Obstacle marking method based on unmanned mine card obstacle pushing device

Abstract

The invention relates to the technical field of mines, in particular to an obstacle marking method based on an unmanned mine truck obstacle pushing device, which comprises an unmanned mine truck body and an obstacle pushing device mounted at the lower end of the front part of the unmanned mine truck body; the barrier pushing device comprises a rotating motor fixedly installed at the lower end of the front portion of the unmanned mine truck body, a stretching mechanism connected with the output end of the rotating motor, and a pushing mechanism installed at the stretching end of the stretching mechanism. An obstacle recognition sensor and a vehicle-mounted intelligent terminal are further mounted on the unmanned mine truck body; the transportation efficiency of the unmanned mine card is improved, road obstacles are reduced, and the obstacles are marked.

Description

Technical Field

[0001] The present invention relates to the technical field of mines, and in particular to an obstacle marking method based on an unmanned mine truck obstacle pushing device. Background Art

[0002] With the development of technology, unmanned mining trucks are constantly being put into production and use. Unmanned mining trucks often encounter obstacles during their operation. The general operation of unmanned mining trucks is to avoid obstacles, or ride directly over them when the obstacles are relatively small.

[0003] This will cause the obstacle to remain in place. Every time a vehicle passes by, it needs to make a judgment and avoid it. If there is an oncoming vehicle, the vehicle on the side with the obstacle needs to stop and avoid it, which will reduce the transportation efficiency of the unmanned mining truck.

[0004] Therefore, the present invention provides an obstacle marking method based on an unmanned mining truck obstacle pushing device, which can effectively push obstacles out of the travel route and avoid the need for all passing vehicles to perform obstacle judgment. Summary of the Invention

[0005] The purpose of the present invention is to provide an obstacle marking method based on an unmanned mining truck obstacle pushing device to improve the transportation efficiency of the unmanned mining truck, reduce road obstacles, and solve the technical problem of marking obstacles.

[0006] The obstacle marking method based on the unmanned mining truck obstacle pushing device of the present invention is achieved as follows:

[0007] The obstacle marking method based on the obstacle pushing device of the unmanned mining truck comprises an unmanned mining truck body and an obstacle pushing device installed at the lower end of the front part of the unmanned mining truck body;

[0008] The obstacle pushing device includes a rotating motor fixedly mounted on the lower front end of the unmanned mining truck body, an extension mechanism connected to the output end of the rotating motor, and a pushing mechanism mounted on the extended end of the extension mechanism;

[0009] The unmanned mining truck is also equipped with an obstacle recognition sensor and an on-board intelligent terminal;

[0010] The obstacle marking method for an unmanned mining truck comprises the following steps:

[0011] Step 1: The vehicle-mounted intelligent terminal is connected to the cloud server, and the vehicle-mounted intelligent terminal can directly mark the mining area map on the cloud server in real time;

[0012] Step 2: The unmanned mining car drives normally. If it encounters an obstacle during driving, it will go to step 3. If it does not encounter an obstacle, it will go to step 7.

[0013] Step 3: Determine the obstacle. If it is a stationary object, proceed to step 4. If it is a moving object, take avoidance measures.

[0014] Step 4: Turn on the obstacle pusher and the motor starts to rotate. During the rotation of the motor, the extension mechanism is deployed. The obstacle recognition sensor and the onboard intelligent terminal determine the position of the obstacle at the front end of the unmanned mining vehicle. The motor rotates the corresponding angle to stop the front end of the extension mechanism in front of the obstacle.

[0015] Step 5: Activate the push mechanism to push the obstacle away from the current driving route; after the push is completed, the obstacle pushing device is reset;

[0016] Step 6: The vehicle-mounted intelligent terminal marks the location of the current obstacle on the mine map and synchronizes it to the cloud server;

[0017] Step 7: The unmanned mining car runs normally.

[0018] As an optional embodiment, a shaft sleeve is fixedly mounted on the output end of the rotating motor.

[0019] As an optional embodiment, the extending mechanism includes a main support rod, a secondary support rod rotatably connected to the main support rod, and a first rotating motor connected between the main support rod and the secondary support rod.

[0020] As an optional embodiment, the secondary support rod is a telescopic structure, including a first support body rotatably connected to the main support rod, a second support body with one side end placed in the inner cavity of the first support body, and a first telescoping device with one side end fixed to the bottom of the inner cavity of the first support body and the other side end fixed to the side end of the second support body extending into the inner cavity of the first support body.

[0021] As an optional embodiment, one end of the main support rod is fixed to the shaft sleeve.

[0022] As an optional embodiment, the pushing mechanism includes a second rotating motor fixed to the protruding end of the second support body, a mounting block installed on the output end of the second rotating motor, two second telescoping devices arranged in parallel and fixed on the mounting block, and a rectangular pusher installed on the protruding end of the second telescoping device.

[0023] As an optional embodiment, an auxiliary support mechanism is installed at the front lower end of the unmanned mining truck body, which is located on the other side of the rotating motor.

[0024] As an optional embodiment, the auxiliary support mechanism includes a fixed support fixed to the bottom of the unmanned mining truck body, an auxiliary support extending into the inner cavity of the fixed support, a third telescope with one end fixed to the bottom of the inner cavity of the fixed support and the other end fixed to one side end of the auxiliary support extending into the inner cavity of the fixed support, and a fourth telescope fixed to the protruding end of the auxiliary support and facing the second support body.

[0025] As an optional embodiment, in step 4, a pressure sensor is installed on the protruding end of the second retractor. When the pushing mechanism is turned on, one second retractor is started first, and when the pressure sensor exceeds a set value, the second retractor is turned on.

[0026] As an optional embodiment, in step 5, after the vehicle-mounted intelligent terminal marks the location of the obstacle, the cloud server determines the method for handling the obstacle.

[0027] Compared with the existing technology, the present invention has the following beneficial effects: when an unmanned mining truck encounters an obstacle during driving, the obstacle pushing device pushes the obstacle away from the driving path, thereby preventing the following vehicles from judging the obstacle again and avoiding the need for oncoming vehicles to stop and avoid, which affects transportation efficiency;

[0028] The auxiliary support mechanism can support the obstacle pushing device to prevent the obstacle pushing device from failing to push the obstacle due to insufficient force points.

[0029] After marking the obstacle through the on-board intelligent terminal, the cloud server can choose the method of judging the obstacle and remove the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic diagram of the overall structure of this embodiment;

[0031] Figure 2 This is a structural diagram of the obstacle pushing device in this embodiment when it is folded;

[0032] Figure 3 1 is a top view of the obstacle pushing device and the auxiliary support mechanism in this embodiment;

[0033] Figure 4 This is a system structure diagram of the obstacle marking method in this embodiment.

[0034] In the figure: unmanned mining truck body 100, obstacle pushing device 200, rotating motor 210, shaft sleeve 211, extension mechanism 220, main support rod 221, auxiliary support rod 222, first support body 223, second support body 224, first telescopic device 225, first rotating motor 226, pushing mechanism 230, second rotating motor 231, mounting block 232, second telescopic device 233, rectangular pusher 234, pressure sensor 235, auxiliary support mechanism 240, fixed support 241, auxiliary support 242, third telescopic device 243, fourth telescopic device 244, rectangular push piece 245, obstacle recognition sensor 300, on-board intelligent terminal 400, mining area map 500, cloud server 600, obstacle 700. DETAILED DESCRIPTION

[0035] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0036] Example 1:

[0037] Reference Figure 1-4 As shown, the obstacle marking method based on the unmanned mining truck obstacle pushing device includes an unmanned mining truck body 100 and an obstacle pushing device 200 installed at the lower front end of the unmanned mining truck body 100.

[0038] The obstacle pushing device 200 includes a rotating motor 210 fixedly mounted on the front lower end of the unmanned mining truck body 100, an extension mechanism 220 connected to the output end of the rotating motor 210, and a pushing mechanism 230 mounted on the extended end of the extension mechanism 220.

[0039] The unmanned mining truck body 100 is also equipped with an obstacle recognition sensor 300 and a vehicle-mounted intelligent terminal 400.

[0040] The obstacle recognition sensor 300 includes an infrared sensor, a laser radar sensor, an ultrasonic sensor, a visual sensor, etc.

[0041] The obstacle recognition sensor 300 identifies the obstacle 700 and sends it to the on-board intelligent terminal 400. The on-board intelligent terminal 400 makes a comprehensive judgment on the type of obstacle 700 and whether it is a stationary object. If it is a stationary object, the obstacle pushing device 200 is activated to push the obstacle 700 away from the original route.

[0042] Reference Figure 1 and Figure 2As shown, the rotating motor 210 of the obstacle pushing device 200 is arranged on the right side of the lower end of the front end of the unmanned mining truck. In this way, the extension mechanism 220 can swing from left to right after being unfolded, pushing the obstacle 700 to the right side of the unmanned mining truck, as far away from the original driving path of the unmanned mining truck as possible, and will not affect the driving route of oncoming vehicles.

[0043] Preferably, a shaft sleeve 211 is fixedly mounted on the output end of the rotating motor 210 .

[0044] Preferably, refer to Figure 2 and Figure 3 The extending mechanism 220 shown includes a main support rod 221 , a secondary support rod 222 rotatably connected to the main support rod 221 , and a first rotating motor 226 connected between the main support rod 221 and the secondary support rod 222 .

[0045] One end of the first rotary motor 226 is fixed to the lower end of the extended end of the main support rod 221 , and the output end of the first rotary motor 226 is fixedly connected to one end of the auxiliary support rod 222 .

[0046] One end of the auxiliary support rod 222 is provided with a through hole, in which a fixing sleeve is fixedly installed. The output end of the first rotating motor 210 is fixedly installed on the fixing sleeve.

[0047] In an initial state where the obstacle 700 is not being pushed, the main support rod 221 and the auxiliary support rod 222 are in a parallel folded state, and the auxiliary support rod 222 is located at the lower end of the main support rod 221 .

[0048] Preferably, the secondary support rod 222 is a telescopic structure, including a first support body 223 rotatably connected to the main support rod 221, a second support body 224 with one side end placed in the inner cavity of the first support body 223, and a first telescoping device 225 with one side end fixed to the bottom of the inner cavity of the first support body 223 and the other side end fixed to the second support body 224 and extending into the inner cavity of the first support body 223.

[0049] The auxiliary support rod 222 can increase the movable travel of the obstacle pushing device 200 through the telescopic structure, so that the obstacle pushing device 200 can move the obstacle 700 as far away from the original driving route as possible.

[0050] Preferably, one end of the main support rod 221 is fixed to the shaft sleeve 211. The end of the main support rod 221 connected to the rotating motor 210 is provided with a through hole, which is fixedly connected to the shaft sleeve 211, so that the main support rod 221 is fixed to the rotating motor 210.

[0051] As an optional embodiment, the pushing mechanism 230 includes a second rotating motor 231 fixed to the protruding end of the second support body 224, a mounting block 232 installed on the output end of the second rotating motor 231, two second telescoping devices 233 arranged in parallel and fixed on the mounting block 232, and a rectangular pusher 234 installed on the protruding end of the second telescoping device 233.

[0052] In the initial state when the obstacle 700 is not being pushed, the mounting block 232 and the second support body 224 are arranged in parallel, and the two second telescoping devices 233 mounted on the mounting block 232 are arranged in parallel with the second support body 224 and are located below the second support body 224, so as to better accommodate the pushing mechanism 230 at the lower end of the unmanned mining truck.

[0053] During operation, the second rotating motor 231 rotates to rotate the mounting block 232 90°. The two second telescopic devices 233 installed on the mounting block 232 are arranged in parallel up and down and face the right side. One second telescopic device 233 is started first, and the vehicle-mounted intelligent terminal 400 determines the height of the obstacle 700 to decide whether to start the upper or lower second telescopic device 233 first.

[0054] If the obstacle 700 is greater than or equal to twice the height of the obstacle pushing device 200, the upper second retractor 233 is activated first; if the obstacle 700 is less than twice the height of the obstacle pushing device 200, the lower second retractor 233 is activated first.

[0055] When the pressure sensor 235 installed on the second retractor 233 senses a pressure value greater than a set pressure, the second retractor is opened.

[0056] As an optional embodiment, an auxiliary support mechanism 240 is installed at the front lower end of the unmanned mining truck body 100, which is located at the other side of the rotating motor 210.

[0057] As an optional embodiment, refer to Figure 3 As shown, the auxiliary support mechanism 240 includes a fixed support 241 fixed to the bottom of the unmanned mining truck body 100, an auxiliary support 242 extending into the inner cavity of the fixed support 241, a third telescoping device 243 with one end fixed to the bottom of the inner cavity of the fixed support 241 and the other end fixed to the auxiliary support 242 extending into one side end of the inner cavity of the fixed support 241, and a fourth telescoping device 244 fixed to the protruding end of the auxiliary support 242 and facing the second support body 224.

[0058] A rectangular push piece 245 is hinged on the protruding end of the fourth retractor 244 .

[0059] The auxiliary support 242 mechanism 240 is opened after the pressure value sensed by the pressure sensor 235 is greater than the set pressure, and the third telescopic device 243 is started to extend the auxiliary support 242, and then the fourth telescopic device 244 is opened to extend the fourth telescopic device 244 to press against the second support body 224, thereby providing thrust support to the second support body 224.

[0060] The working process of the present invention is:

[0061] When the unmanned mining truck encounters an obstacle 700 on its route, the on-board intelligent terminal 400 determines whether the obstacle 700 is a stationary object. If it is a stationary object, the obstacle pushing device 200 is turned on, and the rotating motor 210 is first started to rotate the main support rod 221 and the auxiliary support rod 222 out from the bottom of the unmanned mining truck body 100, and at the same time the first rotating motor 226 is turned on. The on-board intelligent terminal 400 determines the distance and position of the obstacle 700 from the vehicle, controls the first rotating motor 226 and the rotating motor 210 to rotate to the corresponding angles, and the extension length of the first telescopic device 225. The on-board intelligent terminal 400 determines the height of the obstacle 700, and the obstacle 700 is moved by the on-board intelligent terminal 400. The height of the obstacle 700 determines whether the upper or lower second retractable member 233 is activated first. If the height of the obstacle 700 is greater than or equal to twice the height of the obstacle pushing device 200, the upper second retractable member 233 is activated. If the height of the obstacle 700 is less than twice the height of the obstacle pushing device 200, the lower second retractable member 233 is activated. When the pressure sensed by the pressure sensor 235 mounted on the extended end of the second retractable member 233 exceeds the set pressure, the auxiliary support mechanism 242 240 is activated, extending the fourth retractable member 244 against the second support body 224 to provide thrust support, allowing the obstacle pushing device 200 to better push the obstacle 700 away from the driving path. If the obstacle 700 is located to the left of the front end of the unmanned mining truck, the first rotary motor 226 rotates simultaneously during the obstacle pushing process, assisting in pushing the obstacle 700 away from the driving path. As the first rotary motor 210 rotates, the fourth retractable member 244 simultaneously extends, ensuring that the first retractable member 225 always rests against the second support body 224.

[0062] Example 2

[0063] Reference Figure 4 As shown, the obstacle marking method for the unmanned mining truck includes the following steps:

[0064] Step 1: The vehicle-mounted intelligent terminal 400 is connected to the cloud server 600, and the vehicle-mounted intelligent terminal 400 can directly mark the mining area map 500 on the cloud server 600 in real time;

[0065] Step 2: The unmanned mining vehicle is driving normally. If it encounters an obstacle 700 during driving, step 3 is executed. If it does not encounter an obstacle 700, step 7 is executed.

[0066] Step 3: Determine the obstacle 700. If it is a stationary object, proceed to step 4. If it is a moving object, take avoidance measures.

[0067] Step 4: The obstacle pushing device 200 is turned on, and the rotating motor 210 begins to rotate. During the rotation of the rotating motor 210, the extending mechanism 220 is extended. The obstacle recognition sensor 300 and the onboard intelligent terminal 400 determine the distance and position of the obstacle 700 from the vehicle, and control the first rotating motor 226 and the rotating motor 210 to rotate to corresponding angles, as well as the extension length of the first retractor 225, so that the front end of the extending mechanism 220 stops in front of the obstacle 700.

[0068] In step 5, the vehicle-mounted intelligent terminal 400 determines the height of the obstacle 700 and determines whether to open the second retractor 233 located at the upper or lower portion first based on the height of the obstacle 700. If the height of the obstacle 700 is greater than or equal to twice the height of the obstacle pushing device 200, step 6 is executed; if the height of the obstacle 700 is less than twice the height of the obstacle pushing device 200, step 7 is executed.

[0069] Step 6: Open the second retractor 233 at the top and execute step 8.

[0070] In step 7, the second retractor 233 at the bottom is opened, and step 8 is performed;

[0071] Step 8: Activate the push mechanism 230 to push the obstacle 700 away from the current driving route; and the pressure sensor 235 senses the push pressure. If the pressure remains within the set value, then execute step 10; if the pressure is greater than the set value, then execute step 9.

[0072] Step 9: Open the auxiliary support mechanism 240 and extend the fourth telescopic member 244 to abut against the second support body 224 for thrust support;

[0073] Step 10: After the pushing is completed, the obstacle pushing device 200 is reset;

[0074] Step 11: The vehicle-mounted intelligent terminal 400 marks the location of the obstacle 700 encountered on the built-in mining area map 500 and synchronizes it to the cloud server 600;

[0075] Step 12: The unmanned mining car continues to travel normally.

[0076] As an optional embodiment, in step 4, a pressure sensor 235 is installed on the protruding end of the second telescopic device 233. When the pushing mechanism 230 is turned on, a second telescopic device 233 is started first. When the pressure sensor 235 exceeds the set value, the second telescopic device 233 is turned on.

[0077] As an optional embodiment, in step 11, after the on-board intelligent terminal 400 marks the position of the obstacle 700, the cloud server 600 determines the method of handling the obstacle 700, so as to facilitate faster handling of the obstacle 700 and prevent the obstacle 700 from affecting the transportation of the unmanned mining truck again.

[0078] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0079] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0080] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. The obstacle marking method based on the unmanned mining truck obstacle pushing device is characterized in that: It comprises an unmanned mining truck body and an obstacle pushing device installed at the lower front end of the unmanned mining truck body; The obstacle pushing device includes a rotating motor fixedly mounted on the lower front end of the unmanned mining truck body, an extension mechanism connected to the output end of the rotating motor, and a pushing mechanism mounted on the extended end of the extension mechanism; The unmanned mining truck is also equipped with an obstacle recognition sensor and an on-board intelligent terminal; The obstacle marking method for an unmanned mining truck comprises the following steps: Step 1: The vehicle-mounted intelligent terminal is connected to the cloud server, and the vehicle-mounted intelligent terminal can directly mark the mining area map on the cloud server in real time; Step 2: The unmanned mining car drives normally. If it encounters an obstacle during driving, it will go to step 3. If it does not encounter an obstacle, it will go to step 7. Step 3: Determine the obstacle. If it is a stationary object, proceed to step 4. If it is a moving object, take avoidance measures. Step 4: Turn on the obstacle pusher and the motor starts to rotate. During the rotation of the motor, the extension mechanism is deployed. The obstacle recognition sensor and the onboard intelligent terminal determine the position of the obstacle at the front end of the unmanned mining vehicle. The motor rotates the corresponding angle to stop the front end of the extension mechanism in front of the obstacle. Step 5: Activate the push mechanism to push the obstacle away from the current driving route; after the push is completed, the obstacle pushing device is reset; Step 6: The vehicle-mounted intelligent terminal marks the location of the current obstacle on the mine map and synchronizes it to the cloud server; Step 7: The unmanned mining car runs normally.

2. The obstacle marking method based on the unmanned mining truck obstacle pushing device according to claim 1 is characterized in that: A shaft sleeve is fixedly mounted on the output end of the rotating motor.

3. The obstacle marking method based on the unmanned mining truck obstacle pushing device according to claim 2 is characterized in that: The extending mechanism includes a main support rod, a secondary support rod rotatably connected to the main support rod, and a first rotating motor connected between the main support rod and the secondary support rod.

4. The obstacle marking method based on the unmanned mining truck obstacle pushing device according to claim 3 is characterized in that: The secondary support rod is a telescopic structure, including a first support body rotatably connected to the main support rod, a second support body with one side end placed in the inner cavity of the first support body, and a first telescoping device with one side end fixed to the bottom of the inner cavity of the first support body and the other side end fixed to the side end of the second support body extending into the inner cavity of the first support body.

5. The obstacle marking method based on the unmanned mining truck obstacle pushing device according to claim 4 is characterized in that: One end of the main support rod is fixed on the shaft sleeve.

6. The obstacle marking method based on the unmanned mining truck obstacle pushing device according to claim 5 is characterized in that: The pushing mechanism includes a second rotating motor fixed to the protruding end of the second support body, a mounting block installed on the output end of the second rotating motor, two second telescoping devices arranged in parallel and fixed on the mounting block, and a rectangular pusher installed on the protruding end of the second telescoping device.

7. The obstacle marking method based on the unmanned mining truck obstacle pushing device according to claim 6 is characterized in that: An auxiliary supporting mechanism is installed at the lower front end of the unmanned mining truck body, which is located at the other side of the rotating motor.

8. The obstacle marking method based on the unmanned mining truck obstacle pushing device according to claim 7 is characterized in that: The auxiliary support mechanism includes a fixed support fixed to the bottom of the unmanned mining truck body, an auxiliary support extending into the inner cavity of the fixed support, a third telescope with one end fixed to the bottom of the inner cavity of the fixed support and the other end fixed to one side end of the auxiliary support extending into the inner cavity of the fixed support, and a fourth telescope fixed to the protruding end of the auxiliary support and facing the second support body.

9. The obstacle marking method based on the unmanned mining truck obstacle pushing device according to claim 8 is characterized in that: In step 4, a pressure sensor is installed on the extended end of the second retractor. When the push mechanism is turned on, one second retractor is started first. When the pressure sensor exceeds a set value, the second retractor is turned on.

10. The obstacle marking method based on the unmanned mining truck obstacle pushing device according to claim 9 is characterized in that: In step 5, the vehicle-mounted intelligent terminal marks the location of the obstacle, and the cloud server determines how to handle the obstacle.

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