Unloading cleaning device of unmanned mining truck and unloading control method

Abstract

The invention discloses an unloading and cleaning device and an unloading control method of an unmanned mining truck, the unloading and cleaning device is integrated in a carriage of the unmanned mining truck, and the unloading and cleaning device comprises an excess material detection camera, a controller and a controller, the residual material detection camera is used for detecting the residual condition of mineral aggregates in the carriage after unloading and transmitting acquired image information to the controller; and a high-pressure flushing assembly. The controller judges whether the carriage is cleaned or not according to image information transmitted by the excess material detection camera, and the controller controls the high-pressure washing assembly to conduct high-pressure washing on the carriage through the multiple high-pressure nozzles. According to the device, the overall efficiency of mine operation is improved, the frequency of manual intervention is reduced, and the safety risk in the operation process is reduced, so that greater economic benefits are created for mine enterprises, and meanwhile, innovation and breakthrough are brought to the field of mine automation.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned mining trucks, and in particular to a material unloading and cleaning device and a material unloading control method for an unmanned mining truck. Background Art

[0002] Unmanned mining truck technology is a cutting-edge technology that has emerged in recent years with the advancement of science and technology and the development needs of the mining industry. Although the development of domestic technology started later than that of foreign countries, through years of talent reserves and network infrastructure construction, unmanned mining technology has made significant progress. Especially under the promotion of large central enterprises such as the State Energy Group, the application of unmanned driving technology in the mining industry has shown a trend of large-scale implementation.

[0003] With the development of science and technology, the mining industry is also seeking transformation and upgrading to intelligent automation. As part of the construction of intelligent mines, unmanned mining trucks aim to improve production efficiency, reduce costs, and improve the working environment by reducing manual operations, fundamentally eliminating the occurrence of personnel safety accidents, while improving the production supervision efficiency of mining areas.

[0004] However, in the traditional operation mode, due to the influence of the unmanned mining truck box structure, when tilting ore materials of different sizes (referred to as "ore materials"), ore materials often remain in the car. The occurrence of the above situation has limited the improvement of operation efficiency, and at the same time, it has also increased the cost and safety risks of manual cleaning.

[0005] Therefore, based on the above technical problems, technicians in this field urgently need to develop a unloading and cleaning device and a unloading control method for an unmanned mining truck. Summary of the invention

[0006] The purpose of the present invention is to provide a unloading and cleaning device and an unloading control method for an unmanned mining truck. The cleaning device and the control method are based on image recognition technology, monitor the residual mineral materials in the car body after unloading, and use high-pressure jet technology to flush the residual mineral materials to achieve the purpose of cleaning the car body; the device improves the overall efficiency of mining operations, reduces the frequency of manual intervention, and reduces safety risks during operations, thereby creating greater economic benefits for mining enterprises, and at the same time brings innovation and breakthroughs to the field of mining automation.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] The present invention discloses a material unloading and cleaning device for an unmanned mining truck, which is integrated in a compartment of the unmanned mining truck. The material unloading and cleaning device comprises:

[0009] A residual material detection camera, which is used to detect the residual material in the carriage after unloading and transmit the collected image information to the controller; and

[0010] High pressure washing components;

[0011] The controller determines whether to clean the carriage according to the image information transmitted by the residual material detection camera, and the controller controls the high-pressure washing component to use multiple high-pressure nozzles to perform high-pressure washing on the carriage.

[0012] Furthermore, the high pressure flushing assembly comprises:

[0013] A high-pressure spray bar is arranged on the upper part of the carriage, and a plurality of high-pressure nozzles are installed on the high-pressure spray bar at intervals;

[0014] a high-pressure water pump located inside the vehicle compartment and connected to the high-pressure spray bar through a water pump outlet pipe; and

[0015] A high-voltage motor electrically connected to the high-pressure water pump;

[0016] The input end of the high-pressure water pump is communicated with the water tank in the vehicle compartment through a water pump water inlet pipe.

[0017] Furthermore, the arrangement rule of the high pressure nozzles is:

[0018] The fan-shaped edges of the adjacent high-pressure nozzles are arranged in a superimposed manner, and the spray widths of the adjacent high-pressure nozzles overlap each other by 1 / 4 to 1 / 3;

[0019] The angle between the fan surface of the high-pressure nozzle and the axis of the high-pressure spray rod is 5° to 15°.

[0020] The present invention discloses a material unloading control method based on a material unloading cleaning device for an unmanned mining truck. After the unmanned mining truck is unloaded, the unloading cleaning device as described above can be used to clean the residual mineral material in the vehicle compartment. The material unloading control method mainly comprises the following steps:

[0021] S1. After completing one unloading action, start the residual material detection camera on the top of the carriage to collect images of the residual mineral materials in the carriage;

[0022] S2, the residual material detection camera collects images as a sample set, and performs preprocessing calculation on the sample set;

[0023] S3. When the foreign matter value of the carriage image after unloading exceeds 0.5%, the unloading cleaning device located at the top of the front end of the carriage is started to perform a flushing action;

[0024] S4. After the flushing action is completed, the foreign matter image collection and comparison in the carriage is performed again. If the foreign matter value of the carriage image after unloading is less than 0.5%, it is considered that the carriage cleanliness rate meets the use requirements and the cleaning action is terminated; if the foreign matter value of the carriage image after unloading is still more than 0.5%, the unloading cleaning device is started again to perform the flushing action.

[0025] Furthermore, in step S3 and step S4, the duration of the flushing action is 2 minutes.

[0026] Furthermore, the unloading control method further comprises the following steps:

[0027] S5. If the foreign matter value of the carriage image still exceeds 0.5% after steps S3 and S4 are cycled three times, a buzzer alarm is activated to indicate that manual intervention is required.

[0028] In the above technical solution, the present invention provides an unmanned mining truck unloading cleaning device and unloading control method, which have the following beneficial effects:

[0029] The unloading and cleaning device and unloading control method of the present invention are based on image recognition technology. After unloading, the residual mineral materials in the carriage are monitored, and the residual mineral materials are flushed using high-pressure jet technology to achieve the purpose of cleaning the carriage. The device improves the overall efficiency of mining operations, reduces the frequency of manual intervention, and reduces safety risks during operations, thereby creating greater economic benefits for mining companies and bringing innovation and breakthroughs to the field of mining automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. It is obvious that the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0031] Figure 1 It is a front view of a unloading and cleaning device for an unmanned mining truck disclosed in an embodiment of the present invention;

[0032] Figure 2 A top view of a unloading and cleaning device for an unmanned mining truck disclosed in an embodiment of the present invention;

[0033] Figure 3 A side view of a unloading and cleaning device for an unmanned mining truck disclosed in an embodiment of the present invention;

[0034] Figure 4 A schematic structural diagram of a high-pressure spray bar and a high-pressure nozzle of a unloading and cleaning device for an unmanned mining truck disclosed in an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of the installation distance and arrangement of adjacent high-pressure nozzles of a discharging and cleaning device for an unmanned mining truck disclosed in an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of the fan-shaped nozzle of a unloading and cleaning device for an unmanned mining truck disclosed in an embodiment of the present invention under different pressures;

[0037] Figure 7 A control flow chart of a material unloading control method of a material unloading and cleaning device based on an unmanned mining truck disclosed in an embodiment of the present invention;

[0038] Figure 8 It is a schematic diagram of a sample set collected by a residual material detection camera in a discharging control method of a discharging and cleaning device based on an unmanned mining truck disclosed in an embodiment of the present invention;

[0039] Fig. 9 It is a schematic diagram of sample set preprocessing of a material discharging control method of a material discharging and cleaning device based on an unmanned mining truck disclosed in an embodiment of the present invention;

[0040] Fig.10 A schematic diagram of sample foreign matter marking of a discharging control method of a discharging and cleaning device based on an unmanned mining truck disclosed in an embodiment of the present invention.

[0041] Description of Figure Numbers:

[0042] 1. Residue detection camera; 2. High-pressure spray rod; 3. High-pressure nozzle; 4. High-pressure motor; 5. High-pressure water pump; 6. Water pump outlet pipe; 7. Water pump inlet pipe; 8. Water tank; 9. Carriage. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0044] See also Figures 1 to 10 As shown;

[0045] The present embodiment is a unmanned mining truck unloading cleaning device, which is integrated in the carriage 9 of the unmanned mining truck. The unloading cleaning device includes:

[0046] A residual material detection camera 1, which is used to detect the residual material in the carriage 9 after unloading and transmit the collected image information to the controller; and

[0047] High pressure washing components;

[0048] The controller determines whether to clean the carriage 9 according to the image information transmitted by the residual material detection camera 1 , and the controller controls the high-pressure flushing component to perform high-pressure flushing on the carriage 9 using multiple high-pressure nozzles 3 .

[0049] Specifically, this embodiment first discloses a material unloading cleaning device integrated in the carriage 9 of an unmanned mining truck, which mainly uses high-pressure spraying to remove the residual ore in the carriage 9 to ensure that the foreign matter value in the carriage 9 after unloading meets the design requirements, that is, it meets less than 0.5%. The foreign matter value in this embodiment is the foreign matter value area / total area of ​​the carriage.

[0050] Specifically, the unloading and cleaning device of this embodiment includes a residual material detection camera 1 and a high-pressure flushing component; wherein, the residual material detection camera 1 is a component used to perform real-time detection on whether there is any residual mineral material in the carriage 9 after the mining truck unloads the materials. After the carriage 9 unloads the materials, the residual material detection camera 1 collects images in the carriage 9, detects foreign matter through the images, and then uses the controller to calculate and process the images to obtain the foreign matter value, and determines whether it is necessary to start the high-pressure flushing component to clean the carriage according to a preset rule.

[0051] Preferably, the high-pressure washing assembly of this embodiment includes a high-pressure spray rod 2 arranged on the upper part of the carriage 9, and a plurality of high-pressure nozzles 3 are installed on the high-pressure spray rod 2 at intervals; a high-pressure water pump 5 located inside the carriage 9 and connected to the high-pressure spray rod 2 through a water pump outlet pipe 6; and a high-pressure motor 4 electrically connected to the high-pressure water pump 5;

[0052] The input end of the high-pressure water pump 5 is connected to the water tank 8 in the compartment 9 through the water pump water inlet pipe 6 .

[0053] First, this embodiment further defines the system composition of the high-pressure flushing component, wherein the water tank 8 stores cleaning water, which is connected to the high-pressure water pump 5 through the water pump inlet pipe 7, and the high-pressure water pump 5 is connected to the high-pressure spray rod 3 through the water pump outlet pipe 6. The high-pressure water pump 5 transports the cleaning water in the water tank 8 to the water pump outlet pipe 6 through the water pump inlet pipe 7, and the cleaning water is sprayed out by the high-pressure nozzle 3 of the high-pressure spray rod 2, thereby meeting the design requirements for flushing.

[0054] Preferably, the arrangement rule of the high pressure nozzles 3 in this embodiment is:

[0055] The fan-shaped edges of adjacent high-pressure nozzles 3 are arranged in a superimposed manner, and the spray widths of adjacent high-pressure nozzles 3 overlap each other by 1 / 4 to 1 / 3;

[0056] The angle between the fan surface of the high-pressure nozzle 3 and the axis of the high-pressure spray rod 2 is 5° to 15°.

[0057] Selection of the spray angle of the high-pressure nozzle 3 in this embodiment: The theoretical value of the nozzle coverage range is calculated based on the nozzle angle and the distance from the nozzle, assuming that the spray angle remains unchanged within the entire spray distance range.

[0058] Nozzle arrangement: The fan-shaped nozzle is a shape with gradually tapering edges. By utilizing this characteristic and reasonably arranging the fan-shaped edges of adjacent nozzles, a uniform cross-section of the entire spray line can be obtained. Generally, the nozzle spray width W should overlap each other by 1 / 3 to 1 / 4. According to the theoretical coverage range of 255mm, the installation distance E of adjacent nozzles should be 170mm to 191mm. To avoid interference between the spray widths of adjacent nozzles, the nozzle fan surface is required to have an angle of 5° to 15° with the nozzle axis during installation. The installation distance and arrangement of adjacent nozzles are as follows: Figure 5 The installation distance and arrangement of adjacent nozzles are shown.

[0059] Nozzle arrangement: fan-shaped nozzles require that the fan shape of the spray must be uniform under the specified spray angle and nozzle pressure, otherwise the fan cleaning effect cannot be achieved. The spray fan shape under standard pressure is as follows: Figure 6 The fan shape of the fan-shaped nozzle under different pressures is shown. Too high or too low pressure will affect the shape and effect of the spray fan. The flow rate at the nozzle is determined by the nozzle pressure, which increases with the increase of the nozzle pressure. The relationship between flow rate and pressure is:

[0060] Where: Q is flow rate and P is pressure.

[0061] Selection of high-pressure water pump: If the working pressure of the water pump is set to 7MPa, the water pump power calculation formula is:

[0062]

[0063] Where: N is the pump power, kW; P is the pump pressure, 10MPa; Q is the spray boom flow rate, η is the mechanical efficiency, take η = 85%.

[0064] The present invention discloses a material unloading control method based on a material unloading cleaning device for an unmanned mining truck. After the unmanned mining truck is unloaded, the unloading cleaning device as described above can be used to clean the residual mineral material in the vehicle compartment. The material unloading control method mainly includes the following steps:

[0065] S1. After one unloading action is completed, the residual material detection camera 1 on the top of the carriage 9 is started to collect images of the residual mineral materials in the carriage 9;

[0066] S2, the residual material detection camera 1 collects images as a sample set, and performs preprocessing calculations on the sample set, wherein the preprocessing calculations on the sample set include basic denoising, image size standardization, grayscale conversion, etc.; see Figure 8, is a schematic diagram of the sample set collected by the residual material detection camera 1; see Fig. 9 , which is a schematic diagram of sample set preprocessing; while image foreign body annotation is to use annotation software to annotate foreign bodies and residual materials in the image and generate annotation files at the same time; see Fig.10 , which is a schematic diagram of sample foreign body marking.

[0067] S3, when the foreign matter value of the carriage image after unloading exceeds 0.5%, the unloading cleaning device located at the top of the front end of the carriage 9 is started to perform a flushing action;

[0068] S4. After the flushing action is completed, the foreign matter image collection and comparison in the carriage 9 is performed again. If the foreign matter value of the carriage image after unloading is less than 0.5%, it is considered that the carriage cleanliness rate meets the use requirements and the cleaning action is terminated; if the foreign matter value of the carriage image after unloading is still more than 0.5%, the unloading cleaning device is started again to perform the flushing action.

[0069] In the step S3 and the step S4 of this embodiment, the duration of the flushing action is 2 minutes.

[0070] Preferably, the unloading control method of this embodiment further includes the following steps:

[0071] S5. If the foreign matter value of the carriage image still exceeds 0.5% after the steps S3 and S4 are repeated three times, the buzzer alarm is activated to indicate that manual intervention is required. If the foreign matter value of the carriage image still exceeds 0.5% after the steps S3 and S4 are repeated three times, it indicates that there are stubborn stains or stains on the residual material detection camera, and the unloading cleaning device cannot work normally.

[0072] In the above technical solution, the present invention provides an unmanned mining truck unloading cleaning device and unloading control method, which have the following beneficial effects:

[0073] The unloading and cleaning device and unloading control method of the present invention are based on image recognition technology. After unloading, the residual mineral materials in the carriage are monitored, and the residual mineral materials are flushed using high-pressure jet technology to achieve the purpose of cleaning the carriage. The device improves the overall efficiency of mining operations, reduces the frequency of manual intervention, and reduces safety risks during operations, thereby creating greater economic benefits for mining companies and bringing innovation and breakthroughs to the field of mining automation.

[0074] The device and control method of the present invention improve the inconvenience of cleaning the residual materials in the dead corners by using the existing manual cleaning methods such as high-pressure water pipes and iron shovels, improve the cleaning efficiency of the carriage of the unmanned mining truck, and reduce the safety hazards of manual cleaning operations. The device of the present invention realizes self-cleaning of the carriage, protects the inner wall of the mining truck carriage from corrosion by ore mud for a long time, and improves the service life of the carriage.

[0075] The invention can avoid wasting compartment space caused by the residual asphalt by completing the residual material in the compartment, ensure that the single-time conveying volume of the mining truck reaches the maximum value within the allowable range, improve operating efficiency, and reduce transportation costs.

[0076] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A unmanned mining truck unloading cleaning device, characterized in that: The unloading and cleaning device is integrated into a carriage (9) of an unmanned mining truck, and the unloading and cleaning device comprises: A residual material detection camera (1), the residual material detection camera (1) is used to detect the residual mineral material in the carriage (9) after unloading, and transmit the collected image information to the controller; and High pressure washing components; The controller determines whether to clean the carriage (9) based on image information transmitted by the residual material detection camera (1), and the controller controls the high-pressure flushing component to use multiple high-pressure nozzles (3) to perform high-pressure flushing on the carriage (9).

2. The unloading and cleaning device of an unmanned mining truck according to claim 1, characterized in that: The high pressure washing assembly comprises: A high-pressure spray bar (2) is arranged on the upper part of the carriage (1), and a plurality of high-pressure nozzles (3) are installed at intervals on the high-pressure spray bar (2); a high-pressure water pump (5) located inside the carriage (1) and connected to the high-pressure spray bar (2) via a water pump outlet pipe (6); and a high-voltage motor (4) electrically connected to the high-pressure water pump (5); The input end of the high-pressure water pump (5) is connected to a water tank (8) in the carriage (9) via a water pump water inlet pipe (7).

3. The unloading and cleaning device of an unmanned mining truck according to claim 2, characterized in that: The arrangement rule of the high pressure nozzles (3) is: The fan-shaped edges of adjacent high-pressure nozzles (3) are arranged in a superimposed manner, and the spray widths of adjacent high-pressure nozzles (3) overlap each other by 1 / 4 to 1 / 3; The angle between the fan surface of the high-pressure nozzle (3) and the axis of the high-pressure spray rod (2) is 5° to 15°.

4. A method for controlling the unloading of materials by a unmanned mining truck unloading and cleaning device, characterized in that: After unloading, the unmanned mining truck can clean the residual mineral material in the carriage (9) by using the unloading cleaning device according to any one of claims 1 to 3, and the unloading control method mainly includes the following steps: S1. After a discharging operation is completed, a residual material detection camera (1) on the top of the carriage (9) is started to collect images of residual mineral materials in the carriage (9); S2, the residual material detection camera (1) collects images as a sample set, and performs preprocessing calculation on the sample set; S3, when the foreign matter value of the image of the carriage (9) after unloading exceeds 0.5%, the unloading cleaning device located at the top of the front end of the carriage (9) is started to perform a flushing action; S4. After the flushing action is completed, the foreign matter image collection and comparison in the carriage (9) is performed again. If the foreign matter value of the carriage image after unloading is less than 0.5%, it is considered that the carriage cleanliness rate meets the use requirements and the cleaning action is terminated; if the foreign matter value of the carriage image after unloading is still more than 0.5%, the unloading cleaning device is started again to perform the flushing action.

5. The unloading control method of the unloading and cleaning device based on the unmanned mining truck according to claim 4 is characterized in that: In step S3 and step S4, the duration of the flushing action is 2 minutes.

6. The unloading control method of the unloading and cleaning device based on the unmanned mining truck according to claim 4 is characterized in that: The unloading control method further comprises the following steps: S5. If the foreign matter value of the carriage image still exceeds 0.5% after steps S3 and S4 are cycled three times, a buzzer alarm is activated to indicate that manual intervention is required.

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