A mining area guiding vehicle and a guiding method

Abstract

The present invention provides a mining area guiding vehicle and a guiding method, belonging to the technical field of mining area yard equipment. By means of the design of the parking hole on the lower parking disk of the unmanned aerial vehicle cooperating with the frustum on the parking platform, this guiding vehicle solves the problem that the detection unmanned aerial vehicle cannot land stably in the coal mining area. This guiding vehicle includes a traveling device, on which a conveying device, a bulldozing device, a mining area auxiliary parking device, a detection device and a control center are installed. The mining area auxiliary parking device moves from the traveling device to the ground through the conveying device; the detection device includes an unmanned aerial vehicle and a parking platform. The unmanned aerial vehicle includes a detection camera. The parking platform is installed on the traveling device. A frustum is arranged on the upper surface of the parking platform. The lower end of the unmanned aerial vehicle is installed with a parking disk, and a parking hole is formed in the parking disk. The diameter of the parking hole is larger than the top diameter of the frustum and smaller than the bottom diameter of the frustum.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine yard equipment, and particularly relates to a mine area guiding vehicle and a guiding method. Background Art

[0002] In open-pit coal mining areas, a large amount of dust is generated during ore blasting and mining operations. This dust not only pollutes the environment around the mining area and harms the health of operating personnel, but also reduces the visibility of the entire mining area, causing mining vehicles to be unable to park accurately and affecting the effective cooperation between other mining equipment in the operation system, increasing unsafe factors.

[0003] Currently, before mining, workers use drones to detect the operating environment. However, due to the undulating terrain of the mining area, when the detection drones land on the ground after detection, they land unstably and are prone to damage to the fuselage.

[0004] At the same time, in order to enable vehicles such as coal transport trucks to park accurately at the coal mining position, workers will place auxiliary parking devices such as parking posts at the parking positions. However, due to the fact that the coal seams in coal mining areas generally have an inclination angle of 0-10°, and coupled with the dense ore and soil residues on the ground, common parking posts cannot be placed stably on the ground. Summary of the Invention

[0005] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a mine area guiding vehicle and a guiding method, which are used to solve the problems in the prior art that detection drones in coal mining areas cannot land stably and auxiliary parking devices such as parking posts cannot be placed stably due to the dense ore and soil residues on the ground.

[0006] To achieve the above object and other related objects, the present invention provides a mine area guiding vehicle, including a traveling device, on which a conveying device, a bulldozing device, a mine area auxiliary parking device, a detection device, and a control center are installed. The mine area auxiliary parking device moves from the traveling device to the ground through the conveying device;

[0007] The detection device includes a drone and a landing platform. The drone includes a detection camera. The landing platform is installed on the traveling device. A frustum is provided on the upper surface of the landing platform. A landing disk is installed at the lower end of the drone. A landing hole is provided in the landing disk. The diameter of the landing hole is larger than the top diameter of the frustum and smaller than the bottom diameter of the frustum.

[0008] Optionally, a plurality of frustums are provided on the upper surface of the landing platform. The landing disk is a hollow box-shaped structure. The upper surface of the landing disk is fixedly connected to the lower end of the drone. A plurality of the landing holes are provided on the lower surface of the landing disk, and the landing holes penetrate the lower surface of the landing disk.

[0009] Optionally, the conveying device includes a conveyor belt, which is installed on an installation platform. The installation platform is installed on the upper surface of the traveling device. The conveyor belt surrounds a driving roller and a driven roller. Both the driving roller and the driven roller are rotatably installed on the installation platform. The driving roller is driven to rotate by a conveying power module. The driving roller rotates to drive the driven roller to rotate through the conveyor belt. The mine area auxiliary parking device is placed on the conveyor belt and moves along with the rotation of the conveyor belt;

[0010] The end of the conveyor belt is located at the rear side of the traveling device. A sliding module is installed at the rear side of the traveling device and corresponds to the end of the conveyor belt.

[0011] Optionally, the sliding module includes a sliding plate, a first guard plate and a fixing frame. One end of the sliding plate is connected to the end of the conveyor belt, and the other end of the sliding plate extends towards the ground at the rear side of the traveling device. The first guard plate is fixedly installed on the left and right sides of the sliding plate. The fixing frame fixedly connects the bottom surface of the sliding plate and the traveling device together.

[0012] Optionally, the conveyor belt is arc-shaped, and the opening of the conveyor belt faces the left side of the traveling device. The conveying device further includes a pushing module, which includes a pushing fixed end and a pushing telescopic plate. The pushing fixed end is fixedly installed inside the opening of the conveyor belt, and the extending direction of the pushing telescopic plate points to the end of the conveyor belt;

[0013] When the pushing telescopic plate contracts, it is located inside the opening of the conveyor belt. When the pushing telescopic plate extends, it pushes the auxiliary parking device to move from the conveyor belt to the sliding module.

[0014] Optionally, the conveying device further includes a second guard plate, which is fixedly installed on the outer side and the inner side of the conveyor belt. The second guard plate is not installed at the end of the conveyor belt.

[0015] Optionally, the parking platform is located inside the opening of the conveyor belt, and the upper surface of the parking platform is above the conveying device.

[0016] Optionally, the earth-moving device includes an earth-moving plate and an earth-moving telescopic member. The earth-moving telescopic member includes an earth-moving fixed end and an earth-moving telescopic rod. The earth-moving fixed end is fixedly installed on the front side of the traveling device, and the telescopic direction of the earth-moving telescopic rod is perpendicular to the lower surface of the traveling device;

[0017] The earth-moving plate is fixedly connected to the earth-moving telescopic rod. The telescopic movement of the earth-moving telescopic rod drives the bottom side of the earth-moving plate to approach or move away from the ground.

[0018] Optionally, the auxiliary parking device in the mining area includes a stabilizing module and an indicating module. The indicating module is fixedly installed on the stabilizing module, and the stabilizing module is placed on the conveyor belt;

[0019] The stabilizing module includes a chassis and a center-of-gravity ball. The lower surface of the chassis is spherical. The indicating module is fixedly installed on the upper surface of the chassis. A ball chamber is provided at the bottom of the chassis. The diameter of the ball chamber is larger than the diameter of the center-of-gravity ball, and the center-of-gravity ball is placed in the ball chamber.

[0020] Based on the guiding method of a mining area guiding vehicle described above, it includes the following steps:

[0021] Detect the terrain: The drone takes off from the landing platform to detect the terrain and transmits the information to the control center. After the detection is completed, the drone lands on the landing platform. The frustum and the landing hole cooperate to ensure that the drone stops stably on the landing platform;

[0022] Walk to the parking position: After processing the information transmitted by the drone, the control center issues an instruction to direct the walking device to walk to the parking position;

[0023] Place the auxiliary parking device in the mining area: The control center instructs the conveyor device to work and moves the auxiliary parking device in the mining area to the parking position on the ground.

[0024] As described above, the mining area guiding vehicle and guiding method of the present invention have at least the following beneficial effects:

[0025] 1. Through the design of the landing hole on the lower landing disc of the drone cooperating with the frustum on the landing platform in the present invention, it is ensured that the detection drone can land stably on the rugged terrain in the mining area. Then, the bulldozing device levels a small area of ore soil and slag on the ground, ensuring that auxiliary parking devices such as parking piles can be smoothly placed on the ground, thus solving the problems that the detection drone in the coal mining area cannot land stably and the auxiliary parking devices such as parking piles cannot be smoothly placed due to the dense ore soil and slag on the ground.

[0026] 2. Through the design of the pushing module cooperating with the sliding module in the present invention, it is ensured that the auxiliary parking device in the mining area can move smoothly from the conveyor device to the parking position on the ground, rather than directly falling from the conveyor device to the ground.

[0027] 3. Through the design that the conveyor belt is arc-shaped and the parking platform is arranged within the opening of the conveyor belt in the present invention, space is saved, making the overall structure design of the mining area guiding vehicle more compact. Description of the Drawings

[0028] Figure 1Shown is a schematic diagram of a mining area guidance vehicle of the present invention.

[0029] Figure 2 Shown is a schematic diagram of the detection device of the present invention.

[0030] Figure 3 Shown is a schematic diagram of the conveying device of the present invention.

[0031] Figure 4 Shown is a schematic diagram of the push module of the present invention.

[0032] Figure 5 Shown is a schematic diagram of a transmission power module of the present invention.

[0033] Figure 6 Shown is a schematic diagram of a slide module of the present invention.

[0034] Figure 7 Shown is a schematic diagram of a bulldozer according to the present invention.

[0035] Figure 8 Shown is a schematic diagram of the mining area auxiliary parking device of the present invention.

[0036] Figure 9 It is a schematic diagram of a cutaway stabilizing module of the present invention.

[0037] Component number description

[0038] Walking device 1;

[0039] Conveying device 2, conveying belt 21, mounting platform 22, driving roller 23, driven roller 24, conveying power module 25, sliding module 26, slide plate 261, first guard plate 262, fixing frame 263, pushing module 27, pushing fixed end 271, pushing telescopic plate 272, second guard plate 28;

[0040] Bulldozer device 3, bulldozer plate 31, bulldozer telescopic member 32, bulldozer fixed end 321, bulldozer telescopic rod 322;

[0041] Auxiliary parking device 4 for mining area, stabilizing module 41, chassis 411, center of gravity ball 412, ball chamber 413, telescopic wheel assembly 414, hydraulic cylinder 4141, universal wheel 4142, indication module 42, indication pile 421, indication belt 422, radar 423, camera 424, fill light 425, dust cover 426, communication module 43;

[0042] Detection device 5, drone 51, detection camera 511, stop plate 512, stop hole 513, stop platform 52, cone 521;

[0043] Control Center6. DETAILED DESCRIPTION

[0044] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0045] Please refer to Figures 1 to 9 . It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have substantial technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration and are not used to limit the scope for the implementation of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope for the implementation of the present invention.

[0046] The following various embodiments are only for illustration. Combinations can be made between the various embodiments, and it is not limited to the content shown in the following single embodiment.

[0047] Please refer to Figure 1 and Figure 2 , the present invention provides a mine area guiding vehicle, including a traveling device 1, on which a conveying device 2, a bulldozing device 3, a mine area auxiliary parking device 4, a detection device 5, and a control center 6 are installed;

[0048] The detection device 5 detects the relevant conditions of the parking terrain and transmits them to the control center 6. After the control center 6 processes the information, it controls the traveling device 1 to move to the position where vehicles such as coal transport vehicles need to park. Then, the control center 6 controls the bulldozing device 3 to level the slag bumps around the parking position. Then, it controls the conveying device 2 to convey the mine area auxiliary parking device 4 to the leveled ground. Generally, there are 5 mine area auxiliary parking devices 4, one is placed at each of the four corners of the parking position, and one is reserved for backup;

[0049] The traveling device 1 adopts a crawler structure to adapt to the complex terrain of the mine area;

[0050] The detection device 5 includes a drone 51 and a parking platform 52. The drone 51 includes a detection camera 511. The parking platform 52 is installed on the traveling device 1. A frustum 521 is provided on the upper surface of the parking platform 52. A parking plate 512 is installed at the lower end of the drone 51. A parking hole 513 is formed in the parking plate 512. The diameter of the parking hole 513 is larger than the top diameter of the frustum 521 and smaller than the bottom diameter of the frustum 521. The drone 51 is a DJI Phantom series drone that can take off and land vertically. When the drone 51 lands on the parking platform 52, the frustum 521 extends into the parking hole 513, thus solving the problem that the drone 51 cannot land stably due to the rough ground in the mining area.

[0051] In this embodiment, please refer to Figure 2 , a plurality of frustums 521 are provided on the upper surface of the parking platform 52. The parking plate 512 is a hollow box-like structure. The upper surface of the parking plate 512 is fixedly connected to the lower end of the drone 51. A plurality of the parking holes 513 are formed on the lower surface of the parking plate 512. The parking holes 513 penetrate through the lower surface of the parking plate 512. The cooperation of the plurality of frustums 521 and the plurality of parking holes 513 further ensures the stable landing of the drone 51. At the same time, due to the design of the hollow box-like structure of the parking plate 512 during landing, the frustum 521 will be blocked by the upper surface of the parking plate 512 after extending into the parking hole 513, thus avoiding damage to the components installed at the bottom of the drone 51 by the frustum 521.

[0052] In this embodiment, please refer to Figures 3 to 5 , the conveying device 2 includes a conveyor belt 21. The conveyor belt 21 is installed on a mounting table 22. The mounting table 22 is installed on the upper surface of the traveling device 1. The conveyor belt 21 surrounds a driving roller 23 and a driven roller 24. Both the driving roller 23 and the driven roller 24 are rotatably installed on the mounting table 22. The driving roller 23 is driven to rotate by a conveying power module 25. The driving roller 23 rotates to drive the driven roller 24 to rotate through the conveyor belt 21. The mining area auxiliary parking device 4 is placed on the conveyor belt 21 and moves along with the rotation of the conveyor belt 21; the specific structure of the conveying power module 25 has been shown in the accompanying drawings of the specification. This is a common structure and will not be elaborated here;

[0053] The end of the conveyor belt 21 is located at the rear side of the traveling device 1. A sliding module 26 is installed at the rear side of the traveling device 1 and corresponds to the end of the conveyor belt 21. The mining area auxiliary parking device 4 moves from the end of the conveyor belt 21 to the sliding module 26 along with the rotation of the conveyor belt 21, and then moves from the sliding module 26 to the ground.

[0054] In this embodiment, please refer to Figure 6, the sliding module 26 includes a sliding plate 261, a first guard plate 262 and a fixing frame 263. One end of the sliding plate 261 is connected to the end of the conveyor belt 21, and the other end of the sliding plate 261 extends towards the ground at the rear side of the walking device 1. The first guard plate 262 is fixedly installed on the left and right sides of the sliding plate 261. The fixing frame 263 fixedly connects the bottom surface of the sliding plate 261 and the walking device 1. The design of the first guard plate 262 is to ensure that the auxiliary parking device 4 in the mining area does not fall from the left and right sides of the sliding plate 261 when sliding on the sliding plate 261. An arc chamfer is provided at the docking position of the sliding plate 261 and the conveyor belt 21, and an arc chamfer is also provided at a section of the sliding plate 261 close to the ground, ensuring that the auxiliary parking device 4 in the mining area can smoothly slide from the conveyor belt 21 onto the sliding plate 261 and slide from the sliding plate 261 onto the ground.

[0055] For this embodiment, please refer to Figure Figure 3 and Figure 4 , the conveyor belt 21 is arc-shaped, and the opening of the conveyor belt 21 faces the left side of the walking device 1. The conveying device 2 further includes a pushing module 27, and the pushing module 27 includes a pushing fixed end 271 and a pushing telescopic plate 272. The pushing fixed end 271 is fixedly installed in the opening of the conveyor belt 21, and the extending direction of the pushing telescopic plate 272 points to the end of the conveyor belt 21;

[0056] When the pushing telescopic plate 272 contracts, the pushing telescopic plate 272 is located in the opening of the conveyor belt 21. When the pushing telescopic plate 272 extends, the pushing telescopic plate 272 pushes the auxiliary parking device from the conveyor belt 21 to the sliding module 26. The design of the arc-shaped conveyor belt 21 saves space. In the case where the length of the walking device 1 is limited, the design of the arc-shaped conveyor belt 21 ensures that more auxiliary parking devices 4 in the mining area can be placed on the upper surface of the walking device 1 with the same length range;

[0057] The shape of the pushing end of the pushing telescopic plate 272 is adapted to the shape of the bottom of the auxiliary parking device 4 in the mining area.

[0058] For this embodiment, please refer to Figure 3 , the conveying device 2 further includes a second guard plate 28. The second guard plate 28 is fixedly installed on the outer side and the inner side of the conveyor belt 21, and the second guard plate 28 is not installed at the end of the conveyor belt 21. The function of installing the second guard plate 28 is to ensure that the auxiliary parking device 4 in the mining area does not slide off from both sides of the conveyor belt 21 when being conveyed on the conveyor belt 21. The second guard plate 28 is not installed at the end of the conveyor belt 21 to enable the auxiliary parking device 4 to smoothly move from the conveyor belt 21 onto the sliding plate 261.

[0059] For this embodiment, please refer toFigure 1 The parking platform 52 is located within the opening of the conveyor belt 21, further saving space on the upper surface of the traveling device 1. The upper surface of the parking platform 52 is above the conveying device 2, preventing the UAV 51 from being affected by the components of the conveying device 2 when landing.

[0060] In this embodiment, please refer to Figure 7 The earth-moving device 3 includes an earth-moving plate 31 and an earth-moving telescopic member 32. The earth-moving telescopic member 32 includes an earth-moving fixed end 321 and an earth-moving telescopic rod 322. The earth-moving fixed end 321 is fixedly installed on the front side of the traveling device 1, and the telescopic direction of the earth-moving telescopic rod 322 is perpendicular to the lower surface of the traveling device 1;

[0061] The rear side of the earth-moving plate 31 is fixedly connected to the front side of the earth-moving telescopic rod 322. When the earth-moving telescopic rod 322 extends, the bottom side of the earth-moving plate 31 approaches the ground until it contacts the ground. Then, as the traveling device 1 moves, the earth-moving plate 31 levels the slag bumps on the ground. When the earth-moving telescopic rod 322 contracts, the bottom side of the earth-moving plate 31 moves away from the ground, and the traveling device 1 travels normally, and the earth-moving device 3 does not work.

[0062] In this embodiment, please refer to Figure 8 and Figure 9 The auxiliary parking device 4 in the mining area includes a stabilizing module 41 and an indicating module 42. The indicating module 42 is fixedly installed on the stabilizing module 41, and the stabilizing module 41 is placed on the conveyor belt 21;

[0063] The ground in the coal mining area generally has an inclination angle of 0 to 10°. In order to ensure that the auxiliary parking device 4 in the mining area can be placed stably on the inclined ground, the design of the stabilizing module 41 is added to the auxiliary parking device 4 in the mining area;

[0064] At the same time, another important function of the stabilizing module 41 is to ensure that the auxiliary parking device 4 in the mining area will not tip over when sliding from the slide plate 261 to the ground.

[0065] The stabilizing module 41 includes a chassis 411 and a gravity ball 412. The lower surface of the chassis 411 is spherical. The indicating module 42 is fixedly installed on the upper surface of the chassis 411. A ball chamber 413 is formed at the bottom of the chassis 411. The diameter of the ball chamber 413 is larger than the diameter of the gravity ball 412, and the gravity ball 412 is placed in the ball chamber 413;

[0066] The stability module 41 includes a chassis 411 and a gravity ball 412. The lower surface of the chassis 411 is spherical. The indicating module 42 is fixedly installed on the upper surface of the chassis 411. The fixed installation method here can be welding or by means of a snap pin or the like. The specific structural form is common and easy to implement in this technical field, so it will not be elaborated here. A ball chamber 413 is opened at the bottom of the chassis 411. The diameter of the ball chamber 413 is larger than the diameter of the gravity ball 412. The gravity ball 412 is placed in the ball chamber 413. The principle here is the same as that of our usual toy tumbler. The gravity ball 412 is selected as a lead ball. The gravity ball 412 is at the bottom of the chassis 411. This device is heavier at the bottom and lighter at the top. When the device is in a balanced state in the upright position, the center of gravity of the entire device and the contact point between the spherical surface and the ground are at the minimum distance, that is, the center of gravity of the entire device is the lowest. When the device deviates from the balanced position, the center of gravity of the device always rises. Therefore, when the device is placed on a plane with a certain inclination angle, the auxiliary parking device will not directly fall over, but will automatically adjust to a relatively upright or nearly relatively upright state, playing a role in indicating the correct parking position for the truck.

[0067] For this embodiment, please refer to Figure 1 , the indicating module 42 includes an indicating post 421 and an indicating strip 422. The indicating post 421 is fixedly installed on the upper surface of the chassis 411. The indicating strip 422 is installed on the side of the chassis 411 and the indicating post 421. The indicating strip 422 is a light strip that can emit light, providing a mark for the truck when parking. The height of the indicating post 421 is between 30 and 40 cm. The bottom surface of the indicating post 421 is a square with a size of 10*10 cm. The diameter of the spherical surface of the chassis 411 is 40 cm.

[0068] For this embodiment, please refer to Figure 1 , the indicating module 42 further includes a radar 423. The radar 423 is installed on the indicating post 421. The radar 423 is used in cooperation with the positioning device on the truck to provide specific instructions for the truck when parking. The specific use of the radar 423 is not an innovation point of the present invention, so it will not be elaborated here.

[0069] For this embodiment, please refer to Figure 1 , the indicating module 42 further includes a camera 424. The camera 424 is installed on the indicating post 421. At the same time, wireless communication devices are installed on both the indicating post 421 and the truck. The camera 424 records the situation when the truck parks and feeds it back to the truck through the wireless communication device, so as to ensure that the truck can park more accurately at the designated position.

[0070] For this embodiment, please refer to Figure 1, the indicating module 42 further includes a supplementary light 425, which is installed on the indicating pile 421. Since the dust in the mining area is very large and the visibility is low, the supplementary light 425 provides light source for the camera 424, so that the images captured by the camera 424 will be clearer.

[0071] For this embodiment, please refer to Figure 1 , the indicating module 42 further includes a dust shield 426, which is installed above the camera 424. The use of the dust shield 426 can, to a certain extent, prevent the camera 424 from being affected by the dust in the mining area.

[0072] For this embodiment, please refer to Figure 1 , it further includes a communication module 43, which is installed above the chassis 411 and on the upper part of the indicating pile 421. The communication module 43 can be a Bluetooth device or other wireless communication devices. The communication module 43 is responsible for transmitting the information captured by the camera 424 to the truck. The specific communication connection method can be obtained by referring to relevant books and will not be elaborated here.

[0073] For this embodiment, please refer to Figure 1 and Figure 2 , the stabilizing module 41 further includes a telescopic wheel assembly 414, which is installed on the lower surface of the chassis 411. The bottom end of the telescopic wheel assembly 414 moves between the lower surface of the chassis 411 and the inside of the chassis 411;

[0074] There are at least three groups of the telescopic wheel assemblies 414. Each group of the telescopic wheel assemblies 414 includes a hydraulic cylinder 4141 and a universal wheel 4142. The hydraulic cylinder 4141 includes a fixed end and a telescopic end. The fixed end of the hydraulic cylinder 4141 is fixedly installed inside the chassis 411, and the universal wheel 4142 is installed on the telescopic end of the hydraulic cylinder 4141. The hydraulic cylinder 4141 drives the universal wheel 4142 to extend out of the lower surface of the chassis 411 or retract into the inside of the chassis 411;

[0075] As the coal seam in the mining area is mined, the truck needs to drive to different places in the mining area to transport coal. Therefore, the parking position of the truck is constantly changing, and the auxiliary parking device also needs to move. In order to facilitate the movement of this device within a short distance, a telescopic wheel assembly 414 is installed on the chassis 411 of this device. When placing and using, the hydraulic cylinder 4141 drives the universal wheel 4142 to retract into the chassis 411. When this device needs to be moved, the hydraulic cylinder 4141 drives the universal wheel 4142 to extend out of the lower surface of the chassis 411. In order to ensure the stability of moving the entire device, there are at least three groups of the telescopic wheel assemblies 414.

[0076] This embodiment further includes a power supply module which is installed inside the indicating pile 421. The power supply module selects a lithium battery. After the power is used up, the lithium battery inside the indicating pile 421 is directly charged.

[0077] Please refer to Figures 1 to 9 , based on the guiding method of a mining area guiding vehicle described above, includes the following steps:

[0078] Detect the terrain: The drone 51 takes off from the parking platform 52, detects the terrain through the detection camera 511 and transmits the information to the control center 6. After the detection is completed, the drone 51 lands on the parking platform 52. The conical platform 521 and the parking hole 513 cooperate to ensure that the drone 51 stops stably on the parking platform 52;

[0079] Walk to the parking position: After the control center 6 processes the information transmitted by the drone 51, it issues an instruction to indicate the crawler walking device 1 to walk to the parking position. Then, the control center 6 controls the bulldozing telescopic rod 322 to extend outwards, and the bottom side of the bulldozing plate 31 contacts the ground. As the walking device 1 moves, the bulldozing plate 31 pushes the slag bumps on the ground where the mining area auxiliary parking device 4 is to be placed flat;

[0080] Place the mining area auxiliary parking device 4: The control center 6 instructs the transmission power module 25 to start working to drive the driving roller 23 to rotate. As the driving roller 23 rotates, the conveyor belt 21 sleeved on the driving roller 23 and the driven roller 24 starts to rotate. When the mining area auxiliary parking device 4 on the conveyor belt 21 moves to the end of the conveyor belt 21, the pushing telescopic plate 272 pushes the mining area auxiliary parking device 4 from the conveyor belt 21 onto the sliding plate 261. The mining area auxiliary parking device 4 slides from the sliding plate 261 to the ground that has been leveled by the bulldozing plate 31. The walking device 1 walks to the four corners of the parking position in turn, and puts down the four mining area auxiliary parking devices 4;

[0081] Park: Vehicles such as coal transport trucks accurately park in the designated area according to the instructions issued by the mining area auxiliary parking device 4.

[0082] In summary, through the design of the parking hole 513 on the lower end parking disc 512 of the drone 51 cooperating with the conical platform 521 on the parking platform 52, the present invention ensures that the detection drone 51 can land stably on the rough terrain of the mining area. Then, through the bulldozing device 3, a small area of ore soil on the ground is leveled, ensuring that the mining area auxiliary parking devices 4 such as parking piles can be smoothly placed on the ground. Thus, the problems that the detection drone 51 in the coal mining area cannot land stably and the auxiliary parking devices such as parking piles cannot be smoothly placed due to the dense ore soil on the ground are solved. Therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0083] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A mine area guiding vehicle, characterized in that: it includes a traveling device, on which a conveying device, a bulldozing device, a mine area auxiliary parking device, a detection device and a control center are installed, and the mine area auxiliary parking device moves from the traveling device to the ground through the conveying device; the detection device includes a drone and a parking platform, the drone includes a detection camera, the parking platform is installed on the traveling device, a frustum is arranged on the upper surface of the parking platform, a parking disc is installed at the lower end of the drone, a parking hole is formed in the parking disc, and the diameter of the parking hole is larger than the top diameter of the frustum and smaller than the bottom diameter of the frustum; the conveying device includes a conveyor belt, the conveyor belt is installed on a mounting platform, the mounting platform is installed on the upper surface of the traveling device, the conveyor belt surrounds a driving roller and a driven roller, both the driving roller and the driven roller are rotatably installed on the mounting platform, the driving roller is driven to rotate by a conveying power module, and the driving roller rotates to drive the driven roller to rotate through the conveyor belt, and the mine area auxiliary parking device is placed on the conveyor belt and moves along with the rotation of the conveyor belt; the end of the conveyor belt is located at the rear side of the traveling device, and a sliding module is installed at the rear side of the traveling device and corresponds to the end of the conveyor belt; the mine area auxiliary parking device includes a stabilizing module and an indicating module, the indicating module is fixedly installed on the stabilizing module, and the stabilizing module is placed on the conveyor belt; the stabilizing module includes a chassis and a gravity ball, the lower surface of the chassis is spherical, the indicating module is fixedly installed on the upper surface of the chassis, a ball chamber is formed at the bottom of the chassis, the diameter of the ball chamber is larger than the diameter of the gravity ball, and the gravity ball is placed in the ball chamber.

2. The mine area guiding vehicle according to claim 1, characterized in that: a plurality of frustums are arranged on the upper surface of the parking platform, the parking disc is a hollow box-shaped structure, the upper surface of the parking disc is fixedly connected to the lower end of the drone, a plurality of the parking holes are formed in the lower surface of the parking disc, and the parking holes penetrate through the lower surface of the parking disc.

3. The mine area guiding vehicle according to claim 1, characterized in that: the sliding module includes a sliding plate, a first guard plate and a fixing frame, one end of the sliding plate is connected to the end of the conveyor belt, the other end of the sliding plate extends to the ground at the rear side of the traveling device, the first guard plate is fixedly installed on the left and right sides of the sliding plate, and the fixing frame fixedly connects the bottom surface of the sliding plate and the traveling device together.

4. The mine area guiding vehicle according to claim 1, characterized in that: the conveyor belt is arc-shaped, the opening of the conveyor belt faces the left side of the traveling device, the conveying device further includes a pushing module, the pushing module includes a pushing fixed end and a pushing telescopic plate, the pushing fixed end is fixedly installed in the opening of the conveyor belt, and the extending direction of the pushing telescopic plate points to the end of the conveyor belt; When the pushing telescopic plate contracts, the pushing telescopic plate is located within the opening of the conveyor belt. When the pushing telescopic plate extends, the pushing telescopic plate pushes the auxiliary parking device from the conveyor belt onto the sliding module.

5. A mine area guiding vehicle according to claim 4, characterized in that: The conveying device further includes a second guard plate, which is fixedly installed on the outer side and the inner side of the conveyor belt, and the second guard plate is not installed at the end of the conveyor belt.

6. A mine area guiding vehicle according to claim 4, characterized in that: The parking platform is located within the opening of the conveyor belt, and the upper surface of the parking platform is above the conveying device.

7. A mine area guiding vehicle according to claim 1, characterized in that: The earth-moving device includes an earth-moving plate and an earth-moving telescopic member. The earth-moving telescopic member includes an earth-moving fixed end and an earth-moving telescopic rod. The earth-moving fixed end is fixedly installed on the front side of the traveling device, and the telescopic direction of the earth-moving telescopic rod is perpendicular to the lower surface of the traveling device; The earth-moving plate is fixedly connected to the earth-moving telescopic rod, and the telescopic movement of the earth-moving telescopic rod drives the bottom side of the earth-moving plate to approach or move away from the ground.

8. A guiding method for a mine area guiding vehicle according to any one of claims 1 to 7, characterized in that it includes the following steps: Detecting the terrain: The drone takes off from the parking platform to detect the terrain and transmits the information to the control center. After the detection is completed, the drone lands on the parking platform. The conical platform and the parking hole cooperate to ensure that the drone stops stably on the parking platform; Traveling to the parking position: The control center processes the information transmitted by the drone and issues an instruction to direct the traveling device to travel to the parking position; Placing the mine area auxiliary parking device: The control center instructs the conveying device to work and move the mine area auxiliary parking device to the parking position on the ground.

Images