Mining dump truck and reversing anti-collision system thereof
By installing a reverse collision prevention system on the mining dump truck, using radar to detect obstacles and automatically control the accelerator pedal, the problem of obstacle collisions is solved in the mine dump truck's reversal, and higher safety and handling performance are achieved.
Patent Information
- Application Number
- CN202421972425.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-14
- Publication Date
- 2025-05-06
- Estimated Expiration
- 2034-08-14
AI Technical Summary
When reversing, due to the large blind spots of mining dump trucks, it is difficult to clearly observe the obstacles behind them, resulting in easy collision accidents. The prior art can only provide distance prompts, rely on driver judgment, and cannot achieve automatic braking, and the control is complicated.
A mining dump truck reverse collision prevention system is designed, which detects obstacles through lidar and millimeter wave radar, combines the vehicle's reverse speed and obstacle speed, and automatically controls the accelerator pedal to slow down and brake to avoid collisions.
有效避免了矿用自卸车与后方障碍物的碰撞,降低了事故风险,提高了操控性能和用户体验,且结构简单适应复杂路况。
Smart Images
Figure CN222832700U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a reverse collision prevention system for a mining dump truck, belonging to the field of safety control of mining dump trucks. Background Art
[0002] During the operation of mining dump trucks, due to the large size of the vehicle and multiple blind spots, it is difficult for the driver to clearly observe the obstacles behind when reversing, which can easily lead to collision accidents. In order to improve the safety of reversing, some vehicles currently install radar monitoring and reversing camera monitoring to remind the driver of the distance between the driver and the obstacles. However, this solution has some problems.
[0003] 1. It only provides distance prompts, relies on the driver's accurate judgment and operation, and is easily affected by the driver's personal experience and reaction time.
[0004] 2. There is a lack of customized control for the special circumstances of mining dump trucks, and it is unable to meet the special needs of mining dump trucks when reversing.
[0005] 3. Automatic braking cannot be achieved, and the driver is required to operate the brake and accelerator pedals at the same time. The operation is complicated and prone to operational errors.
[0006] Therefore, a new reverse collision avoidance system for mining dump trucks is needed, which can monitor the distance to obstacles when reversing and automatically control the accelerator pedal to achieve deceleration and braking to avoid collision with obstacles. Such a system can better ensure the safety and stability of mining dump trucks when reversing. Summary of the invention
[0007] In view of the shortcomings of the prior art, the utility model provides a reversing anti-collision system for a mining dump truck. Through this technical means, when the mining dump truck is reversing, the reversing anti-collision system can quickly and accurately judge the implementation status of the vehicle, control the opening and closing of the accelerator pedal power supply, thereby effectively preventing the vehicle from colliding with obstacles.
[0008] The utility model is implemented according to the following technical solutions:
[0009] In a first aspect, the utility model provides a reverse collision avoidance system for a mining dump truck, comprising:
[0010] The controller is connected to the vehicle-mounted speed measuring component, and is used to receive the reversing speed V1 and calculate the safety distance M according to the reversing speed V1;
[0011] Detection component I, installed at the rear of the vehicle and electrically connected to the controller, is used to determine whether a fixed or mobile obstacle is present and detect the distance S between the vehicle and the fixed obstacle;
[0012] Detection component II, installed at the rear of the vehicle and electrically connected to the controller, is used to determine whether the moving obstacle is approaching or moving away from the vehicle and detect the speed V2 of the moving obstacle;
[0013] An intermediate actuator, an accelerator pedal and a brake pedal, wherein the intermediate actuator and the brake pedal are electrically connected to a controller, and the accelerator pedal is electrically connected to the intermediate actuator. The controller outputs high and low level signals to the intermediate actuator according to the spacing S, the safety distance M, the reversing speed V1, the obstacle speed V2 and the signal transmitted by the brake pedal. The intermediate actuator controls the on and off state of the accelerator pedal, and further controls whether the vehicle decelerates and brakes.
[0014] In some embodiments, the intermediate execution component is a relay, a control line of the relay is electrically connected to a signal output terminal of a controller, and a normally open contact of the relay is connected to a power line of an accelerator pedal.
[0015] In some embodiments, the detection component I adopts a laser radar, and its CAN_H and CAN_L ports are respectively connected to the corresponding CAN_H and CAN_L ports on the controller.
[0016] In some embodiments, the detection component II uses a millimeter wave radar, and its CAN_H and CAN_L ports are respectively connected to the corresponding CAN_H and CAN_L ports on the controller.
[0017] In some embodiments, a signal line of the brake pedal is connected to a signal terminal of the controller.
[0018] In some embodiments, the controller, detection component I, detection component II and intermediate execution component are all connected to the vehicle power supply.
[0019] In some embodiments, the vehicle power supply is a DC 24V power supply.
[0020] In some embodiments, the intermediate actuator is mounted on the accelerator pedal.
[0021] In a second aspect, the utility model provides a mining dump truck equipped with the above-mentioned mining dump truck reversing anti-collision system.
[0022] Beneficial effects of the utility model:
[0023] The utility model discloses a reversing anti-collision system for a mining dump truck, which can effectively avoid a collision between the mining dump truck and the obstacle behind it by monitoring the distance to the obstacle and automatically performing deceleration and braking, thereby avoiding human operation errors and reducing the risk of accidents. The accelerator pedal is controlled by a relay, which has a simple structure, can adapt to complex road conditions and has strong safety. Compared with the method of only stepping on the brakes, the vehicle speed can be controlled more accurately, the handling performance is improved, and the operator's work efficiency and user experience are improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation on the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work. In the accompanying drawings:
[0025] Figure 1 This is the electrical schematic diagram of the reverse collision avoidance system of a mining dump truck of the utility model;
[0026] Figure 2 The utility model is a flow chart of the control method of the reverse collision avoidance system of a mining dump truck.
[0027] Figure symbols: 10 - controller, 20 - laser radar, 30 - millimeter wave radar, 40 - relay, 50 - brake pedal, 60 - accelerator pedal.
[0028] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.
[0030] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.
[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0032] like Figure 1 As shown, a reverse collision avoidance system for a mining dump truck includes a controller 10, a detection component I, a detection component II, an intermediate execution component, an accelerator pedal 60 and a brake pedal 50; the controller 10 is connected to the vehicle-mounted speed measuring component, and is used to receive the reverse speed V1, and calculate the safety distance M according to the reverse speed V1; the detection component I is installed at the rear position of the vehicle and is electrically connected to the controller 10, and is used to determine whether the fixed or mobile obstacle is and detect the distance S between the vehicle and the fixed obstacle; the detection component II is installed at the rear position of the vehicle and is electrically connected to the controller 10, and is used to determine whether the mobile obstacle is close to or away from the vehicle, and detect the speed V2 of the mobile obstacle; the intermediate execution component and the brake pedal 50 are electrically connected to the controller 10, and the accelerator pedal 60 is electrically connected to the intermediate execution component. The controller 10 outputs high and low level signals to the intermediate execution component according to the distance S, the safety distance M, the reverse speed V1, the obstacle speed V2 and the signal transmitted by the brake pedal, and the intermediate execution component controls the on and off state of the accelerator pedal 60, thereby controlling whether the vehicle decelerates and brakes.
[0033] Through the above technical means, when the mining dump truck is reversing, the system can quickly and accurately judge the vehicle's implementation status and control the opening and closing of the accelerator pedal power supply, thereby effectively preventing the mining truck from colliding with obstacles.
[0034] Further solutions: Figure 1 As shown, the intermediate execution component is a relay 40, which is installed on the accelerator pedal 60. The control line of the relay 40 is electrically connected to the signal output terminal of the controller 10, and the normally open contact of the relay 40 is connected to the power line of the accelerator pedal 60. When the controller 10 outputs a high level to the control line of the relay 40, the normally open contact of the relay 40 is closed, and the power line of the accelerator pedal 60 is connected; when the controller 10 outputs a low level to the control line of the relay 40, the normally open contact of the relay 40 remains in an open state, and the power line of the accelerator pedal 60 is disconnected.
[0035] Further solutions: Figure 1As shown, the detection component I uses a laser radar 20, and its CAN_H and CAN_L ports are respectively connected to the corresponding CAN_H and CAN_L ports on the controller 10. The detection component II uses a millimeter wave radar 30, and its CAN_H and CAN_L ports are respectively connected to the corresponding CAN_H and CAN_L ports on the controller 10.
[0036] Further solutions: Figure 1 As shown, the signal line of the brake pedal 50 is connected to the signal end of the controller 10 .
[0037] Further solutions: Figure 1 As shown, the controller 10, the laser radar 20, the millimeter wave radar 30 and the relay 40 are all connected to the vehicle power supply.
[0038] Further solution: The vehicle power supply is a DC 24V power supply.
[0039] Figure 2 The control method flow chart of the reverse collision avoidance system of a mining dump truck is given. The specific steps are as follows:
[0040] Step T1: The laser radar determines whether it is a fixed obstacle or a moving obstacle;
[0041] If it is a fixed obstacle:
[0042] Step T2, comparing the distance S between the vehicle and the obstacle with the safety distance M;
[0043] If S>M,
[0044] Step T3, the controller outputs a high level to the relay control line, the relay is closed, and the accelerator pedal power line is connected;
[0045] If S≤M,
[0046] Step T4, the controller outputs a low level to the relay control line, the relay is disconnected, and the accelerator pedal power line is disconnected;
[0047] Step T5, determining whether the brake pedal is braking;
[0048] If the brake pedal is not applied, proceed to step T4;
[0049] If the brake pedal is applied, proceed to step T3.
[0050] If the obstacle is moving:
[0051] Step T6: The millimeter wave radar determines whether the obstacle is approaching or moving away from the vehicle;
[0052] If near a vehicle:
[0053] Step T7, proceed to step T4;
[0054] If you are away from the vehicle:
[0055] Step T8, comparing the vehicle speed V1 with the obstacle speed V2;
[0056] If V1≤V2, proceed to step T3;
[0057] If V1>V2, proceed to steps T2, T3, and T4.
[0058] In summary, the utility model provides a reverse collision avoidance system for a mining dump truck, including a laser radar, a millimeter-wave radar, a controller, a relay, an accelerator pedal, and a brake pedal; the laser radar and the millimeter-wave radar are installed at an appropriate position at the rear of the mining dump truck; the controller is installed in the cab, one end is connected to the brake pedal, and the other end is connected to the control line of the relay, and the laser radar and the millimeter-wave radar are connected through the CAN line; the relay is installed on the accelerator pedal, and the normally open contact of the relay is connected to the power line of the accelerator pedal. The controller calculates the safe distance M according to the actual operating conditions of the mining car; the laser radar determines whether it is a fixed or moving obstacle, and the millimeter-wave radar accurately locates whether the moving obstacle is close or far away. The controller outputs high and low level states to the relay control line according to the distance S between the vehicle and the obstacle, the safe distance M, the reverse speed V1, the obstacle speed V2 and the signal transmitted by the brake pedal; the normally open contact of the relay controls the on and off state of the accelerator power supply, and then controls whether the mining car slows down and brakes. Through the above technical means, when the mining dump truck is reversing, the system can quickly and accurately judge the vehicle's implementation status and control the opening and closing of the accelerator pedal power supply, thereby effectively preventing the mining truck from colliding with obstacles.
[0059] The mining dump truck provided by the utility model is described below. The mining dump truck described below and the reversing anti-collision system described above can be referred to each other.
[0060] The utility model provides a mining dump truck, which may include a reversing anti-collision system as described in any one of the above embodiments.
[0061] The beneficial effects achieved by the mining dump truck provided by the utility model are consistent with the beneficial effects achieved by the reversing anti-collision system provided by the utility model, and will not be described in detail here.
[0062] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.
[0063] In addition, those skilled in the art will understand that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments also means being within the scope of protection of the present utility model and forming different embodiments. For example, in the above embodiments, those skilled in the art can use them in combination according to the known technical solutions and the technical problems to be solved by the present application.
[0064] The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Although the utility model has been disclosed as a preferred embodiment as above, it is not used to limit the utility model. Any technician familiar with this patent can make some changes or modify the technical content suggested above into an equivalent embodiment with equivalent changes without departing from the scope of the technical solution of the utility model. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the utility model without departing from the content of the technical solution of the utility model still falls within the scope of the solution of the utility model.
Claims
1. A reverse collision avoidance system for a mining dump truck, characterized in that: include: The controller is connected to the vehicle-mounted speed measuring component, and is used to receive the reversing speed V1 and calculate the safety distance M according to the reversing speed V1; Detection component I, installed at the rear of the vehicle and electrically connected to the controller, is used to determine whether a fixed or mobile obstacle is present and detect the distance S between the vehicle and the fixed obstacle; Detection component II, installed at the rear of the vehicle and electrically connected to the controller, is used to determine whether the moving obstacle is approaching or moving away from the vehicle and detect the speed V2 of the moving obstacle; An intermediate actuator, an accelerator pedal and a brake pedal, wherein the intermediate actuator and the brake pedal are electrically connected to a controller, and the accelerator pedal is electrically connected to the intermediate actuator. The controller outputs high and low level signals to the intermediate actuator according to the spacing S, the safety distance M, the reversing speed V1, the obstacle speed V2 and the signal transmitted by the brake pedal. The intermediate actuator controls the on and off state of the accelerator pedal, and further controls whether the vehicle decelerates and brakes.
2. A reverse collision avoidance system for a mining dump truck according to claim 1, characterized in that: The intermediate execution component is a relay, a control line of the relay is electrically connected to a signal output terminal of the controller, and a normally open contact of the relay is connected to a power line of the accelerator pedal.
3. A reverse collision avoidance system for a mining dump truck according to claim 1, characterized in that: The detection component I adopts a laser radar, and its CAN_H and CAN_L ports are respectively connected to the corresponding CAN_H and CAN_L ports on the controller.
4. A reverse collision avoidance system for a mining dump truck according to claim 1, characterized in that: The detection component II adopts a millimeter wave radar, and its CAN_H and CAN_L ports are respectively connected to the corresponding CAN_H and CAN_L ports on the controller.
5. The reverse collision avoidance system for a mining dump truck according to claim 1 is characterized in that: The signal line of the brake pedal is connected to the signal end of the controller.
6. A reverse collision avoidance system for a mining dump truck according to claim 1, characterized in that: The controller, detection component I, detection component II and intermediate execution component are all connected to the vehicle-mounted power supply.
7. A reverse collision avoidance system for a mining dump truck according to claim 6, characterized in that: The vehicle-mounted power supply is a DC 24V power supply.
8. The reverse collision avoidance system for a mining dump truck according to claim 1 is characterized in that: The intermediate execution component is installed on the accelerator pedal.
9. A mining dump truck, characterized in that: A mining dump truck reversing anti-collision system as claimed in any one of claims 1 to 8 is installed.