Pantograph device and automatic driving control system for trolley-type trackless electric mining trucks

Abstract

The present invention provides a pantograph device and an automatic driving control system for an overhead trackless electric mining truck, comprising a pantograph assembly, a base, a base mounted on the base, a translation drive mechanism for driving the base to translate left and right on the base, a rotary connector, a rotary drive mechanism, an upper rotary support rod, a lower rotary support rod, a rotary support seat, a parallel pull rod, a rotary pull rod, and a lifting mechanism. The present invention not only enables left and right translation of the pantograph, but also allows for rotational swinging after the pantograph is translated to a limit position, thereby increasing the left and right movement amplitude of the pantograph, thereby reducing the risk of the pantograph being disconnected from the grid and improving the road suitability of the mining truck during driving. In addition, the present invention automatically controls the left and right movement and the up and down lifting of the pantograph by comparing the differences in the driving routes of the mining truck, so that the pantograph maintains contact with the contact line during driving. At the same time, the contact position data collected by the pantograph device can be used to correct or adjust the pantograph position, so that the mining truck can automatically drive with the pantograph in good contact with the contact line.

Description

Technical Field

[0001] The invention belongs to the technical field of power supply and driving control of mining trucks, and in particular relates to a pantograph device and an automatic driving control system for an overhead trackless electric mining truck. Background Art

[0002] With increasing environmental protection requirements, the current trend is to use pure electric mining trucks for mining transportation, achieving the goal of electrification instead of fuel. Drawing on electrified railway technology, the use of overhead trolley electric mining trucks, which draw power from the power grid via pantographs and contact with the catenary, is a more efficient and safe way to power pure electric mining trucks.

[0003] Since trackless electric mining trucks are not running on rails, they are prone to deviate from the center line of the contact network when driving. Therefore, when driving a trackless electric mining truck, the pantograph is easily disconnected from the contact network, resulting in poor contact, which affects the transportation of the electric mining truck. In order to deal with the above problems, the existing technology proposes the following two improvement methods: one is that the pantograph adopts a contact plate with a long width, and the other is that the pantograph adopts a method that can be translated as a whole, so that when the trackless electric mining truck deviates from the center line of the contact network within a certain range, the pantograph can still maintain contact with the contact network and will not be disconnected. However, due to the complex mining environment, poor road conditions, potholes and road debris, and the small turning radius of the road design, even if the above two methods are adopted, the left and right translation range of the pantograph is very limited, and especially when the trackless electric mining truck is turning or emergency obstacle avoidance, the pantograph still has the risk of being disconnected from the network. Summary of the Invention

[0004] In response to the above problems, the present invention provides a pantograph device and an automatic driving control system for an overhead trackless electric mining truck, which can not only realize the left and right translation of the pantograph, but also perform rotational swing after the pantograph is limited in translation, so as to increase the left and right movement amplitude of the pantograph, thereby reducing the risk of the pantograph being off the grid and improving the road suitability of the mining truck during driving; in addition, the present invention automatically controls the left and right movement and up and down lifting of the pantograph by comparing the differences in the driving routes of the mining truck, so that the pantograph maintains contact with the contact line during driving, and at the same time, the contact position data collected by the pantograph device can be used to correct or adjust the pantograph position, so as to realize automatic driving of the mining truck while the pantograph maintains good contact with the contact line.

[0005] The present invention is achieved through the following technical solutions.

[0006] In one aspect, the present invention provides a pantograph device for an overhead trackless electric mining truck, comprising a pantograph assembly, a base, a pedestal disposed on the base, and a translation drive mechanism for driving the base to translate left and right on the base, the pantograph assembly comprising a support rod, and a positive pantograph and a negative pantograph disposed at left and right ends of the support rod, characterized in that the pantograph device further comprises:

[0007] A swivel connector, the swivel connector being arranged on the base so as to be freely rotatable horizontally;

[0008] The rotary drive mechanism is used to drive the rotary connecting member to rotate horizontally, thereby driving the pantograph assembly to swing horizontally left and right.

[0009] An upper swivel support rod, which is freely rotatable horizontally and is arranged above the middle of the support rod;

[0010] Lower swivel support rods, which are freely rotatable horizontally and are arranged below the left and right sides of the support rod;

[0011] A slewing pull rod, one end of which is longitudinally hinged to the slewing connector and the other end of which is longitudinally hinged to the upper slewing support rod;

[0012] A swivel support seat, which is freely rotatable horizontally and is arranged on the left and right sides of the base;

[0013] Parallel pull rods, which are arranged parallel to each other on the left and right sides of the base, and one end of the parallel pull rod is longitudinally hinged to the slewing support seat on the same side, and the other end is longitudinally hinged to the lower slewing support rod on the same side;

[0014] A lifting mechanism is connected between the rotary support seat and the parallel pull rod on the same side, and is used to lift the pantograph assembly.

[0015] Preferably, on the same side, the hinge center points of the parallel pull rod and the swivel support seat and the lower swivel support rod are respectively located on the rotation axis of the swivel support seat and the lower swivel support rod; the hinge center points of the swivel pull rod and the swivel connecting member and the upper swivel support rod are respectively located on the rotation axis of the swivel connecting member and the upper swivel support rod; the hinge center points of the swivel pull rod and the swivel connecting member, the upper swivel support rod, and the hinge center points of the parallel pull rod on either side and the swivel support seat and the lower swivel support rod are respectively located on the four vertices of the parallelogram.

[0016] Preferably, the parallel pull rod is provided with an insulator at one end close to the lower rotary support rod, and the rotary pull rod is provided with an insulator at one end close to the upper rotary support rod.

[0017] Preferably, a slide groove is provided on the upper surface of the base, and a slider is provided on the bottom of the base to cooperate with the slide groove for left and right translation and sliding; the translation drive mechanism includes a translation drive motor provided on the base, a gear connected to the power output end of the translation drive motor, and a rack fixedly provided on the base to engage with the gear.

[0018] Preferably, the rotary drive mechanism includes a rotary drive motor disposed on a base, and the rotary drive motor is gear-connected to the rotary connector via a gear.

[0019] Preferably, the pantograph device of the present invention further comprises a positive electrode sensor and a negative electrode sensor respectively arranged on the positive pantograph and the negative pantograph; the positive electrode sensor and the negative electrode sensor are used to respectively monitor the contact position data of the contact wire on the pantograph contact plate.

[0020] Preferably, the contact position data is the distance L between the contact point between the contact line and the contact plate and the end of the contact plate close to the sensor, where L is calculated using the following formula:

[0021]

[0022] Among them, L1 is the distance between the sensor and the near end of the pantograph contact plate, L2 is the distance between the sensor and the far end of the pantograph contact plate, L3 is the length of the contact plate, and L4 is the distance between the sensor and the contact point between the contact line and the contact plate.

[0023] On the other hand, the present invention provides an automatic driving control system for an overhead trackless electric mining truck, which is characterized by comprising:

[0024] The pantograph device as described above is provided on an electric mining truck to contact the overhead line to supply power to the electric mining truck;

[0025] A laser radar is installed on the electric mining truck, and the laser radar is used to collect real-time driving coordinates of the electric mining truck during its back-and-forth travel;

[0026] A driving route planning module, the driving route planning module includes: receiving real-time driving coordinates to form a driving route; comparing and analyzing the previous driving route with the initial driving route to obtain route deviation data under the previous driving route;

[0027] A driving control module is used to receive automatic driving instructions and select the previous driving route as the current automatic driving route to control the electric mining truck to automatically drive; and is used to receive a parking instruction and control the electric mining truck to slow down and stop;

[0028] A pantograph adjustment module includes a module for receiving route deviation data from a previous driving route, calculating pantograph position adjustment data, and actively controlling the lifting mechanism, the rotary drive mechanism, and the translation drive mechanism to move the pantograph assembly left and right and up and down, so that the contact wire maintains contact with the contact plate in the pantograph assembly during the current driving process; a module for receiving contact position data collected by the pantograph device, and comparing the contact position data with a set contact position threshold range, so as to passively control the rotary drive mechanism and the translation drive mechanism to move the pantograph assembly left and right and up and down, so as to automatically adjust the position of the pantograph assembly in the case of manual driving obstacle avoidance or automatically correct the position of the pantograph assembly in the case of automatic driving; and

[0029] The road condition recognition device is used to identify whether there is an obstacle ahead during driving. If there is no obstacle, an automatic driving instruction is issued to the driving control module. Otherwise, an obstacle avoidance warning message is issued to prompt the driver to manually drive to avoid the obstacle and a parking instruction is issued to the driving control module.

[0030] Preferably, the road condition recognition device further includes a device for detecting the number, shape and position of obstacles, thereby obtaining obstacle data on the driving route during each driving, and sending the data to the driving control module;

[0031] The driving control module is used to receive obstacle data on the driving route during each driving, and compare and analyze the obstacle data on the driving routes during the previous two driving times. If the number of obstacles in the previous two driving times decreases in the driving order, the initial driving route is selected as the route for the current automatic driving; otherwise, the previous driving route is selected as the route for the current automatic driving.

[0032] Preferably, the system of the present invention further includes a human-computer interaction interface, which includes a function for displaying obstacle avoidance warning information to prompt the driver to manually drive to avoid obstacles, and for querying and displaying obstacle data to guide on-site clearance of obstacles on the road.

[0033] The beneficial effects of the present invention are as follows:

[0034] 1) The present invention not only enables left and right translation of the pantograph, but also allows for rotational swinging after the pantograph has reached its limit, increasing the pantograph's range of left and right movement. This, in turn, reduces the risk of the pantograph becoming disconnected from the grid and improves the roadworthiness of mining trucks. This means that while driving, mining trucks can deviate further from the centerline of the contact network, reducing their turning radius, thereby better adapting to actual mine road conditions and meeting the needs of mine transportation.

[0035] 2) The present invention actively controls the left and right movement and up and down movement of the pantograph by comparing the differences in the driving routes of mining trucks, so that the pantograph can maintain contact with the contact line during driving to prevent disconnection from the grid; at the same time, the present invention uses the contact position data collected by the pantograph device to passively control the rotary drive mechanism and the translation drive mechanism to move the pantograph assembly left and right and up and down. When driving automatically or manually to avoid obstacles, the pantograph position can be passively corrected or adjusted to enable the mining truck to travel while the pantograph maintains good contact with the contact line. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] To more clearly illustrate the technical solutions of the present invention, the following briefly introduces the drawings required for use in some embodiments of the present invention. Obviously, the drawings described below are only drawings of some embodiments of the present invention, and those skilled in the art can also derive other drawings based on these drawings. Furthermore, the drawings described below should be viewed as schematic diagrams and are not intended to limit the actual dimensions of the products, actual processes of the methods, actual timing of signals, and the like involved in the embodiments of the present invention.

[0037] Figure 1 Schematic diagram of the three-dimensional structure of the pantograph device of the present invention;

[0038] Figure 2 It is a partial structural schematic diagram of the pantograph device of the present invention;

[0039] Figure 3 Schematic diagram of the structure of the upper slewing support rod and the lower slewing support rod in the pantograph device of the present invention;

[0040] Figure 4 It is a front view of the pantograph device of the present invention;

[0041] Figure 5 is a top view of the pantograph device of the present invention;

[0042] Figure 6 It is a left side view of the pantograph device of the present invention;

[0043] Figure 7 Schematic diagram of the left and right movement range of the pantograph device of the present invention;

[0044] Figure 8 A diagram showing the principle of calculating contact position data in the pantograph device of the present invention;

[0045] Figure 9 A logic diagram of the pantograph adjustment process in the pantograph device of the present invention;

[0046] Figure 10 This is a functional principle diagram of the automatic driving control system of the present invention;

[0047] The meanings of the symbols in the above figure are: pantograph assembly 1, support rod 101, positive pantograph 102, negative pantograph 103, base 2, slide 201, base 3, slider 301, translation drive mechanism 4, translation drive motor 401, gear 402, rack 403, rotation drive mechanism 5, rotation drive motor 501, rotation connecting part 6, upper rotation support rod 7, lower rotation support rod 8, rotation support seat 9, parallel pull rod 10, rotation pull rod 11, lifting mechanism 12, positive pole sensor 13, negative pole sensor 14, insulator 15. DETAILED DESCRIPTION

[0048] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in some embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments provided by the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0049] Example 1

[0050] A pantograph device for trackless electric mining trucks, see Figures 1 to 7 , including a pantograph assembly 1, a base 2, a base 3 provided on the base 2, a translation drive mechanism 4 for driving the base 3 to translate left and right on the base 2, a rotary connector 6, a rotary drive mechanism 5, an upper rotary support rod 7, a lower rotary support rod 8, a rotary support seat 9, a parallel pull rod 10, a rotary pull rod 11, and a lifting mechanism 12;

[0051] The pantograph assembly 1 includes a support rod 101, a positive pantograph 102 and a negative pantograph 103 arranged at the left and right ends of the support rod 101; the rotary connector 6 is arranged on the base 3 so as to be freely rotatable horizontally; the rotary drive mechanism 5 is used to drive the rotary connector 6 to rotate horizontally, thereby driving the pantograph assembly 1 to swing horizontally left and right; the upper rotary support rod 7 is arranged at the upper middle part of the support rod 101 so as to be freely rotatable horizontally; the lower rotary support rod 8 is arranged at the lower left and right sides of the support rod 101 so as to be freely rotatable horizontally. Square position; one end of the slewing rod 11 is longitudinally hinged to the slewing connector 6, and the other end is longitudinally hinged to the upper slewing support rod 7; the slewing support seat 9 can be freely rotated horizontally and is arranged on the left and right sides of the base 3; the parallel rods 10 are arranged parallel to each other on the left and right sides of the base 3, and one end of the parallel rod 10 is longitudinally hinged to the slewing support seat 9 on the same side, and the other end is longitudinally hinged to the lower slewing support rod 8 on the same side; the lifting mechanism 12 is connected between the slewing support seat 9 and the parallel rod 10 on the same side to lift the pantograph assembly 1;

[0052] Based on the above structural arrangement, the base 3 can be driven to translate left and right on the base 2 through the translation drive mechanism 4, and then the pantograph assembly 1 can be driven to translate left and right along the moving direction of the base 3 through the parallel pull rod 10; the rotary drive mechanism 5 can drive the rotary connection 6 to rotate, and then the pantograph assembly 1 can be driven to swing left and right through the rotary support rod 8; therefore, through the left and right translation of the base 3 and the rotation of its rotary connection 6, not only the left and right translation of the pantograph can be achieved, but also the pantograph can be rotated and swung after the translation limit is set, so as to increase the left and right movement amplitude of the pantograph; in the present invention, if Figure 7 As shown, the total adjustable range of the contact line on the contact plate is D=D1+D2+D3-D4, where D1 is the width of the base for left and right translation, D2 is the width of the contact plate, D3 is the horizontal width of the pantograph for left and right swing, and D4 is the horizontal width of the base;

[0053] In addition, when the pantograph assembly 1 swings left and right, the longitudinal height of the pantograph assembly 1 will change, and the parallel pull rod 10 can be driven by the lifting mechanism 12 to rotate longitudinally, thereby compensating for the change in the longitudinal height of the pantograph assembly 1, so that the pantograph in the pantograph assembly 1 always keeps in contact with the contact line; usually, when adjusting the position of the pantograph, it is first necessary to adjust the base for left and right translation so that the contact line is in the middle position section of the pantograph contact plate. When the base moves to the left and right extreme positions, the rotary connection is adjusted to rotate.

[0054] In order to keep the pantograph assembly in a relatively stable posture at all times during the process in which the rotary drive mechanism drives the rotary connection, rotary pull rod and support rod in turn to drive the pantograph to swing left and right, the lifting mechanism drives the parallel pull rod and support rod in turn to drive the pantograph to lift and lower, and the base drives the pantograph to translate left and right through the parallel pull rod and support rod, further, in a preferred embodiment, on the same side, the hinge center points of the parallel pull rod 10 and the rotary support seat 9 and the lower rotary support rod 8 are respectively located on the rotation axis of the rotary support seat 9 and the lower rotary support rod 8; the hinge center points of the rotary pull rod 11 and the rotary connection 6 and the upper rotary support rod 7 are respectively located on the rotation axis of the rotary connection 6 and the upper rotary support rod 7; the hinge center points of the rotary pull rod 11 and the rotary connection 6 and the upper rotary support rod 7, and the hinge center points of the parallel pull rod 10 and the rotary support seat 9 and the lower rotary support rod 8 on either side are respectively located on the four vertices of the parallelogram.

[0055] Furthermore, in a preferred embodiment, the lifting mechanism 12 is a cylinder, the fixed end of the cylinder is longitudinally hinged to the rotary support seat 9, and the telescopic end of the cylinder is longitudinally hinged to the parallel rod 10.

[0056] Furthermore, in a preferred embodiment, a slide groove 201 is provided on the upper surface of the base 2 , and a slider 301 is provided on the bottom of the base 3 to slide with the slide groove 201 in a left-right translation manner.

[0057] Furthermore, in a preferred embodiment, the translation drive mechanism 4 includes a translation drive motor 401 arranged on the base 3, a gear 402 connected to the power output end of the translation drive motor 401, and a rack 403 fixedly arranged on the base 2 and meshing with the gear 402.

[0058] Furthermore, in a preferred embodiment, the rotary drive mechanism 5 includes a rotary drive motor 501 disposed on the base 3 , and the rotary drive motor 501 is gear-connected to the rotary connector 6 via gears.

[0059] Furthermore, in a preferred embodiment, the pantograph device of the present invention further comprises a positive electrode sensor 13 and a negative electrode sensor 14; the positive electrode sensor 13 and the negative electrode sensor 14 are used to respectively monitor the contact position data of the contact wire on the pantograph contact plate; the positive electrode sensor 13 and the negative electrode sensor 14 can be ultrasonic sensors, millimeter wave sensors, and infrared sensors; based on this setting, by monitoring the contact position data of the contact wire on the pantograph contact plate and by using built-in program software, Figure 9 In the process described above, the translation mechanism is adjusted first so that the contact line is in the middle position section of the contact plate. When it is translated to the left and right extreme positions, the rotation mechanism is adjusted to ensure that the pantograph contact plate and the contact line always maintain contact.

[0060] Further, in a preferred embodiment, Figure 9 As shown, the contact position data is the distance L between the contact point between the contact line and the contact plate and the end of the contact plate close to the sensor. L is calculated using the following formula:

[0061]

[0062] Among them, L1 is the distance between the sensor and the near end of the pantograph contact plate, L2 is the distance between the sensor and the far end of the pantograph contact plate, L3 is the length of the contact plate, and L4 is the distance between the sensor and the contact point between the contact line and the contact plate.

[0063] Example 2

[0064] An automatic driving control system for overhead trackless electric mining trucks, see Figure 10 , which includes: the pantograph device described in Example 1, a laser radar installed on the electric mining truck, a driving route planning module, a driving control module, a pantograph adjustment module, and a road condition recognition device installed on the electric mining truck;

[0065] Wherein, the pantograph device is provided on the electric mining truck to contact the contact network to supply power to the electric mining truck;

[0066] The laser radar is used to collect the real-time driving coordinates of the electric mining truck during its back-and-forth travel;

[0067] The driving route planning module includes: receiving real-time driving coordinates to form a driving route; comparing and analyzing the previous driving route with the initial driving route to obtain route deviation data under the previous driving route;

[0068] The driving control module is used to receive automatic driving instructions and select the previous driving route as the current automatic driving route to control the electric mining truck to automatically drive; and is used to receive parking instructions and control the electric mining truck to slow down and stop;

[0069] The pantograph adjustment module includes a module for receiving route deviation data under the previous driving route, calculating pantograph position adjustment data, and actively controlling the lifting mechanism, the rotary drive mechanism, and the translation drive mechanism to move the pantograph assembly left and right and up and down, so that the contact wire maintains contact with the contact plate in the pantograph assembly during the current driving process; and a module for receiving contact position data collected by the pantograph device, and comparing the contact position data with a set contact position threshold range, so as to passively control the rotary drive mechanism and the translation drive mechanism to move the pantograph assembly left and right and up and down, so as to automatically adjust the position of the pantograph assembly in the case of manual driving obstacle avoidance or automatically correct it in the case of automatic driving.

[0070] The road condition recognition device is used to identify whether there is an obstacle ahead during the current driving process. If there is no obstacle, it will issue an automatic driving instruction to the driving control module. Otherwise, it will issue an obstacle avoidance warning message to prompt the driver to manually drive to avoid the obstacle and issue a parking instruction to the driving control module. The road condition recognition device includes a camera, a laser rangefinder, and an infrared sensor.

[0071] The working principle or process of the automatic driving control system of the present invention is as follows:

[0072] First driving: Since the position of the center line of the contact network and the mine road is relatively unchanged, under ideal conditions, the initial driving route of the trackless electric mining truck can be planned and designed to meet the following requirements: the trackless electric mining truck drives along the initial driving route on the mine road. On most roads, the pantograph installed on the electric mining truck is only within the width of its contact plate, and there is no need to control the slewing drive mechanism and the translation drive mechanism to move the pantograph assembly left and right, so that it can always maintain good contact with the contact network. Only on curves with a small turning radius, it is necessary to control the slewing drive mechanism. The pantograph assembly is moved left and right by the structure and translation drive mechanism, so that good contact with the contact network can always be maintained. The initial driving route can be planned and designed in advance after the mine road is passable and the contact network is completed. The driver drives the trackless electric mining truck, and the laser radar collects the real-time driving coordinates of the electric mining truck during the back-and-forth driving process, and sends the real-time driving coordinates to the driving route planning module, and then the driving route planning module generates the initial driving route, that is, the first driving route, and stores it in the driving route planning module.

[0073] Second driving: When the electric mining truck drives for the next time, that is, the second time, the system starts, and the road condition recognition device will identify whether there is an obstacle ahead. If there is no obstacle, it will send an automatic driving command to the driving control module. The driving control module will receive the first driving route, that is, the initial driving route, and control the electric mining truck to complete the current automatic driving according to the initial driving route. Under normal conditions, during this automatic driving process, the pantograph on the electric mining truck can always maintain good contact with the contact network; under special conditions, if the electric mining truck is driving automatically, the road condition recognition device recognizes that there is an obstacle A in front of the road, such as large pieces of mineral materials falling on the road or potholes on the road, the road condition recognition device will send a stop command to the driving control module, and the driving control module will control the electric mining truck to automatically slow down and stop. After that, the driver will receive the obstacle avoidance warning message and perform manual driving to avoid obstacles; During manual driving and obstacle avoidance, the pantograph device monitors the contact position data of the contact wire on the pantograph contact plate in real time, and the pantograph adjustment module compares the contact position data with the set contact position threshold range, so as to passively control the slewing drive mechanism and the translation drive mechanism to move the pantograph assembly left and right and up and down, so as to automatically adjust the position of the pantograph assembly under manual driving and obstacle avoidance conditions, thereby ensuring that the truck will not be disconnected from the grid during manual driving; after avoiding obstacle A, if the road condition recognition device does not recognize that there is an obstacle ahead, the electric mining truck continues to perform automatic driving; during the above driving process, the laser radar collects the real-time driving coordinates of the electric mining truck during the second round trip, and the driving route planning module generates a second driving route, and compares and analyzes the second driving route with the initial driving route to obtain the route offset data of the second driving route;

[0074] The third driving: When the electric mining truck drives for the next time, that is, the third time, the system starts, and the road condition recognition device will identify whether there is an obstacle in front. If there is no obstacle, it will send an automatic driving command to the driving control module. The driving control module will receive the second driving route and control the electric mining truck to complete the current automatic driving according to the second driving route. Under normal circumstances, during this automatic driving process, the pantograph adjustment module will receive the route offset data of the last driving route, that is, the second driving route, and calculate the pantograph position adjustment data to actively control the lifting mechanism, the slewing drive mechanism and the translation drive mechanism to move the pantograph assembly left and right and up and down, so that the current driving process The contact wire maintains contact with the contact plate in the pantograph assembly; under special conditions, if the electric mining truck is driving automatically and the road condition recognition device recognizes that there is an obstacle B ahead, the electric mining truck will automatically slow down and stop, and then the driver will manually drive to avoid the obstacle. After avoiding obstacle B, if the road condition recognition device does not recognize that there is an obstacle ahead, the electric mining truck will continue to drive automatically; during the above driving process, the laser radar collects the real-time driving coordinates of the electric mining truck during the third round trip, and the driving route planning module generates the third driving route, and compares and analyzes the third driving route with the initial driving route to obtain the route offset data of the third driving route;

[0075] Afterwards, when the electric mining truck performs subsequent driving in sequence, the automatic driving control of the trackless electric mining truck can also be performed according to the above process; and during the automatic driving process, if there is no obstacle to avoid, due to the detection error of the laser radar and the calculation error of the driving route, it is still possible that the contact line will be separated from the pantograph contact plate. At this time, the pantograph device will monitor the contact position data of the contact line on the pantograph contact plate in real time, and the pantograph adjustment module will compare the contact position data with the set contact position threshold range to passively control the rotary drive mechanism and the translation drive mechanism to move the pantograph assembly left and right, thereby automatically correcting the position of the pantograph assembly under automatic driving conditions, thereby ensuring that it will not be disconnected from the grid during automatic driving;

[0076] In addition, when the automatic driving is completed, the driving route formed includes the obstacle avoidance record of the driving. Therefore, during continuous driving, the obstacle avoidance records will be accumulated in sequence, but the obstacles on the road may be eliminated, resulting in the current driving route possibly including invalid obstacle avoidance records, which will affect the transportation efficiency of the mining truck; further, as an improved technical solution, the road condition recognition device also includes a device for detecting the number, shape and position of obstacles, so as to obtain the obstacle data on the driving route in each driving and send it to the driving control module; the driving control module is used to receive the obstacle data in each driving Obstacle data on the driving route is compared and analyzed with the obstacle data on the driving route in the previous two drivings. If the number of obstacles decreases in the driving order in the previous two drivings, the initial driving route is selected as the route for the current automatic driving. Otherwise, the previous driving route is selected as the route for the current automatic driving. In this way, when the driving control module detects that the number of obstacles decreases, it means that obstacles on the road have been cleared. In this case, the driving control module will select the initial driving route as the route for the current automatic driving, thereby preventing ineffective obstacle avoidance during driving and the resulting pantograph position adjustment.

[0077] Preferably, the system of the present invention also includes a human-computer interaction interface, which includes a function for displaying obstacle avoidance warning information to prompt the driver to manually drive to avoid obstacles, and the obstacle avoidance warning information includes sound, text or graphics; and is used to query and display obstacle data to guide on-site clearance of obstacles on the road, thereby facilitating the guidance of on-site personnel to clear obstacles on the road in a timely and accurate manner.

Claims

1. A pantograph device for an overhead trackless electric mining truck, comprising a pantograph assembly (1), a base (2), a base (3) arranged on the base (2), and a translation drive mechanism (4) for driving the base (3) to translate left and right on the base (2), wherein the pantograph assembly (1) comprises a support rod (101), a positive pantograph (102) and a negative pantograph (103) arranged at left and right ends of the support rod (101), and is characterized in that: The pantograph device further comprises: A rotary connecting member (6), wherein the rotary connecting member (6) is arranged on the base (3) so as to be freely rotatable horizontally; A rotary drive mechanism (5), the rotary drive mechanism (5) is used to drive the rotary connection member (6) to rotate horizontally, thereby driving the pantograph assembly (1) to swing horizontally left and right; An upper swivel support rod (7), the upper swivel support rod (7) being freely rotatable horizontally and arranged at a position above the middle of the support rod (101); A lower rotary support rod (8), wherein the lower rotary support rod (8) is freely rotatable horizontally and is arranged below the left and right sides of the support rod (101); A rotary pull rod (11), one end of the rotary pull rod (11) is longitudinally hinged to the rotary connector (6), and the other end is longitudinally hinged to the upper rotary support rod (7); A slewing support seat (9), the slewing support seat (9) being freely rotatable horizontally and arranged on the left and right sides of the base (3); Parallel pull rods (10), the parallel pull rods (10) are arranged parallel to each other on the left and right sides of the base (3), and one end of the parallel pull rod (10) is longitudinally hinged to the rotary support seat (9) on the same side, and the other end is longitudinally hinged to the lower rotary support rod (8) on the same side; A lifting mechanism (12), the lifting mechanism (12) being connected between the rotary support seat (9) and the parallel pull rod (10) on the same side, and being used for lifting and lowering the pantograph assembly (1); and a positive electrode sensor (13) and a negative electrode sensor (14) respectively arranged on the positive electrode pantograph (102) and the negative electrode pantograph (103); The upper surface of the base (2) is provided with a slide groove (201), and the bottom of the base (3) is provided with a slider (301) that slides and cooperates with the slide groove (201) in a left-right translation. The translation drive mechanism (4) includes a translation drive motor (401) provided on the base (3), a gear (402) connected to the power output end of the translation drive motor (401), and a rack (403) fixedly provided on the base (2) and meshing with the gear (402). The positive electrode sensor (13) and the negative electrode sensor (14) are used to respectively monitor the contact position data of the contact wire on the pantograph contact plate; the contact position data is the distance between the contact point of the contact wire and the contact plate and the end of the contact plate close to the sensor. L , L The following formula is used for calculation: in, L 1 is the distance between the sensor and the near end of the pantograph contact plate, L 2 is the distance between the sensor and the far end of the pantograph contact plate, L 3 is the length of the contact plate, L 4 is the distance between the sensor and the contact point between the contact wire and the contact plate.

2. The pantograph device for an overhead trackless electric mining truck according to claim 1, characterized in that: On the same side, the hinge centers of the parallel pull rod (10) and the slewing support seat (9) and the lower slewing support rod (8) are respectively located on the rotation axes of the slewing support seat (9) and the lower slewing support rod (8); the hinge centers of the slewing pull rod (11) and the slewing connecting member (6) and the upper slewing support rod (7) are respectively located on the rotation axes of the slewing connecting member (6) and the upper slewing support rod (7); the hinge centers of the slewing pull rod (11) and the slewing connecting member (6) and the upper slewing support rod (7), and the hinge centers of the parallel pull rod (10) on either side and the slewing support seat (9) and the lower slewing support rod (8) are respectively located on the four vertices of the parallelogram.

3. The pantograph device for an overhead trackless electric mining truck according to claim 1, characterized in that: Insulators (15) are provided at one end of the parallel pull rod (10) close to the lower rotary support rod (8), and at one end of the rotary pull rod (11) close to the upper rotary support rod (7).

4. The pantograph device for an overhead trackless electric mining truck according to claim 1, characterized in that: The rotary drive mechanism (5) comprises a rotary drive motor (501) arranged on a base (3), and the rotary drive motor (501) is gear-connected to a rotary connecting member (6) via a gear.

5. An automatic driving control system for overhead trackless electric mining trucks, characterized in that include: The pantograph device according to any one of claims 1 to 4, wherein the pantograph device is provided on an electric mining truck to contact a contact network to supply power to the electric mining truck; A laser radar is installed on the electric mining truck, and the laser radar is used to collect real-time driving coordinates of the electric mining truck during its back-and-forth travel; A driving route planning module, the driving route planning module includes a module for receiving real-time driving coordinates to form a driving route; Used to compare and analyze the previous driving route with the initial driving route to obtain route deviation data under the previous driving route; A driving control module, the driving control module is used to receive automatic driving instructions and select the previous driving route as the current automatic driving route to control the electric mining truck to automatically drive; and is used to receive a parking instruction and control the electric mining truck to slow down and stop; A pantograph adjustment module includes a module for receiving route deviation data from a previous driving route, calculating pantograph position adjustment data, and actively controlling the lifting mechanism, the rotary drive mechanism, and the translation drive mechanism to move the pantograph assembly left and right and up and down, so that the contact wire maintains contact with the contact plate in the pantograph assembly during the current driving process; a module for receiving contact position data collected by the pantograph device, and comparing the contact position data with a set contact position threshold range, so as to passively control the rotary drive mechanism and the translation drive mechanism to move the pantograph assembly left and right and up and down, so as to automatically adjust the position of the pantograph assembly in the case of manual driving obstacle avoidance or automatically correct the position of the pantograph assembly in the case of automatic driving; and The road condition recognition device is used to identify whether there is an obstacle ahead during driving. If there is no obstacle, an automatic driving instruction is issued to the driving control module. Otherwise, an obstacle avoidance warning message is issued to prompt the driver to manually drive to avoid the obstacle and a parking instruction is issued to the driving control module.

6. The automatic driving control system for overhead trackless electric mining trucks according to claim 5, characterized in that: The road condition recognition device also includes a device for detecting the number, shape and position of obstacles, thereby obtaining obstacle data on the driving route during each driving, and sending it to the driving control module; The driving control module is used to receive obstacle data on the driving route during each driving, and compare and analyze the obstacle data on the driving routes during the previous two driving times. If the number of obstacles in the previous two driving times decreases in the driving order, the initial driving route is selected as the route for the current automatic driving; otherwise, the previous driving route is selected as the route for the current automatic driving.

7. The automatic driving control system for overhead trackless electric mining trucks according to claim 5, characterized in that: It also includes a human-computer interaction interface, which includes a function for displaying obstacle avoidance warning information to prompt the driver to manually drive to avoid obstacles, and is used to query and display obstacle data to guide on-site clearance of obstacles on the road.

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