main controller; the shuttle vehicle main controller realizes the parking in position of the shuttle vehicle and the continuous miner according to the coordinate information of the continuous miner; the parking in position of the shuttle vehicle and the continuous miner means that the flight chain of the shuttle vehicle is in position with the flight chain of the continuous miner; after the parking in position, the information of the parked shuttle vehicle is transmitted to the continuous miner controller; after receiving the information, the continuous miner automatically starts the flight chain to transport the coal at the loading and unloading position to the coal loading position of the shuttle vehicle; the sensor for recognizing the height of the coal loading position of the shuttle vehicle transmits the height information to the shuttle vehicle main controller when the height exceeds or equals the set height, and the shuttle vehicle starts the flight chain of the shuttle vehicle; the flight chain of the shuttle vehicle is controlled by the frequency converter to move the coal pile until the coal pile moves to the unloading position; at this time, the detection device at the unloading position detects the coal pile at the unloading position, and the shuttle vehicle stops loading and moving coal.

2. The method for positioning the continuous miner by the autonomous shuttle vehicle according to claim 1, characterized in that: The sensor for recognizing the height of the coal loading position of the shuttle vehicle comprises a camera or a 4D millimeter wave sensor.

3. The method for positioning the continuous miner according to the autonomous running of the shuttle car in a mine according to claim 1, characterized in that: In step S3, a plurality of magnetic positioners are arranged at intervals on the power cable; the magnetic receiver on the shuttle vehicle obtains the position information of the cable and transmits the information to the shuttle vehicle main controller; the shuttle vehicle main controller automatically controls the turning and speed of the shuttle vehicle according to the obtained distance coordinate information.

4. The method for positioning the continuous miner according to the autonomous operation of the shuttle car in a mine according to claim 1, characterized in that: The distance sensor in step S6 comprises a laser radar sensor and an ultrasonic range finder.

5. The method for positioning the continuous miner according to the autonomous operation of the shuttle car in a mine according to claim 1, characterized in that: The shuttle vehicle can detect the distance information between the shuttle vehicle and the coal wall through the distance sensor, keep moving between the two coal walls, and avoid obstacles through the obstacle detection device.

6. The method for positioning the continuous miner according to the autonomous operation of the shuttle car in a mine according to claim 1, characterized in that: The shuttle vehicle is provided with a route memory module, which can autonomously remember the track information of the shuttle vehicle moving along the continuous miner; the shuttle vehicle can return to the starting position according to the original track and repeatedly transport coal.

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