Electric mine card with obstacle detection system
Patent Information
- Application Number
- CN202510179326.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-18
- Publication Date
- 2025-05-13
Smart Images
Figure CN119975904A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of electric mining trucks, in particular to an electric mining truck with an obstacle detection system. Background Art
[0002] Electric mining trucks mainly serve industrial fields such as mines and aggregate mines, and are responsible for safely and efficiently transporting raw materials from ore mining sites or sand and gravel collection sites to crushing stations, stacking areas, or further shipping them to ships, trains and other transportation vehicles. In this process, electric mining trucks often need to deal with complex working conditions of heavy-load downhill driving. This feature enables them to make full use of the kinetic energy recovery system, effectively reduce energy consumption, and improve overall energy efficiency.
[0003] However, the complex and ever-changing environment in mining areas poses a severe test to the operation of electric mining trucks. The rough and uneven roads not only test the vehicle's suspension system and driving performance, but also increase the difficulty of driving. At the same time, there may be various obstacles in the mining area, such as rocks and trees, which require electric mining trucks to have excellent obstacle detection and avoidance capabilities.
[0004] Electric mining trucks also face another challenge during driving: dust. During the driving process, dust may appear around, which can easily block the lens of the visual sensor, resulting in a decrease in image quality, which in turn affects the accurate identification of obstacles. Especially when driving on narrow roads with two-way single lanes, once an obstacle is detected, electric mining trucks need to make more accurate and rapid obstacle avoidance decisions due to limited obstacle avoidance space, which undoubtedly increases the complexity and risk of driving.
[0005] Therefore, it is necessary to provide an electric mining truck with an obstacle detection system to solve the above problems. Summary of the invention
[0006] In order to solve the above problems, the present invention provides the following technical solutions: an electric mining truck with an obstacle detection system, comprising: A truck body having a platform on top; A detection drone, which is parked on the platform; A power supply cable, one end of which is electrically connected to the platform, and the other end of which is electrically connected to the detection drone; Two symmetrically arranged obstacle guide assemblies, wherein the obstacle guide assemblies are arranged at the bottom of the truck body; The front of the detection drone is equipped with a visual sensor for continuously monitoring whether there are obstacles in front of the truck body and the size of the obstacles; When the visual sensor detects dust in front of the truck body, the detection drone flies away from the platform and is located in front of the truck body to get rid of the dust and continue monitoring; The obstacle guidance component can guide the obstacles accordingly according to the monitoring results of the detection drone.
[0007] Further, preferably, the obstacle guiding assembly comprises: A first guide member, the first guide member is fixed to the chassis of the truck body, the first guide member is inclined, and the inclination direction is: from the middle front of the truck body to the wheel direction of the truck body; A second guide member, the second guide member is rotatably disposed at one end of the first guide member; a first telescopic cylinder, one end of which is hinged to the chassis of the truck body and the other end of which is capable of contacting the second guide member; The second telescopic cylinder has one end hinged to the chassis of the truck body and the other end hinged to the first telescopic cylinder.
[0008] Further, as a preference, a reduction motor is also embedded in the first guide member, a rotating shaft is fixed to the output end of the reduction motor, and the rotating shaft is connected to the second guide member.
[0009] Further, preferably, when the monitoring result of the detection drone shows that the specification of the obstacle is greater than a first threshold value, the inclination direction of the second guide member is close to or equal to the inclination direction of the first guide member adjacent to the second guide member, and the second guide member is supported by the first telescopic cylinder.
[0010] Further, preferably, when the monitoring results of the detection drone show that the specification of the obstacle is less than or equal to the first threshold value, the inclination direction of the second guide member away from the roadside is perpendicular to the inclination direction of the first guide member adjacent to the second guide member, and the second guide member is adjusted by the reduction motor, and the road is a two-way single lane.
[0011] Further, preferably, the first guide member and the second guide member have the same structure, both comprising a frame and a plurality of guide rollers rotatably disposed on the frame.
[0012] Further, as a preference, a plurality of slots are provided on the outer circumference of the rotating shaft, and a locking assembly for locking the rotating shaft is also provided on the first guide member, and the locking assembly comprises: A sleeve, which is fixed on the first guide member and sleeved on the outside of the rotating shaft, and the sleeve is provided with a plurality of through holes corresponding to the slots; A locking rod slidably disposed in the through hole; A rotating drum, which is rotatably arranged outside the sleeve and driven by a driver, wherein the driver is fixed on the first guide member, and the inner wall of the rotating drum is provided with internal teeth; The first gear and the second gear disposed in the sleeve are rotated, wherein the first gear is meshed with the internal teeth, and the second gear is meshed with the first gear and the locking rod.
[0013] Further, preferably, an elastic pad connected to the locking rod is also installed in the through hole.
[0014] Further, preferably, the bottom of the first guide member is higher than the bottom of the second guide member.
[0015] Compared with the prior art, the present invention provides an electric mining truck with an obstacle detection system, which has the following beneficial effects: The electric mining truck of the present invention realizes comprehensive monitoring of the mining environment and efficient obstacle avoidance by combining the detection drone and the obstacle guidance component, thereby improving transportation safety and efficiency and reducing maintenance costs; Among them, the detection drone is located in front of the truck. Due to its position advantage, it can get rid of the interference of ground dust and continue to monitor with visual sensors. The obstacle guidance component achieves effective guidance of large and small obstacles and vehicle safety protection through its unique structure and control strategy. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 A schematic diagram of the structure of an electric mining truck with an obstacle detection system Figure 1 ; Figure 2 A schematic diagram of the structure of an electric mining truck with an obstacle detection system Figure 2 ; Figure 3 It is a structural schematic diagram of an obstacle guide component in an electric mining truck with an obstacle detection system; Figure 4 It is a structural schematic diagram of a first guide member and a second guide member in an electric mining truck with an obstacle detection system; Figure 5 It is a structural schematic diagram of a locking assembly in an electric mining truck with an obstacle detection system; Figure 6 for Figure 5 A schematic diagram of the enlarged structure at point A; Figure 7 Schematic diagram of an obstacle guide component in an electric mining truck with an obstacle detection system Figure 1 ; Figure 8Schematic diagram of an obstacle guide component in an electric mining truck with an obstacle detection system Figure 2 ; In the figure: 1. Truck body; 2. Platform; 3. Detection UAV; 4. Power supply cable; 5. Obstacle guide assembly; 51. First guide member; 52. Second guide member; 53. First telescopic cylinder; 54. Second telescopic cylinder; 55. Rotating shaft; 56. Locking assembly; 57. Driver; 58. Frame; 59. Guide roller; 551. Slot; 561. Sleeve; 562. Rotating cylinder; 563. Internal teeth; 564. Through hole; 565. Locking rod; 566. Elastic pad; 567. First gear; 568. Second gear. DETAILED DESCRIPTION
[0017] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned description of the drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is merely a way of distinguishing the objects of the same attributes when describing them in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.
[0018] Please refer to Figure 1-Figure 8 In an embodiment of the present invention, an electric mining truck with an obstacle detection system is provided, comprising: A truck body 1 having a platform 2 on the top; A detection drone 3, which is parked on the platform 2; A power supply cable 4, one end of which is electrically connected to the carrier 2, and the other end of which is electrically connected to the detection drone 3; Two symmetrically arranged obstacle guide assemblies 5, wherein the obstacle guide assemblies 5 are arranged at the bottom of the truck body 1; The front part of the detection drone 3 is equipped with a visual sensor for continuously monitoring whether there is an obstacle in front of the truck body 1 and the size of the obstacle; When the visual sensor detects dust in front of the truck body 1, the detection drone 3 flies away from the platform 2 and is located in front of the truck body 1 to get rid of the dust and continue monitoring; The obstacle guiding component 5 can guide the obstacles accordingly according to the monitoring results of the detection drone 3.
[0019] Then, when the truck body 1 is driving, the visual sensor at the front of the detection drone 3 continuously monitors whether there are obstacles in front of the truck body 1 and the size of the obstacles. If the road ahead is clear, without obstacles or dust, the truck body 1 will drive normally according to the preset route.
[0020] When the visual sensor detects dust in front of the truck body 1, the system will immediately recognize this environmental change. The detection drone 3 receives the take-off command, takes off from the platform 2, and quickly moves to the front of the truck body 1.
[0021] After the detection drone 3 is located in front of the truck body 1, due to its location advantage, it can get rid of the interference of ground dust and continue to monitor using visual sensors. The detection drone 3 transmits the monitored obstacle information to the control system of the truck body 1 in real time.
[0022] The control system calculates the best obstacle avoidance strategy based on the position, size and other information of the obstacle. The obstacle guide component 5 adjusts its position or shape according to the command of the control system to guide the truck body 1 to pass. After completing the obstacle monitoring and obstacle avoidance tasks, the detection drone 3 receives the return command and flies back to the platform 2.
[0023] In this embodiment, through the real-time monitoring of the detection drone 3, the truck body 1 can detect obstacles in advance and take effective obstacle avoidance measures, greatly reducing the probability of accidents. The location advantage of the detection drone 3 enables it to get rid of the interference of ground dust and ensure accurate monitoring capabilities even in harsh environments. The obstacle guidance component 5 can be flexibly adjusted according to the monitoring results of the detection drone 3, providing a variety of obstacle avoidance solutions for the truck body 1, improving the adaptability and flexibility of the vehicle. In addition, the coordinated work of the detection drone 3 and the truck body 1 realizes comprehensive monitoring and efficient utilization of the mining environment.
[0024] In this embodiment, the obstacle guiding component 5 includes: A first guide member 51, the first guide member 51 is fixed to the chassis of the truck body 1, the first guide member 51 is inclined, and its inclination direction is: from the middle front of the truck body 1 to the wheel direction of the truck body 1; A second guide member 52, the second guide member 52 is rotatably disposed at one end of the first guide member 51; A first telescopic cylinder 53, one end of which is hinged to the chassis of the truck body 1, and the other end of which can contact the second guide member 52; The second telescopic cylinder 54 has one end hinged to the chassis of the truck body 1 , and the other end hinged to the first telescopic cylinder 53 .
[0025] In this embodiment, the second telescopic cylinder 54 is mainly used to adjust the support angle of the first telescopic cylinder 53. Through the telescopic action, the support effect of the first telescopic cylinder 53 is optimized. This adjustment helps to ensure that when the truck body 1 encounters an obstacle, the first telescopic cylinder 53 can provide a stable and effective support force for the second guide member 52, thereby supporting the second guide member 52 to function better.
[0026] The first telescopic cylinder 53 is directly used to adjust the tilt direction of the second guide member 52. Through the telescopic action, it can change the angle between the second guide member 52 and the vehicle's travel direction, thereby achieving precise control of the obstacle guidance path. When the vehicle encounters an obstacle, the first telescopic cylinder 53 will be telescopically adjusted according to the command of the control system, so that the second guide member 52 can contact the obstacle at the most appropriate angle and guide it to move to both sides of the vehicle.
[0027] In the actual obstacle avoidance process, the second telescopic cylinder 54 and the first telescopic cylinder 53 work together. First, the second telescopic cylinder 54 adjusts the support angle of the first telescopic cylinder 53 as needed to ensure that the first telescopic cylinder 53 can provide stable support. Then, the first telescopic cylinder 53 adjusts the tilt direction of the second guide member 52 according to information such as the location and size of the obstacle to achieve the best obstacle avoidance effect.
[0028] In addition, a reduction motor is embedded in the first guide member 51 , and a rotating shaft 55 is fixed to the output end of the reduction motor. The rotating shaft 55 is connected to the second guide member 52 .
[0029] When the monitoring result of the detection drone 3 shows that the size of the obstacle is greater than the first threshold, the inclination direction of the second guide member 52 is close to or equal to the inclination direction of the first guide member 51 adjacent to the second guide member 52, and the second guide member 52 is supported by the first telescopic cylinder 53; When the monitoring results of the detection drone 3 show that the specification of the obstacle is less than or equal to the first threshold, the inclination direction of the second guide member 52 away from the roadside is perpendicular to the inclination direction of the first guide member 51 adjacent to the second guide member 52, and the second guide member 52 is adjusted by the reduction motor, and the road is a two-way single lane.
[0030] When the monitoring result of the detection drone 3 shows that the size of the obstacle is greater than the first threshold, it indicates that the obstacle is large and may cause a greater impact on the vehicle. Figure 7 At this time, the inclination direction of the second guide member 52 is close to or equal to the inclination direction of the first guide member 51 adjacent to the second guide member 52. This design is to ensure that large obstacles can be smoothly guided to both sides of the vehicle when impacting.
[0031] When the monitoring result of the detection drone 3 shows that the size of the obstacle is less than or equal to the first threshold, it indicates that the obstacle is small, but still needs to be properly handled to avoid safety risks in the oncoming lane. Figure 8 At this time, the inclination direction of the second guide member 52 away from the roadside will be adjusted to be perpendicular to the inclination direction of the first guide member 51 adjacent to the second guide member 52.
[0032] This adjustment is to ensure that small obstacles can be guided to the roadside as much as possible when they collide, rather than being bounced to the opposite lane. At this time, the reduction motor will start, and the second guide member 52 will be driven by the rotating shaft 55 to adjust the angle to achieve the best obstacle avoidance effect.
[0033] When handling an obstacle, the truck body 1 will slow down to ensure safety. However, even after the collision after deceleration, small obstacles may still be knocked away. Therefore, by specially designing the tilt direction and adjustment strategy of the second guide member 52, this risk can be minimized to ensure the safety of the opposite lane.
[0034] In this embodiment, the first guide member 51 and the second guide member 52 have the same structure, and both include a frame 58 and a plurality of guide rollers 59 rotatably disposed on the frame 58 .
[0035] The frame 58, as the basic structure of the guide members (the first guide member 51 and the second guide member 52), needs to have a certain rigidity to ensure that it can remain stable when hit by an obstacle. The shape and size of the frame 58 are designed according to the specific needs and obstacle avoidance strategy of the truck body 1. A plurality of guide rollers 59 are rotatably arranged on the frame 58. These guide rollers 59 are key components of the guide members and are used to directly contact obstacles and guide their movement. The surface of the guide rollers 59 is usually made of wear-resistant material.
[0036] In addition, a plurality of slots 551 are provided on the outer circumference of the rotating shaft 55. The first guide member 51 is also provided with a locking assembly 56 for locking the rotating shaft 55. The locking assembly 56 includes: A sleeve 561, which is fixed on the first guide member 51 and sleeved on the outside of the rotating shaft 55, and the sleeve 561 is provided with a plurality of through holes 564 corresponding to the slots 551; A locking rod 565 slidably disposed in the through hole 564; A rotating drum 562 is rotatably disposed outside the sleeve 561 and driven by a driver 57. The driver 57 is fixed to the first guide member 51, and inner teeth 563 are distributed on the inner wall of the rotating drum 562; The first gear 567 and the second gear 568 disposed in the sleeve 561 are rotated, wherein the first gear 567 is meshed with the inner teeth 563 , and the second gear 568 is meshed with the first gear 567 and the locking rod 565 .
[0037] When the angle of the second guide member 52 needs to be adjusted, the driver 57 is used to first drive the rotating drum 562 to rotate. The rotation of the rotating drum 562 drives the first gear 567 to rotate through the meshing of the inner teeth 563 and the first gear 567. The rotation of the first gear 567 further drives the locking rod 565 to slide in the through hole 564 through the meshing of the second gear 568, so that one end of the locking rod 565 withdraws from the slot 551, thereby releasing the locking state of the rotating shaft 55. At this time, the rotation angle of the rotating shaft 55 is adjusted (the rotation angle of the rotating shaft 55 is adjusted by the first telescopic cylinder 53 or the reduction motor), thereby adjusting the angle of the second guide member 52.
[0038] When the angle of the second guide member 52 is adjusted to the desired position, the driver 57 is used to drive the rotating drum 562 to rotate in the opposite direction. The rotation of the rotating drum 562 drives the locking rod 565 to slide in the through hole 564 through the meshing of the inner teeth 563 and the first gear 567 and the transmission of the second gear 568, so that one end of the locking rod 565 extends into the corresponding slot 551, thereby locking the position of the rotating shaft 55 to prevent it from rotating.
[0039] As a preferred embodiment, an elastic pad 566 connected to the locking rod 565 is also installed in the through hole 564 .
[0040] As a preferred embodiment, the bottom of the first guide member 51 is higher than the bottom of the second guide member 52. The purpose of such arrangement is to screen out smaller obstacles located in the middle of the truck body 1. These obstacles will not affect the movement of the truck body 1 and therefore will not contact the first guide member 51.
[0041] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.
Claims
1. An electric mining truck with an obstacle detection system, characterized in that: include: A truck body (1) having a platform (2) on the top; A detection drone (3) parked on the platform (2); A power supply cable (4), one end of which is electrically connected to the carrier (2), and the other end of which is electrically connected to the detection drone (3); Two symmetrically arranged obstacle guide assemblies (5), wherein the obstacle guide assemblies (5) are arranged at the bottom of the truck body (1); The front part of the detection drone (3) is equipped with a visual sensor for continuously monitoring whether there is an obstacle in front of the truck body (1) and the size of the obstacle; When the visual sensor detects dust in front of the truck body (1), the detection drone (3) flies away from the platform (2) and is located in front of the truck body (1) so as to get rid of the dust and continue monitoring; The obstacle guiding component (5) can guide obstacles accordingly according to the monitoring results of the detection drone (3).
2. The electric mining truck with an obstacle detection system according to claim 1, characterized in that: The obstacle guiding component (5) comprises: A first guide member (51), the first guide member (51) being fixed to the chassis of the truck body (1), the first guide member (51) being inclined, and the inclination direction being from the middle front of the truck body (1) to the wheel direction of the truck body (1); a second guide member (52), the second guide member (52) being rotatably disposed on one end of the first guide member (51); a first telescopic cylinder (53), one end of which is hinged to the chassis of the truck body (1), and the other end of which is capable of contacting the second guide member (52); A second telescopic cylinder (54) has one end hinged to the chassis of the truck body (1) and the other end hinged to the first telescopic cylinder (53).
3. The electric mining truck with an obstacle detection system according to claim 2, characterized in that: A reduction motor is also embedded in the first guide member (51), a rotating shaft (55) is fixed to the output end of the reduction motor, and the rotating shaft (55) is connected to the second guide member (52).
4. The electric mining truck with an obstacle detection system according to claim 3, characterized in that: When the monitoring result of the detection drone (3) shows that the size of the obstacle is greater than a first threshold value, the inclination direction of the second guide member (52) is close to or equal to the inclination direction of the first guide member (51) adjacent to the second guide member (52), and the second guide member (52) is supported by the first telescopic cylinder (53).
5. The electric mining truck with an obstacle detection system according to claim 3, characterized in that: When the monitoring result of the detection drone (3) shows that the size of the obstacle is less than or equal to the first threshold value, the inclination direction of the second guide member (52) away from the roadside is perpendicular to the inclination direction of the first guide member (51) adjacent to the second guide member (52), and the second guide member (52) is adjusted by the reduction motor, and the road is a two-way single lane.
6. The electric mining truck with an obstacle detection system according to claim 2, characterized in that: The first guide member (51) and the second guide member (52) have the same structure, and both comprise a frame (58) and a plurality of guide rollers (59) rotatably disposed on the frame (58).
7. The electric mining truck with an obstacle detection system according to claim 3, characterized in that: A plurality of slots (551) are provided on the outer circumference of the rotating shaft (55), and a locking assembly (56) for locking the rotating shaft (55) is also provided on the first guide member (51), wherein the locking assembly (56) comprises: A sleeve (561) fixed to the first guide member (51) and sleeved on the outside of the rotating shaft (55), and the sleeve (561) is provided with a plurality of through holes (564) corresponding to the clamping slots (551); A locking rod (565) slidably disposed in the through hole (564); a rotating drum (562) which is rotatably arranged outside the sleeve (561) and driven by a driver (57), wherein the driver (57) is fixed on the first guide member (51), and an inner wall of the rotating drum (562) is provided with internal teeth (563); The first gear (567) and the second gear (568) disposed in the sleeve (561) are rotated, wherein the first gear (567) is meshed with the internal teeth (563), and the second gear (568) is meshed with the first gear (567) and the locking rod (565).
8. The electric mining truck with an obstacle detection system according to claim 7, characterized in that: An elastic pad (566) connected to the locking rod (565) is also installed in the through hole (564).
9. The electric mining truck with an obstacle detection system according to claim 6, characterized in that: The bottom of the first guide member (51) is higher than the bottom of the second guide member (52).