Mining transportation box lifting appliance with active and passive guiding function and control method of mining transportation box lifting appliance

Abstract

The invention relates to a mining transportation box lifting appliance with active and passive guiding and a control method thereof, which are mainly applied to the field of loading and unloading of mining underground transportation boxes. The overall structure comprises a base assembly, an active and passive guide module and a semi-automatic locking module. Global positioning is achieved through the UWB fusion IMU technology, and the operation process comprises the steps that the active and passive guiding modules guide the lifting appliance to be positioned and attached to the transportation box body, and the semi-automatic locking module locks and unlocks the lifting appliance and the transportation box body. The positioning precision and efficiency are high through an active and passive combined guiding mode, locking matching of the lifting appliance and the transportation box body is completed through the semi-automatic locking module of the lifting appliance and the corner fittings at the four corners of the upper surface of the transportation box body, universality is high, and the lifting appliance is suitable for various transportation box bodies. The practical problem of underground loading and unloading of the transportation box body is solved, the loading and unloading efficiency is greatly improved, the labor demand is reduced, and intelligent, safe and efficient mine construction is promoted.

Description

Technical Field

[0001] The present invention relates to the field of loading and unloading of mine underground transportation boxes, and particularly relates to a mine transportation box lifting appliance with active and passive guiding and its control method. Background Art

[0002] It is necessary to deeply integrate modern information technologies such as the Internet, big data, and artificial intelligence with the energy industry. For the coal industry, specific requirements for strengthening the construction of intelligent and safe and efficient mines and improving the coal cross-regional transportation channels and the collection and distribution system are put forward.

[0003] Underground operation, the loading and unloading of transportation boxes on mine cars is one of the main work contents. Traditional underground loading and unloading mainly adopts the semi-artificial loading method. Workers use manual chain hoists to lift and load and unload the transportation boxes when the mine cars are in a parked state. The investment in human resources is large, the working environment of workers is harsh, the labor intensity is high, and there are certain safety hazards. With the rapid development of the economy, the labor cost has also increased significantly. There is a phenomenon of difficult recruitment for such underground operation positions. The increase in labor costs and environmental protection requirements has also become an obstacle to the development of the coal industry. Therefore, researching an intelligent loading system to replace manual operation will become the future development trend and inevitable choice of intelligent coal yards. The purpose of the present invention is to propose a design of a mine transportation box lifting appliance with active and passive guiding for loading and unloading the transportation boxes on mine cars, eliminating the underground labor of workers and improving the loading and unloading efficiency. It is a component of the standardized transportation loading system of materials in the coal mine industry and participates in realizing the efficient, safe, and standardized transportation of materials, improving the coal mine production efficiency and reducing the logistics cost. Summary of the Invention

[0004] The task to be solved by the present invention is to design a mine transportation box lifting appliance with active and passive guiding and its control method, which uses UWB integrated with IMU for global positioning, can automatically align and lock with the transportation box, and is convenient for lifting and loading and unloading the transportation box.

[0005] The technical solution adopted by the present invention to solve its technical problems is:

[0006] A mine transportation box lifting appliance with active and passive guiding and its control method, the overall structure is composed of a base assembly, an active and passive guiding module, and a semi-automatic locking module.

[0007] The base assembly mainly serves as a carrier and a connector. It is a quadrilateral truss structure composed of I-shaped steel plates as a whole, and the main frame is composed of cross beams and longitudinal beams. Pulley brackets are distributed above the four corners, facilitating hoisting by a crane or a hoist using a rope. A reinforcing cross beam is attached in the middle to increase the structural strength. Bearing seat bosses are symmetrically distributed for the installation of bearing seats. Installation spaces are reserved in the middle and at the four corners of the base for semi-automatic locking modules and guiding modules. Among them, there are protruding quadrilateral outer edges at the four corners of the base, and corner fittings for aligning with the transportation box are installed at the bottoms of the four corners, facilitating positioning and fitting with the corner fittings at the four corners of the upper surface of the transportation box.

[0008] The main and passive guiding modules are composed of two parts: the passive guiding module and the active guiding module, which jointly complete the positioning and fitting before the spreader is locked with the transportation box. For the passive guiding module, the main components are wedge-shaped plates embedded on the side of the base, including two passive guiding plates and a passive guiding corner fitting. Due to the external bending curvature of such shaped plates, during the process of the spreader approaching the upper surface of the transportation box from above, they will fit with the edge of the transportation box. During the falling and fitting process, they control the slow positioning of the spreader and the transportation box. The two passive guiding plates and a passive guiding corner fitting are distributed at three corners of the quadrilateral base, which can accurately position both sides of the spreader along both sides of the transportation box. The active guiding module is arranged at the remaining corner of the base and consists of a driving motor and an active guiding corner fitting. The active corner fitting is installed on the driving motor. When the driving motor rotates, it can drive the active guiding corner fitting to rotate downward. The motor starts working when the lower surface of the spreader is about 200 mm away from the upper surface of the transportation box. When the active guiding corner fitting fits the surface of the transportation box, the positioning of one corner of the spreader and the transportation box is completed. The combined action of the passive guiding module and the active guiding module can achieve the accurate positioning of the spreader and the transportation box in the form of two sides and one corner.

[0009] The semi-automatic locking module consists of a triangular paddle in the middle of the base, four rotary twist locks, transmission rods, bearing seats, and several universal joints. The triangular paddle in the middle is located in the middle of the entire spreader, fixedly connected to the transmission rod, and has parallel sliding grooves along the hypotenuse. The sliders installed on the sliding grooves of the triangular paddle are connected to the suspension such as a crane or a hoist. There are limit slots at both ends of the sliding groove of the triangular paddle to limit the sliders. When the spreader descends to the ground or the upper surface of the transportation box, if the rope connecting the slider continues to be lowered vertically, the slider can move from one limit slot to the other under the action of gravity. At the same time, the triangular paddle rotates 90°, and through the transmission rod, the rotary twist locks at the four corners are linked to rotate for locking or unlocking. For the convenience of description, the two limit slots of the triangular paddle are named the locking end and the unlocking end. The transmission rod is supported by the bearing seat and transmits torque to the rotary twist locks at the four corners at the head and tail during the process of the triangular paddle being toggled. The rods with spatial angles are connected by universal joints, which can convert the 90-degree rotation of the triangular paddle into the 90-degree rotation and locking of the lock heads of the four rotary twist locks. The semi-automatic locking module starts to work after the motor of the active guiding module stops working, that is, after positioning, to lock the spreader and the transportation box.

[0010] The cooperation and locking between the spreader and the transportation box mainly rely on the standard mating corner fittings installed at the four corners of the upper surface of the transportation box. During underground operations, facing different types of material loading requirements, the types of transportation boxes are often diverse. As shown in the figure, they are successively the lidless modular transportation box ( Figure 5 ), the double-door modular transportation box ( Figure 6 ), the open modular transportation box ( Figure 7 ), the side-dumping modular transportation box ( Figure 8 ), the gas-liquid modular transportation box ( Figure 9 ), etc., which can respectively carry medium-sized components, small components, long strip materials, sand-like materials, gases or liquids, etc.

[0011] In the cooperation link between the spreader and different types of transportation boxes, although the shapes and storage forms of these transportation boxes are different, they all have the condition of being able to install corner fittings at the four corners of the upper surface. As long as the lock heads of the rotary twist locks of the semi-automatic locking modules at the four corners of the spreader can be compatibly matched with the corner fittings at the four corners of the transportation box, the spreader can complete the lifting and transportation of the transportation box. It highlights that the mine transportation box spreader of the present invention has active and passive guidance and has high practicability. As long as the spreader can fit the upper surface of the transportation box and the four corners are aligned with the four corner fittings of the transportation box, for the above-mentioned various types of supporting transportation boxes, the cooperation and locking between the spreader and the transportation box can be completed.

[0012] In the control of the spreader for loading, unloading and transporting the box body, UWB base stations are installed at the four corners of the warehouse where it is located; UWB tags and IMUs are installed on the spreader; the UWB base stations and UWB tags are used for indoor positioning of the spreader, and combined with the IMU, it can improve the accuracy and robustness of the positioning and realize the tracking of the movement trajectory and attitude of the transported box body.

[0013] UWB technology can provide high-precision distance measurement. Through the distance and angle measurement between multiple base stations and tags, three-dimensional positioning of the transported box body or other objects can be realized. At the same time, the IMU can provide the acceleration and angular velocity information of the transported box body. By fusing these data of UWB and IMU through the extended Kalman filter algorithm, it is used to compensate for the movement and attitude changes in UWB positioning, and the position, velocity, acceleration and attitude of the object can be estimated in real time, thus improving the stability and accuracy of the positioning.

[0014] For the specific positioning measurement of the spreader pose, as Figure 10 shown, first, the spatial position of the spreader is solved by UWB, and the formula is as follows:

[0015]

[0016] x, y, z - The position coordinates of the UWB base station;

[0017] t1, t2, t3, t4 - The time when each base station at the four corners receives the signal sent by the UWB tag;

[0018] r1, r2, r3, r4 - The distances from each base station at the four corners to the UWB tag.

[0019] When the spreader hooks up the transported box body and moves towards the flatbed truck, the world coordinates of the transported box body are obtained through the UWB algorithm, and the relative position between the flatbed truck and the transported box body can be initially obtained. In order to further improve the positioning accuracy and robustness, the IMU sensor on the spreader is used to return the acceleration of the spreader, and through the extended Kalman filter algorithm (EKF algorithm), UWB / IMU data fusion is carried out to obtain the optimal estimate of the spreader position. The algorithm process is as Figure 11 shown.

[0020] In the algorithm implementation, the accelerations of the spreader on the x and y axes measured by the IMU [a x , a y are used as the input of the algorithm, and the position and velocity vectors of the spreader measured by UWB [x t , y t , v x , v y are used as the observation of the algorithm, that is, u t = [a x , a y T , Zt = [xt , y t , v x , v y ) T , the state vector of the model is

[0021] Prior estimate:

[0022]

[0023] where a rx , a ry are the components of the sensor acceleration after rotation on the global x and y:

[0024] a rx = a x cosθ - a y sinθ

[0025] a ry = a x sinθ - a y cosθ

[0026] Then we have:

[0027]

[0028] θ t+1 = θ t

[0029] The motion model is expressed as:

[0030] X t+1 = FX t + Bu t

[0031] Where:

[0032]

[0033]

[0034] The measurement equation:

[0035]

[0036] Calculate the Kalman gain:

[0037]

[0038] Obtain the optimal state estimate:

[0039] x t = x t + K t (z - h(x t))

[0040] In the specific process of using the sling, the use of the mine transportation box sling with active and passive guidance is mainly divided into two parts: locking with the transportation box before loading and unloading, and unlocking and detaching from the transportation box after loading and unloading.

[0041] The process of locking the mine transportation box sling with active and passive guidance with the transportation box before loading and unloading: Driven by a crane or hoist, etc., the sling uses UWB integrated with IMU positioning. Manually control the crane or hoist to transport the sling above the designated transportation box (the coordinates of the transportation box to be grabbed are known). Drive the lifting device to lower the sling. Due to the curved and protruding structure of the two passive guiding plates and one passive guiding angle piece of the passive guiding module, they naturally fit with the edges of the transportation box, completing the positioning on both sides of the upper surface of the transportation box. After the sling is placed at a certain distance from the transportation box, the motor of the active guiding module drives the active guiding angle plate to rotate downward and close together, fitting with a corner of the transportation box, completing the alignment in the form of two sides and one corner. When the sling is lowered and fits with the upper surface of the transportation box, the rotary twist locks at the four corners of the sling have accurately aligned with the mating angle pieces at the four corners of the transportation box. The crane or hoist continues to descend, and the ropes connecting the sliders on the triangular paddles become slack. The sliders slide from the unlocking end to the tightening end under the action of gravity (the sliders stay at the unlocking end in the initial state). At the same time, the triangular paddles are rotated 90 degrees, and transmitted to the four corners through the transmission rods to lock the four rotary twist locks. After the rotary twist locks complete the locking fit with the corner pieces of the transportation box, the crane or hoist can lift the sling and the transportation box. During the lifting process, the sliders on the triangular paddles stay in the upper limit slots on the paddles and will not slide.

[0042] The process of unlocking the mine transportation box sling with active and passive guidance from the transportation box after loading and unloading: Driven by a crane or hoist, etc., after placing the transportation box at the designated position (the coordinates are known), drive the lifting device to lower the sling and the transportation box. When the lower surface of the transportation box fits with the ground, the crane or hoist continues to descend, and the ropes connecting the sliders on the triangular paddles become slack. The sliders slide from the tightening end to the unlocking end under the action of gravity (the sliders stay at the tightening end in this state). At the same time, the triangular paddles are driven to rotate counterclockwise, and transmitted to the four-corner rotary twist locks through the transmission rods to unlock the four-corner rotary twist locks. After the rotary twist locks complete the unlocking with the corner pieces of the transportation box, the crane or hoist can lift the sling to separate from the transportation box, completing the unlocking process for the next loading and unloading of the transportation box.

[0043] Advantages of the present invention compared with the prior art: The present invention provides a mine transportation box sling with active and passive guidance that can automatically cooperate with the transportation box for locking and unlocking. It uses UWB combined with IMU for global positioning, and proposes a guidance method combining active and passive in the cooperation between the sling and the transportation box, with high precision and efficiency in guidance cooperation and a simple operation process; the locking cooperation between the sling and the transportation box relies on the semi-automatic locking module on the sling and the corner fittings arranged at the four corners of the upper surface of the transportation box. For various supporting transportation boxes carrying different types of materials, only the corner fittings need to be installed and matched at the four corners of the upper surface of the box to meet the lifting and matching requirements of the sling, highlighting the strong universality of this invention's sling, wide applicable fields, being able to solve the engineering practical problems of loading and unloading transportation boxes underground, greatly improving the loading and unloading efficiency of underground transportation boxes, reducing labor requirements, and strengthening the construction of intelligent and safe and efficient mines. Brief Description of the Drawings

[0044] Figure 1 Overall schematic diagram of a mine transportation box sling with active and passive guidance and its control method;

[0045] Figure 2 Schematic diagram of the base assembly;

[0046] Figure 3 Schematic diagram of the active and passive guidance module;

[0047] Figure 4 Schematic diagram of the semi-automatic locking module;

[0048] Figure 5 Schematic diagram of the locking of the sling with a side-dumping separable modular mine transportation box;

[0049] Figure 6 Schematic diagram of the locking of the sling with a lidless separable modular mine transportation box;

[0050] Figure 7 Schematic diagram of the locking of the sling with a double-door separable modular mine transportation box;

[0051] Figure 8 Schematic diagram of the locking of the sling with an open separable modular mine transportation box;

[0052] Figure 9 Schematic diagram of the locking of the sling with a gas-liquid separable modular mine transportation box;

[0053] Figure 10 Schematic diagram of the UWB base station position and perception;

[0054] Figure 11 Schematic diagram of the extended Kalman filter algorithm process;

[0055] Figure 12Flow chart of the cooperation and locking between the mining transport box sling with active and passive guidance and the transport box

[0056] Figure 13 Flow chart of the cooperation and unlocking between the mining transport box sling with active and passive guidance and the transport box

[0057] In the figure: base assembly (1), active and passive guidance module (2), semi-automatic locking module (3), code seat (4), cross beam (5), reinforcing cross beam (6), longitudinal beam (7), bearing seat boss (8), mating angle piece (9), motor (10), active guidance angle piece (11), passive guide plate (12), passive guidance angle piece (13), transmission rod (14), triangular dial (15), bearing seat (16), universal joint (17), transmission short rod (18), rotary twist lock (19), limit slot hole (20). Detailed implementation manners

[0058] The present invention will be further described in conjunction with the accompanying drawings.

[0059] A mining transport box sling with active and passive guidance and its control method adopt UWB combined with IMU for global positioning, can automatically align and lock with the transport box, facilitating the lifting and loading / unloading of the transport box. The overall structure is composed of a base assembly (1), an active and passive guidance module (2), and a semi-automatic locking module (3).

[0060] The base assembly, as Figure 2 shown, mainly plays a role of bearing and connecting. The whole is a quadrilateral truss structure composed of I-shaped steel plates, and the main frame is composed of a cross beam (5) and a longitudinal beam (7). Pulley code seats (4) are distributed above the four corners, facilitating hoisting by a crane or a hoist using a rope. A reinforcing cross beam (6) is attached in the middle to increase the structural strength. Bearing seat bosses (8) are symmetrically distributed for the installation of the bearing seat (16). Installation spaces are reserved in the middle and at the four corners of the base for the semi-automatic locking module (3) and the guidance module. Among them, the four corners of the base have protruding quadrilateral outer edges, and angle pieces for aligning with the transport box are installed at the bottoms of the four corners, facilitating positioning and cooperation with the angle pieces at the four corners of the upper surface of the transport box.

[0061] The active and passive guidance module, as Figure 3As shown in the figure, it is composed of a passive guiding module and an active guiding module, which jointly complete the positioning and fitting before the spreader is locked with the transportation box. The passive guiding module mainly consists of wedge-shaped plates embedded on the side of the base, including two passive guiding plates (12) and a passive guiding angle piece (13). Due to the outward bending curvature of such plates, during the process of the spreader approaching the upper surface of the transportation box from above, they will fit with the edge of the transportation box, and control the slow positioning of the spreader and the transportation box during the fitting and falling process. The two passive guiding plates (12) and a passive guiding angle piece (13) are distributed at three corners of the quadrilateral base, which can accurately position both sides of the transportation box on both sides of the spreader; The active guiding module is arranged at the remaining corner of the base and consists of a driving motor (10) and an active guiding angle piece (11). The active angle piece is installed on the driving motor (10), and the rotation of the driving motor (10) can drive the active guiding angle piece (11) to rotate downward. The motor starts working when the lower surface of the spreader is about 200mm away from the upper surface of the transportation box. When the active guiding angle piece (11) fits with the surface of the transportation box, the positioning of one corner of the spreader and the transportation box is completed. The combined action of the passive guiding module and the active guiding module can accurately position the spreader and the transportation box in the form of two sides and one corner.

[0062] The semi-automatic locking module, such as Figure 4 As shown in the figure, it is composed of a triangular dial (15) in the middle of the base, four rotary twist locks (19), transmission rods (14), bearing seats (16), and several universal joints (17). The middle triangular dial (15) is located in the middle of the entire spreader and is fixedly connected to the transmission rod (14). It has parallel sliding grooves along the hypotenuse. The sliders installed on the sliding grooves of the triangular dial (15) are connected to the suspension such as a crane or a hoist. There are limit slots (20) at the beginning and end of the sliding groove of the triangular dial (15) to limit the sliders. When the spreader descends to the ground or the upper surface of the transportation box, if the rope connecting the slider continues to be lowered vertically, the slider can move from one limit slot (20) to the other under the action of gravity. At the same time, the triangular dial (15) rotates 90°, and through the transmission rod (14), the rotary twist locks (19) at the four corners are linked to rotate, for locking or unlocking. For the convenience of description, the two limit slots (20) of the triangular dial (15) are named the locking end and the unlocking end. The transmission rod (14) is supported by the bearing seat (16). During the process of the triangular dial (15) being toggled, it transmits torque to the rotary twist locks (19) at the four corners at the head and tail. The rods with spatial angles are connected by universal joints (17), which can convert the 90-degree rotation of the triangular dial (15) into the 90-degree rotation and locking of the lock heads of the four rotary twist locks (19). The semi-automatic locking module starts working after the motor of the active guiding module stops working, that is, after the positioning is completed, and locks the spreader and the transportation box.

[0063] The sling is locked and matched with the transportation box body mainly by the standard mating corner fittings (9) installed at the four corners of the upper surface of the transportation box body. During underground operations, in the face of different types of material loading requirements, the types of transportation box bodies are often diverse. As shown in the figure, they are successively the lidless modular transportation box body ( Figure 5 ), the double-door modular transportation box body ( Figure 6 ), the open modular transportation box body ( Figure 7 ), the side-dumping modular transportation box body ( Figure 8 ), the gas-liquid modular transportation box body ( Figure 9 ), etc., which can carry medium-sized components, small components, long strip materials, sand-like materials, gases or liquids, etc. These transportation box bodies have different shapes and storage forms, but they all have the condition of installing corner fittings at the four corners of the upper surface, making the sling for the mine transportation box body with active and passive guidance of the present invention highly practical. As long as the sling can fit with the upper surface of the transportation box body and the four corners are aligned with the corner fittings at the four corners of the transportation box body, the matching and locking of the sling and the transportation box body can be completed.

[0064] In the matching link between the sling and different types of transportation box bodies, although these transportation box bodies have different shapes and storage forms, they all have the condition of installing corner fittings at the four corners of the upper surface. As long as the rotary lock heads of the semi-automatic locking modules at the four corners of the sling can be compatibly matched with the corner fittings at the four corners of the transportation box body, the sling can complete the hoisting and transportation of the transportation box body. This highlights that the sling for the mine transportation box body with active and passive guidance of the present invention has high practicality. As long as the sling can fit with the upper surface of the transportation box body and the four corners are aligned with the corner fittings at the four corners of the transportation box body, for the above-mentioned various types of supporting transportation box bodies, the matching and locking of the sling and the transportation box body can be completed.

[0065] In the control of loading and unloading the transportation box body by the sling, UWB base stations are installed at the four corners of the warehouse where it is located; UWB tags and IMUs are installed on the sling; the UWB base stations and UWB tags are used for indoor positioning of the sling, and combining with the IMU can improve the accuracy and robustness of the positioning and realize the tracking of the movement trajectory and attitude of the transportation box body.

[0066] The UWB technology can provide high-precision distance measurement. Through the distance and angle measurement between multiple base stations and tags, the three-dimensional positioning of the transportation box body or other objects can be realized. At the same time, the IMU can provide the acceleration and angular velocity information of the transportation box body. By fusing these data of the UWB and IMU through the extended Kalman filter algorithm, used to compensate for the movement and attitude changes in the UWB positioning, the position, speed, acceleration and attitude of the object can be estimated in real time, thereby improving the stability and accuracy of the positioning.

[0067] For the specific sling pose positioning measurement, as Figure 10 shown, first, the spatial position of the sling is calculated by the UWB, and the formula is as follows:

[0068]

[0069] x, y, z —— Coordinates of the UWB base station location;

[0070] t1, t2, t3, t4 —— Time when each base station at the four corners receives the signal sent by the UWB tag;

[0071] r1, r2, r3, r4 —— Distances from each base station at the four corners to the UWB tag.

[0072] When the spreader hooks the transportation box and moves it towards the flatbed truck, the world coordinates of the transportation box are obtained through the UWB algorithm, and the relative position between the flatbed truck and the transportation box can be initially obtained. To further improve the positioning accuracy and robustness, the IMU sensor on the spreader is used to return the acceleration of the spreader, and the UWB / IMU data fusion is performed through the Extended Kalman Filter algorithm (EKF algorithm) to obtain the optimal estimate of the spreader position. The algorithm process is as Figure 11 shown.

[0073] In the algorithm implementation, the accelerations of the spreader on the x and y axes measured by the IMU x , a y are used as the input of the algorithm, and the position and velocity vectors of the spreader measured by the UWB t , y t , v x , v y are used as the observations of the algorithm, that is, u t = [a x , a y T , Zt = [x t , y t , v x , v y T , and the state vector of the model is

[0074] Prior estimate:

[0075]

[0076] where a rx , a ry are the components of the sensor acceleration on the global x and y axes after rotation:

[0077] a rx = a x cosθ - a y sinθ

[0078] a ry = a x ​​sinθ - a y cosθ

[0079] Then we have:

[0080]

[0081] θ t+1 = θ t

[0082] The motion model is expressed as:

[0083] X t+1 = FX t + Bu t

[0084] Where:

[0085]

[0086] The measurement equation:

[0087]

[0088] Calculate the Kalman gain:

[0089]

[0090] Obtain the optimal state estimate:

[0091] x t = x t + K t (z - h(x t ))

[0092] Specifically for the positioning measurement of the spreader pose, as shown in the figure, according to the following two formulas, the spatial position of the spreader is calculated by UWB:

[0093]

[0094] x, y, z - Coordinates of the UWB base station positions;

[0095] t1, t2, t3, t4 - Times when each base station at the four corners receives the signal sent by the UWB tag;

[0096] r1, r2, r3, r4 - Distances from each base station at the four corners to the UWB tag.

[0097] When the hoist is hooking up the transport box and moving it toward the flatbed truck, the world coordinates of the flatbed truck can be calculated through multi-camera data, and at the same time, the world coordinates of the transport box can be obtained through the UWB algorithm, and the relative position of the flatbed truck and the transport box can be preliminarily obtained. When the relative position of the transport box and the flatbed truck is less than a certain value, the camera can detect the four corner pieces on the side of the transport box and the straight edge of the upper surface of the flatbed truck. The transport box can be adjusted and the edges can be aligned by calculating the three-dimensional coordinates of the center of the corner pieces and the inflection point coordinates of the upper surface edge of the flatbed truck to ensure the correct stacking of the transport box and the flatbed truck.

[0098] In terms of the specific lifting equipment usage process, the use of the mining transport box lifting equipment with active and passive guidance is mainly divided into two parts: locking with the transport box before loading and unloading, and unlocking and disengaging from the transport box after loading and unloading.

[0099] The process of locking the mining transport box hoist with active and passive guidance and the transport box before loading and unloading: the hoist is driven by an overhead crane or a crane, and is positioned by using UWB fusion IMU. The overhead crane or the crane is manually controlled to transport the hoist to the top of the designated transport box (the coordinates of the transport box to be grabbed are known), and the lifting device is driven to lower the hoist. The two passive guide plates (12) and a passive guide angle piece (13) of the passive guide module naturally fit with the edges of the transport box due to their curved and extended structure, completing the positioning on both sides of the upper surface of the transport box. After the hoist is placed under the transport box at a certain distance, the active guide module motor (10) drives the active guide angle plate to rotate downward and close together, and fits one corner of the transport box, completing the positioning of both sides and one corner. When the hoist is lowered and fits with the upper surface of the transport box, the rotating twist locks (19) at the four corners of the hoist have been accurately aligned with the matching angle pieces (9) at the four corners of the transport box. The overhead crane or crane continues to descend, the rope connecting the slider on the triangular paddle (15) loosens, and the slider slides from the unlocking end to the tightening end under the action of gravity (the slider stays at the unlocking end in the initial state), and at the same time, the triangular paddle (15) is rotated 90 degrees, and is transmitted to the four corners through the transmission rod (14), and the four twist locks are rotated to lock. When the rotating twist lock (19) is locked with the corner piece of the transport box, the overhead crane or crane can lift the sling and the transport box. During the lifting process, the slider on the triangular paddle (15) stays in the upper limit groove of the piece and does not slide.

[0100] Cooperation and unlocking process of a mine transportation box sling with active and passive guidance and the transportation box after loading and unloading: Driven by a crane or hoist, etc., after placing the transportation box at a designated position (coordinates known), the lifting device is driven to lower the sling and the transportation box. When the lower surface of the transportation box fits with the ground, the crane or hoist continues to descend, and the rope connected to the upper slider of the triangular dial (15) becomes slack. The slider slides from the locking end to the unlocking end under the action of gravity (in this state, the slider stays at the locking end), and at the same time drives the triangular dial (15) to rotate counterclockwise, which is transmitted to the four-corner rotary lock (19) through the transmission rod (14), and the four-corner rotary lock (19) is twisted to unlock. After the rotary lock (19) is unlocked from the corner fitting of the transportation box, the crane or hoist can lift the sling to separate from the transportation box, completing the unlocking process for the next loading and unloading of the transportation box.

Claims

1. A mine transportation box lifting device with active and passive guidance and its control method, which uses UWB integrated with IMU for global positioning, can automatically align and lock with the transportation box, facilitating the lifting, loading and unloading of the transportation box. The overall structure is composed of a base component (1), an active and passive guidance module (2), and a semi-automatic locking module (3); The base component mainly plays a role in bearing and connecting. The whole is a quadrilateral truss structure composed of I-shaped steel plates, and the main frame is composed of a cross beam (5) and a longitudinal beam (7); pulley seats (4) are distributed above the four corners, facilitating hoisting by a crane or a hoist using a rope. A reinforcing cross beam (6) is attached in the middle to increase the structural strength. Bearing seat bosses (8) are symmetrically distributed for the installation of the bearing seat (16); installation spaces are reserved for the semi-automatic locking module (3) and the guidance module in the middle and at the four corners of the base. Among them, there are prominent quadrilateral outer edges at the four corners of the base, and corner fittings for aligning with the transportation box are installed at the bottoms of the four corners, facilitating positioning and matching with the corner fittings at the four corners of the upper surface of the transportation box; The active and passive guidance module consists of two parts, a passive guidance module and an active guidance module, which jointly complete the positioning and fitting before the lifting device is locked with the transportation box; The passive guidance module, the main component is a wedge-shaped plate embedded in the side of the base, with two passive guidance plates (12) and a passive guidance corner fitting (13); Due to the outward bending curvature of the plate of this shape, during the process of the lifting device approaching the upper surface of the transportation box from above, it will fit with the edge of the transportation box body, and control the slow positioning of the lifting device and the transportation box during the falling and fitting process. The two passive guidance plates (12) and a passive guidance corner fitting (13) are distributed at three corners of the quadrilateral base, which can accurately position the two sides of the lifting device with the two sides of the transportation box; The active guidance module is arranged at the remaining corner of the base and consists of a driving motor (10) and an active guidance corner fitting (11); The active corner fitting is installed on the driving motor (10), and the rotation of the driving motor (10) can drive the active guidance corner fitting (11) to rotate downward. When the active guidance corner fitting (11) fits with the surface of the transportation box, the positioning of one corner of the lifting device and the transportation box is completed; The combined action of the passive guidance module and the active guidance module can complete the accurate positioning of the lifting device and the transportation box in the form of two sides and one corner; Semi-automatic locking module, which consists of a triangular paddle (15) in the middle of the base, four rotary twist locks (19), transmission rods (14), bearing seats (16), and several universal joints (17); the triangular paddle (15) in the middle is located in the middle of the entire spreader, fixedly connected to the transmission rod (14), and has parallel sliding grooves along the hypotenuse. The sliders installed on the sliding grooves of the triangular paddle (15) are suspended and connected to a gantry crane or a crane, etc.; there are limit slots (20) at the beginning and end of the sliding groove of the triangular paddle (15) to limit the sliders. When the spreader descends to the ground or the upper surface of the transportation box, if the rope connecting the slider continues to be lowered vertically, the slider can move from one limit slot (20) to the other under the action of gravity. At the same time, the triangular paddle (15) rotates 90°, and the rotary twist locks (19) at the four corners are rotated through the transmission rod (14) to perform locking or unlocking. For the convenience of description, the two limit slots (20) of the triangular paddle (15) are named the locking end and the unlocking end; the transmission rod (14) is supported by the bearing seat (16). During the process of the triangular paddle (15) being toggled, torque is transmitted to the rotary twist locks (19) at the head and tail corners. The rods with a spatial angle are connected by universal joints (17), which can convert the 90-degree rotation of the triangular paddle (15) into the 90-degree rotation and locking of the lock heads of the four rotary twist locks (19). The cooperation and locking between the spreader and the transportation box mainly rely on the standard mating corner fittings (9) installed at the four corners of the upper surface of the transportation box; during underground operations, facing the filling requirements of different types of materials, the types of transportation boxes are often diversified, including an uncovered modular transportation box (Figure 5), a double-door modular transportation box (Figure 6), an open modular transportation box (Figure 7), a side-dumping modular transportation box (Figure 8), a gas-liquid modular transportation box (Figure 9), etc., which can respectively carry medium-sized components, small components, long strip-shaped materials, sand-like materials, gases or liquids, etc.; these transportation boxes have different shapes and storage forms, but they all have the condition of installing corner fittings at the four corners of the upper surface, making the spreader of the mine transportation box with active and passive guidance of the present invention have high practicability. As long as the spreader can fit the upper surface of the transportation box and the four corners are aligned with the corner fittings of the four corners of the transportation box, the cooperation and locking between the spreader and the transportation box can be completed.

2. The mine transportation box sling with active and passive guidance and its control method according to claim 1, characterized in that, The perception design uses UWB integrated with IMU for global positioning. On the control of the spreader for loading and unloading the transportation box, UWB base stations are installed at the four corners of the warehouse where the spreader is located; UWB tags and IMUs are installed on the spreader; the UWB base stations and UWB tags are used for indoor positioning of the spreader, and combining with the IMU can improve the accuracy and robustness of the positioning and realize the tracking of the movement trajectory and attitude of the transportation box. UWB technology can provide high-precision distance measurement. Through the distance and angle measurement between multiple base stations and tags, three-dimensional positioning of transportation boxes or other objects can be achieved. At the same time, the IMU can provide the acceleration and angular velocity information of the transportation box. By fusing these data of UWB and IMU through the extended Kalman filter algorithm, it is used to compensate for the motion and attitude changes in UWB positioning, and the position, velocity, acceleration and attitude of the object can be estimated in real time, so as to improve the stability and accuracy of positioning. In the specific positioning measurement of the spreader pose, first calculate the spatial position of the spreader through UWB. The formula is as follows: x, y, z - Coordinates of the UWB base station position; t1, t2, t3, t4 - Time when each base station at the four corners receives the signal sent by the UWB tag; r1, r2, r3, r4 - Distances from each base station at the four corners to the UWB tag; When the spreader hooks the transportation box and moves towards the flatbed truck, the world coordinates of the transportation box can be obtained through the UWB algorithm, and the relative position between the flatbed truck and the transportation box can be initially obtained. In order to further improve the positioning accuracy and robustness, the IMU sensor on the spreader is used to return the acceleration of the spreader, and the UWB / IMU data fusion is carried out through the extended Kalman filter algorithm (EKF algorithm) to obtain the optimal estimate of the spreader position. In terms of algorithm implementation, the accelerations of the spreader in the x and y axes are measured by the IMU As the input of the algorithm, the position and velocity vectors of the spreader measured by UWB As the observation of the algorithm, that is, u t =[a x ,a y T ,Zt=[x t ,y t ,v x ,v y T , the state vector of the model is ​​ Prior estimate: where a rx , a ry are the components of the sensor acceleration after rotation on the global x and y axes: a rx = a x cosθ - a y sinθ a ry = a x sinθ - a y cosθ Then there is: θ t+1 = θ t Motion model representation: X t+1 = FX t + Bu t Among them: Measurement equation: Calculate the Kalman gain: Obtain the optimal state estimate: x t = x t + K t (z - h(x t )) In the specific positioning measurement of the spreader pose, according to the following two formulas, calculate the spatial position of the spreader through UWB: x, y, z - Coordinates of the UWB base station position; t1, t2, t3, t4 - Time when each base station at the four corners receives the signal sent by the UWB tag; r1, r2, r3, r4 - Distances from each base station at the four corners to the UWB tag; When the spreader hooks the transportation box and moves towards the flatbed truck, the world coordinates of the flatbed truck can be calculated through multi-camera data, and at the same time, the world coordinates of the transportation box can be obtained through the UWB algorithm, and the relative position between the flatbed truck and the transportation box can be initially obtained. When the relative position between the transportation box and the flatbed truck is less than a certain value, the camera can detect the four corner fittings on the side of the transportation box and the straight edges on the upper surface of the flatbed truck. The three-dimensional coordinates of the center of the corner fittings and the inflection point coordinates of the edge on the upper surface of the flatbed truck can be calculated to adjust the transportation box and align the edges to ensure the correct stacking of the transportation box and the flatbed trolley.

3. The mine transportation box spreader with active and passive guidance and its control method according to claim 1, wherein in the specific usage process of the spreader, the usage of the mine transportation box spreader with active and passive guidance is mainly divided into two parts: cooperating and locking with the transportation box before loading and unloading, and unlocking and disengaging from the transportation box after loading and unloading. Cooperating and locking process of a mine transportation box sling with active and passive guiding and a transportation box before loading and unloading: Driven by a crane or hoist, etc., the sling uses UWB integrated with IMU for positioning. Manually control the crane or hoist to transport the sling above the specified transportation box (the coordinates of the transportation box to be grabbed are known). Drive the lifting device to lower the sling. Due to the curved and extended structure of the two passive guiding plates (12) and one passive guiding angle piece (13) of the passive guiding module, they naturally fit with the edges of the transportation box, completing the positioning of both sides of the upper surface of the transportation box. After placing the sling at a certain distance from the transportation box, the motor (10) of the active guiding module drives the active guiding angle plate to rotate downward and close together, fitting one corner of the transportation box, completing the positioning in the form of two sides and one corner. When the sling is lowered and fits with the upper surface of the transportation box, the rotary twist locks (19) at the four corners of the sling have accurately aligned with the mating angle pieces (9) at the four corners of the transportation box. The crane or hoist continues to descend. The rope connected to the slider on the triangular dial (15) becomes slack. The slider slides from the unlocking end to the tightening end under the action of gravity (the slider stays at the unlocking end in the initial state). At the same time, the triangular dial (15) is rotated 90 degrees, and it is transmitted to the four corners through the transmission rod (14), rotating the four twist locks to lock. After the rotary twist lock (19) completes the locking cooperation with the transportation box angle piece, the crane or hoist can lift the sling and the transportation box. During the lifting process, the slider on the triangular dial (15) stays in the upper limit slot on the piece and will not slide. Cooperating and unlocking process of a mine transportation box sling with active and passive guiding and a transportation box after loading and unloading: Driven by a crane or hoist, etc., after placing the transportation box at the specified position (the coordinates are known), drive the lifting device to lower the sling and the transportation box. When the lower surface of the transportation box fits with the ground, the crane or hoist continues to descend. The rope connected to the slider on the triangular dial (15) becomes slack. The slider slides from the tightening end to the unlocking end under the action of gravity (the slider stays at the tightening end in this state). At the same time, it drives the triangular dial (15) to rotate counterclockwise, and it is transmitted to the four corners through the transmission rod (14) to rotate the rotary twist locks (19), unlocking the four rotary twist locks (19). After the rotary twist lock (19) completes the unlocking with the transportation box angle piece, the crane or hoist can lift the sling to separate from the transportation box, completing the unlocking process for the next loading and unloading of the transportation box.

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