Underground intelligent electric carry-scraper and control method

Abstract

The invention relates to an underground intelligent electric carry-scraper and a control method. The underground intelligent electric carry-scraper comprises an intelligent system, an electrical system, a hydraulic system, a frame assembly, a working device, a chassis transmission system, a cab, a cable drum and a fluid system. The frame assembly is arranged on the chassis transmission system, the working device is connected with the frame assembly, and the chassis transmission system is used for driving the frame assembly and the working device to move. The intelligent system, the electrical system, the hydraulic system, the cab, the cable drum and the fluid system are all arranged on the frame assembly. Wherein the intelligent system, the electrical system and the hydraulic system are used for controlling the underground intelligent electric carry-scraper; and a composite cable is arranged on the cable drum and is used for connecting the underground intelligent electric carry-scraper with power supply equipment and communication equipment on the ground. The intelligent system, the electrical system and the hydraulic system are used for controlling the underground intelligent electric carry-scraper, highly intelligent operation of the carry-scraper is achieved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of underground operation equipment, and in particular to an underground intelligent electric scraper and a control method thereof. Background Art

[0002] Underground loaders are mainly used in underground mining environments, including tunnels (with different widths, heights, slopes, and diverse ground conditions) and stopes (relatively open spaces but complex environments with large amounts of ore).

[0003] In my country, open-pit mines account for less than 20%. In recent years, with the reduction of open-pit minerals and the development of mining technology, domestic mineral resources have gradually shifted from open-pit mining to deep underground mining. In the future, my country's main mineral resources will also be dominated by underground and deep large-scale mining. Intelligent mining is the most effective means to solve various challenges in the process of large-scale underground mining. At present, most electric loaders in mines are operated manually, which poses a certain safety risk to the drivers. The imported intelligent loaders can only realize autonomous transportation and autonomous unloading, and the loading and unloading operations still require manual intervention, which is mainly manifested in the inability to identify large pieces and the inability to perform "three-point" (that is, the loader first loads once against the left tunnel wall, then against the right tunnel wall, and finally along the center line of the tunnel) autonomous loading control. The inability to identify large pieces can easily lead to shoveling difficulties and blockage of the chute during unloading. The inability to perform "three-point" autonomous loading control means that the loader will always shovel from the middle of the ore pile, and a lot of ore will remain on both sides, which can easily lead to incomplete mining and tires being punctured and worn by ore. Therefore, strictly speaking, this can only be regarded as semi-autonomous operation, which means that one operator can only control two intelligent loaders at the same time, and due to the need for frequent remote control of shoveling, the labor intensity of the operators is relatively high.

[0004] In addition, existing electric intelligent shovel loaders usually arrange wireless APs in the tunnels to provide wireless networks, and set up vehicle-mounted antennas on the shovel loaders to receive wireless networks, so that the equipment can be remotely and autonomously controlled. This method requires densely arranging wireless APs in the tunnels, which is costly, and increases network latency during network switching, affecting remote and autonomous control effects. Wireless network equipment is also easily damaged during underground blasting. In addition, when the ore transportation in the tunnel is completed and it needs to be transferred to another tunnel for intelligent operations, the wireless network equipment needs to be dismantled and moved to the new operating tunnel, affecting operating efficiency. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an underground intelligent electric shovel loader and a control method.

[0007] (II) Technical solution

[0008] In order to achieve the above-mentioned object, the underground intelligent electric scraper of the present invention includes an intelligent system, an electrical system, a hydraulic system, a frame assembly, a working device, a chassis transmission system, a cab, a cable drum and a fluid system;

[0009] The frame assembly is arranged on the chassis transmission system, the working device is connected to the frame assembly, and the chassis transmission system is used to drive the frame assembly and the working device to move;

[0010] The intelligent system, the electrical system, the hydraulic system, the cab, the cable reel and the fluid system are all arranged on the frame assembly; wherein, the intelligent system, the electrical system and the hydraulic system are used for controlling the underground intelligent electric scraper; a composite cable is arranged on the cable reel for connecting the underground intelligent electric scraper with the power supply equipment and communication equipment on the ground.

[0011] Optionally, the working device includes a boom, a rocker arm, a connecting rod, a bucket, a lifting cylinder and a dump cylinder;

[0012] The boom, the rocker arm, the connecting rod and the bucket are connected to form a reverse six-link mechanism, and the boom is hinged to the frame assembly;

[0013] The cylinder barrels of the lifting cylinder and the dump bucket cylinder are both hinged to the frame assembly, and the piston rods of the lifting cylinder and the dump bucket cylinder are respectively hinged to the boom and the bucket in a one-to-one correspondence.

[0014] Optionally, the intelligent system includes an intelligent control host and a vehicle-mounted microphone electrically connected to the intelligent control host, a plurality of multi-line laser radars and a plurality of binocular cameras;

[0015] Wherein, the multi-line laser radar is arranged on the tail of the frame assembly and the upper arm, which is used to measure the real-time distance between the underground intelligent electric scraper and the tunnel wall and to identify obstacles;

[0016] The binocular cameras are arranged at the rear of the frame assembly, in front of the cab, behind the cab and on the big arm, and are used for image monitoring of the underground intelligent electric scraper during driving and operation and for identifying the ore pile and large blocks in the ore pile;

[0017] The vehicle-mounted microphone is arranged in the cab and is used for receiving the operation sound in the cab in real time.

[0018] Optionally, the intelligent system further includes a bucket cylinder stroke sensor, a boom encoder and an articulation encoder;

[0019] The bucket cylinder stroke sensor is arranged on the bucket cylinder and is used to measure the posture data of the bucket;

[0020] The upper arm encoder is arranged on the upper arm and is used to measure the posture data of the upper arm;

[0021] The articulated encoder is arranged at the articulated steering position of the frame assembly, and is used to measure the articulated steering posture data of the frame assembly.

[0022] Optionally, the frame assembly includes a front frame, a rear frame, a cover, an articulation device, and a pair of steering cylinders;

[0023] The front frame and the rear frame are connected via the articulated device, a pair of steering cylinders are symmetrically arranged on both sides of the articulated device, and both the front frame and the rear frame are connected to the steering cylinders; the cover is arranged on the rear frame;

[0024] The working device is connected to the front frame, and the electrical system, the hydraulic system, the cab and the cable drum are all arranged on the rear frame.

[0025] Optionally, the chassis transmission system includes a front drive axle, a rear drive axle, a transmission shaft, a main motor and a hydraulic pump group;

[0026] The front drive axle is arranged below the front frame, the rear drive axle is arranged below the rear frame, and the front drive axle and the rear drive axle are connected via a transmission shaft;

[0027] The main motor is connected to the rear drive axle, and the transmission shaft passes through the rear drive axle to connect to the main motor;

[0028] The hydraulic pump group is arranged on the rear drive axle to provide hydraulic power for one or more operations of the underground intelligent electric scraper, including working, steering, cable winding, braking, and cooling.

[0029] Optionally, the cable reel comprises a reel frame, a slip ring box, a cable reel motor and a cable guide device;

[0030] The drum frame is rotatably arranged on the frame assembly through the slip ring box and the cable winding motor; the cable guide device is arranged on the drum frame, and the composite cable passes through the cable guide device and then is wound on the drum frame;

[0031] The composite cable is connected to the slip ring box, and the composite cable is connected to the underground intelligent electric scraper through the slip ring box.

[0032] Optionally, the electrical system includes a first electric control cabinet, a second electric control cabinet, a control panel, a first boom proximity switch, a steering proximity switch, a second boom proximity switch, an on-board power supply, and a dump cylinder proximity switch;

[0033] The first electric control cabinet and the second electric control cabinet are respectively arranged on both sides of the frame assembly. The first electric control cabinet is used to control the high voltage electricity of 1000V and above introduced by the cable drum; the second electric control cabinet is used to control the low voltage equipment;

[0034] The first boom proximity switch is arranged at the front part of the frame assembly, and is used for the lower buffer limit of the boom. When the boom descends to a position close to the mechanical limit, the boom triggers the first boom proximity switch, and reduces the descending speed of the boom by controlling the flow of the lifting cylinder;

[0035] The steering proximity switch is arranged in the middle of the frame assembly, and the steering proximity switch is triggered when the frame assembly is turned to a position close to the limit;

[0036] The second boom proximity switch is arranged at the root of the boom, and the second boom proximity switch is triggered when the boom is lifted to the upper limit position;

[0037] The vehicle-mounted power supply is arranged on the vehicle frame assembly and is used for low-voltage DC power supply and power supply for the emergency brake release pump and the emergency steering pump;

[0038] The bucket cylinder proximity switch is arranged at the root of the bucket cylinder, and there are at least two switches, which are used for buffering the extreme positions of bucket tipping and bucket retraction respectively.

[0039] Optionally, the electrical system further includes a health management and early warning subsystem;

[0040] The health management and early warning subsystem includes a data analysis module, an early warning display module, and one or more of a front frame working device sensor acquisition module, a brake system sensor acquisition module, a hydraulic system sensor acquisition module, a gearbox sensor acquisition module, and a torque converter sensor acquisition module; the data analysis module is arranged on the frame assembly, and the early warning display module and one or more of the front frame working device sensor acquisition module, the brake system sensor acquisition module, the hydraulic system sensor acquisition module, the gearbox sensor acquisition module, and the torque converter sensor acquisition module are connected to the data analysis module;

[0041] Wherein, the sensor acquisition module of the front frame working device includes: a foil strain sensor and a fiber grating sensor;

[0042] The brake system sensor acquisition module includes: a non-contact capacitive sensor, a piezoresistive pressure sensor, a thermocouple temperature sensor and a Hall effect speed sensor;

[0043] The hydraulic system sensor acquisition module includes: a vibration viscosity sensor, a thermocouple temperature sensor, a capacitive moisture sensor and an optical contamination sensor;

[0044] The gearbox sensor acquisition module includes: a piezoelectric acceleration sensor, a thermocouple temperature sensor and an inductive metal particle sensor;

[0045] The torque converter sensor acquisition module includes: a thermocouple temperature sensor, a strain gauge pressure sensor and a magnetoelectric speed sensor;

[0046] The early warning display module includes a vehicle-mounted display screen and an audible and visual alarm device connected to the data analysis module.

[0047] Furthermore, the present invention also provides an intelligent electric scraper control method, which includes:

[0048] Rapid scanning, mapping and point marking: Use a mobile device equipped with a scanning device to scan the stope to form a map, and mark key locations on the map, including loading areas, unloading areas and turning points; import the map into the intelligent system;

[0049] Remote repositioning: setting the initial position of the intelligent electric scraper in the ground equipment;

[0050] Unmanned driving trial operation and trajectory teaching: Release the scraping operation requirements, the intelligent electric scraper operates according to the planned path, compares the planned path with the actual requirements, and adjusts the planned trajectory according to the actual requirements;

[0051] Automatic operation: The intelligent electric scraper automatically drives to the loading area; automatically identifies the ore pile and the large pieces in the ore pile, and automatically performs three-point shoveling; after shoveling, the intelligent electric scraper automatically drives to the unloading area for unloading, and after unloading, it autonomously returns to the loading area, repeating the automatic operation until the material transfer is completed;

[0052] Map update: During the automatic operation, the intelligent electric scraper detects that the scan upload time has exceeded the limit, and then sends the updated map to each equipment in the mining site through the ground control device.

[0053] (III) Beneficial effects

[0054] Intelligent systems, electrical systems and hydraulic systems are used to control underground intelligent electric scrapers, realizing highly intelligent operation of scrapers and reducing the labor intensity of personnel;

[0055] The cable drum is equipped with a composite cable for connecting the underground intelligent electric scraper to the power supply equipment and communication equipment on the ground. By utilizing the cable reel's cable reeling and unreeling function, composite cables with integrated optical fibers can provide the intelligent scraper with a low-latency, zero-packet-loss network, reduce damage to wireless network facilities such as wireless APs caused by blasting, and eliminate the need to transfer wireless network facilities during transfer, thus reducing costs and improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a schematic diagram of the overall structure of the underground intelligent electric scraper of the present invention;

[0057] Figure 2 It is a structural schematic diagram of the working device of the underground intelligent electric scraper of the present invention;

[0058] Figure 3 It is a structural schematic diagram of the intelligent system of the underground intelligent electric scraper of the present invention;

[0059] Figure 4 It is a structural schematic diagram of the frame assembly of the underground intelligent electric scraper of the present invention;

[0060] Figure 5 It is a structural schematic diagram of the chassis transmission system of the underground intelligent electric scraper of the present invention;

[0061] Figure 6 It is a structural schematic diagram of the hydraulic system of the underground intelligent electric scraper of the present invention;

[0062] Figure 7 It is a schematic structural diagram of the cable drum of the underground intelligent electric scraper of the present invention;

[0063] Figure 8 It is a structural schematic diagram of the electrical system of the underground intelligent electric scraper of the present invention;

[0064] Fig. 9 It is a principle block diagram of the health management and early warning subsystem of the underground intelligent electric scraper of the present invention;

[0065] Fig.10 It is a schematic diagram of intelligent operation of the underground intelligent electric scraper control method of the present invention;

[0066] Fig.11 It is a cross-sectional view of the composite cable of the underground intelligent electric scraper of the present invention. DETAILED DESCRIPTION

[0067] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below in conjunction with the accompanying drawings through specific embodiments. Figure 1 The orientation is used as a reference.

[0068] Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0069] The present invention provides an underground intelligent electric scraper with intelligent operation functions such as autonomous transportation, autonomous loading, and autonomous unloading, thereby realizing unmanned operation of the scraper throughout the entire process. Figure 1 As shown, the underground intelligent electric scraper includes an intelligent system 1, an electrical system 2, a hydraulic system 3, a frame assembly 4, a working device 5, a chassis transmission system 6, a cab 7, a cable drum 8 and a fluid system 9. The frame assembly 4 is installed above the chassis transmission system 6, the working device 5 is connected to the frame assembly 4, and the chassis transmission system 6 is used to drive the frame assembly 4 and the working device 5 to move. The intelligent system 1, the electrical system 2, the hydraulic system 3, the cab 7, the cable drum 8 and the fluid system 9 are all arranged on the frame assembly 4. Among them, the intelligent system 1, the electrical system 2 and the hydraulic system 3 are used to control the underground intelligent electric scraper, realize the highly intelligent operation of the scraper, and reduce the labor intensity of personnel. A composite cable 8-2 is provided on the cable reel 8, which is used to connect the underground intelligent electric shovel loader with the power supply equipment and communication equipment on the ground. By utilizing the cable reeling and releasing function of the cable reel 8 and adopting the composite cable 8-2 with integrated optical fiber, a low-latency, zero-packet-loss network can be provided for the intelligent shovel loader, thereby reducing the damage to wireless network facilities such as wireless APs caused by blasting, and eliminating the need to transfer wireless network facilities during transfer, thereby reducing costs and improving efficiency.

[0070] like Figure 2 As shown, the working device 5 mainly includes a boom 5-1, a rocker arm 5-2, a connecting rod 5-3, a bucket 5-4, a lifting cylinder 5-5, and a dumping cylinder 5-6. The boom 5-1, the rocker arm 5-2, the connecting rod 5-3 and the bucket 5-4 are all welded with high-strength alloy steel, and they form a reverse six-link mechanism, which can effectively enhance the shoveling force and increase the working field of vision. The cylinder barrels of the lifting cylinder 5-5 and the dumping cylinder 5-6 are both hinged to the frame assembly 4, and the piston rods of the lifting cylinder 5-5 and the dumping cylinder 5-6 are respectively hinged to the boom 5-1 and the bucket 5-2 in a one-to-one correspondence. The lifting cylinder 5-5 is used to drive the boom 5-1 to lift or lower, and the dumping cylinder 5-6 is used to drive the bucket to rotate within a set angle range.

[0071] like Figure 3 As shown, the intelligent system 1 includes multiple multi-line laser radars 1-1, multiple binocular cameras 1-2, a bucket cylinder stroke sensor 1-4, an intelligent control host 1-5, a boom encoder 1-8, an articulated encoder 1-9, and a vehicle-mounted pickup 1-11. The multi-line laser radar 1-1 is set at the tail of the frame assembly 4 and the boom 5-1, which is used to measure the real-time distance between the underground intelligent electric scraper and the tunnel wall and to identify obstacles. Binocular cameras 1-2 are set at the tail of the frame assembly 4, in front of the cab 7, behind the cab 7, and on the boom 5-1, which are used for image monitoring during the driving and operation of the scraper and the identification of the ore pile b and the large block c in the ore pile. The vehicle-mounted pickup 1-11 is set in the cab 7 to receive the real working sound in the cab 7 in real time, so that the safety personnel of the remote center can truly feel the working environment and are not prone to fatigue, and it is also easy to detect abnormal sounds of the equipment. Furthermore, the intelligent system 1 also includes a status indicator light 1-3, a blind spot radar 1-6 and a posture measurement system 1-7. The working device 5 also includes a boom encoder mounting seat 5-7 and an intelligent module mounting seat 5-8. The boom encoder mounting seat 5-7 is used to install the boom encoder 1-8, and the intelligent module mounting seat 5-8 is used to install the multi-line laser radar 1-1, the binocular camera 1-2 and the status indicator light 1-3.

[0072] Specifically, the multi-line laser radar 1-1 is mainly used to measure the real-time distance between the scraper and the tunnel wall to correct the autonomous navigation of the attitude measurement system 1-7, so that the scraper can always perform automatic driving according to the established planned path. It is also used for obstacle recognition during the operation of the scraper and autonomous obstacle avoidance. Compared with the single-line mechanical radar, the multi-line laser radar scans more feature points, so the failure rate will be lower. At the same time, the multi-line laser radar 1-1 can scan 360 degrees without blind spots, so the obstacle recognition ability is stronger. The multi-line laser radar 1-1 on the boom 5-1 is also used for ore pile b identification. The status indicator 1-3 is mainly used for indicating local, remote and automatic modes. The bucket cylinder stroke sensor 1-4 is mainly used for reading the attitude data of the bucket 5-4. The boom encoder 1-8 is mainly used for reading the attitude data of the boom 5-1. The articulated encoder 1-9 is mainly used for reading the attitude data of the articulated steering of the front and rear frames.

[0073] like Figure 4As shown, the frame assembly 4 includes a front frame 4-1, a rear frame 4-2, a cover 4-3, an articulation device 4-4 and a pair of steering cylinders 4-5. The front frame 4-1 and the rear frame 4-2 are both welded with high-strength steel and connected by an articulation device 4-4. The two steering cylinders 4-5 are connected to the front and rear frames on both sides and drive the front and rear frames to turn. The cover 4-3 is installed on the rear frame 4-2 and is used for the protection and maintenance functions of the core parts of the whole machine. The cover 4-3 is welded with thin plate parts and has an automatic limit function to ensure that it is not easy to hit your feet when opening the cover. In a preferred embodiment, there are a total of 5 binocular cameras 1-2, which are arranged on the upper part of the working device 5, the tail of the rear frame 4-2, above the hydraulic oil tank, in front of the cab 7 and behind the cab 7, respectively, for the picture monitoring during the driving and operation of the scraper and the visual recognition of the ore pile b and the large block c in the ore pile b.

[0074] like Figure 5 As shown, the chassis transmission system 6 includes a front drive axle 6-1, a rear drive axle 6-2, a transmission shaft 6-4, a gearbox 6-5, a torque converter 6-6, a main motor 6-7 and a hydraulic pump group 6-9. The drive axle 6-1 and the rear drive axle 6-2 are both heavy-duty axles, wherein the rear drive axle 6-2 is provided with a swing frame, and the tire 6-3 is a smooth tire 6-3. The transmission shaft 6-4 connects the front drive axle 6-1, the rear drive axle 6-2, the gearbox 6-5 and the torque converter 6-6, and the main motor 6-7 is an asynchronous motor connected to the torque converter 6-6 to provide power for the whole machine. The chassis transmission system 6 also includes an automatic controller 6-8, which is used for automatic shift control and protection of the commonly used core transmission components such as the gearbox 6-5 and the torque converter 6-6. The hydraulic pump group 6-9 is connected to the power take-off port on the torque converter 6-6 to provide hydraulic power for one or more operations of the whole machine operation, steering, cable winding, braking and cooling.

[0075] like Figure 6As shown, the hydraulic system 3 is mainly composed of a hydraulic oil tank 3-1, a brake oil tank 3-2, a radiator 3-3, a driving stability accumulator 3-4, a foot brake valve 3-5, an emergency brake release pump 3-6, an emergency steering pump 3-7, a working hydraulic system 3-8, a steering hydraulic system 3-9 and a cable winding / brake / cooling hydraulic system 3-10. The hydraulic oil tank 3-1 and the brake oil tank 3-2 are integrated and installed on the frame. The radiator 3-3 is installed at the tail of the rear frame and is mainly used for cooling hydraulic, brake and transmission oils. The driving stability accumulator 3-4 is installed above the tire fender of the front frame 4-1 and is mainly used for driving stability buffer control. The foot brake valve 3-5 is installed in the cab 7 and is mainly used for vehicle braking during driving. The emergency brake release pump 3-6 and the emergency steering pump 3-7 are installed in the middle of the rear frame and are mainly used to release the emergency brake and temporarily activate the steering hydraulic system 3 when the vehicle is powered off or has no power, so that the equipment can be towed at a low speed when it has no power. The working hydraulic system 3-8 is mainly composed of a working variable pump and related valves and pipelines, and is used to control the action of the working device 5. The steering hydraulic system 3-9 is mainly composed of a steering variable pump and related valves and pipelines, and is used to control the steering action. The cable winding / brake / cooling hydraulic system 3-10 is mainly composed of a triple gear pump and related valves and pipelines, and is mainly used to control the cable drum 8 to retract and release the cable, driving / parking / emergency braking and cooling system.

[0076] like Figure 7 As shown, the cable reel 8 includes a reel frame 8-1, a slip ring box 8-3, a cable winding motor 8-4 and a cable guide device 8-5. The reel frame 8-1 is rotatably arranged on the rear frame 4-2 through the slip ring box 8-3 and the cable winding motor 8-4, and the cable winding motor 8-4 is used to drive the reel frame 8-1 to rotate. The cable guide device 8-5 is installed on the reel frame 8-1 through a pair of guide arms 8-7, and plays a guiding role when the cable is retracted and released. The composite cable 8-2 passes through the cable guide device 8-5 and then is wound on the reel frame 8-1. The composite cable 8-2 is connected to the slip ring box 8-3, and the composite cable 8-2 is connected to the underground intelligent electric shovel loader through the slip ring box 8-3, and the shovel loader is connected to the composite cable 8-2. The reel frame 8-1 is a structural member used to carry the composite cable 8-2, see Fig.11 The composite cable 8-2 is mainly composed of a ground wire, a phase wire, a tensile rope, a polyurethane sheath and an optical fiber, and is used to transmit power and network to the underground. Furthermore, the cable drum 8 also includes a damping oil cylinder 8-6, and there are two damping oil cylinders 8-6, which are arranged on both sides of the drum frame 8-1 and connected to the corresponding side guide arm 8-7, and are used to provide damping to the guide arm 8-7 so that it always stays centered when driving in a straight line.

[0077] like Figure 3As shown, the electrical system 2 includes a first electric control cabinet 2-1, a second electric control cabinet 2-2, a signal light 2-4, a control panel 2-5, a first boom proximity switch 2-8, a steering proximity switch 2-9, a second boom proximity switch 2-10, a vehicle power supply 2-11, and a dump cylinder proximity switch 2-13. The first electric control cabinet 2-1 and the second electric control cabinet 2-2 are arranged on both sides of the rear frame 4-2. The first electric control cabinet 2-1 is used to control the high voltage of 1000V or above introduced by the cable drum 8, and the second electric control cabinet 2-2 is used for low voltage control of the front frame 4-1 and the working device 5. The first boom proximity switch 2-8 is preferably two, which are installed on the side of the front frame 4-1, and the corresponding trigger baffle is installed on the side of the boom 5-1. The lower proximity switch is used for the lower buffer limit of the boom 5-1, that is, when the boom 5-1 descends to a position close to the mechanical limit, the proximity switch is triggered, and the descending speed is reduced by controlling the flow of the lifting cylinder to prevent the boom 5-1 from violently colliding with the mechanical limit. The upper proximity switch is used to trigger the driving stability function, that is, when the bucket is full of ore and the boom 5-1 descends to the limit of the proximity switch, a signal is transmitted to the hydraulic system 3, so that the driving stability accumulator 3-4 is connected to the lifting cylinder fluid circuit. The accumulator plays a buffering role, so that when the equipment is overloaded, the impact of the working device 5 on the equipment is reduced, so as to improve the structural life of the equipment and the comfort of the driver. The steering proximity switch 2-9 is installed in the middle of the front frame 4-1, and its trigger baffle is installed in the middle of the rear frame 4-2. It is mainly used for deceleration buffering before the front and rear frames are articulated and turned to the limit position to reduce the impact of the mechanical limit. The second boom proximity switch 2-10 is preferably two, installed at different angles at the root of the boom 5-1, and is mainly used for the automatic weighing system. The principle of automatic weighing is mainly based on the change in oil pressure during shoveling and converting it into weight change. Since the oil pressure in the early stage of lifting is on the rise, it will stabilize until the middle and late stages of lifting. The oil pressure at this time corresponds to the weight of the ore in the bucket at this time. Therefore, it is necessary to select a section where the oil pressure tends to be stable. These two proximity switches at different angles are used for this purpose. The on-board power supply 2-11 is installed on the rear frame 4-2, and is used for low-voltage DC power supply for lighting, control, etc. on the scraper, and is also used for power supply of emergency release brake pump 3-6 and emergency steering pump 3-7. The bucket cylinder proximity switch 2-13 is installed at the root of the bucket cylinder, at least two, preferably two, respectively used for buffering the extreme positions of bucket tipping and bucket collection, so that the surface and the mechanical limiter collide violently.

[0078] Further, see Figure 8The electrical system 2 also includes auxiliary equipment such as an emergency stop button 2-3, a warning light 2-6, a horn 2-7, and a lighting lamp 2-12, as well as foil strain sensors 2-14, fiber grating sensors 2-15, sound and light alarm devices 2-16, piezoelectric acceleration sensors 2-17, transmission thermocouple temperature sensors 2-18, inductive metal particle sensors 2-19, vibration viscosity sensors 2-20, hydraulic system 3 thermocouple temperature sensors 2-21, capacitive moisture sensors 2-22, optical contamination sensors 2-23, torque converter thermocouple temperature sensors 2-24, strain pressure sensors 2-25, magnetoelectric speed sensors 2-26, non-contact capacitive sensors 2-27, piezoresistive pressure sensors 2-28, brake system thermocouple temperature sensors 2-29, Hall effect speed sensors 2-30, and other sensors. For the sensor installation locations, see Fig. 9 , used to obtain various data of the scraper in real time. The emergency stop button (2-3) is mainly arranged on the rear frame 4-2, in the cab 7 and in the remote control center, respectively controlling the local and remote emergency stops of the equipment. The signal light (2-4) is installed on the side of the cab, mainly used to warn the surrounding personnel after the equipment is started. The horn (2-7) is installed at the bottom of the front frame 4-1, mainly used to warn the surrounding personnel. The lighting lamp (2-12) is mainly used for lighting during the driving and operation of the scraper.

[0079] Furthermore, if Fig. 9As shown, the electrical system also includes a health management and early warning subsystem, which includes a data analysis module, an early warning display module, and one or more of a front frame working device sensor acquisition module, a brake system sensor acquisition module, a hydraulic system sensor acquisition module, a gearbox sensor acquisition module, and a torque converter sensor acquisition module. The data analysis module is arranged on the frame assembly, and the early warning display module and one or more of the front frame working device sensor acquisition module, the brake system sensor acquisition module, the hydraulic system sensor acquisition module, the gearbox sensor acquisition module, and the torque converter sensor acquisition module are connected to the data analysis module. Among them, the front frame working device sensor acquisition module includes: a foil strain sensor and a fiber grating sensor. The brake system sensor acquisition module includes: a non-contact capacitive sensor, a piezoresistive pressure sensor, a thermocouple temperature sensor, and a Hall effect speed sensor. The hydraulic system sensor acquisition module includes: a vibration viscosity sensor, a thermocouple temperature sensor, a capacitive moisture sensor, and an optical contamination sensor. The gearbox sensor acquisition module includes: a piezoelectric acceleration sensor, a thermocouple temperature sensor, and an inductive metal particle sensor. The torque converter sensor acquisition module includes: thermocouple temperature sensor, strain gauge pressure sensor and magnetoelectric speed sensor. The early warning display module includes a vehicle-mounted display screen and an audible and visual alarm device connected to the data analysis module. By installing different types of sensors at key locations such as the frame assembly 4, working device 5, gearbox, axle and hydraulic system 3, relevant data is collected in real time, and then processed and analyzed using the data analysis module. The results are displayed on the display screen in the cab 7 of the scraper through the status display module, as well as on a mobile phone or bracelet that can be connected to the system. When an abnormal situation occurs, the early warning module sounds an alarm, and the maintenance guidance module provides corresponding maintenance suggestions based on the analysis results.

[0080] Specifically, for the front frame 4-1 and the working device 5, a stress analysis algorithm and a fatigue life prediction algorithm are used. By analyzing the stress data collected by the strain sensor, combined with the material properties of the working device 5 and the actual working load, the stress distribution and fatigue life consumption of the working device 5 are calculated; for the brake system, a braking performance evaluation algorithm is used. According to the data collected by the pressure sensor, temperature sensor and speed sensor, the key indicators such as the brake pressure, brake temperature and brake distance of the brake system are calculated, and compared with the preset standard values ​​to determine whether the performance of the brake system is normal; for the hydraulic system 3, a hydraulic oil health evaluation algorithm is used. The data collected by the viscosity sensor, temperature sensor, moisture sensor and contamination sensor are integrated to analyze the viscosity change, temperature change, moisture content and contamination degree of the hydraulic oil, and compared with the normal range value to determine the health of the hydraulic oil; for the gearbox, a gearbox fault diagnosis algorithm is used. The data sets collected by the vibration sensor, temperature sensor and metal particle sensor are analyzed, and the wear of the gears and the possibility of gearbox failure are determined through vibration feature analysis, temperature trend analysis and metal particle quantity and size analysis; for the torque converter, a torque converter state evaluation algorithm is used. Based on the data collected by the temperature sensor, pressure sensor and speed sensor, the temperature change, oil pressure change and speed difference change of the torque converter are analyzed to judge the working status of the internal components of the torque converter such as the clutch plate and the overall performance of the torque converter; at the same time, according to the characteristics and importance of different components, set corresponding early warning rules.

[0081] like Figure 6 As shown, the underground intelligent electric shovel loader also includes a fluid system 9, which is mainly composed of an automatic lubrication system 9-1 and an automatic fire extinguishing system 9-2. The automatic lubrication system 9-1 is mainly used for automatic lubrication of the joint pins of the working device 5, the hinge device 4-4, the front and rear axles, etc.; the automatic fire extinguishing system 9-2 is mainly composed of a temperature sensor and a dry powder tank. When a fire occurs, the temperature sensor transmits a signal to the electric control cabinet 2-1 after being subjected to high temperature, triggering automatic dry powder injection for fire extinguishing.

[0082] Intelligent system 1 is the key technology of the entire intelligent scraper, such as Fig.10As shown, the intelligent shovel loader safety access control system e enters the intelligent operation area, and automatically drives to the ore pile b in the tunnel a through global positioning navigation automatic driving, and starts autonomous shoveling. During the shoveling process, it can automatically identify the ore pile b and the large pieces c in the ore pile b, and can intelligently control the host 1-5 to cancel the preset safety distance between the two sides and the tunnel wall, and measure the distance to the tunnel walls on both sides in real time through the multi-line laser radar, control the shovel loader to shovel once by the left tunnel wall, then shovel once by the right tunnel wall, and finally shovel once along the center line of the tunnel, and operate in this cycle to ensure that the ore is shoveled cleanly and there is no ore left on the road, thereby reducing tire wear. Specifically, the autonomous shoveling function mainly identifies the shape, position and distribution of the ore pile b through the multi-line laser radar and binocular camera, and issues autonomous shoveling instructions to the whole machine electrical system 2, hydraulic system 3, chassis transmission system 6 and working device 5 through the intelligent control host 1-5. During the identification process of the ore pile b, if a large piece c is identified in the ore pile b, the intelligent control host 1-5 will issue an instruction to shovel the large piece c to the relevant system, and the large piece c will be shoveled to the secondary crushing point for secondary crushing. If it is found that there is no large piece, the intelligent control host 1-5 will issue an autonomous shoveling instruction to the relevant system. At the same time, during the autonomous shoveling process, the intelligent control host 1-5 will issue an order to cancel the preset safety distance between the two sides and the tunnel wall, and use the multi-line laser radar to measure the distance to the tunnel walls on both sides in real time, and control the shovel loader to shovel once near the left tunnel wall, then once near the right tunnel wall, and finally once along the center line of the tunnel, and repeat the operation in this way.

[0083] like Fig.10 As shown, the present invention also provides an intelligent electric scraper control method, which includes:

[0084] Rapid scanning, mapping and point marking: Use a mobile device equipped with a scanning device to scan the stope to form a map, and mark key locations on the map, including loading areas, unloading areas and turning points; import the map into the intelligent system;

[0085] Remote repositioning: Set the initial position of the smart electric loader in the ground equipment;

[0086] Unmanned driving trial operation and trajectory teaching: Release the scraping operation requirements, and the intelligent electric scraper will operate according to the planned path, compare the planned path with the actual needs, and adjust the planned trajectory according to the actual needs;

[0087] Automatic operation: The intelligent electric scraper automatically drives to the loading area; automatically identifies the ore pile and the large pieces in the ore pile, and automatically performs three-point shoveling; after shoveling, the intelligent electric scraper automatically drives to the unloading area for unloading, and then returns to the loading area autonomously after unloading, repeating the automatic operation until the material transfer is completed;

[0088] Map update: During the automatic operation, the intelligent electric shovel loader detects that the scan upload time has exceeded the limit, and then sends the updated map to each equipment in the mining site through the ground control device.

[0089] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0090] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0091] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0092] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0093] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An underground intelligent electric scraper, characterized in that: The underground intelligent electric scraper includes an intelligent system, an electrical system, a hydraulic system, a frame assembly, a working device, a chassis transmission system, a cab, a cable drum and a fluid system; The frame assembly is arranged on the chassis transmission system, the working device is connected to the frame assembly, and the chassis transmission system is used to drive the frame assembly and the working device to move; The intelligent system, the electrical system, the hydraulic system, the cab, the cable reel and the fluid system are all arranged on the frame assembly; wherein, the intelligent system, the electrical system and the hydraulic system are used for controlling the underground intelligent electric scraper; a composite cable is arranged on the cable reel for connecting the underground intelligent electric scraper with the power supply equipment and communication equipment on the ground.

2. The underground intelligent electric scraper according to claim 1, characterized in that: The working device comprises a boom, a rocker arm, a connecting rod, a bucket, a lifting cylinder and a dump cylinder; The boom, the rocker arm, the connecting rod and the bucket are connected to form a reverse six-link mechanism, and the boom is hinged to the frame assembly; The cylinder barrels of the lifting cylinder and the dump bucket cylinder are both hinged to the frame assembly, and the piston rods of the lifting cylinder and the dump bucket cylinder are respectively hinged to the boom and the bucket in a one-to-one correspondence.

3. The underground intelligent electric scraper according to claim 2, characterized in that: The intelligent system includes an intelligent control host, a vehicle-mounted microphone electrically connected to the intelligent control host, a plurality of multi-line laser radars, and a plurality of binocular cameras; Wherein, the multi-line laser radar is arranged on the tail of the frame assembly and the upper arm, which is used to measure the real-time distance between the underground intelligent electric scraper and the tunnel wall and to identify obstacles; The binocular cameras are arranged at the rear of the frame assembly, in front of the cab, behind the cab and on the big arm, and are used for image monitoring of the underground intelligent electric scraper during driving and operation and for identifying the ore pile and large blocks in the ore pile; The vehicle-mounted microphone is arranged in the cab and is used for receiving the operation sound in the cab in real time.

4. The underground intelligent electric scraper according to claim 3, characterized in that: The intelligent system also includes a bucket cylinder stroke sensor, a boom encoder and an articulation encoder; The bucket cylinder stroke sensor is arranged on the bucket cylinder and is used to measure the posture data of the bucket; The upper arm encoder is arranged on the upper arm and is used to measure the posture data of the upper arm; The articulated encoder is arranged at the articulated steering position of the frame assembly, and is used to measure the articulated steering posture data of the frame assembly.

5. The underground intelligent electric scraper according to claim 1, characterized in that: The frame assembly includes a front frame, a rear frame, a cover, an articulation device and a pair of steering cylinders; The front frame and the rear frame are connected through the hinge device, a pair of steering cylinders are symmetrically arranged on both sides of the hinge device, and the front frame and the rear frame are both connected to the steering cylinders; the cover is arranged on the rear frame; The working device is connected to the front frame, and the electrical system, the hydraulic system, the cab and the cable drum are all arranged on the rear frame.

6. The underground intelligent electric scraper according to claim 5, characterized in that: The chassis transmission system includes a front drive axle, a rear drive axle, a transmission shaft, a main motor and a hydraulic pump group; The front drive axle is arranged below the front frame, the rear drive axle is arranged below the rear frame, and the front drive axle and the rear drive axle are connected via a transmission shaft; The main motor is connected to the rear drive axle, and the transmission shaft passes through the rear drive axle to connect to the main motor; The hydraulic pump group is arranged on the rear drive axle to provide hydraulic power for one or more operations of the underground intelligent electric scraper, including working, steering, cable winding, braking, and cooling.

7. The underground intelligent electric scraper according to claim 1, characterized in that: The cable reel comprises a reel frame, a slip ring box, a cable reel motor and a cable guide device; The drum frame is rotatably arranged on the frame assembly through the slip ring box and the cable winding motor; the cable guide device is arranged on the drum frame, and the composite cable passes through the cable guide device and then is wound on the drum frame; The composite cable is connected to the slip ring box, and the composite cable is connected to the underground intelligent electric scraper through the slip ring box.

8. The underground intelligent electric scraper according to claim 2, characterized in that: The electrical system includes a first electric control cabinet, a second electric control cabinet, a control panel, a first boom proximity switch, a steering proximity switch, a second boom proximity switch, an on-board power supply, and a dump bucket cylinder proximity switch; The first electric control cabinet and the second electric control cabinet are respectively arranged on both sides of the frame assembly. The first electric control cabinet is used to control the high voltage electricity of 1000V and above introduced by the cable drum; the second electric control cabinet is used to control the low voltage equipment; The first boom proximity switch is arranged at the front part of the frame assembly, and is used for the lower buffer limit of the boom. When the boom descends to a position close to the mechanical limit, the boom triggers the first boom proximity switch, and reduces the descending speed of the boom by controlling the flow of the lifting cylinder; The steering proximity switch is arranged in the middle of the frame assembly, and the steering proximity switch is triggered when the frame assembly is turned to a position close to the limit; The second boom proximity switch is arranged at the root of the boom, and the second boom proximity switch is triggered when the boom is lifted to the upper limit position; The vehicle-mounted power supply is arranged on the vehicle frame assembly and is used for low-voltage DC power supply and power supply for the emergency brake release pump and the emergency steering pump; The bucket cylinder proximity switch is arranged at the root of the bucket cylinder, and there are at least two switches, which are used for buffering the extreme positions of bucket tipping and bucket retraction respectively.

9. The underground intelligent electric scraper according to claim 8, characterized in that: The electrical system also includes a health management and early warning subsystem; The health management and early warning subsystem includes a data analysis module, an early warning display module, and one or more of a front frame working device sensor acquisition module, a brake system sensor acquisition module, a hydraulic system sensor acquisition module, a gearbox sensor acquisition module, and a torque converter sensor acquisition module; the data analysis module is arranged on the frame assembly, and the early warning display module and one or more of the front frame working device sensor acquisition module, the brake system sensor acquisition module, the hydraulic system sensor acquisition module, the gearbox sensor acquisition module, and the torque converter sensor acquisition module are connected to the data analysis module; Wherein, the sensor acquisition module of the front frame working device includes: a foil strain sensor and a fiber grating sensor; The brake system sensor acquisition module includes: a non-contact capacitive sensor, a piezoresistive pressure sensor, a thermocouple temperature sensor and a Hall effect speed sensor; The hydraulic system sensor acquisition module includes: a vibration viscosity sensor, a thermocouple temperature sensor, a capacitive moisture sensor and an optical contamination sensor; The gearbox sensor acquisition module includes: a piezoelectric acceleration sensor, a thermocouple temperature sensor and an inductive metal particle sensor; The torque converter sensor acquisition module includes: a thermocouple temperature sensor, a strain gauge pressure sensor and a magnetoelectric speed sensor; The early warning display module includes a vehicle-mounted display screen and an audible and visual alarm device connected to the data analysis module.

10. A control method for an intelligent electric scraper, characterized in that: The intelligent electric scraper control method comprises: Rapid scanning, mapping and point marking: Use a mobile device equipped with a scanning device to scan the stope to form a map, and mark key locations on the map, including loading areas, unloading areas and turning points; import the map into the intelligent system; Remote repositioning: setting the initial position of the intelligent electric scraper in the ground equipment; Unmanned driving trial operation and trajectory teaching: Release the scraping operation requirements, the intelligent electric scraper operates according to the planned path, compares the planned path with the actual requirements, and adjusts the planned trajectory according to the actual requirements; Automatic operation: The intelligent electric scraper automatically drives to the loading area; automatically identifies the ore pile and the large pieces in the ore pile, and automatically performs three-point shoveling; after shoveling, the intelligent electric scraper automatically drives to the unloading area for unloading, and after unloading, it autonomously returns to the loading area, repeating the automatic operation until the material transfer is completed; Map update: During the automatic operation, the intelligent electric scraper detects that the scan upload time has exceeded the limit, and then sends the updated map to each equipment in the mining site through the ground control device.

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