Material transportation system based on satellite positioning and laser radar positioning

Abstract

The utility model aims to provide a material transportation system based on satellite positioning and laser radar positioning so as to solve the problem of poor parking positioning accuracy of a transportation vehicle in the solid material transportation process, and the material transportation system comprises a material transportation vehicle; the weighing module is arranged on the material transport vehicle; the positioning module comprises a satellite positioning module and a laser positioning module arranged on the material transport vehicle; a wireless communication module; a controller; a target position distance threshold value is preset in the storage module; the comparison module is used for comparing the real-time distance between the current position of the material transport vehicle and the destination with a target position distance threshold value and sending a comparison result to the adjustment module; an adjusting module; and the adjusting module sends a corresponding control instruction to the controller according to a comparison result of the comparison module, so that the transport vehicle is controlled to be guided based on the satellite positioning module or the laser positioning module under different conditions, and accurate positioning of the transport vehicle is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of solid waste treatment, and in particular to a material transportation system based on satellite positioning and laser radar positioning. Background Art

[0002] For the solid waste treatment industry, the solid materials involved come from a wide range of sources and generally require crushing pre-treatment for subsequent transportation and treatment. Conventional materials are crushed by hammer crushers or roller crushers. The appearance and size of the materials are uneven, the water content of the materials themselves is relatively high, and the materials are easy to stick to each other. For a more economical solid waste treatment scale, the short-distance transportation of the crushed materials is generally 100~1000 meters.

[0003] For the short- and medium-distance transportation of solid materials in this situation, the conventional long-distance equipment for solid material transportation, such as belt conveyors, plate chain conveyors, and screw conveyors, has a high investment, and the operating energy consumption increases significantly with the distance. Since solid waste with a high moisture content is easy to adhere to the conveying equipment, the on-site transportation of materials by transfer transport vehicles is a more economical and flexible mode of transportation. In the actual project implementation process, the transport vehicle driver can handle various emergency situations in real time according to the actual situation, and repeatedly adjust the vehicle position to ensure the docking of the transport vehicle and subsequent processes, thereby ensuring the continuity of the project operation.

[0004] For the transportation of solid materials over long distances, belt conveyors, plate chain conveyors, spiral conveyors, etc. are usually used. For example, an automated slag and ash transportation system with publication number CN212221507U mentions the use of multi-stage slag conveyor belts for automated transportation of slag. An automated electrode transportation system with publication number CN109250411A uses a transport trolley for automated transportation of electrodes. The trolley uses a detection mechanism on the track to detect the position of the transport trolley on the transport track. The control device is communicated with the transport trolley to control the transport trolley to run along the transport track. These automated conveying devices are on a predetermined trajectory, and use sound, light and other sensors to locate and track solid materials, and the front and rear docking is achieved through fixed devices. An adaptive and multi-change scenario automobile automatic driving system with publication number CN116767283A realizes automobile automatic driving based on the satellite positioning and perception system when the vehicle is driving at high speed.

[0005] In the above-mentioned existing technical solutions, solid material transportation is achieved by the driver of the transport vehicle driving to the destination, and the vehicle is stopped at the specified location through the driver's control. Due to differences in driver operations, the error of each parking is large, and the docking with subsequent equipment is achieved by adding flexible docking or loose docking methods, which leads to easy leakage during the unloading process of solid materials and a dirty and messy site. Utility Model Content

[0006] The purpose of this utility model is to provide a material transportation system based on satellite positioning and laser radar positioning to solve the problem of poor parking positioning accuracy of the transport vehicle during solid material transportation. The technical solution adopted is as follows:

[0007] A material transportation system based on satellite positioning and laser radar positioning, characterized by comprising:

[0008] Material transport vehicles;

[0009] A weighing module is provided on the material transport vehicle and is used to weigh the loaded materials;

[0010] A positioning module, including a satellite positioning module and a laser positioning module, wherein the laser positioning module is arranged on the material transport vehicle;

[0011] Wireless communication module;

[0012] A controller, wherein the weighing module, the satellite positioning module and the laser positioning module are connected to the controller signal via a wireless communication module;

[0013] A storage module, wherein a target position distance threshold is preset in the storage module;

[0014] A comparison module, used for comparing the real-time distance between the current position of the material transport vehicle and the destination with the target position distance threshold, and sending the comparison result to the adjustment module;

[0015] The adjustment module is used to send a control instruction to the controller when the real-time distance between the current position of the material transport vehicle and the destination is greater than the target position distance threshold, and the controller controls the driving trajectory of the material transport vehicle according to the position signal output by the satellite positioning module; and is used to send a control instruction to the controller when the real-time distance between the current position of the material transport vehicle and the destination is less than the target position distance threshold, and the controller controls the driving trajectory of the material transport vehicle according to the position signal output by the laser positioning module.

[0016] Furthermore, the material transport vehicle is provided with a driving module, and the driving module is connected to the controller signal via a wireless communication module.

[0017] Furthermore, a loading weight threshold is preset in the storage module, and is used for the controller to control the driving module to drive the material transport vehicle to the target position when the output signal of the controller weighing module is greater than the loading weight threshold.

[0018] Furthermore, it also includes an alarm module, which is connected to the signal output terminal of the controller and is used for the controller to control the alarm module to issue an alarm message when the output signal of the weighing module is greater than the loading weight threshold.

[0019] Furthermore, the laser positioning module is composed of a plurality of laser radars evenly arranged around the body of the material transport vehicle.

[0020] Furthermore, the target position distance threshold is 3 to 5 m.

[0021] The beneficial effect of the present utility model is that when the distance between the material transport vehicle and the target position is greater than a threshold, the material transport vehicle is controlled by the satellite positioning module to travel along a predetermined route. When the material transport vehicle arrives near the target position, the material transport vehicle is controlled based on the laser positioning module to achieve precise parking of the material transport vehicle and avoid material spillage during subsequent material processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the utility model

[0023] Among them, 1- weighing module, 2- power assembly, 3- laser positioning module, 4- controller, 5- satellite positioning module, 6- wireless communication module, 7- storage module, 8- comparison module, 9- adjustment module, 10- alarm module. DETAILED DESCRIPTION

[0024] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0025] In the description of the utility model, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the viewing direction or position relationship, and are only for the convenience of describing the utility model, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0026] like Figure 1 The material transportation system based on satellite positioning and laser radar positioning shown in the figure includes a material transportation vehicle and a control system. The material transportation vehicle is provided with a weighing module 1 and a power assembly, and the power assembly is driven by an electric motor. The material transportation vehicle is also provided with a laser positioning module 3. The laser positioning module 3 is composed of six groups of laser radars evenly arranged around the material transportation vehicle. The control system includes a controller 4, a satellite positioning module 5, a wireless communication module 6, a storage module 7, a comparison module 8 and an adjustment module 9.

[0027] Specifically, the weighing module 1, the laser positioning module 3, and the satellite positioning module 5 are all connected to the controller 4 by signal through the wireless communication module 6. The storage module 7 is preset with a driving route and a target position distance threshold. The target position distance threshold is a range value with an upper limit and a lower limit. The comparison module 8 can compare the real-time distance between the current position of the material transport vehicle and the destination with the target position distance threshold, and send the comparison result to the adjustment module 9. The adjustment module 9 receives the comparison result of the comparison module 8 and sends a control instruction to the controller 4 according to the comparison result. Specifically, when the comparison result received by the adjustment module 9 is that the real-time distance between the current position of the material transport vehicle and the destination is greater than the target position, the adjustment module 9 sends a control instruction to the controller 4 according to the comparison result. When the target position distance reaches the upper limit of the threshold, the adjustment module 9 sends a first control instruction to the controller 4. At this time, the controller 4 receives the position signal of the satellite positioning module 5, and guides the material transport vehicle to travel along the set route according to the position information of the satellite positioning module 5. When the comparison result is received that the real-time distance between the current position of the material transport vehicle and the destination is less than the lower limit of the target position distance threshold, the adjustment module 9 sends a second control instruction to the controller 4. The controller 4 receives the position information of the laser positioning module 3, and guides the material transport vehicle to travel and adjust its posture through the position signal of the laser positioning module 3, so as to accurately stop at the target position. After the material transport vehicle is in place, subsequent material processing is carried out.

[0028] In addition, in this embodiment, the target position distance threshold is 3 to 5 meters, and the control system is also provided with an alarm module 10, which is connected to the signal output end of the controller 4. A loading weight threshold is also preset in the storage module 7. When the material loading weight exceeds the upper limit of the loading weight threshold, the controller 4 sends a signal to the loading mechanism to stop loading. At the same time, the controller 4 controls the alarm module 10 to send an alarm message to remind the operator to end the material loading to avoid overloading due to communication failure between the loading mechanism and the controller 4. Then the controller 4 controls the drive motor of the material transport vehicle to work and drive to the target position according to the preset route. When the loading weight of the material transport vehicle at the unloading position is lower than the lower limit of the loading weight threshold, the controller 4 sends a signal to stop unloading and controls the material transport vehicle to return to the material loading position according to the preset route.

[0029] In the technical solution of the present application, the adjustment module 9 sends a control instruction to the controller 4 according to the different comparison results of the comparison module 8, and adopts a guidance mode based on satellite positioning or laser positioning for the material transport vehicle, thereby realizing accurate positioning of the material transport vehicle, facilitating subsequent process processing of the materials, and effectively solving the problem of material leakage caused by poor positioning accuracy.

[0030] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. A material transportation system based on satellite positioning and laser radar positioning, characterized in that: include: Material transport vehicles; A weighing module is provided on the material transport vehicle and is used to weigh the loaded materials; A positioning module, including a satellite positioning module and a laser positioning module, wherein the laser positioning module is arranged on the material transport vehicle; Wireless communication module; A controller, wherein the weighing module, the satellite positioning module and the laser positioning module are connected to the controller signal via a wireless communication module; A storage module, wherein the driving route and the target location distance threshold are preset in the storage module; A comparison module, used for comparing the real-time distance between the current position of the material transport vehicle and the destination with the target position distance threshold, and sending the comparison result to the adjustment module; The adjustment module is used to send a control instruction to the controller when the real-time distance between the current position of the material transport vehicle and the destination is greater than the target position distance threshold, and the controller controls the driving trajectory of the material transport vehicle according to the position signal output by the satellite positioning module; and is used to send a control instruction to the controller when the real-time distance between the current position of the material transport vehicle and the destination is less than the target position distance threshold, and the controller controls the driving trajectory of the material transport vehicle according to the position signal output by the laser positioning module.

2. The material transportation system based on satellite positioning and laser radar positioning according to claim 1 is characterized in that: The material transport vehicle is provided with a driving module, and the driving module is connected with the controller signal via a wireless communication module.

3. The material transportation system based on satellite positioning and laser radar positioning according to claim 2 is characterized in that: The storage module is also preset with a loading weight threshold, which is used for the controller to control the driving module to drive the material transport vehicle to the target position when the output signal of the weighing module is greater than the loading weight threshold.

4. The material transportation system based on satellite positioning and laser radar positioning according to claim 3 is characterized in that: It also includes an alarm module, which is connected to the signal output end of the controller and is used for the controller to control the alarm module to issue an alarm message when the output signal of the weighing module is greater than the loading weight threshold.

5. The material transportation system based on satellite positioning and laser radar positioning according to claim 1 is characterized in that: The laser positioning module is composed of multiple groups of laser radars evenly arranged around the body of the material transport vehicle.

6. The material transportation system based on satellite positioning and laser radar positioning according to claim 1 is characterized in that: The target position distance threshold is 3 to 5 meters.

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