An autonomous cruise tunnel unmanned transport vehicle

Abstract

The application discloses a kind of self-cruising tunnel unmanned transport vehicles, belong to automation equipment technical field, the mounting mechanism includes: shell, install unmanned transport vehicle, the front side of the shell is provided with let place slot, the shape of the let place slot is consistent with the shape of RFID label;Mounting platform, install unmanned transport vehicle tail, the two sides of the mounting platform extend to the two sides of the unmanned transport vehicle, the shell has two, installs the end of the two sides of the mounting platform, and front side is towards the two sides of the unmanned transport vehicle;Switching station, rotatably installed on the shell;This mechanism integrates punching and installation function, accurate positioning, operation continuous reliable, significantly improve the RFID label installation efficiency and quality in narrow tunnel environment, reduce the risk of manual operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, and in particular to a tunnel unmanned transport vehicle capable of autonomous cruising. BACKGROUND

[0002] At present, in order to realize accurate positioning and path planning of unmanned transport vehicles, equipment and other assets in tunnel environments such as mines, tunnels and underground pipe galleries, a large number of RFID (Radio Frequency Identification) tags need to be deployed on the side walls of the tunnels to form a positioning beacon network. The traditional tag installation method mainly relies on manual operation. The operator needs to carry a power drill, tags and installation tools into the tunnel to manually complete a series of steps such as drilling, placing tags and fastening installation.

[0003] This manual installation method has many disadvantages. First, the tunnel environment often has safety hazards, and manual operation for a long time faces high risks. Second, the installation efficiency is low, the labor intensity is high, and it is difficult to meet the needs of large-scale tag deployment. Third, the installation quality and position accuracy are highly dependent on the experience of the operator, which may cause problems such as loose installation and large position deviation, affecting the accuracy and reliability of subsequent unmanned vehicle positioning.

[0004] Although some automated or semi-automated installation devices have appeared in the prior art, they are often single-function or can only drill holes or only install, still requiring manual intervention and tool switching, and have not achieved full-process automation. In addition, these devices generally lack efficient material (tags and fasteners) automatic supply systems, have poor fault tolerance, and are not strongly adaptable in complex tunnel environments. More importantly, existing solutions focus on single-side operation, and for application scenarios that require tags to be deployed on both sides of the tunnel, the device body needs to be frequently adjusted or moved, further reducing overall operation efficiency. SUMMARY

[0005] The purpose of the present application is to solve the above problems and provide a tunnel unmanned transport vehicle capable of autonomous cruising.

[0006] The technical solution of the present application is as follows:

[0007] The present application provides a tunnel unmanned transport vehicle capable of autonomous cruising, which is installed with a vehicle-mounted system and an installation mechanism in the unmanned transport vehicle.

[0008] The vehicle-mounted system is used to:

[0009] Control the installation mechanism to install RFID tags on the side walls of different key node areas in the tunnel, and match the UID of the deployed RFID tags with the information of the key nodes to generate position information matched with the UID of the RFID tags.

[0010] Also used for vehicle-mounted system to cruise in the tunnel according to position information;

[0011] The mounting mechanism comprises:

[0012] The outer shell is mounted on the unmanned transport vehicle, and a clearance slot is formed in the front side of the outer shell, the shape of the clearance slot being consistent with that of the RFID tag;

[0013] The mounting platform is mounted at the tail of the unmanned transport vehicle, and the two sides of the mounting platform extend to the two sides of the unmanned transport vehicle, the outer shell has two ends mounted on the two sides of the mounting platform, and the front side faces the two sides of the unmanned transport vehicle;

[0014] The switching table is rotatably mounted on the outer shell, a drilling station and a mounting station are formed in the side wall of the switching table, the drilling station and the mounting station are located in the same plane perpendicular to the axis of the switching table, and the drilling station and the mounting station are staggered in the circumferential direction of the switching table, a loading groove for accommodating the fastening piece is also formed in the side wall of the switching table, and the loading groove is in communication with the mounting station;

[0015] The hole drilling assembly is mounted in the drilling station, and the hole drilling assembly can form a hole in the side wall of the tunnel;

[0016] The mounting assembly is mounted in the mounting station, and the mounting assembly can fix the RFID tag on the side wall of the tunnel through the fastening piece and the hole;

[0017] The tag loading assembly is used for preloading the RFID tag and providing the RFID tag for the mounting assembly;

[0018] The first rotating mechanism comprises a first motor, a first driving bevel gear and a first driven bevel gear meshing with the first driving bevel gear; wherein the first motor is fixedly mounted on the inner wall of the outer shell, the first driving bevel gear is mounted on the output end of the first motor, the first driven bevel gear is coaxially arranged with the switching table, and the first driven bevel gear is fixed with the switching table;

[0019] The switching table can be rotated by a limited angle around its axis through the first rotating mechanism, and the hole drilling assembly or the mounting assembly is aligned with the clearance slot.

[0020] As a further improvement of the above structure, the fastening piece comprises:

[0021] A transition cylinder;

[0022] An expansion nail, the tip of which penetrates through the bottom surface of the transition cylinder and extends to the outside, and the nail cap is clamped at the opening of the transition cylinder;

[0023] An expansion cap is sleeved on the part of the expansion nail that extends outside the transition cylinder;

[0024] When the end of the expansion cap contacts the bottom of the hole, the expansion cap can be expanded outward by extrusion and rotation of the expansion nail;

[0025] The RFID tag has a mounting ear with a mounting hole matched with the expansion nail.

[0026] As a further improvement of the above structure, the outer shell has a receiving groove for loading the fastener;

[0027] When the drill hole assembly switches to the working position, the loading groove communicates with the receiving groove, so that the fastener in the receiving groove falls into the loading groove;

[0028] When the mounting assembly switches to the working position, the loading groove is misaligned with the receiving groove, and the loading groove is blocked by the inner wall of the outer shell;

[0029] Wherein, the working position is a position corresponding to the accommodation groove.

[0030] As a further improvement of the above structure, the drill hole assembly comprises:

[0031] A first sliding table is movably mounted on the switching table;

[0032] A drill is fixedly mounted on the first sliding table for opening a hole in the side wall of the tunnel;

[0033] The mounting assembly comprises:

[0034] A second sliding table is movably mounted on the switching table;

[0035] A power screwdriver is mounted on the second sliding table, the position of the bit of the power screwdriver corresponds to the loading groove, the bit of the power screwdriver adopts a Phillips bit, and the nail cap of the expansion nail has a Phillips groove;

[0036] The mounting mechanism further comprises:

[0037] A cylinder is mounted in the outer shell with its cylinder end, and its telescopic end has a first magnet, a second magnet is mounted behind the power screwdriver and the drill, the first magnet and the second magnet are magnetically attracted to each other, and the cylinder is used to push the drill or the power screwdriver to move outward, or pull the drill or the power screwdriver to move into the switching table.

[0038] As a further improvement of the above structure, the front end of the outer shell has a loading space for preloading the RFID tag;

[0039] The label filling assembly comprises:

[0040] a filling frame having a containing space for accommodating the RFID label, the filling frame being movably installed between the switching table and the outer shell so as to be switched between a first station and a second station;

[0041] an outer cover being detachably installed on the outer side of the outer shell for blocking the filling space, the outer cover having spring sheets for pushing the RFID label in the filling space into the containing space;

[0042] In the first station, the containing space is in conformity with the filling space, and the RFID label in the filling space can enter the containing space;

[0043] In the second station, the mounting hole of the mounting lug of the RFID label in the containing space is adapted to the filling slot.

[0044] As a further improvement of the above structure, the switching table is installed with an inner tooth ring near one side of the filling frame;

[0045] The side wall of the filling frame has a first rack set;

[0046] The outer shell is rotatably installed with a first drive gear and a second drive gear corresponding to the inner tooth ring;

[0047] The first drive gear extends into the ring of the inner tooth ring and is engaged with the inner tooth ring, the first drive gear is engaged with the second drive gear, and the second drive gear is engaged with the first rack set.

[0048] As a further improvement of the above structure, the vehicle-mounted controller is further used to control the extension and retraction of the air cylinder and to rotate the switching table by controlling the first rotating mechanism.

[0049] As a further improvement of the above structure, the vehicle-mounted system comprises:

[0050] an RFID reader installed on the transport vehicle for continuously scanning and reading the UID of the passive label on the sidewall of the tunnel;

[0051] an RFID antenna installed on the transport vehicle, the RFID antenna being matched with the RFID reader and being directed to the label mounting side for transmitting and receiving radio frequency signals;

[0052] a vehicle-mounted controller installed in the transport vehicle, the vehicle-mounted controller being matched with the RFID reader;

[0053] The vehicle-mounted controller is configured to:

[0054] control the unmanned transport vehicle to move;

[0055] control the installation mechanism to install the RFID tag;

[0056] match the information of the key node with the UID of the RFID tag;

[0057] confirm the position information of the unmanned transport vehicle according to the UID of the RFID tag, and control the unmanned transport vehicle to cruise.

[0058] As a further improvement of the above structure, the key node area includes a long straight passage, a fork, a curve, a slope, a loading / unloading point, and a speed limit zone.

[0059] In the node of the long straight passage, the RFID tags of the area are installed at both ends of the terminal and starting point of the long straight passage, and the UID of the RFID tag is matched with the absolute coordinate data of the location.

[0060] In the node of the fork, the RFID tags are installed at the fork, and the UID of the RFID tags of the area is matched with the unique number of the fork and the direction information.

[0061] In the node of the curve, the RFID tags are installed at the starting point, midpoint and terminal point of the curve, and the UID of the RFID tags of the area is matched with the recommended passing speed data or the curve curvature data.

[0062] In the node of the slope, the RFID tags are installed at the low and high points of the slope, and the UID information of the RFID tags of the area is matched with the slope value data.

[0063] In the node of the speed limit zone, the RFID tags are installed at both ends of the terminal and starting point, and the UID of the RFID tags of the area is matched with the speed limit value data of the speed limit zone.

[0064] As a further improvement of the above structure, the matching of the information of the key node with the UID of the RFID tag includes:

[0065] The human controls the transport vehicle to enter the tunnel for the first time through the vehicle-mounted controller, and when reaching the key node area, installs the RFID tags on the side wall of the tunnel through the vehicle-mounted controller, and inputs the position information of the key node area. The vehicle-mounted controller matches the position information with the UID of the RFID tag and records in the database.

[0066] When the transport vehicle enters the tunnel for the N+1th time, the vehicle-mounted system reads the UID of the RFID tag, and according to the UID, the position information matched with the UID in the database is inquired to obtain the current position information of the vehicle.

[0067] The advantages or beneficial effects of the above technical solutions at least include:

[0068] The integrated design of the installation mechanism arranged bilaterally symmetrically and the unmanned transport vehicle platform realizes efficient and synchronous installation of the RFID tags on both sides of the tunnel, greatly improves the deployment efficiency and operation coverage; the rotation station switching mechanism of the cylindrical switching table is used to accurately coordinate the alternate performance of the drilling and installation processes, so that the continuity and automation degree of the operation process are ensured; the transition cylinder structure effectively avoids the deflection and jamming of the expansion nails during the filling and advancing process; through the linkage control of the switching table rotation and the filling frame lifting, the automatic replenishment and accurate alignment of the tags and the mounting parts are realized, and the need for manual intervention is reduced; the design of the matching of the letting-in groove and the label shape ensures the guidance and stability during the installation process, and avoids the label deviation or falling; and the label deployment requirement under the complex underground tunnel environment can be met. BRIEF DESCRIPTION OF DRAWINGS

[0069] Figure 1 A schematic view showing that the installation mechanism of the embodiment of the present application is installed on the transport vehicle is shown;

[0070] Figure 2 A schematic view showing the installation of the outer cover of the embodiment of the present application is shown;

[0071] Figure 3 A schematic view showing the first rotation mechanism of the embodiment of the present application is shown;

[0072] Figure 4 A schematic view showing the second drive gear and the installation position of the second drive gear of the embodiment of the present application is shown;

[0073] Figure 5 A schematic view showing the installation position of the filling frame and the installation position of the inner gear ring of the embodiment of the present application is shown;

[0074] Figure 6 The upper half of the figure shows a first schematic view when the drilling assembly is switched to the working position, and the lower half of the figure shows a first schematic view when the installation assembly is switched to the working position;

[0075] Figure 7 The upper half of the figure shows a second schematic view when the drilling assembly is switched to the working position, and the lower half of the figure shows a second schematic view when the installation assembly is switched to the working position;

[0076] Figure 8 A schematic view showing the position of the cylinder of the embodiment of the present application is shown;

[0077] Figure 9 The figure shows the push-out of the electric drill by the air cylinder, the upper half represents the electric drill before push-out, and the lower half represents the electric drill after push-out;

[0078] Figure 10 The figure shows the push-out of the electric screwdriver by the air cylinder, the upper half represents the electric screwdriver before push-out, and the lower half represents the electric screwdriver after push-out;

[0079] Figure 11 The figure shows the expansion nail corresponding to the installation hole;

[0080] Figure 12 The figure shows the cross-sectional view of the fastening piece;

[0081] Figure 13 The figure shows the installation steps of the RFID tag, step a represents the fastening piece aligning with the installation hole of the RFID tag, step b represents the expansion nail extending into the installation hole, step c represents the fastening piece closely adhering to the side wall with the RFID tag, and the expansion nail extending into the hole, step d represents the expansion nail extending into the hole, the expansion cap expanding, and the RFID tag being successfully installed;

[0082] Figure 14 The figure shows the installation of the electric drill and the electric screwdriver;

[0083] Figure 15 The figure shows the structure of the clamping block and the clamping groove, which shows the structure of the clamping block and the clamping groove.

[0084] The figure shows the structure of the clamping block and the clamping groove, which shows the structure of the clamping block and the clamping groove. DETAILED DESCRIPTION

[0085] Referring to Figure 1The application discloses an autonomous tunnel unmanned transport vehicle, which is internally provided with a vehicle-mounted system and a mounting mechanism 10; the mounting mechanism 10 is used for mounting an RFID tag 30 on the side wall of a tunnel, wherein the RFID tag 30 is a passive RFID tag 30, has a card-like overall shape, and has a unique UID in each RFID tag 30; one side of the RFID tag 30 is provided with a mounting lug 31, and the mounting lug 31 is provided with a mounting hole 32 matched with an expansion nail 162; the mounting mechanism 10 can mount the RFID tag 30 on the side wall of the tunnel through the expansion nail 162.

[0086] The mounting mechanism 10 comprises:

[0087] An outer shell 11 is mounted on the unmanned transport vehicle, and a displacement slot is formed in the front side of the outer shell 11 and has a shape consistent with that of the RFID tag 30.

[0088] An installation platform 18 is mounted at the tail of the unmanned transport vehicle, and the two sides of the installation platform 18 extend to the two sides of the unmanned transport vehicle; the outer shell 11 has two and is mounted at the ends of the two sides of the installation platform 18 and faces the two sides of the unmanned transport vehicle.

[0089] A switching table 12 has a cylindrical structure, is rotatably mounted on the outer shell 11, and has a drilling station and a mounting station formed in the side wall of the switching table 12; the drilling station and the mounting station are located in the same plane perpendicular to the axis (consistent in the height direction of the cylindrical structure) and are staggered in the circumferential direction of the switching table 12 (the drilling station and the mounting station are arranged on the side wall of the cylindrical structure and are spaced apart along the circumferential direction of the cylinder); the side wall of the switching table 12 is further provided with a filling groove 121 for accommodating the fastening piece 16, and the filling groove 121 is in communication with the mounting station.

[0090] A hole drilling assembly 13 is mounted on the drilling station and can form a hole in the side wall of the tunnel; specifically, the hole drilling assembly 13 comprises a first sliding table 131 movably mounted on the drilling station of the switching table 12 and an electric drill 132 fixedly mounted on the first sliding table 131 and used for forming a hole in the side wall of the tunnel.

[0091] An installation assembly 14 is mounted on the mounting station and can fix the RFID tag 30 on the side wall of the tunnel through the fastening piece 16 and the hole; specifically, the installation assembly 14 comprises a second sliding table 141 movably mounted on the switching table 12 and an electric screwdriver 142 mounted on the second sliding table 141.

[0092] The label 30 loading assembly 15 is used to pre-load the RFID label 30 and provide the RFID label 30 for the installation assembly 14;

[0093] The first rotating mechanism 123 comprises a first motor 1231, a first driving bevel gear 1232 and a first driven bevel gear 1233 engaged with the first driving bevel gear 1232; wherein the first motor 1231 is fixedly installed on the inner wall of the outer shell 11, the first driving bevel gear 1232 is installed on the output end of the first motor 1231, and the first driven bevel gear 1233 is coaxially arranged with the switching table 12 and fixed with the switching table 12; as shown in Figure 7 Figure 7 The upper half part is the movement of the hole drilling assembly 13 to the working position, and the lower half part is the movement of the installation assembly 14 to the working position.

[0094] The switching table 12 can be rotated by a limited angle around its axial direction through the first rotating mechanism 123, specifically through the rotation of the first motor 1231, through the first driving bevel gear 1232 to drive the first driven bevel gear to rotate, so that the switching table 12 is rotated to align the hole drilling assembly 13 or the installation assembly 14 with the accommodation slot. Figure 7 Figure 7 The upper half part is the movement of the hole drilling assembly 13 to the working position, and the lower half part is the movement of the installation assembly 14 to the working position.

[0095] The switching table 12 can be rotated by a limited angle around its axial direction through the first rotating mechanism 123, specifically through the rotation of the first motor 1231, through the first driving bevel gear 1232 to drive the first driven bevel gear to rotate, so that the switching table 12 is rotated to align the hole drilling assembly 13 or the installation assembly 14 with the accommodation slot.

[0096] Specifically, the fixing member 16 comprises: a transition cylinder 161; an expansion nail 162, the tip of which penetrates through the bottom surface of the transition cylinder 161 and extends outside, and the nail cap of which is clamped at the opening of the transition cylinder 161; the position of the head of the electric screwdriver 142 corresponds to the loading groove 121, the head of the electric screwdriver 142 adopts a cross slot screwdriver head, and the nail cap of the expansion nail 162 has a cross slot, so that the electric screwdriver 142 can rotate the expansion nail 162, further, the fixing member 16 further comprises an expansion cap 163, which is sleeved on the part of the expansion nail 162 extending outside the transition cylinder 161; when the end of the expansion cap 163 contacts the bottom of the hole, the expansion cap 163 can be expanded outward through the extrusion and rotation of the expansion nail 162;

[0097] And the outer shell 11 has a receiving groove 114 for loading the fixing member 16; as shown in Figure 5 and Figure 11 ​​As shown, the receiving groove 114 can place multiple fasteners 16, when the drilling assembly 13 switches to the working position, the filling groove 121 is connected with the receiving groove 114, so that the fasteners 16 in the receiving groove 114 fall into the filling groove 121, realizing automatic filling; when the installation assembly 14 switches to the working position, the filling groove 121 is misaligned with the receiving groove 114, the filling groove 121 is blocked by the inner wall of the outer shell 11, and the fasteners 16 in the receiving groove 114 remain in position, waiting for the switching table 12 to rotate to make the filling groove 121 correspond to the receiving groove 114.

[0098] Further, the installation device further comprises: a cylinder 17, the cylinder end is installed in the outer shell 11, the telescopic end has a first magnet, a second magnet is installed behind the electric screwdriver 142 and the electric drill 132, the first magnet and the second magnet are magnetically attracted to each other, the cylinder 17 is used to push the electric drill 132 or the electric screwdriver 142 to move outward, or pull the electric drill 132 or the electric screwdriver 142 to move into the switching table 12;

[0099] As shown, Figure 8 Figure 8 The upper half is a schematic view of the drilling assembly 13 reaching the working position, at this time the first magnet of the telescopic end of the cylinder 17 is magnetically attracted to the second magnet behind the electric drill 132, the cylinder 17 can push the electric drill 132 forward to move forward, drill a hole, and after drilling is completed, the electric drill 132 is pulled back through the magnetic attraction of the first magnet and the second magnet, and similarly, Figure 8 The lower half is a schematic view of the installation assembly 14 reaching the working position, at this time the first magnet of the telescopic end of the cylinder 17 is magnetically attracted to the second magnet behind the electric screwdriver 142, the cylinder 17 can push the electric screwdriver 142 forward to move forward, and after installation is completed, the electric screwdriver 142 is pulled back through the magnetic attraction of the first magnet and the second magnet.

[0100] Of course, the connection mode of the telescopic end of the above-mentioned cylinder 17 and the electric drill 132 or the electric screwdriver 142 can not only adopt the above-mentioned magnetic attraction mode, but also can adopt the mode of connecting the clamping block and the clamping groove, for example, the rear part of the electric drill 132 and the electric screwdriver 142 has a clamping groove, the telescopic end of the cylinder 17 has a clamping block, with the rotation of the switching table 12, the clamping groove behind the electric drill 132 or the electric screwdriver 142 will automatically embed the clamping block of the telescopic end of the cylinder 17, so that the clamping block is embedded in the clamping groove, and the connection is completed, it should be noted that the opening direction of the clamping groove is consistent with the rotation direction of the switching table 12, only when the switching table 12 rotates, the clamping block can be embedded in the clamping groove, or the clamping block can be separated from the clamping groove, as shown, Figure 15

[0101] ​​Because the expansion nail 162 is in a "T" shape structure, if the transition cylinder 161 is not installed, the expansion nail 162 is directly placed into the filling slot 121, the tip of the expansion nail 162 will be tilted downward, a triangular structure area is formed between the nail cap and the needle tip, it is difficult to push, and it is also easy to be stuck when the stack filling is performed, the tilted tip is also difficult to be aligned with the installation hole 32 of the RFID tag 30 when the air cylinder 17 pushes the electric screwdriver 142, and even the expansion nail 162 and the hole are misaligned, the installation fails, the transition cylinder 161 supports the nail head of the expansion nail 162 to always face forward, and the entire mounting member 16 is in a cylindrical structure, which is convenient for filling and not easy to be stuck.

[0102] Further, the installation mechanism 10 further comprises:

[0103] The label filling assembly 15 is used for preloading the RFID tag 30 and providing the RFID tag 30 for the installation assembly 14, and has a filling space 115 for preloading the RFID tag 30 at the front end of the outer shell 11.

[0104] The label filling assembly 15 comprises:

[0105] The filling frame 151 has a containing space 1511 for containing the RFID tag 30, and the filling frame 151 is movably installed between the switching table 12 and the outer shell 11, so that it can be switched between the first station and the second station.

[0106] The outer cover 152 is detachably installed on the outer side of the outer shell 11 by a screw, and is used for plugging the filling space 115, and the outer cover 152 has a spring sheet 1521, as shown in the drawing. Figure 2 The spring sheet 1521 is used for pushing the RFID tag 30 in the filling space 115 into the containing space 1511.

[0107] When the filling frame 151 is at the first station, the containing space 1511 is matched with the filling space 115, and the RFID tag 30 in the filling space 115 can enter the containing space 1511.

[0108] When the filling frame 151 is at the second station, the installation hole 32 of the installation ear 31 of the RFID tag 30 in the containing space 1511 is matched with the filling slot 121, and the filling frame 151 is switched by the following way:

[0109] The inner tooth ring 122 is installed on the side of the switching table 12 close to the filling frame 151; the side wall of the filling frame 151 has a first rack group 1512; and the part of the outer shell 11 corresponding to the inner tooth ring 122 is rotatably installed with the first drive gear 111 and the second drive gear 112.

[0110] The first drive gear 111 extends into the ring of the internal gear ring 122 and meshes with it. The first drive gear 111 meshes with the second drive gear 112, and the second drive gear 112 meshes with the first rack assembly 1512. Figure 7 As shown in the upper part, at this time, the first rotating mechanism 123 rotates the switching table 12, so that the drilling assembly 13 reaches the working position. At this time, the gear ring rotates clockwise with the switching table 12, driving the first drive gear 111 to rotate counterclockwise. The first drive gear 111 drives the second drive gear 112 to rotate clockwise. When the second drive gear 112 rotates clockwise, it will move the loading frame 151 downward through the first rack group 1512, so that the loading frame 151 reaches the first working position.

[0111] like Figure 7 As shown in the lower part, the first rotating mechanism 123 rotates the switching table 12, causing the mounting assembly 14 to reach the working position. At this time, the gear ring rotates counterclockwise with the switching table 12, driving the first drive gear 111 to rotate, causing the first drive gear 111 to rotate clockwise. The first drive gear 111 drives the second drive gear 112 to rotate counterclockwise. When the second drive gear 112 rotates clockwise, it will move the loading frame 151 upward through the first rack group 1512, so that the loading frame 151 reaches the second station. When it reaches the second station, the RFID tag 30 in the loading space 115 will be tightly attached to the lower half of the loading frame 151. When the loading frame 151 returns to the first station, the spring plate 1521 will push the RFID tag 30 to be embedded into the receiving space 1511 again.

[0112] Based on the above structure, when the installation mechanism 10 needs to install the RFID tag 30 on the side wall of the tunnel, the following steps are required:

[0113] 1. Making holes:

[0114] The first rotating mechanism 123 rotates the switching table 12 to rotate the drilling assembly 13 to the working position. At this time, the telescopic end of the cylinder 17 is connected to the rear of the electric drill 132 of the drilling assembly 13 through the attraction of the first magnet and the second magnet (or the card block is embedded in the card slot). The first slide table 131 can make the telescopic end of the cylinder 17 easily push the electric drill 132 forward. The electric drill 132 rotates the drill bit with the electric drill 132, and a hole can be opened in the side wall of the tunnel. After the hole is opened, the cylinder 17 pulls the electric drill 132 back. The first slide table 131 can make the telescopic end of the cylinder 17 easily pull the electric drill 132 back.

[0115] II. Loading RFID tags 30 and mounting components 16:

[0116] Before the hole is opened, the spring sheet 1521 of the outer cover 152 pushes the RFID tag 30 in the filling space 115, so that the innermost RFID tag 30 is embedded in the accommodating space 1511 of the filling frame 151, waiting for installation, at the same time, when the first rotating mechanism 123 rotates the switching table 12, so that the drilling assembly 13 is rotated to the working position, the receiving groove 114 corresponds to the filling groove 121, and the fastening piece 16 in the receiving groove 114 falls into the filling groove 121, waiting for installation.

[0117] III. Install the RFID tag 30:

[0118] At this time, the first rotating mechanism 123 rotates the switching table 12, and the process of rotating the installation assembly 14 to the working position, at this time, the gear ring rotates counterclockwise with the switching table 12, drives the first drive gear 111 to rotate, so that the first drive gear 111 rotates clockwise, the first drive gear 111 drives the second drive gear 112 to rotate counterclockwise, when the second drive gear 112 rotates clockwise, it will move the filling frame 151 upward through the first first rack group 1512, so that the filling frame 151 reaches the second station, so that the mounting hole 32 of the mounting ear 31 of the RFID tag 30 in the accommodating space 1511 is matched with the filling groove 121;

[0119] When the installation assembly 14 is rotated to the working position, at this time, the extension end of the air cylinder 17 is connected with the rear part of the electric screwdriver 142 of the installation assembly 14 through the adsorption of the first magnet and the second magnet (or the block is embedded in the clamping groove), at this time, the extension end of the air cylinder 17 will extend the electric screwdriver 142, the head of the electric screwdriver 142 extends into the filling groove 121 and contacts with the fastening piece 16, specifically, the cross slot screwdriver head of the electric screwdriver 142 is matched with the cross slot of the nail cap of the expansion nail 162 (not shown in the figure), and the screwdriver head can be magnetically attracted to the expansion nail 162 for preliminary connection, because the fastening piece 16 is close to the RFID tag 30 to be installed, with the continuous pushing of the air cylinder 17 to the electric screwdriver 142, the fastening piece 16 will be pushed forward, the part of the expansion nail 162 extending outside the transition cylinder 161 will first enter the mounting hole 32 of the mounting ear 31, like Figure 11 and Figure 13 as shown in steps a and b;

[0120] It is important to note that before installation, the unmanned transport vehicle 20 drives to the side wall of the tunnel, so that the outer shell 11 is in close contact with the side wall of the tunnel. The front end of the installation mechanism 10 is always in close contact with the side wall of the tunnel to minimize the gap between the outer shell 11 and the side wall. This can prevent the RFID tag 30 from falling out of the gap between the outer shell 11 and the side wall during installation. In addition, the shape of the clearance groove 113 is consistent with the shape of the RFID tag 30. When the RFID tag 30 is pushed out of the receiving space 1511, it will enter the clearance groove 113, which plays a guiding role and will not fall or deviate.

[0121] At this time, the extension and retraction end of cylinder 17 continues to move forward, such as Figure 13 As shown in step c, the tip of the expansion pin 162 of the mounting component 16 will first enter the hole. When the tip of the expansion pin enters the hole, the mounting ear 31 is still in the relief groove 113 and will not fall off. The mounting ear 31 of the RFID tag 30 is restricted between the tunnel sidewall and the transition cylinder 161. As the telescopic end of the cylinder 17 continues to extend forward, the pin head of the expansion pin 162 will enter the transition cylinder 161. Figure 13 As shown in step d, the expansion cap 163 at the top of the expansion nail 162 is squeezed and expanded. The electric screwdriver 142 is started and the expansion nail 162 is rotated to further assist the expansion cap 163 in expanding outward. At this time, the expansion nail 162 is fixed, and the RFID tag 30 can be fixed to the side wall through the expansion nail 162.

[0122] IV. Preparing for the next installation:

[0123] After the RFID tag 30 is installed, the telescopic end of the cylinder 17 retracts, pulling the electric screwdriver 142 back to its initial position. At this time, the first rotating mechanism 123 rotates, rotating the drilling assembly 13 to the working position. The gear ring rotates clockwise with the switching table 12, driving the first drive gear 111 to rotate counterclockwise. The first drive gear 111 drives the second drive gear 112 to rotate clockwise. When the second drive gear 112 rotates clockwise, it will move the loading frame 151 downward through the first rack group 1512, so that the loading frame 151 reaches the first working position. The accommodating space 1511 corresponds to the loading space 115. The spring plate 1521 pushes the RFID tag 30 in the loading space 115 into the accommodating space 1511. The loading groove 121 corresponds to the storage groove 114. The fixed part 16 in the storage groove 114 falls downward into the loading groove 121, ready for the second installation of the RFID tag 30.

[0124] The unmanned transport vehicle 20 is also equipped with:

[0125] Mounting platform 18 is installed at the rear of unmanned transport vehicle 20, and the two sides of mounting platform 18 extend to the sides of unmanned transport vehicle 20.

[0126] The installation mechanism 10 is installed at the extended end of the installation platform 18 on both sides, and the accommodation slot 113 is directed to both sides of the unmanned transport vehicle 20; only one side of the installation platform 18 needs to be close to the side wall of the tunnel for installation;

[0127] The installation device also includes a camera installed beside the accommodation slot 113 (not shown in the figure) to facilitate manual observation of the installation of the label 30 during manual operation of the RFID label 30.

[0128] The unmanned transport vehicle is also provided with a vehicle-mounted system, which is used to:

[0129] Control the installation mechanism 10 to install the RFID label 30 on the side wall of different key node areas in the tunnel, and match the UID of the deployed RFID label 30 with the information of the key node to generate position information matched with the UID of the RFID label 30;

[0130] Also used for autonomous cruising in the tunnel by the vehicle-mounted system according to the position information;

[0131] The vehicle-mounted system is further used to control the extension and retraction of the air cylinder 17, and to rotate the switching table by controlling the first rotating mechanism 123, specifically by controlling the output end of the first motor 1231 to rotate.

[0132] The vehicle-mounted system includes:

[0133] The RFID reader / writer is installed on the transport vehicle and is used to continuously scan and read the UID of the passive RFID label 30 on the side wall of the tunnel;

[0134] The RFID antenna is installed on the transport vehicle and is matched with the RFID reader / writer, pointing to the side where the RFID label 30 is installed, and is used to transmit and receive radio frequency signals;

[0135] The vehicle-mounted controller is installed in the transport vehicle and is matched with the RFID reader / writer;

[0136] The vehicle-mounted controller is used to:

[0137] 1. Control the movement of the unmanned transport vehicle; 2. Control the installation of the RFID label 30 by the installation mechanism 10; 3. Match the information of the key node with the UID of the RFID label 30; 4. Confirm the position information of the unmanned transport vehicle according to the UID of the RFID label 30, and control the cruising of the unmanned transport vehicle;

[0138] Specifically, the key node area includes: a straight passageway, a fork, a curve, a slope, a loading / unloading point, and a speed limit area;

[0139] 1. In the node of long straight passage, RFID tags 30 are installed at both ends of the long straight passage, and the UID of the RFID tag 30 matches the absolute coordinate data of the location;

[0140] 2. In the node of the fork, RFID tags 30 are installed at the fork, and the UID of the RFID tag 30 in this area matches the unique number of the fork and the direction information;

[0141] 3. In the node of the curve, RFID tags 30 are installed at the beginning, middle and end of the curve, and the UID of the RFID tag 30 in this area matches the recommended passing speed data or curve curvature data;

[0142] 4. In the node of the slope, RFID tags 30 are installed at the low and high points of the slope, and the UID information of the RFID tag 30 in this area matches the slope value data;

[0143] 5. In the node of the speed limit area, RFID tags 30 are installed at both ends of the end and the beginning, and the UID of the RFID tag 30 in this area matches the speed limit data of the speed limit area.

[0144] Wherein, the matching of the information of the key node with the UID of the RFID tag 30 comprises:

[0145] Manually control the transport vehicle to enter the tunnel for the first time through the vehicle-mounted controller, when reaching the key node area, install the RFID tag 30 on the side wall of the tunnel through the vehicle-mounted controller, and input the location information of the key node area, manually match the location information with the UID of the RFID tag 30 through the vehicle-mounted controller, and record in the database;

[0146] When the transport vehicle enters the tunnel for the N+1 time, the vehicle-mounted system reads the UID of the RFID tag 30, and queries the matching location information in the database according to the UID to obtain the current location information of the vehicle.

[0147] For example:

[0148] 1. Long straight passage:

[0149] RFID tag 30 deployment strategy: RFID tags 30 are installed at the same height on the side wall with large intervals (e.g. 20 meters each).

[0150] Vehicle behavior:

[0151] The vehicle travels at a cruising speed (e.g. 10 km / h).

[0152] Read RFID tag 30 UID: 0x1001, query database to get position (100m, 0.8m, 1.5m).

[0153] Decision: Confirm self at 100m, no special action. Between two RFID tags 30, rely on encoder to calculate distance traveled, IMU to ensure vehicle runs in straight line; smooth driving until next RFID tag 300x1002 is read, position is corrected again, cumulative error of encoder is eliminated.

[0154] 2. Curve:

[0155] RFID tag 30 deployment strategy: RFID tags 30 are deployed at the start, midpoint, and end of the curve, as well as in the middle (interval reduced to 3-5 meters). In the database, add attribute action: start turning to the start RFID tag 30. Vehicle behavior: read curve start RFID tag 30 UID: 0x2001, database information: coordinates: (200m, 0.8m, 1.5m), attribute: curve start, recommended speed: 8 km / h, turning angle: left 15 degrees; Decision: vehicle control unit immediately issues instructions: soft deceleration to 8 km / h, and continuously sends turning instructions to the left; In another embodiment, RFID tags 30 can be densely arranged in the curve (0x2002, 0x2003...) to provide continuous absolute position feedback to the vehicle, fine-tune the turning angle, and ensure smooth curve passing; read curve end RFID tag 300x2009, attribute is curve end. The vehicle returns the steering wheel to the original direction and accelerates to return to the cruising speed.

[0156] 3. Fork:

[0157] RFID tag 30 deployment strategy: This is the most critical area. RFID tags 30 are densely deployed before, during, and after the fork. Each branch of the fork must have a dedicated RFID tag 30. The database assigns these RFID tags 30 clear path instructions. Vehicle behavior: When approaching the fork, read warning RFID tag 30 UID: 0x3001, query database to get: fork ahead, prepare to turn right. Decision: Vehicle begins to slow down slightly; reach the core point of the fork, read RFID tag 30 UID: 0x3002, database instruction: path: right branch; Decision: Control unit executes strict right turn procedure to ensure vehicle enters correct branch. Once in right branch, read confirmation RFID tag 30 UID: 0x3003R, attribute: right branch entry confirmation. Vehicle knows it has successfully entered the correct path and continues forward.

[0158] 4. Slope:

[0159] RFID tag 30 deployment strategy: Deploy RFID tags 30 at the bottom and top of the slope, and add attributes. RFID tag 30 deployment on the slope itself is the same as on a straight road. Vehicle behavior: Read the RFID tag 30 UID: 0x4001 at the bottom of the slope, query the database to learn: slope starts +5%, torque increases by 20%. Decision: The control unit increases the motor output torque to maintain vehicle speed and prevent coasting; while driving on the slope, rely on the encoder and IMU to sense slope changes and speed maintenance; read the RFID tag 30 UID: 0x4002 at the top of the slope, attributes: slope ends, torque returns to normal. The motor output returns to normal.

[0160] 5. Loading / unloading point: RFID tag 30 deployment strategy: Very dense RFID tag 30 deployment (1-2 meters). Pre-warning RFID tag 30, stopping RFID tag 30, and job completion RFID tag 30 are provided. Vehicle behavior: Read UID: 0x5001, query the database to learn: unloading point 10m ahead, slow down to 3 km / h. The vehicle begins to slowly approach; read UID: 0x5002, query the database to learn: stopping point. Decision: The vehicle immediately executes a complete stop procedure and stops precisely; the vehicle controller sends a signal through the CAN bus to trigger the unloading mechanism (such as a conveyor belt or lifting device) to start working. After unloading is complete, the vehicle reads the next RFID tag 30 UID: 0x5003, queries the database to learn: job complete, allowed to drive away. The vehicle restarts and drives to the next target.

[0161] 6. Speed limit zone:

[0162] RFID tag 30 deployment strategy: Deploy RFID tags 30 at the start and end of the speed limit zone.

[0163] Vehicle behavior: Read UID: 0x6001, query the database to learn: speed limit zone starts, speed ≤ 5 km / h. Decision: The vehicle smoothly slows down to 5 km / h. Read UID: 0x6002, query the database to learn: speed limit zone ends. The vehicle accelerates back to cruising speed.

Claims

1. A self-cruising tunnel unmanned transport vehicle, characterized by: The unmanned transport vehicle is provided with a vehicle-mounted system and a mounting mechanism; The vehicle-mounted system is used for: controlling the mounting mechanism to mount the RFID tag on the sidewall of different key node areas in the tunnel, and matching the UID of the deployed RFID tag with the information of the key node to generate the position information matched with the UID of the RFID tag; and is also used for the vehicle-mounted system to cruise in the tunnel according to the position information; The mounting mechanism comprises: an outer shell body mounted on the unmanned transport vehicle, a let-in slot being formed in the front side of the outer shell body, the shape of the let-in slot being consistent with the shape of the RFID tag; a mounting platform mounted at the tail of the unmanned transport vehicle, the two sides of the mounting platform extending to the two sides of the unmanned transport vehicle, the outer shell body having two, the two outer shell bodies being mounted at the end of the two sides of the mounting platform and the front side facing the two sides of the unmanned transport vehicle; a switching table rotatably mounted on the outer shell body, a drilling station and a mounting station being formed in the sidewall of the switching table, the drilling station and the mounting station being located in the same plane perpendicular to the axis of the switching table, and the drilling station and the mounting station being misaligned with each other in the circumferential direction of the switching table, a loading slot for accommodating a fastening piece being further formed in the sidewall of the switching table, the loading slot being in communication with the mounting station; a hole drilling assembly mounted on the drilling station, the hole drilling assembly being capable of forming a hole in the sidewall of the tunnel; a mounting assembly mounted on the mounting station, the mounting assembly being capable of fixing the RFID tag on the sidewall of the tunnel through the fastening piece and the hole; a tag loading assembly for preloading the RFID tag and providing the RFID tag for the mounting assembly; a first rotating mechanism, the first rotating mechanism comprising a first motor, a first driving bevel gear and a first driven bevel gear in mesh with the first driving bevel gear; wherein the first motor is fixedly mounted on the inner wall of the outer shell body, the first driving bevel gear is mounted on the output end of the first motor, the first driven bevel gear is coaxially arranged with the switching table and is fixed with the switching table; the switching table can be rotated by a limited angle around its axis through the first rotating mechanism, the hole drilling assembly or the mounting assembly being aligned with the let-in slot; the fastening piece comprises: a transition cylinder; an expansion nail, the tip of the expansion nail penetrating through the bottom surface of the transition cylinder and extending outside, the nail cap of the expansion nail being clamped at the opening of the transition cylinder; an expansion cap, the expansion cap being sleeved on the part of the expansion nail extending outside the transition cylinder; when the end of the expansion cap contacts the bottom of the hole, the expansion cap can be expanded outward through the extrusion and rotation of the expansion nail; the RFID tag has a mounting ear, the mounting ear having a mounting hole matched with the expansion nail; the outer shell body has a receiving slot for loading the fastening piece; when the hole drilling assembly is switched to the working position, the loading slot is in communication with the receiving slot, so that the fastening piece in the receiving slot falls into the loading slot; when the mounting assembly is switched to the working position, the loading slot is misaligned with the receiving slot, the loading slot being blocked by the inner wall of the outer shell body; wherein the working position is the position corresponding to the let-in slot. The hole drilling assembly comprises: a first sliding table movably mounted on the switching table; an electric drill fixedly mounted on the first sliding table for opening holes on the side wall of the tunnel; The mounting assembly comprises: a second sliding table movably mounted on the switching table; a power screwdriver mounted on the second sliding table, the head position of the power screwdriver corresponding to the loading slot, the head of the power screwdriver adopting a cross slot screwdriver head, and the nail cap of the expansion nail having a cross slot; The mounting mechanism further comprises: a cylinder, the cylinder end of which is mounted in the outer shell, the telescopic end having a first magnet, a second magnet being mounted behind the power screwdriver and the electric drill, the first magnet and the second magnet being magnetically attracted to each other, the cylinder being used to push the electric drill or the power screwdriver to move outward, or to pull the electric drill or the power screwdriver to move into the switching table; The vehicle-mounted system is further used to control the telescoping of the cylinder and the rotation of the switching table by controlling the first rotating mechanism.

2. The self-cruising gallery unmanned transport vehicle according to claim 1, characterized in that: The front end of the outer shell has a loading space for preloading RFID tags; The tag loading assembly comprises: a loading frame having a containing space for containing RFID tags, the loading frame being movably mounted between the switching table and the outer shell so as to be switched between a first station and a second station; an outer cover detachably mounted on the outer side of the outer shell for plugging the loading space, the outer cover having a spring sheet for pushing the RFID tags in the loading space into the containing space; In the first station, the containing space is matched with the loading space, and the RFID tags in the loading space can enter the containing space; In the second station, the mounting hole of the mounting ear of the RFID tags in the containing space is matched with the loading slot.

3. The self-cruising tunnel unmanned transport vehicle according to claim 2, characterized in that: The switching table is mounted with an inner gear ring on the side close to the loading frame; The side wall of the loading frame has a first rack set; The part of the outer shell corresponding to the inner gear ring is rotatably mounted with a first drive gear and a second drive gear; The first drive gear is inserted into the ring of the inner gear ring and engaged with the inner gear ring, the first drive gear is engaged with the second drive gear, and the second drive gear is engaged with the first rack set.

4. The self-cruising tunnel unmanned transport vehicle according to claim 3, characterized in that: The vehicle-mounted system comprises: an RFID reader / writer mounted on the transport vehicle for continuously scanning and reading the UID of the passive tags on the side wall of the tunnel; an RFID antenna mounted on the transport vehicle, the RFID antenna being matched with the RFID reader / writer and pointing to the tag mounting side for transmitting and receiving radio frequency signals; a vehicle-mounted controller mounted in the transport vehicle, the vehicle-mounted controller being matched with the RFID reader / writer; The vehicle-mounted controller is used to: control the unmanned transport vehicle to move; control the mounting mechanism to install RFID tags; match the information of the key node with the UID of the RFID tag; confirm the position information of the unmanned transport vehicle according to the UID of the RFID tag and control the unmanned transport vehicle to cruise.

5. The self-cruising gallery unmanned transport vehicle according to claim 4, characterized in that: The key node area includes: long straight passage, fork, curve, slope, loading / unloading point and speed limit area; Wherein, under the node of long straight passage, the RFID tags of the area are installed at both ends of the terminal and starting point of the long straight passage, and the UID of the RFID tags matches the absolute coordinate data of the location; Under the node of fork, the RFID tags are installed at the fork, and the UID of the RFID tags of the area matches the unique number and direction information of the fork; Under the node of curve, the RFID tags are installed at the starting point, midpoint and terminal point of the curve, and the UID of the RFID tags of the area matches the recommended passing speed data or curve curvature data; Under the node of slope, the RFID tags are installed at the low and high points of the slope, and the UID information of the RFID tags of the area matches the slope value data; Under the node of speed limit area, the RFID tags are installed at both ends of the terminal and starting point, and the UID of the RFID tags of the area matches the speed limit value data of the speed limit area.

6. The self-cruising gallery unmanned transport vehicle according to claim 5, characterized in that: The matching of the information of the key node with the UID of the RFID tag includes: The human controls the transport vehicle to enter the tunnel for the first time through the vehicle-mounted controller, reaches the key node area, installs the RFID tag on the side wall of the tunnel through the vehicle-mounted controller, inputs the location information of the key node area, and the vehicle-mounted controller matches the location information with the UID of the RFID tag and records in the database; When the transport vehicle enters the tunnel for the N+1th time, the vehicle-mounted system reads the UID of the RFID tag, queries the matching location information in the database according to the UID, and obtains the current location information of the vehicle.

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