Unmanned automatic ore loading device combined with visual identification technology

Abstract

The invention discloses an unmanned automatic ore loading device combined with a visual identification technology, and relates to the technical field, and the technical key points are that the unmanned automatic ore loading device comprises an unmanned vehicle combined with the visual identification technology; the discharging blocking mechanism is rotationally installed at a discharging opening in the rear end of the driverless vehicle combining the visual recognition technology; the rotary discharging mechanism is installed and connected to the left end and the right end of the discharging blocking mechanism, and the rotary discharging mechanism is connected with the unmanned vehicle combined with the visual recognition technology; the cleaning liquid supply mechanism is mounted and connected to the outer wall of the unmanned vehicle combined with the visual identification technology; the cleaning device has the technical effects that the lifting cleaning mechanism can receive liquid of the cleaning liquid supply mechanism for lifting cleaning, during cleaning, spraying washing and up-down friction cleaning are carried out at the same time, and cleaning is cleaner and more efficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mining machinery, in particular to an unmanned automatic ore loading device combined with visual recognition technology. BACKGROUND

[0002] The automatic ore loading device belongs to the loading mechanical equipment in the mining machinery, and is mainly used for continuous loading operation in scenes such as railway tunnels and mining exploitation. The unmanned ore loading device is accurately moved and transported through the visual recognition equipment on the unmanned transport vehicle. The visual recognition device mainly includes an industrial visual system and a weld visual recognition device, and the core components include a light source, a lens, a camera, an image acquisition card and a processor.

[0003] The existing Chinese patent CN221588011U discloses an automatic lifting loading device of an AGV carrier on August 23, 2024, which comprises a transport vehicle body, a lifting assembly arranged on the top of the transport vehicle body to drive the goods to be lifted to a suitable position for loading treatment, a pushing mechanism arranged on the top of the lifting assembly, and an area expansion mechanism comprising an expansion assembly, a sliding assembly, a driving assembly and a linkage assembly. The expansion assembly comprises an extension plate movably installed on the inner wall of the lifting assembly in front and back.

[0004] However, in actual use, when the line is blocked, the device still moves according to the specified line, and cannot effectively and accurately identify the external environment for avoidance. The visual recognition technology is used to identify the blockage. When loading ore, the dust generated during ore loading will adhere to the lens of the visual recognition technology. During cleaning, the water washing force cannot effectively wash off the stubborn dust, which is not very efficient during cleaning.

[0005] Therefore, we propose a new unmanned automatic ore loading device combined with visual recognition technology to solve the above technical problems. SUMMARY

[0006] (I) Technical problems to be solved

[0007] In view of the deficiencies of the prior art, the present application provides an unmanned automatic ore loading device combined with visual recognition technology, which solves the problem that the existing unmanned automatic ore loading device cannot effectively and automatically clean the adhered dust.

[0008] (II) Technical solutions

[0009] To achieve the above purpose, the present application provides the following technical solutions: an unmanned automatic ore loading device combined with visual recognition technology, comprising:

[0010] An unmanned vehicle combined with visual recognition technology;

[0011] The discharge blocking mechanism is rotatably installed at the rear end discharge port of the unmanned vehicle combined with the visual recognition technology.

[0012] The rotary discharge mechanism is installed and connected on the left and right ends of the discharge blocking mechanism, and is connected with the unmanned vehicle combined with the visual recognition technology.

[0013] The cleaning liquid supply mechanism is installed and connected on the outer wall of the unmanned vehicle combined with the visual recognition technology.

[0014] The lifting cleaning mechanism is installed and connected on the lower end of the cleaning liquid supply mechanism.

[0015] Preferably, the unmanned vehicle combined with the visual recognition technology comprises an unmanned transport vehicle body, visual sensing components are installed on the front left and right ends of the unmanned transport vehicle body, a mine loading vehicle bucket is installed on the upper end of the unmanned transport vehicle body, a vehicle bucket loading cavity is formed in the inside of the mine loading vehicle bucket, and a discharge blocking mechanism is installed on the inner side of the rear end of the mine loading vehicle bucket.

[0016] Preferably, the visual sensing component comprises a component body, a visual recognition camera is installed on the inner side of the component body, and a millimeter wave radar and a laser radar are installed on the left and right sides of the visual recognition camera in sequence on the component body.

[0017] Preferably, the discharge blocking mechanism comprises a vehicle bucket blocking plate, a blocking plate shaft rod is fixedly connected to the upper end inner side of the vehicle bucket blocking plate, the vehicle bucket blocking plate is movably connected to the mine loading vehicle bucket through the blocking plate shaft rod, and a rotary discharge mechanism is fixedly connected to the outer end of the blocking plate shaft rod.

[0018] Preferably, the rotary discharge mechanism comprises a hollow cover, a rotating motor is installed on the outer end of the hollow cover through screws, a first coupling is fixedly connected to the output shaft end of the rotating motor and located in the inside of the hollow cover, a rotating shaft rod is fixedly connected to the inner end of the first coupling, a driving pulley is fixedly connected to the inner end of the rotating shaft rod, a transmission belt is wound around the driving pulley, the driving pulley is connected with a driven pulley through the transmission belt, the driven pulley is fixedly connected to the blocking plate shaft rod, and the hollow cover is fixedly connected to the mine loading vehicle bucket.

[0019] Preferably, the cleaning liquid supply mechanism comprises a hollow water tank, a tank cover is threadedly connected to the upper end of the hollow water tank, outer side fixing seats are fixedly connected to the two ends of the hollow water tank, a conveying elbow pipe is fixedly connected to the lower end inner side of the hollow water tank in a penetrating manner, a conveying pump machine is fixedly connected to the other end of the conveying elbow pipe located on the hollow water tank, and a lifting cleaning mechanism is installed on the lower end of the conveying pump machine.

[0020] Preferably, the lifting cleaning mechanism comprises a hollow L-shaped cover, a right-angle connecting pipe is fixed in the middle of the outer end of the hollow L-shaped cover in penetration, a corrugated telescopic pipe is installed on the upper end of the right-angle connecting pipe through screws, the corrugated telescopic pipe is connected with a conveying pump machine through screws, a plurality of evenly distributed spray holes are formed in the inner side of the lower end of the hollow L-shaped cover, a cleaning rubber plate is fixed on the hollow L-shaped cover above the spray holes, and lifting assemblies are installed on the two sides of the upper end of the hollow L-shaped cover.

[0021] Preferably, the lifting assembly comprises an electric telescopic cylinder, a cylinder mounting disc is fixed on the periphery of the electric telescopic cylinder, a screw mounting disc is fixed on the end of the telescopic rod of the electric telescopic cylinder, the screw mounting disc is fixed on the hollow L-shaped cover, and the electric telescopic cylinder is installed on the outer side fixing seat through the cylinder mounting disc.

[0022] Preferably, the box cover is threadedly connected with the upper end pipe joint of the hollow water tank.

[0023] (Three) beneficial effects

[0024] Compared with the prior art, the automatic ore loading device of the unmanned vehicle provided by the present application combines the visual recognition technology, and has the following beneficial effects:

[0025] 1、The lifting cleaning mechanism can receive the liquid of the cleaning liquid supply mechanism to perform lifting cleaning, and the liquid is sprayed and washed while being rubbed up and down during cleaning, so that the cleaning is more clean and efficient.

[0026] 2、The rotating discharging mechanism can drive the discharging blocking mechanism to rotate and open and close, and the opening and closing is realized by electricity, so that the opening and closing is more convenient and safe. DRAWINGS

[0027] Figure 1 is a schematic view of the three-dimensional structure of the present application;

[0028] Figure 2 is a schematic view of the rotating discharging mechanism and the discharging blocking mechanism combination structure of the present application;

[0029] Figure 3 is a schematic view of the lifting cleaning mechanism and the cleaning liquid supply mechanism combination structure of the present application;

[0030] Figure 4 is a schematic view of the lifting cleaning mechanism structure of the present application;

[0031] Figure 5 is a schematic view of the lifting assembly structure of the present application.

[0032] In the drawings:

[0033] 1. Unmanned transport vehicle body; 11. Visual recognition camera; 111. Millimeter-wave radar; 112. LiDAR; 113. Component body; 12. Mining car bucket; 13. Mining chamber in the car bucket; 2. Hollow casing; 21. Rotary motor; 22. First coupling; 23. Rotary wheel shaft; 3. Car bucket baffle; 31. Baffle shaft; 4. Outer fixing seat; 41. Box cover; 42. Hollow water tank; 43. Conveying bend; 44. Conveying pump; 5. Hollow L-shaped cover; 51. Cleaning rubber sheet; 52. Electric telescopic cylinder; 53. Corrugated telescopic pipe; 521. Cylinder mounting plate; 522. Screw mounting plate; 54. Right-angle connecting pipe; 55. Spray hole; 6. Drive belt; 61. Driven wheel; 62. Driving wheel. Detailed Implementation

[0034] In this invention, unless otherwise stated, the directional terms such as "up" and "down" generally refer to the directions shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0035] Example 1

[0036] This embodiment provides a technical solution: an unmanned automatic ore loading device combining visual recognition technology, such as... Figures 1-5 As shown, it includes an unmanned vehicle incorporating visual recognition technology, a material discharge blocking mechanism, a rotating material discharge mechanism, a cleaning liquid supply mechanism, and a lifting cleaning mechanism.

[0037] The discharge blocking mechanism is rotatably installed at the rear discharge port of the autonomous vehicle integrating visual recognition technology. When the discharge blocking mechanism is open, the minerals loaded on the autonomous vehicle can be easily dumped. When blocked, it prevents the minerals from falling during transportation and causing safety hazards. The rotating discharge mechanism is installed and connected to the left and right ends of the discharge blocking mechanism. The rotating discharge mechanism can drive the discharge blocking mechanism to rotate and open. The rotating discharge mechanism is connected to the autonomous vehicle integrating visual recognition technology and can be stably installed and driven for opening and closing. The cleaning liquid supply mechanism is installed and connected to the outer wall of the autonomous vehicle integrating visual recognition technology. The cleaning liquid supply mechanism can store liquid on the outer wall of the autonomous vehicle integrating visual recognition technology for carrying and moving. The lifting cleaning mechanism is installed and connected to the lower end of the cleaning liquid supply mechanism. The lifting cleaning mechanism can receive the liquid from the cleaning liquid supply mechanism for lifting and cleaning. During cleaning, spraying and rinsing are combined with friction cleaning, making the cleaning more thorough and efficient.

[0038] The unmanned vehicle combined with visual recognition technology comprises an unmanned vehicle body 1, which constructs an environment map in real time through laser navigation, visual navigation or SLAM technology, autonomously plans a path and completes a carrying task, and is provided with visual sensing assemblies at the front, left and right ends of the unmanned vehicle body 1, wherein the visual sensing assemblies adopt visual, laser scanning and millimeter wave fusion technology, can filter through other ways when interference occurs, effectively avoid interference, and transmit to the storage or analysis system of the unmanned vehicle body 1 through an interface, the upper end of the unmanned vehicle body 1 is provided with a mineral loading car hopper 12, which is convenient for loading minerals for transportation, a hopper mineral loading cavity 13 is formed in the interior of the mineral loading car hopper 12, which is convenient for storing minerals for transportation, and a discharge blocking mechanism is arranged at the inner side of the rear end of the mineral loading car hopper 12, which plays a blocking role and avoids the falling of minerals.

[0039] The interior of the unmanned vehicle body 1 is further provided with a scanner, a sensor and a special image processing unit, which can effectively combine with the visual sensing assemblies to form visual recognition technology and effectively sense external obstacles.

[0040] The visual sensing assemblies comprise an assembly body 113, which is electrically connected with the unmanned vehicle body 1 through a power supply and a data interface, can effectively receive current and data transmission, and is provided with a visual recognition camera 11 at the inner side thereof, the visual recognition camera 11 can convert images captured by a lens into signals processable by a machine, and transmit to the storage or analysis system of the unmanned vehicle body 1 through an interface, and the millimeter wave radar 111 and the laser radar 112 are sequentially arranged on the left and right sides of the visual recognition camera 11 on the assembly body 113, the millimeter wave radar 111 emits electromagnetic wave signals, which are reflected when meeting obstacles, and the radar system receives the reflected signals, determines the distance, speed and angle of the target object by measuring parameters such as signal round-trip time, the laser radar 112 detects targets by emitting laser beams and measures parameters such as the arrival time of the reflected laser signals (target echo) and beam pointing, so as to determine the position, speed and other characteristic quantities of the target, and the positions can be accurately determined through mutual recognition of the two.

[0041] The wiring diagram of the unmanned vehicle body 1 and the visual sensing assemblies in the application belongs to the common knowledge in the field, the working principle thereof is a known technology, and the model thereof is selected according to actual use, and the control mode and wiring arrangement will not be explained in detail.

[0042] As Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, the cleaning liquid supply mechanism includes a hollow water tank 42, which is internally hollow and can store the cleaning liquid required, the upper end of the hollow water tank 42 is threadedly connected with a tank cover 41, facilitating opening for adding cleaning liquid, both ends of the hollow water tank 42 are fixedly connected with outer fixing seats 4, the hollow water tank 42 and the outer fixing seats 4 can be stably welded and fixed on the mine car hopper 12 for placement, the lower end of the hollow water tank 42 is fixedly connected with a delivery elbow 43, the cleaning liquid inside the hollow water tank 42 can be discharged through the delivery elbow 43, the other end of the delivery elbow 43 is fixedly connected with a delivery pump 44 on the hollow water tank 42, the delivery pump 44 can extract the liquid inside the hollow water tank 42 through the delivery elbow 43 for high-pressure discharge, the lower end of the delivery pump 44 is provided with a lifting cleaning mechanism, the delivery pump 44 can high-pressure deliver the liquid to the lifting cleaning mechanism for spraying and flushing;

[0043] The tank cover 41 is threadedly connected to the upper end pipe of the hollow water tank 42, facilitating installation and disassembly for adding cleaning liquid.

[0044] The lifting cleaning mechanism includes a hollow L-shaped cover 5, a right-angle connecting pipe 54 is fixedly connected to the outer end of the middle of the hollow L-shaped cover 5, the cleaning liquid inside the right-angle connecting pipe 54 can be delivered to the hollow L-shaped cover 5, a corrugated expansion pipe 53 is installed on the upper end of the right-angle connecting pipe 54 through a screw, the right-angle connecting pipe 54 can receive the cleaning liquid input by the corrugated expansion pipe 53, the corrugated expansion pipe 53 is a telescopic plastic pipe, which can change the length during lifting, the corrugated expansion pipe 53 is connected with the delivery pump 44 through a screw, the liquid delivered by the delivery pump 44 can be high-pressure delivered to the corrugated expansion pipe 53, a plurality of evenly distributed spray holes 55 are formed in the lower end of the inside of the hollow L-shaped cover 5, the cleaning liquid received in the inside of the hollow L-shaped cover 5 can be discharged through the spray holes 55, which can effectively spray and flush, a cleaning rubber plate 51 is fixedly connected to the hollow L-shaped cover 5 above the spray holes 55, the hollow L-shaped cover 5 can drive the cleaning rubber plate 51 to move during up and down movement, the cleaning rubber plate 51 can contact the waterproof lens outside the visual sensing assembly 11 during up and down movement, thereby cleaning the stubborn impurities attached, lifting assemblies are installed on both sides of the upper end of the hollow L-shaped cover 5, the hollow L-shaped cover 5 can change the position through the lifting assemblies, so that the hollow L-shaped cover 5 can change the spraying and flushing position and the cleaning position during lifting, the lifting assemblies are installed and connected on the outer fixing seats 4, so that the hollow L-shaped cover 5 can be stably placed for lifting;

[0045] The lifting assembly comprises an electric telescopic cylinder 52, a cylinder mounting disc 521 is fixedly connected to the periphery of the electric telescopic cylinder 52, the electric telescopic cylinder 52 can be correspondingly mounted through the cylinder mounting disc 521, a screw mounting disc 522 is fixedly connected to the telescopic rod end of the electric telescopic cylinder 52, the telescopic rod of the electric telescopic cylinder 52 can drive the screw mounting disc 522 to move downward when the telescopic rod is elongated, the screw mounting disc 522 is fixedly connected to the hollow L-shaped cover 5, and the screw mounting disc 522 can drive the hollow L-shaped cover 5 to move downward, the electric telescopic cylinder 52 is mounted on the outer fixed seat 4 through the cylinder mounting disc 521, and the electric telescopic cylinder 52 can stably extend and contract on the outer fixed seat 4 through the cylinder mounting disc 521.

[0046] In use, the rotary discharging mechanism can drive the discharging blocking mechanism to rotate and open and close, when the discharging blocking mechanism is rotated and opened, the mineral loaded by the unmanned vehicle combined with the visual recognition technology is convenient to pour and discharge, and when the discharging blocking mechanism is blocked, the mineral is prevented from falling off during transportation to cause a safety hazard, the rotary discharging mechanism is connected with the unmanned vehicle combined with the visual recognition technology, and can stably drive the driving of opening and closing, when it is necessary to clean the visual recognition part of the unmanned vehicle combined with the visual recognition technology, the lifting cleaning mechanism can receive the liquid of the cleaning liquid supply mechanism to perform lifting cleaning, during cleaning, the liquid is sprayed and washed and rubbed up and down, so that the cleaning is more clean and efficient.

[0047] Embodiment two

[0048] This embodiment is further optimized on the basis of embodiment one, and the same parts as the foregoing technical solutions will not be described again here, such as Figure 1 and Figure 2 To better achieve the present application, the following arrangement is particularly adopted: the discharging blocking mechanism comprises a car hopper blocking plate 3, the inner side of the upper end of the car hopper blocking plate 3 is fixedly connected with a blocking plate shaft 31, the car hopper blocking plate 3 can be positioned and rotated through the blocking plate shaft 31, the car hopper blocking plate 3 is movably connected to the mineral loading car hopper 12 through the blocking plate shaft 31, the car hopper blocking plate 3 can be rotated and blocked on the car hopper blocking plate 3 through the blocking plate shaft 31, the outer end of the blocking plate shaft 31 is fixedly connected with a rotary discharging mechanism, and the blocking plate shaft 31 can rotate circumferentially through the rotary discharging mechanism.

[0049] The rotating discharging mechanism comprises a hollow shell 2 fixed on the mine car hopper 12 and capable of being stably installed and placed, a rotating motor 21 installed on the outer end of the hollow shell 2 through a screw, the rotating motor 21 being capable of being stably driven on the hollow shell 2, a first coupling 22 fixed on the output shaft end of the rotating motor 21 and located inside the hollow shell 2, the output shaft of the rotating motor 21 being capable of driving the first coupling 22 to rotate forward and reversely, a rotating shaft 23 fixed on the inner end of the first coupling 22, the first coupling 22 being capable of driving the rotating shaft 23 to rotate, a driving wheel 62 fixed on the inner end of the rotating shaft 23, the rotating shaft 23 being capable of driving the driving wheel 62 to rotate, a transmission belt 6 wound around the driving wheel 62, the driving wheel 62 being capable of driving the transmission belt 6 to transmit forward and reversely, the driving wheel 62 being connected with a driven wheel 61 through the transmission belt 6, the transmission belt 6 being capable of driving the driven wheel 61 to rotate forward and reversely, the driven wheel 61 being fixed on a blocking plate shaft 31, the driven wheel 61 being capable of driving the blocking plate shaft 31 to rotate forward and reversely, the blocking plate shaft 31 being capable of driving the hopper blocking plate 3 to open and close when rotating forward and reversely.

[0050] The above merely describes specific embodiments of the present application, but the technical features of the present application are not limited to this. Any simple change, equivalent replacement or modification made on the basis of the present application to solve the same technical problem and achieve the same technical effect is included in the protection scope of the present application.

Claims

1. An unmanned automatic ore loading device incorporating visual recognition technology, characterized in that, include: Autonomous vehicles incorporating visual recognition technology; A discharge blocking mechanism is rotatably installed at the rear discharge port of the unmanned vehicle that incorporates visual recognition technology. A rotating discharge mechanism is installed and connected to the left and right ends of the discharge blocking mechanism, and the rotating discharge mechanism is connected to an unmanned vehicle that incorporates visual recognition technology. A cleaning fluid supply mechanism is installed and connected to the outer wall of the autonomous vehicle incorporating visual recognition technology. A lifting cleaning mechanism is installed and connected to the lower end of the cleaning liquid supply mechanism.

2. The unmanned automatic ore loading device combining visual recognition technology according to claim 1, characterized in that: The unmanned vehicle combining visual recognition technology includes an unmanned transport vehicle body (1), with visual sensing components installed on the front left and right ends of the unmanned transport vehicle body (1), a ore loading hopper (12) installed on the upper end of the unmanned transport vehicle body (1), an ore loading chamber (13) opened inside the ore loading hopper (12), and a material discharge blocking mechanism installed on the inner rear end of the ore loading hopper (12).

3. The unmanned automatic ore loading device combining visual recognition technology according to claim 2, characterized in that: The visual sensing component includes a component body (113), a visual recognition camera (11) is installed in the middle of the inner side of the component body (113), and a millimeter-wave radar (111) and a lidar (112) are installed on the left and right sides of the visual recognition camera (11) on the component body (113) in sequence.

4. The unmanned automatic ore loading device combining visual recognition technology according to claim 3, characterized in that: The discharge blocking mechanism includes a truck bed blocking plate (3), and a blocking plate shaft (31) is fixedly connected to the inner side of the upper end of the truck bed blocking plate (3). The truck bed blocking plate (3) is movably connected to the ore loading truck bed (12) through the blocking plate shaft (31), and a rotating discharge mechanism is fixedly connected to the outer end of the blocking plate shaft (31).

5. An unmanned automatic ore loading device combining visual recognition technology according to claim 1 or 4, characterized in that: The rotating discharge mechanism includes a hollow cover (2). A rotary motor (21) is installed on the outer end of the hollow cover (2) by screws. The output shaft of the rotary motor (21) is fixedly connected to a first coupling (22) located inside the hollow cover (2). A wheel shaft (23) is fixedly connected to the inner end of the first coupling (22). A drive wheel (62) is fixedly connected to the inner end of the wheel shaft (23). A transmission belt (6) is wound around the periphery of the drive wheel (62). The drive wheel (62) is connected to the driven wheel (61) through the transmission belt (6). The driven wheel (61) is fixedly connected to the baffle plate shaft (31). The hollow cover (2) is fixedly connected to the ore loading hopper (12).

6. The unmanned automatic ore loading device combining visual recognition technology according to claim 1, characterized in that: The cleaning liquid supply mechanism includes a hollow water tank (42), with a tank cover (41) threaded to the upper end of the hollow water tank (42). Both ends of the hollow water tank (42) are fixed with outer fixing seats (4). A conveying bend (43) is fixedly connected to the inner side of the lower end of the hollow water tank (42). The other end of the conveying bend (43) is fixedly connected to a conveying pump (44) on the hollow water tank (42). A lifting cleaning mechanism is installed at the lower end of the conveying pump (44).

7. An unmanned automatic ore loading device combining visual recognition technology according to claim 1 or 6, characterized in that: The lifting and cleaning mechanism includes a hollow L-shaped cover (5), with a right-angle connecting pipe (54) fixedly connected through the middle of the outer end of the hollow L-shaped cover (5). A corrugated telescopic pipe (53) is installed on the upper end of the right-angle connecting pipe (54) by screws. The corrugated telescopic pipe (53) is connected to the conveying pump (44) by screws. The lower inner side of the hollow L-shaped cover (5) is provided with evenly distributed spray holes (55). A cleaning rubber plate (51) is fixedly connected above the spray holes (55) on the hollow L-shaped cover (5). Lifting components are installed on both sides of the upper end of the hollow L-shaped cover (5). The lifting components are installed and connected to the outer fixed base (4).

8. The unmanned automatic ore loading device combining visual recognition technology according to claim 7, characterized in that: The lifting assembly includes an electric telescopic cylinder (52), a cylinder mounting plate (521) is fixedly connected to the periphery of the electric telescopic cylinder (52), a screw mounting plate (522) is fixedly connected to the telescopic rod end of the electric telescopic cylinder (52), the screw mounting plate (522) is fixedly connected to the hollow L-shaped cover (5), and the electric telescopic cylinder (52) is mounted on the outer fixed seat (4) through the cylinder mounting plate (521).

9. The unmanned automatic ore loading device combining visual recognition technology according to claim 8, characterized in that: The cover (41) is threaded to the upper end of the hollow water tank (42).

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