A method of unmanned driving and loading apparatus

Abstract

The application discloses an unmanned driving method and loading equipment, which comprises the following steps: providing a global positioning service through a GPS, and realizing high-precision positioning of a vehicle by sensing the attitude and motion state of a transportation device in real time through an IMU gyroscope and an accelerometer sensor; calculating the best path between a transportation point and a storage point of an open-pit coal mine through geographical position information of the open-pit coal mine and position information of the storage point, and completing route planning of the transportation device through an intelligent algorithm; and controlling the transportation device in real time through a remote monitoring system and a control system. The unmanned driving method and the loading equipment position the coal mine and the transportation device through a GPS positioning system, sense the motion state of the device in real time through a gyroscope and an accelerometer sensor in the IMU, calculate the best route through an intelligent algorithm, and remotely control the transportation device through a remote monitoring system and a control system, so that the unmanned driving effect is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transportation equipment, in particular to an unmanned driving method and loading equipment. BACKGROUND

[0002] Unmanned driving refers to using artificial intelligence, sensors and other technologies to enable vehicles to automatically drive without human driving, and loading equipment refers to mechanical equipment used for transporting coal mines in open-pit coal mines.

[0003] At present, the coal mine transportation equipment in the open-pit coal mine on the market still has deficiencies, among which the traditional open-pit coal mine transportation and unloading mode usually needs a large amount of manual participation, which is not only low in efficiency, but also has safety risks, in addition, when the equipment is unloading, the coal mine with high water content will stick in the car hopper, thereby reducing the transportation efficiency of the material transportation vehicle, which needs to be improved. SUMMARY

[0004] This part aims to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part and the abstract and title of the specification to avoid obscuring the purpose of this part, the abstract and the title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0005] In view of the above problems of the existing unmanned driving method and loading equipment, a large amount of manual participation is required, which is not only low in efficiency, but also has safety risks, the present application is proposed.

[0006] To solve the above technical problems, the present application provides the following technical scheme: the GPS provides global coverage positioning service, and the IMU gyroscope and accelerometer sensor real-time sensing attitude and motion state of the transportation equipment, realizing high-precision positioning of the vehicle; through the geographical position information of the open-pit mine and the position information of the storage point, and through intelligent algorithm, the best path between the transportation point and the storage point of the open-pit coal mine is calculated, and the route planning of the transportation equipment is completed; through the remote monitoring system and the control system, the transportation equipment is controlled in real time, so as to complete the real-time control of the transportation equipment and realize unmanned driving.

[0007] As a preferred scheme of the unmanned driving method and loading equipment of the present application, wherein: the intelligent algorithm includes genetic algorithm, ant colony algorithm or simulated annealing algorithm, the path is optimized by optimization algorithm, and the best path is selected.

[0008] As a preferred scheme of the unmanned driving method and loading device, the remote monitoring system acquires the position, speed and attitude information of the unmanned vehicle in real time, and remotely controls and adjusts the vehicle through the control system; the monitoring system monitors and prewarns the running state and fault condition of the unmanned vehicle in real time.

[0009] The first embodiment of the present application has the following advantages: the GPS positioning system is used to position the coal mine and the transportation equipment, the gyro and the accelerometer sensor in the IMU are used to sense the motion state of the equipment in real time, and the intelligent algorithm is used to calculate the optimal route, so that the transportation equipment is remotely controlled through the remote monitoring system and the control system, and the unmanned driving effect is achieved.

[0010] In view of the above-mentioned problem that the coal mine with high water content is stuck in the car hopper when the equipment is unloaded, thereby reducing the transportation efficiency of the material car.

[0011] To solve the above technical problems, the present application provides the following technical solutions.

[0012] As a preferred scheme of the unmanned driving method and loading device, the control part comprises a support assembly, a control assembly arranged on the support assembly, and a jacking assembly arranged on the support assembly; and the unloading part comprises a turnover assembly arranged on the support assembly, a traction assembly arranged on the turnover assembly, and an oscillation assembly arranged on the turnover assembly.

[0013] As a preferred scheme of the unmanned driving method and loading device, the support assembly comprises a material conveying bin, a chassis arranged at the bottom end of the material conveying bin, and a connecting piece arranged on the chassis.

[0014] As a preferred scheme of the unmanned driving method and loading device, the control assembly comprises a moving groove arranged on the chassis, a control block arranged on the moving groove, a threaded rod arranged on the control block, and a driving motor arranged on the right side of the threaded rod.

[0015] As a preferred scheme of the unmanned driving method and loading device, the jacking assembly comprises a jacking plate arranged on the control block, a storage groove arranged at the bottom end of the material conveying bin, a moving block arranged in the storage groove, and an electric push rod arranged on the moving block.

[0016] As a preferred scheme of the unmanned method and loading device, the overturning assembly comprises an overturning plate arranged in the material conveying bin, a sliding rail arranged on the right side of the material conveying bin, an overturning block arranged on the sliding rail, and a sliding column arranged on the overturning block.

[0017] As a preferred scheme of the unmanned method and loading device, the traction assembly comprises a traction rope arranged on the sliding column, a groove arranged on the material conveying bin, a supporting column arranged in the groove, and a bearing arranged on the supporting column; and the other end of the traction rope is fixedly connected to the left side of the moving block.

[0018] As a preferred scheme of the unmanned method and loading device, the oscillation assembly comprises an oscillation groove arranged at the bottom end of the overturning plate, a sliding groove arranged on the side plate of the oscillation groove, a sliding frame arranged in the sliding groove, an oscillation block arranged in the sliding frame, an impact spring arranged at the bottom end of the oscillation block, and a connecting plate arranged on the sliding frame.

[0019] The present application has the following beneficial effects: the threaded rod is driven to rotate by the operation of the driving motor, so that the threaded rod drives the control block to move left and right, and the bottom end of the jacking plate moves to the right when the control block moves, so that the right end of the material conveying bin rises to unload, and the moving block is further pushed to tilt the material conveying bin by the electric push rod, and the overturning block is driven to move by the traction rope when the moving block moves, so that the overturning plate rotates to prevent the coal from sticking to the inside of the material conveying bin, and the sliding frame is pulled by the connecting plate to slide when the overturning plate rotates, and the oscillation plate hits the oscillation groove in the process, so that the coal is discharged from the material conveying bin. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0021] Figure 1 It is a schematic diagram of the overall structure of the unmanned method and loading device.

[0022] Figure 2 It is a schematic diagram of the control assembly structure of the unmanned method and loading device.

[0023] Figure 3 It is a schematic diagram of the jacking assembly structure of the unmanned method and loading device.

[0024] Figure 4 Figure 1 is a schematic view of a turning assembly of the unmanned method and loading device of the present application.

[0025] Figure 5 Figure 2 is a schematic view of a material carrying bin of the unmanned method and loading device of the present application.

[0026] Figure 6 Figure 3 is a schematic view of a traction assembly of the unmanned method and loading device of the present application.

[0027] Figure 7 Figure 4 is a sectional view of the material carrying bin of the unmanned method and loading device of the present application.

[0028] Figure 8 Figure 5 is a schematic view of a material carrying plate of the unmanned method and loading device of the present application.

[0029] Figure 9 Figure 6 is a schematic view of an oscillation assembly of the unmanned method and loading device of the present application. DETAILED DESCRIPTION

[0030] In order to make the above objectives, features and advantages of the present application more apparent, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0031] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details given herein, that the present application can be practiced with other than the described embodiments and that variations from the particular embodiments described herein can be made and still be within the scope of the present application.

[0032] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. The "in one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments.

[0033] Thirdly, the present application is described in detail in combination with the schematic view. In the detailed description of the embodiments of the present application, the sectional view of the device structure is locally enlarged without the general proportion for the convenience of description, and the schematic view is only an example which should not limit the scope of protection of the present application herein. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in the actual manufacture.

[0034] Embodiment 1, with reference to Figures 1-9For the first embodiment of the present application, an unmanned method and loading device are provided, the device includes a positioning service providing global coverage through GPS, and the attitude and motion state of the transportation device M are sensed in real time through IMU gyroscope and accelerometer sensor, realizing high-precision positioning of the vehicle.

[0035] Among them, the unmanned vehicle is accurately positioned by using GPS and IMU, realizing real-time positioning of the transportation device M.

[0036] Secondly, through the geographical position information of the open pit mine and the position information of the storage point, and through the intelligent algorithm, the best path between the transportation point and the storage point of the open pit coal mine is calculated, and the route planning of the transportation device M is completed.

[0037] Among them, according to the geographical information and operation demand of the mine, the intelligent algorithm is used to plan the driving path of the unmanned vehicle, and the intelligent algorithm can include genetic algorithm, ant colony algorithm or simulated annealing algorithm, etc., the path is optimized by optimization algorithm, the best path is selected, and the energy consumption is reduced and the operation efficiency is improved.

[0038] In addition, the transportation device M is controlled in real time through the remote monitoring system and the control system, so as to complete the real-time control of the transportation device M and realize the unmanned operation.

[0039] Preferably, the intelligent algorithm is used for path planning and optimization, the remote monitoring system is used for real-time monitoring and control of the unmanned vehicle, the safety and stability of the operation are improved, the unmanned loading, transportation and unloading of the open pit coal mine can be realized, the efficiency and safety of the mine operation are greatly improved, the labor cost and safety risk are reduced.

[0040] Further, the intelligent algorithm includes genetic algorithm, ant colony algorithm or simulated annealing algorithm, the path is optimized by optimization algorithm, and the best path is selected.

[0041] Further, the remote monitoring system obtains the position, speed and attitude information of the unmanned vehicle in real time, and controls and adjusts the vehicle through the control system; the monitoring system monitors and warns the running state and fault condition of the unmanned vehicle in real time.

[0042] In summary: through the GPS positioning system, the coal mine and the transportation device are positioned, the motion state of the device is sensed in real time through the gyroscope and accelerometer sensor in the IMU, the best route is calculated through the intelligent algorithm, and the transportation device is remotely controlled through the remote monitoring system and the control system, realizing the effect of unmanned operation.

[0043] Embodiment 2, refer to Figures 1-3For the second embodiment of the present application, it comprises: a control component 100, comprising a support assembly 101, a control assembly 102 arranged on the support assembly 101, and a jacking assembly 103 arranged on the support assembly 101; and a discharging component 200, comprising a turnover assembly 201 arranged on the support assembly 101, a traction assembly 202 arranged on the turnover assembly 201, and an oscillation assembly 203 arranged on the turnover assembly 201.

[0044] The control assembly 102 is configured to control the jacking assembly 103 to operate, the jacking assembly 103 is configured to jack up the support assembly 101 to achieve the effect of discharging the support device, the turnover assembly 201 is configured to turn over the turnover plate 201a on the support assembly 101 to prevent the coal from sticking to the material hopper, the traction assembly 202 is configured to control the turnover assembly 201 to operate, and the oscillation assembly 203 is configured to further accelerate the discharging.

[0045] Preferably, the jacking assembly 103 is controlled by the control assembly 102 to operate to jack up the support assembly 101 to complete the discharging work, and then the traction assembly 202 is controlled by the turnover assembly 201 to operate, and the oscillation assembly 203 operates to complete the discharge of the coal on the turnover assembly 201.

[0046] Further, the support assembly 101 comprises a material bin 101a, a base plate 101b arranged at the bottom end of the material bin 101a, and a connecting piece 101c arranged on the base plate 101b.

[0047] The material bin 101a is configured to load and transport the coal, the base plate 101b is configured to support the entire material bin 101a, and the connecting piece 101c comprises a spring suspension, a connecting shaft, and a connecting disc, wherein the spring suspension is configured to reduce vibration, and the connecting disc is configured to connect the truck tires.

[0048] Further, the control assembly 102 comprises a moving groove 102a arranged on the base plate 101b, a control block 102b arranged on the moving groove 102a, a threaded rod 102c arranged on the control block 102b, and a drive motor 102d arranged on the right side of the threaded rod 102c.

[0049] The moving groove 102a is configured to limit the movement trajectory of the control block 102b, the threaded rod 102c is configured to drive the control block 102b to move left and right, and the drive motor 102d is configured to control the threaded rod 102c to rotate.

[0050] Preferably, the threaded rod 102c is controlled by the drive motor 102d to rotate, so that the threaded rod 102c drives the control block 102b to move left and right inside the moving groove 102a.

[0051] Further, the jacking assembly 103 comprises a jacking plate 103a arranged on the control block 102b, a storage groove 103b arranged at the bottom end of the material conveying bin 101a, a moving block 103c arranged inside the storage groove 103b, and an electric push rod 103d arranged on the moving block 103c.

[0052] The jacking plate 103a is used to support the material conveying bin 101a in the supporting assembly 101, so that the coal is discharged, the storage groove 103b is used to prevent the moving block 103c, and the electric push rod 103d is used to push the moving block 103c to move, thereby increasing the inclination of the material conveying bin 101a.

[0053] In summary, the motor of the control assembly 102 is controlled to drive the threaded rod 102c to rotate, so that the threaded rod 102c drives the control block 102b to move left and right inside the moving groove 102a, and the left end of the jacking plate 103a is driven to move left and right when the control block 102b moves left and right, so that the right end of the jacking plate 103a supports the right end of the material conveying bin 101a, thereby realizing the automatic unloading of the device.

[0054] Embodiment 3, refer to Figures 4-9 The third embodiment of the present application comprises: the overturning assembly 201 comprises an overturning plate 201a arranged inside the material conveying bin 101a, a sliding rail 201b arranged on the right side of the material conveying bin 101a, an overturning block 201c arranged on the sliding rail 201b, and a sliding column 201d arranged on the overturning block 201c.

[0055] The overturning plate 201a is used to rotate during unloading, thereby increasing the inclination of the material accumulation plate and accelerating the unloading of the coal, the sliding rail 201b is used to limit the movement track of the sliding column 201d, and the overturning block 201c is used to move with the sliding column 201d, thereby causing the overturning plate 201a to rotate.

[0056] Preferably, the right side inner wall of the material conveying bin 101a is provided with a certain arc, so that the right end of the overturning plate 201a always adheres to the inner wall of the material conveying bin 101a during unloading, and a stopper is arranged at the top end of the right side inner wall to prevent the overturning plate 201a from rotating excessively.

[0057] Further, the traction assembly 202 comprises a traction rope 202a arranged on the sliding column 201d, a groove 202b arranged on the material conveying bin 101a, a support column 202c arranged inside the groove 202b, and a bearing 202d arranged on the support column 202c; the other end of the traction rope 202a is fixedly connected to the left side of the moving block 103c.

[0058] The traction rope 202a is used to connect the moving block 103c and the sliding column 201d, so that the sliding column 201d drives the operation of the turnover assembly 201, and the supporting column 202c is used to fix the bearing 202d, so that the traction rope 202a is not damaged when moving.

[0059] Further, the oscillation assembly 203 includes an oscillation groove 203a arranged at the bottom end of the turnover plate 201a, a sliding groove 203b arranged at the side plate of the oscillation groove 203a, a sliding frame 203c arranged in the sliding groove 203b, an oscillation block 203d arranged in the sliding frame 203c, an impact spring 203e arranged at the bottom end of the oscillation block 203d, and a connecting plate 203f arranged on the sliding frame 203c.

[0060] The inside of the oscillation groove 203a is provided with a plurality of semicylinders, the sliding groove 203b is used to facilitate the sliding of the sliding frame 203c inside, and the impact spring 203e is used to push the oscillation block 203d upward, so that when the sliding frame 203c moves left and right, the oscillation block 203d will hit the inside of the oscillation groove 203a, so that the whole turnover plate 201a vibrates.

[0061] In summary: the moving block 103c is pushed by the electric push rod 103d, so that the material conveying bin 101a is further inclined, when the moving block 103c moves, the traction rope 202a drives the turnover block 201c to move, so that the turnover plate 201a rotates, preventing the coal from sticking to the inside of the material conveying bin 101a, and at the same time when the turnover plate 201a rotates, the sliding frame 203c is pulled by the connecting plate 203f, so that the sliding frame 203c slides, and in this process, the oscillation block 203d will hit the oscillation groove 203a, so that the coal is discharged from the material conveying bin 101a.

[0062] The remaining structure is the same as that of example 2.

[0063] It is important to note that the construction and arrangement of the application shown in the various examples presented are illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review the present disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described herein. For example, elements shown as integrally formed can be constructed of multiple parts or elements, the position of elements can be reversed or otherwise varied, and the nature or number of elements can be altered or varied. Thus, all such modifications are intended to be included within the scope of the present application. The order or sequence of any process or method steps can be varied or re-sequenced without materially affecting the application. Any "apparatus" or "device" described herein can be a structure that performs the recited function, not necessarily composed of all the means or elements specifically disclosed. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present application. Accordingly, the present application is not limited to the particular embodiments described herein, but extends to all structures that would fall within the scope of the appended claims.

[0064] Also, in order to provide a concise description of the exemplary embodiments, not all features of an actual implementation can be described (i.e., those related to the

[0065] It should be noted that the above-mentioned embodiments are only used to illustrate the technical solutions of the present application, not limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A loading device for coal mines, mainly used in transportation equipment: comprising, The control unit (100) includes a support assembly (101), a control assembly (102) disposed on the support assembly (101), and a lifting assembly (103) disposed on the support assembly (101); and, The unloading component (200) includes a tilting component (201) disposed on the support component (101), a traction component (202) disposed on the tilting component (201), and an oscillation component (203) disposed on the tilting component (201). The support assembly (101) includes a material handling bin (101a), a chassis (101b) disposed at the bottom of the material handling bin (101a), and a connector (101c) disposed on the chassis (101b). The control component (102) includes a moving groove (102a) disposed on the chassis (101b), a control block (102b) disposed on the moving groove (102a), a threaded rod (102c) disposed on the control block (102b), and a drive motor (102d) disposed on the right side of the threaded rod (102c). The lifting assembly (103) includes a lifting plate (103a) disposed on the control block (102b), a storage trough (103b) disposed at the bottom of the material storage bin (101a), a moving block (103c) disposed inside the storage trough (103b), and an electric push rod (103d) disposed on the moving block (103c). The flipping assembly (201) includes a flipping plate (201a) disposed inside the material hopper (101a), a slide rail (201b) disposed on the right side of the material hopper (101a), a flipping block (201c) disposed on the slide rail (201b), and a sliding column (201d) disposed on the flipping block (201c). The traction assembly (202) includes a traction rope (202a) disposed on the sliding column (201d), a groove (202b) disposed on the material hopper (101a), a support column (202c) disposed inside the groove (202b), and a bearing (202d) disposed on the support column (202c). The other end of the traction rope (202a) is fixedly connected to the left side of the moving block (103c); The oscillation assembly (203) includes an oscillation groove (203a) disposed at the bottom end of the flip plate (201a), a slide groove (203b) disposed on the side plate of the oscillation groove (203a), a sliding frame (203c) disposed inside the slide groove (203b), an oscillation block (203d) disposed inside the sliding frame (203c), an impact spring (203e) disposed at the bottom end of the oscillation block (203d), and a connecting plate (203f) disposed on the sliding frame (203c). The oscillation groove (203a) has multiple semi-cylinders inside; The transport equipment uses an unmanned driving method, the steps of which are as follows: S1. Provides globally covered positioning services through GPS, and uses IMU gyroscope and accelerometer sensors to perceive the attitude and motion status of transportation equipment in real time, thereby achieving high-precision positioning of vehicles; S2. By analyzing the geographical location information of the open-pit mine and the location information of the storage points, and using intelligent algorithms to calculate the optimal path between the transportation and storage points of the open-pit coal mine, route planning for the transportation equipment is completed; and... S3. Real-time control of transportation equipment is achieved through remote monitoring and control systems, thereby enabling unmanned operation.

2. The loading equipment for coal mines according to claim 1, characterized in that: The intelligent algorithm includes genetic algorithm, ant colony algorithm or simulated annealing algorithm, which optimizes the path and selects the best path.

3. The loading equipment for coal mines according to claim 2, characterized in that: The remote monitoring system acquires the location, speed, and attitude information of the unmanned vehicle in real time, and remotely controls and adjusts the vehicle through the control system; the monitoring system monitors and provides early warnings of the unmanned vehicle's operating status and fault conditions in real time.

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