Intelligent electric monkey car and use method

Abstract

The present application relates to the field of mine monkey car, specifically to an intelligent electric monkey car and a use method thereof. The monkey car comprises a track, a monkey car body, an intelligent control system, a main controller, a speed measurement module, a wireless module, a power drive module, a brake module and a battery module. The speed measurement module is used to measure the speed of the monkey car body during operation and transmit data to the main controller. The wireless module is used to transmit the data from the monkey car body to the server and transmit the command from the server to the main controller. The power drive module is used to maintain the normal operation of the monkey car body according to the command from the main controller. The brake module is used to slow down and stop the monkey car body. The battery module is used to supply power to the distance measurement module, the test module, the main controller, the pressure module, the wireless module and the power drive module.

Description

Technical Field

[0001] This invention relates to the field of mining monkey carts, specifically an intelligent electric monkey cart and its usage method. Background Technology

[0002] Mining is hard work and requires a lot of physical exertion. Some work positions are located in remote areas. In order to shorten the time it takes for miners to go up into the mine and to reduce their physical exertion, manned vehicles are used to transport personnel to the working face.

[0003] Currently, monkey bus systems use a purely mechanical structure. When the cable pulling the monkey bus breaks or deviates from its direction, people on the same cable cannot take immediate measures to save themselves, which often leads to a large number of casualties. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides an intelligent electric monkey cart and its usage method.

[0005] This invention adopts the following technical solution: an intelligent electric monkey cart, comprising: track; The monkey car body is mounted on a track and moves along the track. The intelligent control system, used to control the monkey cart itself, includes: Main controller; The speed measurement module is used to measure the speed of the monkey car body during operation and transmit the data to the main controller; The wireless module is used to transmit data from the monkey car body to the main controller to the server, and at the same time transmit commands from the server to the main controller. A power drive module, which is used to maintain the normal operation of the monkey car body according to the commands of the main controller; Braking module, the braking module is used for deceleration and stopping of the monkey car body; The battery module is used to power the ranging module, the testing module, the main controller, the pressure module, the wireless module, and the power drive module.

[0006] In some embodiments, the monkey cart body includes: Body; A drive shaft is mounted on the vehicle body, and wheels are mounted at both ends of the drive shaft. The motor is powered by a storage battery, and the output shaft of the motor is connected to a driven pulley via a belt, which drives the transmission shaft to rotate.

[0007] In some embodiments, a fixing rod is connected to the bottom of the vehicle body, and the fixing rod is connected to the lifting rod by an adjusting screw, and the height of the lifting rod is adjusted by the adjusting screw.

[0008] In some embodiments, the track includes: beam; Two sets of L-shaped support steel are symmetrically arranged on both sides of the bottom of the crossbeam; Two sets of I-beam steel rails are installed on two sets of L-shaped support steel rails respectively.

[0009] In some embodiments, the track includes a walking path, with turning paths and maintenance paths provided at both ends of the walking path.

[0010] In some embodiments, a groove is provided on the rear side of the monkey cart body, and a pin is provided in the groove.

[0011] In some embodiments, it also includes: The distance measuring module is used to measure the distance between two electric monkey carts during operation and transmit the data to the main controller; The pressure module is used to activate the latch while the rear vehicle applies pressure to the front vehicle, and transmits the data to the main controller.

[0012] A method of using an intelligent electric monkey car includes: after a coal miner boards the electric monkey car, the electric monkey car travels at a constant speed and distance on the track under the control of the main controller. When the slope changes, the speed measurement module transmits an electrical signal to the main controller, which then sends the electrical signal to the motor drive module and the brake module, enabling the electric monkey car to maintain a constant speed in real time. When the electric monkey car malfunctions or needs to be stopped, the coal miner can press the emergency stop button. After receiving the signal, the main controller sends an electrical signal to the power drive module, which then sends a signal to gradually stop the monkey car. When the vehicle malfunctions or is likely to malfunction, the information is transmitted to the server via the wireless module. External devices send electrical signals to the main controller via the wireless module. Similarly, under the action of the main controller, power drive module, and braking module, the vehicle can be remotely controlled. When the electric monkey car is within 20 meters of the destination, it will gradually stop in sequence under the coordinated action of the ranging module, the main controller, and the power drive module.

[0013] When an electric monkey car malfunctions during operation, as the following monkey car passes the distance measuring module and the monitoring track gradually approaches the preceding monkey car, the main controller determines that the preceding electric monkey car is stopped. The main controller then sends an electrical signal to the power drive module, which in turn sends a PWM signal to the motor. The monkey car gradually decelerates until the following monkey car contacts the pressure sensor of the preceding vehicle. Under the action of the main controller, the following monkey car activates its braking module, and the preceding monkey car triggers its latch mechanism. Once the two electric monkey cars are linked together, the preceding electric monkey car releases its brakes via the main controller, and the two electric monkey cars operate as a single unit.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. Compared with steel cables, the use of steel rails results in a more stable structure and higher operational safety.

[0015] 2. Compared with mechanical drive, electric drive can ensure better loading and unloading for miners and smoother operation of the mine car.

[0016] 3. Compared with modular motor drives, modular motor drives can carry more people at the same time.

[0017] 4. Compared with traditional monkey bus, intelligent monkey bus can better reduce the harm caused by human operation through chip and cloud monitoring.

[0018] 5. Data transmitted through the cloud can be analyzed using big data analytics to better address potential hazards in a localized manner, and to promptly identify and resolve problems. Attached Figure Description

[0019] Figure 1 This is an overall structural diagram of the present invention; Figure 2 This is a diagram showing the track layout of the present invention; Figure 3 This is a fault linkage diagram of the present invention; Figure 4 This is an overall intelligent block diagram of the present invention; Among them: 1-L-shaped support steel, 2-traveling wheel, 3-I-beam steel rail, 4-drive shaft, 5-driven wheel, 6-belt, 7-motor, 8-fixed part, 9-battery, 10-insulating shell, 11-base plate support, 12-fixed rod, 13-adjusting screw, 14-lifting rod, 15-crossbeam, 16-traveling path, 17-turning path, 18-maintenance path, 19-groove, 20-pin, 21-pressure sensor. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. These descriptions are for illustrative purposes only and are not intended to limit the scope of the invention.

[0022] An intelligent electric monkey car includes: a track; a monkey car body, which is mounted on the track and moves along the track; an intelligent control system, which controls the monkey car body and includes: a main controller; a speed measuring module, which measures the speed of the monkey car body during operation and transmits the data to the main controller; a wireless module, which transmits the data from the monkey car body to the main controller to a server, and simultaneously transmits commands from the server to the main controller; a power drive module, which maintains the normal operation of the monkey car body according to commands from the main controller; a braking module, which decelerates and stops the monkey car body; and a battery module, which supplies power to the ranging module, testing module, main controller, pressure module, wireless module, and power drive module.

[0023] The main controller uses an STM32F103ZET6 as the system control board. It primarily converts electrical signals into vehicle speed via Hall effect sensors and controls the vehicle's speed through a motor drive module. Connected to a wireless module, it allows for external control of the vehicle's operation. Connected to a distance sensor conversion module, it can measure the distance to the vehicle in front in real time. By linking with a speed measurement module, it enables the vehicle to travel at a constant speed and distance. Compared to other main controllers, the Wildfire STM32F103ZET6 main control board offers rich peripheral interfaces and stable data transmission and control, meeting the requirements of this design.

[0024] The ranging module uses the HC-SR04 ultrasonic ranging module. Ultrasonic waves have advantages such as high frequency, short wavelength, minimal diffraction, good directionality, and the ability to propagate directionally as rays. The module consists of a control port, a receiver port, and a control circuit. The module works by emitting a high-level signal (above 10µs) through the control port, then waiting for a high-level output at the receiver port. Simultaneously, a timer is started. When the receiver port goes low, the timer value is read, which is the ranging time. The measured distance is calculated as (high-level time * speed of sound (340 m / s)) / 2.

[0025] The speed measurement module uses a YS-3144E Hall sensor. When the module is not triggered, it outputs a low level; when triggered, it outputs a high level. The module's VCC is connected to the positive power supply, GND to the negative power supply, and DO-TTL digital output is 0 or 1. After processing by the Hall element, the magnetic induction intensity is output as an electrical signal. This sensor has advantages such as small size, high sensitivity, fast response speed, and high accuracy.

[0026] The motor drive module uses an L298N driver, which divides the DC motor speed into 10 levels and also has four functions: pause, forward / reverse, and speed selection. The electrical signal measuring the motor speed using a YS-3144 testing module is sent to the main controller, which then transmits the speed adjustment signal to the L298N motor drive module. The driver controls the motor speed by outputting a PWM pulse width modulation (PWM) signal.

[0027] The pressure module uses an FSR406 thin-film pressure sensor. When the thin-film sensor in the recess at the rear of the vehicle senses the pressure from the vehicle behind, the sensor's resistance changes. The circuit then converts the pressure change signal sensed by the sensor into a correspondingly varying electrical signal, which is output to the main controller, an STM32F103ZET6. Under pressure, the vehicle then activates the latch mechanism and releases the brake. The VCC pin is connected to the positive power supply, and the GND pin is connected to the negative power supply. An electrical signal amplifier is selected based on the specific application conditions.

[0028] The wireless module uses the Core-Air724 module, which offers rich firmware support for AT firmware and DTU firmware, and allows for remote OTA upgrades. It is also compact, accepts a wide voltage range, supports data transmission via TCP, MQTT, HTTP, and other methods, and supports both enterprise and private clouds. The wireless module transmits data collected by the sensors to the outside world, and external systems can also use it to control the vehicle's main controller, thereby controlling the vehicle's operation.

[0029] The power supply modules shown provide power to the main control module, ranging module, pressure module, wireless module, electric drive module, and braking module. The main control chip receives and processes data from each sensor to achieve smooth operation and braking / stopping of the electric monkey car. The wireless module connects to an external server to upload sensor data and control the main control chip. Manual operation is used to control the main control chip. When the car malfunctions, manually pressing the emergency stop button will first stop the motor drive module, then activate the braking module to gradually bring the car to a stop. Additionally, miners can use the lifting boom to navigate the stopping position for easier boarding and alighting.

[0030] like Figure 1As shown, the monkey car body includes: a vehicle body; a drive shaft 4, which is mounted on the vehicle body, with wheels 2 mounted at both ends of the drive shaft 4; and a motor 7, which is powered by a battery 9. The output shaft of the motor 7 is connected to a driven wheel 5 via a belt 6, and the driven wheel 5 drives the drive shaft 4 to rotate. The vehicle body includes a base support 11 and an insulating outer shell 10 mounted on the base support 11. The motor 7 and the battery 9 are fixed to a fixing member 8 and mounted on the base support 11.

[0031] like Figure 2 As shown, the track includes: a crossbeam 15; two sets of L-shaped support steels 1, which are symmetrically arranged on both sides of the bottom of the crossbeam 15; and two sets of I-beam rails 3, which are respectively installed on the two sets of L-shaped support steels 1. The L-shaped support steels 1 also include a trolley guide rail anti-derailment function. By adding a low wrapping layer to the outside of the L-shaped support steels 1, even if the I-beam rails 3 on both sides deform or shift, the trolley body will not derail.

[0032] The trolley body is driven by a motor 7 via a belt 6, which in turn drives a driven wheel 5. The driven wheel 5 is connected to a drive shaft 4, and the driven wheel 5 transmits power to two traveling wheels 2 via the drive shaft 4, thus driving the trolley body. The traveling wheels 2 of the trolley body are supported by I-beam steel rails 3. The trolley body moves along the I-beam steel rails 3, which greatly improves the stability of operation and prevents the risk of the trolley derailing due to deformation of the I-beam steel rails 3.

[0033] When a coal miner boards the electric scooter and presses the start button, the scooter, controlled by the main controller, moves at a constant speed and distance along the I-beam rail 3, powered by the speed measuring module, distance measuring module, and main controller. When the gradient changes, the speed measuring module transmits an electrical signal to the main controller, which then sends the signal to the power drive module and braking module, maintaining a constant speed. If the scooter malfunctions or needs to be stopped, the miner can press the emergency stop button. Upon receiving the signal, the main controller sends an electrical signal to the power drive module, which in turn sends a PWM signal to the motor to stop it and activates the braking module, gradually bringing the scooter to a stop. Simultaneously, when the scooter malfunctions or is likely to malfunction, information is transmitted to the server via the wireless module. External devices can also send electrical signals to the main control chip via the wireless module. Again, under the control of the main controller, motor drive module, and braking module, the electric scooter can be remotely controlled. When the electric monkey car is within 20 meters of the finish line, it will gradually stop in sequence under the coordinated action of the ranging module, the main controller, and the power drive module.

[0034] The telescopic boom structure of the trolley consists of a fixed boom 12, a lifting boom 14, and an adjusting screw 13. When the trolley is forced to stop midway due to a malfunction, considering that the terrain may be unfavorable for coal miners to get on and off the trolley, the adjusting screw 13 can be unscrewed in this situation. The fixed boom 12 remains stationary, and the lifting boom 14 will slowly extend downward a certain distance, allowing the workers to get off the trolley smoothly.

[0035] like Figure 2 The track layout shown is composed of three sections: a running track (16), a turning track (17), and a maintenance track (18). The inner turning track ensures continuous operation of the electric trolley. When miners go down into the mine, the electric trolley can turn from the starting point to the end point via a continuous section of track. The outer maintenance track (18) facilitates the maintenance of the electric trolley. When a trolley malfunctions, two trolleys are linked together. At the end of the running track (16), the main controller sends an electrical signal to the pressure sensor, opening the linkage mechanism and separating the two trolleys. The normal trolley turns via the turning track, while the malfunctioning trolley is sent to the maintenance area to await repair. The running track consists of four parallel rails, with each pair of rails forming a rail unit for one electric trolley.

[0036] like Figure 3 The fault linkage diagram shown illustrates that when an electric tram malfunctions during operation, the tram sends a signal to the main controller via the main controller, either through a miner pressing the emergency stop button or via an external wireless module. Upon receiving the signal, the main controller sends an electrical signal to the power drive module, which then sends a PWM signal to the motor to stop it and activates the braking module, gradually bringing the tram to a stop. When an approaching tram passes the distance measuring module and is gradually approaching the tram in front, the main controller determines that the tram in front is stopped. The main controller then sends an electrical signal to the power drive module, which in turn sends a PWM signal to the motor. By adjusting the gear, the tram gradually decelerates until it contacts the pressure sensor of the tram in front. The tram in front then activates its braking module under the control of the main control chip, triggering the latch mechanism of the tram in front. Once the two trams are linked together, the tram in front releases its brake via the main control chip, allowing the two trams to operate as a single unit.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent electric monkey cart, characterized in that, include: track; The monkey car body is mounted on a track and moves along the track. The intelligent control system, used to control the monkey cart itself, includes: Main controller; The speed measurement module is used to measure the speed of the monkey car body during operation and transmit the data to the main controller; The wireless module is used to transmit data from the monkey car body to the main controller to the server, and at the same time transmit commands from the server to the main controller. A power drive module, which is used to maintain the normal operation of the monkey car body according to the commands of the main controller; Braking module, the braking module is used for deceleration and stopping of the monkey car body; The distance measuring module is used to measure the distance between two electric monkey carts during operation and transmit the data to the main controller; The pressure module is used to activate the latch while the rear vehicle applies pressure to the front vehicle, and transmits the data to the main controller. The pressure module uses a thin-film pressure sensor. The battery module is used to supply power to the ranging module, speed measuring module, main controller, pressure module, wireless module, braking module and power drive module; The orbit includes: beam; Two sets of L-shaped support steel are symmetrically arranged on both sides of the bottom of the crossbeam; Two sets of I-beam steel rails, which are respectively installed on two sets of L-shaped support steel; The rear side of the monkey cart body is provided with a groove, and a pin is provided in the groove; When the electric monkey car malfunctions and gradually stops during operation, if the following monkey car detects that it is getting closer to the preceding monkey car through the ranging module, the main controller will determine that the preceding electric monkey car is stopped. The main controller will then send an electrical signal to the power drive module, which will in turn send a PWM signal to the motor. The monkey car will gradually decelerate until the following monkey car contacts the pressure sensor of the preceding monkey car. Under the action of the main controller, the following monkey car will activate its braking module, and the preceding monkey car will trigger its latch mechanism. When the two electric monkey cars are connected as a whole, the preceding electric monkey car will release its brake through the main controller, and the two electric monkey cars will then operate as a single unit.

2. The intelligent electric monkey cart according to claim 1, characterized in that, The monkey cart body includes: Body; A drive shaft is mounted on the vehicle body, and wheels are mounted at both ends of the drive shaft. The motor is powered by a storage battery, and the output shaft of the motor is connected to a driven pulley via a belt, which drives the transmission shaft to rotate.

3. The intelligent electric monkey cart according to claim 2, characterized in that, The bottom of the vehicle body is connected to a fixed rod, which is connected to a lifting rod via an adjusting screw. The height of the lifting rod can be adjusted by adjusting the screw.

4. The intelligent electric monkey cart according to claim 1, characterized in that, The track includes a walking track, with turning tracks and maintenance tracks at both ends.

5. A method of using the intelligent electric monkey cart as described in claim 1, characterized in that, include: Once the coal miners board the electric monkey car, the electric monkey car travels at a constant speed and distance on the track under the control of the main controller. When the slope changes, the speed measurement module transmits an electrical signal to the main controller, which then sends the electrical signal to the motor drive module and the brake module, enabling the electric monkey car to maintain a constant speed in real time. When the electric monkey car malfunctions or needs to be stopped, the coal miner presses the emergency stop button. After receiving the signal, the main controller sends an electrical signal to the power drive module, which then sends a signal to gradually stop the monkey car. When the electric monkey car malfunctions or is likely to malfunction, the information is transmitted to the server through the wireless module. The outside world sends electrical signals to the main controller through the wireless module. Similarly, under the action of the main controller, power drive module, and braking module, the monkey car can be remotely controlled. When the electric monkey car is within 20 meters of the destination, it will gradually stop in sequence under the coordinated action of the ranging module, the main controller, and the power drive module.

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