Continuous transport vehicle automatic vehicle following control system based on laser scanning

Abstract

The utility model provides a continuous transport vehicle automatic vehicle following control system based on laser scanning, and belongs to the technical field of continuous transport vehicle vehicle following control. The technical problem to be solved is to provide the improvement of the hardware structure of the automatic vehicle following control system of the continuous transport vehicle based on laser scanning. According to the technical scheme, a computer, a switch and a vehicle-mounted controller are arranged in a control room of the continuous transportation vehicle, and a laser scanner is further arranged at the front end of the continuous transportation vehicle; the control end of the laser scanner is externally connected with a wire and is connected with a computer through a switch. An external lead at the control end of the vehicle-mounted controller is connected with a computer through a switch; the emission angle of laser detected by the laser scanner is 360 degrees in the horizontal direction, and the laser scanner is perpendicular to the ground and is mounted on the continuous transportation vehicle without shielding, so that the laser scanner can scan the driving and bolting machines on the two sides and in front of a roadway at the same time; the utility model is applied to the digging and anchoring integrated equipment.

Description

Technical Field

[0001] This utility model provides an automatic following control system for linked transport vehicles based on laser scanning, belonging to the field of linked transport vehicle following control technology. Background Technology

[0002] In recent years, with the continuous advancement of underground coal mining technology, more and more automated equipment has been put into use. This has placed higher demands on mining efficiency and the safety of underground personnel. The use of integrated tunneling and anchoring equipment can further improve work efficiency, ensure safe coal mine production, and reduce the labor intensity of workers. However, the following shortcomings still exist in the current use of integrated tunneling and anchoring equipment:

[0003] 1. During the tunneling process, after the tunneling machine moves forward to the designated position, it is necessary to manually control the haulage vehicle to drive to the appropriate position, and it is necessary to manually confirm the distance multiple times, which makes the tunneling operation inefficient.

[0004] Second, due to the dim lighting in the tunnel and the large size of the transport vehicle, the driver is very likely to collide with other workers or the excavation wall while moving forward, which poses a safety hazard.

[0005] Third, during operation, in addition to the personnel responsible for the tunneling machine, personnel are also needed to be responsible for the transport vehicle underground. The workload is large and the number of personnel involved is large, making it difficult to achieve personnel reduction and unmanned operation underground, which increases the operating cost.

[0006] Therefore, improvements are needed to the current vehicle following control system used in the continuous transport. Utility Model Content

[0007] In order to overcome the shortcomings of the existing technology, the present invention aims to solve the following technical problem: to provide an improved hardware structure for an automatic following control system for transport vehicles based on laser scanning.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: an automatic following control system for a transport vehicle based on laser scanning, including a tunneling and anchoring machine and a transport vehicle, wherein a computer, a switch, and an on-board controller are installed in the control room of the transport vehicle, and a laser scanner is also installed at the front end of the transport vehicle.

[0009] The external wire of the control terminal of the laser scanner is connected to the computer via a switch.

[0010] The external wire of the control terminal of the vehicle controller is connected to the computer via a switch.

[0011] The laser scanner emits laser light at a horizontal angle of 360°. The laser scanner is mounted on the transport vehicle perpendicular to the ground without obstruction, ensuring that the laser scanner can simultaneously scan the tunneling and anchoring machines on both sides and in front of the tunnel.

[0012] The laser scanner and the switch communicate with each other using the UDP communication protocol.

[0013] The vehicle controller and the switch use the Modbus TCP communication protocol for data exchange.

[0014] The vehicle controller is also connected to an external loudspeaker via wires.

[0015] The on-board controller is also connected to the solenoid valves of the drive wheels of the transport vehicle via wires.

[0016] The transport vehicle is also equipped with a power module, and the power input terminals of the computer and the vehicle controller are both connected to the power module.

[0017] The control chip used inside the vehicle controller is an STM32F103C8T6.

[0018] The advantages of this invention compared to the prior art are as follows: By installing a laser scanner at the front of the transport vehicle, this invention can acquire real-time distances between the transport vehicle and both sides of the roadway and the front tunneling and anchoring machine. The computer determines whether to follow the vehicle based on the distance data and sends control signals to the on-board controller to control the forward, reverse, and braking of the transport vehicle. When an obstacle appears near the transport vehicle, it provides rapid feedback, and the on-board controller issues an alarm sound and locks the transport vehicle. The entire process is controlled by a computer connected through a switch, eliminating the need for personnel to operate at close range on-site. This maximizes the efficiency of following control and reduces the probability of collision accidents. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings:

[0020] Figure 1 It is a structural diagram of the utility model;

[0021] Figure 2 This is a schematic diagram of the circuit structure of this utility model;

[0022] Figure 3 This is a distance measurement effect diagram in an embodiment of the present utility model;

[0023] In the diagram: 1 is a tunneling and anchoring machine, 2 is a laser scanner, 3 is a computer, 4 is a switch, 5 is a vehicle controller, 6 is a loudspeaker, 7 is a solenoid valve, and 8 is a power module. Detailed Implementation

[0024] like Figure 1 and Figure 2 As shown, this utility model provides an automatic following system for transport vehicles, including a laser scanner 2 installed on the transport vehicle, a computer 3 installed in the control room of the transport vehicle, a switch 4, and an on-board controller 5. The laser scanner 2 is installed at the front of the transport vehicle with no obstruction. The on-board controller 5 and the laser scanner 2 are both connected to the computer 3 via network cables to the same switch 4, so that the computer 3 can interact with the laser scanner 2 and the on-board controller 5.

[0025] The laser scanner 2 provided by this utility model has a laser emission angle of 360° in the horizontal direction. The 0° emission angle of the laser scanner is defined to be parallel to the axis of the transport vehicle and corresponding to the front. The laser scanner 2 is installed perpendicular to the ground at the front of the transport vehicle and cannot be blocked. This ensures that the laser scanner 2 can scan the tunneling and anchoring machine 1 on both sides and in front of the tunnel at the same time. The laser scanner 2 can send the scanned point cloud data to the computer 3.

[0026] like Figure 3 As shown, after receiving 360° laser scanning data, the computer 3 can obtain point cloud coordinates through coordinate transformation. During data processing, the computer 3 will obtain the point cloud coordinate data of the tunnel, take the point cloud coordinate data from 227° to 313° to calculate the distance data D2 between the current transport vehicle and the left side of the tunnel, take the point cloud coordinate data from 70° to 110° to calculate the distance data D3 between the current transport vehicle and the right side of the tunnel, and then take the point cloud coordinate data from 345° to 60° to calculate the distance data D1 between the transport vehicle and the front excavator 1. Before the calculation, the width of the transport vehicle, the following distance, and the following distance error need to be input into the computer 3. The computer 3 issues corresponding control commands based on the input parameters and real-time distance data.

[0027] The vehicle controller 5 is installed on the transport vehicle and connected to the control terminal of the solenoid valve 7 on the transport vehicle. It can control the forward and backward movement of the transport vehicle. When it receives a forward or backward command from the computer 3, the vehicle controller 5 sends a signal to the loudspeaker 6, causing the loudspeaker 6 to emit a prompt voice and control the movement of the transport vehicle.

[0028] Furthermore, in use, the laser scanner 2 emits ranging lasers in all directions to acquire point cloud distance data of the current tunnel, and then sends the data to the computer 3 for analysis and processing. The computer 3 first filters all the data returned by the laser scanner 2, and then performs coordinate transformation to obtain the coordinate data of the current tunnel. After obtaining the distance data between the transport vehicle and the front excavator 1, the computer 3 determines whether the following distance threshold has been reached, and controls the transport vehicle to move forward or backward, and controls it to stop moving forward or backward according to the preset error value. When obstacles appear in front of and to the sides of the transport vehicle, the laser scanner 2 collects and feeds back the corresponding distance data, and the vehicle controller controls the loudspeaker to issue an alarm, while controlling the solenoid valve to stop the transport vehicle from moving forward or backward.

[0029] Regarding the specific structure of this utility model, it should be noted that the connection relationships between the various component modules adopted in this utility model are definite and achievable. Except as specifically described in the embodiments, their specific connection relationships can bring about corresponding technical effects and solve the technical problems proposed by this utility model without relying on the execution of corresponding software programs. The models of the components, modules, and specific components appearing in this utility model, the connection methods between them, and the conventional usage methods and expected technical effects brought about by the above-mentioned technical features, unless specifically described, are all publicly disclosed content in patents, journal articles, technical manuals, technical dictionaries, and textbooks that can be obtained by those skilled in the art before the application date, or belong to conventional technology, common knowledge, and other existing technologies in this field. There is no need to elaborate, which makes the technical solution provided in this case clear, complete, and achievable, and can reproduce or obtain corresponding physical products based on this technical means.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A laser scanning-based automatic following control system for tandem transport vehicles, comprising a roadheader (1) and a tandem transport vehicle, characterized in that: The control room of the transport vehicle is equipped with a computer (3), a switch (4), and an on-board controller (5). A laser scanner (2) is also installed at the front of the transport vehicle. The control terminal of the laser scanner (2) is connected to the computer (3) via a switch (4); The external wire of the control terminal of the vehicle controller (5) is connected to the computer (3) through the switch (4); The laser scanner (2) detects the laser emission angle of 360° in the horizontal direction. The laser scanner (2) is installed on the transport vehicle perpendicular to the ground without obstruction, ensuring that the laser scanner (2) can simultaneously scan the tunneling and anchoring machine (1) on both sides and in front of the tunnel.

2. The automatic following control system for linked transport vehicles based on laser scanning according to claim 1, characterized in that: The laser scanner (2) and the switch (4) communicate with each other using the UDP communication protocol. The vehicle controller (5) and the switch (4) use the Modbus TCP communication protocol for data interaction.

3. The automatic following control system for linked transport vehicles based on laser scanning according to claim 1, characterized in that: The vehicle controller (5) is also connected to a loudspeaker (6) via a wire.

4. The automatic following control system for linked transport vehicles based on laser scanning according to claim 1, characterized in that: The on-board controller (5) is also connected to the solenoid valve (7) of the drive wheel of the transport vehicle via a wire.

5. The automatic following control system for linked transport vehicles based on laser scanning according to claim 1, characterized in that: The transport vehicle is also equipped with a power module (8), and the power input terminals of the computer (3) and the vehicle controller (5) are both connected to the power module (8).

6. The automatic following control system for linked transport vehicles based on laser scanning according to claim 1, characterized in that: The control chip used inside the vehicle controller (5) is an STM32F103C8T6.

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