Method and system for automatically following electric shovel by electric shovel tail wire winding and unwinding vehicle
By installing GPS modules on the tail-line retracting and mining equipment of the electric shovel and using base station signals for positioning, the tail-line cable retracting and retracting vehicle automatically follows the electric shovel, solving the problem of unstable power transmission and improving mining efficiency and security.
Patent Information
- Application Number
- CN202310952677.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-01
- Publication Date
- 2025-02-14
AI Technical Summary
During the mining process of open-pit mines, it is difficult for the electric shovel tail to automatically follow the electric shovel, resulting in unstable power transmission and affecting mining efficiency and safety.
By setting up a base station and installing GPS modules on the tail cable retrieval and mining equipment, and positioning using GPS signals and base station signals, the tail cable retrieval and mining equipment automatically follow the mining equipment. If the signal is not received or the distance is out of range, an alarm is issued and switch to manual mode.
The tail cable retracting and releasing vehicle automatically follows the electric shovel, ensuring the stability and reliability of power transmission, and improving mining efficiency and safety.
Smart Images
Figure CN119434991A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a following method, in particular to a method and a system for an electric shovel tail wire retracting and releasing vehicle to automatically follow an electric shovel. Background Art
[0002] At present, the intelligentization of mines is gradually realizing the leap from quantitative change to qualitative change. Intelligent equipment and robots are widely used, and mining with few or no people is gradually becoming a reality. Scientific and technological innovation provides new impetus for mine safety production. Especially in the update and upgrade of mining engineering equipment, the impact of unmanned driving systems on mines is particularly prominent. Especially in the process of open-pit mining, the electric shovel, as the main mining equipment, needs to be equipped with a tail cable retractor. How to make the tail cable retractor follow the electric shovel is an urgent problem to be solved. Summary of the invention
[0003] In order to solve the above problems, the present invention provides a method for an electric shovel tail cable retracting vehicle to automatically follow an electric shovel, thereby realizing power transmission from a fixed power output point on a mine to the electric shovel tail cable retracting vehicle and then to the electric shovel. The specific technical solution is as follows:
[0004] A method for an electric shovel tail wire retracting and releasing vehicle to automatically follow an electric shovel comprises the following steps:
[0005] Set up base stations and install GPS modules on the tail cable retractor and mining equipment;
[0006] Positioning the tail cable retracting and releasing vehicle and the mining equipment according to GPS signals and base station signals;
[0007] The tail cable retracting and releasing vehicle automatically follows the mining equipment according to the real-time position of the mining equipment;
[0008] Among them, if the tail line cable retracting vehicle cannot receive GPS signals, base station signals, or the mining equipment signal is out of range, or the distance between the tail line cable retracting vehicle and the mining equipment exceeds the set range, an alarm will be issued and the automatic following mode will be switched to manual mode.
[0009] Preferably, the coverage radius of the base station is 10,000 meters.
[0010] Preferably, during the positioning, the position is calculated by RTK differential.
[0011] Preferably, during the automatic following, the distance and orientation between the tail line cable retractable vehicle and the mining equipment are calculated, and the tail line cable retractable vehicle automatically adjusts the walking speed and direction so that the tail line cable retractable vehicle and the mining equipment remain within a set distance range.
[0012] A system for an electric shovel tail cable retractor to automatically follow the electric shovel, used for the above-mentioned method for an electric shovel tail cable retractor to automatically follow the electric shovel, comprising: a base station for providing base station signals; a GPS module, the GPS modules being respectively installed on the tail cable retractor and the mining equipment; and a control module, the control module being installed on the tail cable retractor, for calculating the distance between the tail cable retractor and the mining equipment based on the base station signal and the GPS signal, and realizing the tail cable retractor to automatically follow the mining equipment.
[0013] Compared with the prior art, the present invention has the following beneficial effects:
[0014] The method provided by the present invention enables the tail cable retracting vehicle of an electric shovel to automatically follow the electric shovel through base station signals and GPS signals, thereby realizing power transmission from a fixed power output point on the mine to the tail cable retracting vehicle of the electric shovel and then to the electric shovel, and the control is reliable. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 The present invention is a flow chart of a method for an electric shovel tail wire retracting and releasing vehicle to automatically follow the electric shovel;
[0016] Figure 2 The present invention is a system structure block diagram in which the tail wire retracting and releasing vehicle of an electric shovel automatically follows the electric shovel. DETAILED DESCRIPTION
[0017] The present invention will be further described with reference to the accompanying drawings.
[0018] Intelligent tracking followed by automatic following overcomes the difficulties of unmanned driving and provides support for unmanned mines to achieve full-area unmanned operation.
[0019] Intelligent tracking and automatic following control means that the cable retractable vehicle can intelligently and automatically follow the movement of the mining equipment without human intervention.
[0020] Embodiment 1
[0021] like Figure 1 As shown, a method for an electric shovel tail wire retracting and releasing vehicle to automatically follow the electric shovel comprises the following steps:
[0022] Build a base station with a coverage radius of 10,000 meters, covering the tail cable retracting vehicles and mining equipment in the coverage area;
[0023] Install high-precision GPS modules on the tail cable retractor and mining equipment;
[0024] The tail cable retracting and unreeling vehicle and mining equipment simultaneously receive satellite signals and base station signals, perform RTK differential operations, and achieve centimeter-level positioning;
[0025] The tail cable retractor receives and records the real-time position of the mining equipment, calculates the distance and direction between it and the mining equipment, and after the automatic tracking mode is turned on, the tail cable retractor automatically adjusts the walking speed and direction to keep the tail cable retractor and the mining equipment within the set distance range, thereby realizing the unmanned automatic tracking of the tail cable retractor;
[0026] When the tail line cable retracting and releasing vehicle cannot receive GPS signals, base station signals, mining equipment location signals, or the distance to the mining equipment exceeds the set range, an alarm signal is sent to the mining equipment and the automatic following mode is switched to manual mode.
[0027] Base station, also known as public mobile communication base station, is a form of radio station. It refers to a radio transceiver station that transmits information between mobile terminals through a mobile communication exchange center within a certain radio coverage area.
[0028] The cable retractor and mining equipment are equipped with high-precision GPS modules to detect the real-time location of the cable retractor and mining equipment. When the cable retractor is set to automatic mode, it will automatically track and judge the distance according to the moving route of the mining equipment, and automatically adjust the moving speed and posture of the cable retractor to ensure that the distance between the two vehicles is always within the set distance range. The reel on the cable retractor automatically retracts and releases the cable according to the driving speed of the cable retractor. When the cable retractor detects that the distance to the mining equipment exceeds the set range or there is a fault such as no GPS signal, the PLC issues a command, the alarm light emits an audible and visual alarm, and the cable retractor operation mode will automatically switch to manual mode, and the on-site staff will manually control the cable retractor.
[0029] Embodiment 2
[0030] like Figure 2 As shown, a system for an electric shovel tail cable retracting and releasing vehicle to automatically follow the electric shovel is used for a method for an electric shovel tail cable retracting and releasing vehicle to automatically follow the electric shovel, including: a base station, a GPS module and a control module, the base station is used to provide a base station signal; the GPS module is respectively installed on the tail cable retracting and releasing vehicle and the mining equipment; the control module is installed on the tail cable retracting and releasing vehicle, and is used to calculate the distance between the tail cable retracting and releasing vehicle and the mining equipment according to the base station signal and the GPS signal, and realize the tail cable retracting and releasing vehicle to automatically follow the mining equipment.
[0031] like Figure 2 As shown, the range of the base station 1 covers the mining equipment 3 and the tail line cable retracting and releasing vehicle 4, and the GPS module obtains the position signal through the satellite 2.
[0032] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the protection scope of the claims of the present invention.
Claims
1. A method for an electric shovel tail wire retracting and releasing vehicle to automatically follow an electric shovel, characterized in that: The following steps are involved: Set up base stations and install GPS modules on the tail cable retractor and mining equipment; Positioning the tail cable retracting and releasing vehicle and the mining equipment according to GPS signals and base station signals; The tail cable retracting and releasing vehicle automatically follows the mining equipment according to the real-time position of the mining equipment; Among them, if the tail line cable retracting vehicle cannot receive GPS signals, base station signals, or the mining equipment signal is out of range, or the distance between the tail line cable retracting vehicle and the mining equipment exceeds the set range, an alarm will be issued and the automatic following mode will be switched to manual mode.
2. The method for automatically following an electric shovel by a tail wire retracting and releasing vehicle according to claim 1 is characterized in that: The coverage radius of the base station is 10,000 meters.
3. The method for automatically following an electric shovel by a tail wire retracting and releasing vehicle according to claim 1 is characterized in that: During the positioning, the position is calculated by RTK difference.
4. The method for automatically following an electric shovel by a tail wire retracting and releasing vehicle according to claim 1 is characterized in that: During the automatic following, the distance and orientation between the tail cable retractable vehicle and the mining equipment are calculated, and the tail cable retractable vehicle automatically adjusts the walking speed and direction so that the tail cable retractable vehicle and the mining equipment remain within a set distance range.
5. A system for an electric shovel tail wire retracting and unretracting vehicle to automatically follow an electric shovel, used in the method for an electric shovel tail wire retracting and unretracting vehicle to automatically follow an electric shovel as claimed in claim 1, characterized in that: include: A base station, used to provide a base station signal; A GPS module, wherein the GPS modules are respectively installed on the tail cable retracting and releasing vehicle and the mining equipment; and A control module is installed on the tail cable retractable vehicle, and is used to calculate the distance between the tail cable retractable vehicle and the mining equipment according to the base station signal and the GPS signal, and to enable the tail cable retractable vehicle to automatically follow the mining equipment.