Multifunctional unmanned intelligent drive-by-wire lifting method and device

Abstract

The invention relates to a multifunctional unmanned intelligent drive-by-wire lifting method, which comprises the following steps that: a double-shaft angle sensor transmits a cargo box lifting angle and a wide-body vehicle inclination angle to a gateway controller through a CAN (Controller Area Network) bus, the gateway controller receives messages transmitted by the double-shaft angle sensor and an oil cylinder pressure sensor, and compares the messages with data calibrated by an upper computer, so that the information of the cargo box lifting angle and the wide-body vehicle inclination angle is obtained. A heeling indication and a compartment height indication of the container are confirmed, and meanwhile, the gateway controller controls opening, closing and the flow direction of a hydraulic oil electromagnetic valve of an oil cylinder through a bus message to achieve lifting and falling back of the container of the wide-body mine truck; meanwhile, through data and parameters calibrated by the upper computer for the first time, through modeling calculation of the gateway controller, the cargo weight is measured, the gateway controller sends data transmitted by the double-shaft angle sensor and the oil cylinder pressure sensor to the whole vehicle VCU and the vehicle-mounted terminal through a bus network, and through data transmission of the whole vehicle controller and the vehicle-mounted terminal, the cargo weight is measured. And remote fault diagnosis and dangerous condition alarm can be realized.

Description

Technical Field

[0001] The invention relates to a lifting method, in particular to a multifunctional unmanned driving intelligent wire-controlled lifting method. Background Art

[0002] As the country's requirements for mine safety increase, more and more unmanned wide-body mining vehicles have been widely used in mines across the country. As a result, the demand for intelligent wire-controlled lifting systems is also increasing.

[0003] The current unmanned wire-controlled lifting generally adopts the design of angle sensor and solenoid valve. The controller controls the on and off of the solenoid valve by calibrating the lifting angle of the cargo box. The lifting and falling back of the cargo box are realized by using the original hydraulic lifting system. This method is relatively simple in structure and poor in logic. It has a single function and can only realize mechanized lifting of the cargo box, which cannot meet the growing needs of other customers. For example: measurement of cargo weight, remote fault diagnosis, alarm of dangerous situations, roll indication, compartment height indication, etc. Summary of the invention

[0004] The purpose of the present invention is to design a multifunctional unmanned intelligent wire-controlled lifting method, which collects information by installing sensing elements such as dual-axis angle sensors and cylinder pressure sensors. Through the analysis of the gateway controller, the opening and closing of the hydraulic oil solenoid valve and the flow direction control are realized; while completing the wire-controlled lifting and falling, the functions of cargo weight measurement, remote fault diagnosis, dangerous situation alarm, roll indication, and car height indication can be realized at the same time. It solves the problem that the current unmanned wire-controlled lifting method is relatively simple in structure, poor in logic, single in function, and can only realize mechanized cargo box lifting.

[0005] The present invention is achieved by the following technical solutions:

[0006] A multifunctional unmanned intelligent wire-controlled lifting method comprises a dual-axis angle sensor ①, a cylinder pressure sensor ②, a host computer ③, a gateway controller ④, a cylinder hydraulic oil solenoid valve ⑤, a vehicle VCU ⑥ and a vehicle terminal ⑦. The dual-axis angle sensor ① is installed at the bottom of the cargo box, and the horizontal angle, i.e., the cargo box lifting angle, and the vertical angle, i.e., the wide-body vehicle tilting angle, are transmitted to the gateway controller ④ via the CAN bus. The gateway controller ④ receives the message transmitted by the dual-axis angle sensor ① and the cylinder pressure sensor ②, and confirms the side of the cargo box by comparing it with the data calibrated by the host computer ③. Tilt indication, car height indication, and at the same time, the gateway controller ④ controls the opening and closing and flow direction of the cylinder hydraulic oil solenoid valve ⑤ through the bus message to realize the lifting and lowering of the wide-body mining truck cargo box; at the same time, the data and parameters calibrated for the first time by the host computer ③ are modeled and calculated by the gateway controller ④ to measure the weight of the goods. The gateway controller ④ sends the data transmitted by the previous dual-axis angle sensor ① and the cylinder pressure sensor ② to the vehicle VCU ⑥ and the on-board terminal ⑦ through the bus network. Through the data transmission between the vehicle controller and the on-board terminal, remote fault diagnosis and dangerous situation alarm are achieved.

[0007] A multifunctional unmanned intelligent wire-controlled lifting device comprises a dual-axis angle sensor ①, a cylinder pressure sensor ②, a host computer ③, a cylinder hydraulic oil solenoid valve ⑤, a vehicle VCU ⑥ and an on-board terminal ⑦. The dual-axis angle sensor ①, the cylinder pressure sensor ②, the host computer ③, the cylinder hydraulic oil solenoid valve ⑤, the vehicle VCU ⑥ and the on-board terminal ⑦ are respectively connected via a CAN line and a gateway controller ④.

[0008] The present invention can not only meet the requirements of unmanned ore body mining truck intelligent lifting, but also realize the measurement of cargo box cargo weight, roll indication, and carriage height indication through bus network technology and modeling. The state parameters are sent to the vehicle VCU and the vehicle terminal through bus information, which can realize remote fault diagnosis, dangerous situation alarm and other functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a schematic diagram of the angle sensor of the present invention;

[0010] Figure 2 It is a schematic diagram of the multifunctional unmanned intelligent wire-controlled lifting device of the present invention. DETAILED DESCRIPTION

[0011] like Figure 1 , 2As shown, a multifunctional unmanned intelligent wire-controlled lifting device of the present invention is mainly composed of a dual-axis angle sensor ①, a cylinder pressure sensor ②, a host computer ③, a gateway controller ④, a cylinder hydraulic oil solenoid valve ⑤, a vehicle VCU ⑥, and a vehicle-mounted terminal ⑦. The dual-axis angle sensor ① is installed at the bottom of the cargo box, and transmits the horizontal angle, i.e., the cargo box lifting angle, and the vertical angle, i.e., the wide-body vehicle tilt angle, to the gateway controller ④ through the CAN bus. The gateway controller ④ receives the message transmitted by the dual-axis angle sensor ① and the cylinder pressure sensor ② and compares it with the data calibrated by the host computer ③ to confirm the roll indication of the cargo box and the height indication of the carriage. At the same time, the gateway controller ④ controls the opening and closing and flow direction of the cylinder hydraulic oil solenoid valve ⑤ through the bus message to realize the lifting and falling of the wide-body mining truck cargo box. At the same time, the weight of the cargo can be measured through the data and parameters calibrated for the first time by the host computer ③ and the modeling calculation of the gateway controller ④. The gateway controller ④ can send the data previously transmitted by the dual-axis angle sensor ① and the cylinder pressure sensor ② to the vehicle VCU ⑥ and the vehicle-mounted terminal ⑦ through the bus network. Through data transmission between the vehicle controller and the vehicle terminal, remote fault diagnosis and dangerous situation alarm can be achieved, thus realizing the multifunctional integration of unmanned intelligent wire-controlled lifting.

[0012] The present invention provides a variety of practical functions for the wire-controlled intelligent lifting method of unmanned wide-body mining trucks by means of the network bus and topological structure: measurement of cargo weight, remote fault diagnosis, alarm of dangerous situations, roll indication, and carriage height indication. The sensing device senses and collects the external environmental data, and the upper computer calibrates the upper installation parameters. While the gateway controller makes decisions to open and close the oil pressure solenoid valve and realize the lifting and lowering of the cargo box, the modeling can be used to realize the measurement of cargo weight, roll indication, and carriage height indication. The status parameters are then sent to the vehicle VCU and the on-board terminal through the bus information, which can realize the functions of remote fault diagnosis, alarm of dangerous situations, etc.

Claims

1. A multifunctional unmanned intelligent wire-controlled lifting method, characterized by: It includes a dual-axis angle sensor, a cylinder pressure sensor, a host computer, a gateway controller, a cylinder hydraulic oil solenoid valve, a vehicle VCU and an on-board terminal. The dual-axis angle sensor is installed at the bottom of the cargo box. The horizontal angle, i.e., the cargo box lifting angle, and the vertical angle, i.e., the wide-body vehicle tilt angle, are transmitted to the gateway controller through the CAN bus. The gateway controller receives the message transmitted by the dual-axis angle sensor and the cylinder pressure sensor, and confirms the roll indication of the cargo box and the height indication of the carriage by comparing them with the data calibrated by the host computer. At the same time, the gateway controller controls the opening and closing and flow direction of the cylinder hydraulic oil solenoid valve through the bus message to realize the lifting and falling of the wide-body mining truck cargo box. At the same time, the weight of the cargo is measured through the data and parameters calibrated for the first time by the host computer and the modeling calculation of the gateway controller. The gateway controller sends the data previously transmitted by the dual-axis angle sensor and the cylinder pressure sensor to the vehicle VCU and the on-board terminal through the bus network. Through the data transmission between the vehicle controller and the on-board terminal, remote fault diagnosis and alarm of dangerous situations are achieved.

2. A multifunctional unmanned intelligent wire-controlled lifting device, characterized by: It includes a dual-axis angle sensor, a cylinder pressure sensor, a host computer, a cylinder hydraulic oil solenoid valve, a vehicle VCU and an on-board terminal. The dual-axis angle sensor, the cylinder pressure sensor, the host computer, the cylinder hydraulic oil solenoid valve, the vehicle VCU and the on-board terminal are connected to the gateway controller through CAN lines respectively.

Images