Hybrid unmanned mining underground dumper

Abstract

The utility model discloses a hybrid unmanned mining underground dump truck, which relates to the technical field of dump trucks and comprises a truck body, a power system is arranged below the truck body, a cab is arranged above the front end of the truck body, an unmanned control box is arranged above the truck body, a battery box is arranged on the back of the cab, and the battery box is connected with the power system. Ultrasonic probes are arranged at the front end of the cockpit and the tail of the vehicle body, blind compensation laser radars are arranged at the front end of the cockpit, the tail of the vehicle body and the two sides of the battery box, a GMSL camera is arranged at the upper end of the cockpit, a main laser radar is arranged on one side of the GMSL camera, and a camera is arranged on the other side of the main laser radar. According to the dumper, the unmanned driving technology is adopted, automatic driving and automatic unloading of the dumper are achieved, dynamic matching of fuel oil power generation and battery energy storage is achieved through a hybrid power system, fuel oil consumption and waste gas emission are reduced, and the endurance mileage of the dumper is effectively prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of self-unloading vehicle, concretely to a hybrid unmanned mine underground self-unloading vehicle. BACKGROUND

[0002] The mine underground self-unloading vehicle plays an important role in the mining operation, has the characteristics of powerful power, narrow axle and high ground clearance, etc., to adapt to the complex terrain in the mine environment, adapt to the roadway with the slope within 25 degrees, the axle is narrow, the ground clearance is high, can adapt to the complex terrain and obstacles in the mine environment. With its powerful power, narrow axle design, high ground clearance and other advantages, it becomes the key equipment for underground mine transportation operation, significantly improves the efficiency and safety of the mining.

[0003] The power system of the existing mine underground self-unloading vehicle is single, the battery capacity is limited, the battery charging time is long, which leads to the short endurance mileage of the electric mine underground self-unloading vehicle, cannot meet the long-time operation demand, the battery cost is high, leads to the high manufacturing cost of the electric mine underground self-unloading vehicle, cannot meet the use demand. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a hybrid unmanned mine underground self-unloading vehicle to solve the problem of the single power system of the existing mine underground self-unloading vehicle, the limited battery capacity, the long battery charging time, which leads to the short endurance mileage of the electric mine underground self-unloading vehicle, cannot meet the long-time operation demand, the high battery cost, leads to the high manufacturing cost of the electric mine underground self-unloading vehicle, cannot meet the use demand.

[0005] In order to achieve the above object, the utility model provides the following technical scheme: a mixed unmanned mine underground self -discharging truck, including the car body, the lower portion of car body is provided with power system, the upper portion of car body front is provided with the cockpit, and the cockpit is connected with car body through screw, the upper portion of car body is provided with unmanned control box, and unmanned control box is connected with car body through screw, the unmanned control box is arranged in the inside of cockpit, the back of cockpit is provided with battery box, and battery box is connected with car body through screw, one side of battery box is provided with self -discharging box, and self -discharging box is arranged on the upper portion of car body, the lower end of one side of self -discharging box is rotatably connected with car body, the front end of cockpit and the tail of car body are provided with ultrasonic probe, and ultrasonic probe is connected with car body and cockpit through screw, the front end of cockpit, the tail of car body, the two sides of battery box are provided with blind -spot filling laser radar, and blind -spot filling laser radar is connected with car body, battery box and cockpit through screw, the upper end of cockpit is provided with GMSL camera, one side of GMSL camera is provided with main laser radar, and GMSL camera and main laser radar cockpit are connected through screw, the two sides of battery box are provided with millimeter wave radar and IP camera, and millimeter wave radar and IP camera are connected with battery box through screw, power system, ultrasonic probe, blind -spot filling laser radar, GMSL camera, main laser radar, millimeter wave radar and IP camera are electrically connected with unmanned control box.

[0006] Preferably, the power system comprises a range extender, a power battery pack, a motor transmission shaft and a drive axle, the power battery pack is arranged in the inside of the battery box, the range extender is connected with the power battery pack and the motor, and the motor is drivingly connected with the drive axle through the transmission shaft.

[0007] Preferably, the range extender comprises a generator and a diesel engine, the generator is connected with the diesel engine, one side of the car body is provided with a diesel tank, the diesel tank is connected with the car body through screws, and the diesel tank is connected with the diesel engine.

[0008] Preferably, one side of the car body is provided with an electrically controlled hydraulic lifting control box, the electrically controlled hydraulic lifting control box is connected with the car body through screws, the electrically controlled hydraulic lifting control box is electrically connected with the unmanned control box, the upper portion of the car body is provided with a hydraulic system, and the hydraulic system is arranged below the self-discharging box, the hydraulic system comprises a hydraulic pump, a hydraulic cylinder, a hydraulic oil tank and a control valve group, the hydraulic system is rotatably connected with the car body and the self-discharging box, and the hydraulic system is connected with the electrically controlled hydraulic lifting control box.

[0009] Preferably, the lower part of the battery box is provided with an automatic fire extinguishing system, and the automatic fire extinguishing system is connected with the vehicle body through screws, the automatic fire extinguishing system comprises a fire extinguishing agent tank, an electric control nozzle, a controller, a temperature sensor, a smoke sensor and a thermal camera, the electric control nozzle is arranged towards the power battery pack, the temperature sensor, the smoke sensor and the thermal camera are arranged in the battery box, and the electric control nozzle, the temperature sensor, the smoke sensor and the thermal camera are electrically connected with the controller, and the automatic fire extinguishing system is electrically connected with the unmanned control box.

[0010] Preferably, one side of the battery box is provided with a wireless communication module, and the wireless communication module is connected with the battery box through screws, and the wireless communication module is electrically connected with the unmanned control box.

[0011] Preferably, the bottom and the inner wall of the self-unloading box are provided with anti-skid and anti-impact liners, and the anti-skid and anti-impact liners are integrated with the self-unloading box.

[0012] Compared with the prior art, the utility model has the advantages that:

[0013] The utility model discloses a power system, ultrasonic probe, blind filling laser radar, GMSL camera, main laser radar, millimeter wave radar, IP camera and the setting of unmanned control box, ultrasonic probe emits ultrasonic wave and receives the echo that reflects back, forms ultrasonic imaging, blind filling laser radar, main laser radar, emits laser beam and receives the signal that reflects back, calculates the distance and speed of object according to the time interval and intensity of signal, millimeter wave radar utilizes radio wave to detect target and measures its spatial position, GMSL camera and IP camera shoot the environment around the self-unloading vehicle, perceive the environmental information around the vehicle, and the unmanned control box carries out path planning and behavior decision to the perceived environmental information, and the power system is realized to the self-unloading vehicle unmanned driving according to the control instruction of path planning and behavior decision to the power system, and the power system is composed of diesel engine and electric structure hybrid power, and the dynamic matching of fuel power generation and battery energy storage can effectively reduce fuel consumption and exhaust emission and prolong the cruising range of vehicle.

[0014] The utility model discloses a power system, ultrasonic probe, blind filling laser radar, GMSL camera, main laser radar, millimeter wave radar, IP camera and the setting of unmanned control box, ultrasonic probe emits ultrasonic wave and receives the echo that reflects back, forms ultrasonic imaging, blind filling laser radar, main laser radar, emits laser beam and receives the signal that reflects back, calculates the distance and speed of object according to the time interval and intensity of signal, millimeter wave radar utilizes radio wave to detect target and measures its spatial position, GMSL camera and IP camera shoot the environment around the self-unloading vehicle, perceive the environmental information around the vehicle, and the unmanned control box carries out path planning and behavior decision to the perceived environmental information, and the power system is realized to the self-unloading vehicle unmanned driving according to the control instruction of path planning and behavior decision to the power system, and the power system is composed of diesel engine and electric structure hybrid power, and the dynamic matching of fuel power generation and battery energy storage can effectively reduce fuel consumption and exhaust emission and prolong the cruising range of vehicle.

[0015] The utility model discloses a device through the setting of wireless communication module, and wireless communication module communicates with ground control center and other vehicles, adopts G communication technology, has the advantages such as high transmission rate, low delay, multiple connection number, realizes information sharing and collaborative work, when the vehicle appears exception, provides fault information in time, is convenient for maintenance personnel to check and solve the problem quickly. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the overall structure schematic diagram of the utility model;

[0017] Figure 2 It is the self-unloading box jacking structure diagram of the utility model;

[0018] Figure 3 It is the partial rear view structure schematic diagram of the utility model;

[0019] Figure 4 It is the partial side view structure schematic diagram of the utility model;

[0020] Figure 5 It is the power system structure diagram of the utility model;

[0021] Figure 6 It is the range extender perspective drawing of the utility model.

[0022] In the drawing: 1, car body;2, power system;3, battery box;4, self-unloading box;5, electric control hydraulic pressure lifting control box;6, ultrasonic probe;7, blind filling laser radar;8, GMSL camera;9, main laser radar;10, millimeter wave radar;11, cockpit;12, IP camera;13, automatic fire extinguishing system;14, diesel tank;15, antiskid impact-resistant lining;16, hydraulic system;17, unmanned control box;18, wireless communication module;19, range extender;20, power battery pack;21, motor;22, transmission shaft;23, drive axle;24, generator;25, diesel engine. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0024] Please refer to Figures 1-6The utility model provides an embodiment: a kind of hybrid unmanned mine underground dump truck, the lower portion of car body 1 is provided with power system 2, the upper portion of the front end of car body 1 is provided with cockpit 11, and cockpit 11 is connected with car body 1 by screw, the upper portion of car body 1 is provided with unmanned control box 17, and unmanned control box 17 is connected with car body 1 by screw, unmanned control box 17 is arranged inside cockpit 11, the back of cockpit 11 is provided with battery box 3, and battery box 3 is connected with car body 1 by screw, one side of battery box 3 is provided with self-unloading box 4, and self-unloading box 4 is arranged on the upper portion of car body 1, the lower end of one side of self-unloading box 4 is rotatably connected with car body 1, the front end of cockpit 11 and the tail of car body 1 are all provided with ultrasonic probe 6, and ultrasonic probe 6 is connected with car body 1 and cockpit 11 by screw, the front end of cockpit 11, the tail of car body 1, the two sides of battery box 3 are all provided with blind-filling laser radar 7, and blind-filling laser radar 7 is connected with car body 1, battery box 3 and cockpit 11 by screw, the upper end of cockpit 11 is provided with GMSL camera 8, one side of GMSL camera 8 is provided with main laser radar 9, and GMSL camera 8 and main laser radar 9 cockpit 11 are connected by screw, the two sides of battery box 3 are all provided with millimeter wave radar 10 and IP camera 12, and millimeter wave radar 10 and IP camera 12 are connected with battery box 3 by screw, power system 2, ultrasonic probe 6, blind-filling laser radar 7, GMSL camera 8, main laser radar 9, millimeter wave radar 10 and IP camera 12 are all electrically connected with unmanned control box 17.

[0025] When using: ultrasonic probe 6 emits ultrasonic wave and receives echo reflected back, forms ultrasonic imaging, blind-filling laser radar 7, main laser radar 9, by emitting laser beam and receiving signal reflected back, according to the time interval and intensity of signal to calculate the distance and speed of object, millimeter wave radar 10 utilizes radio wave to detect target and measure its spatial position, GMSL camera 8 and IP camera 12 shoot the environment around dump truck, perceive vehicle surrounding environment information, unmanned control box 17 carries out path planning and behavior decision to the perceived environment information, according to path planning and behavior decision to power system 2 and issues control instruction, realizes dump truck unmanned driving by power system 2.

[0026] Please refer to Figure 1 、 Figure 5 And Figure 6The power system 2 comprises a range extender 19, a power battery pack 20, a motor 21, a transmission shaft 22 and a drive axle 23, the power battery pack 20 is arranged in the inside of the battery box 3, the range extender 19 is connected with the power battery pack 20 and the motor 21, the motor 21 is in transmission connection with the drive axle 23 through the transmission shaft 22, the range extender 19 comprises a generator 24 and a diesel engine 25, and the generator 24 is connected with the diesel engine 25, one side of the vehicle body 1 is provided with a diesel tank 14, and the diesel tank 14 is connected with the vehicle body 1 through screws, the diesel tank 14 is connected with the diesel engine 25, the range extender 19 converts the chemical energy of diesel into electric energy, the electric energy is supplied to the motor 21 to generate kinetic energy or is stored in the power battery pack 20, when the vehicle starts, accelerates or climbs, the power battery pack 20 supplies power to the motor 21 to provide auxiliary power, when the vehicle travels at a constant speed, the diesel engine 25 drives the generator 24 to generate electricity, supplies the motor 21 to drive the vehicle to travel, and charges the power battery pack 20 at the same time, when the vehicle decelerates or brakes, the motor 21 is converted into a generator mode, converts the kinetic energy of the vehicle into electric energy and stores it in the power battery pack 20, the diesel engine 25 adopts high-pressure common rail fuel injection technology and exhaust gas recirculation technology, improves fuel economy and reduces exhaust emission, the power battery pack 20 adopts lithium iron phosphate battery, adopts hybrid power, realizes dynamic matching of fuel power generation and battery energy storage, can effectively reduce fuel consumption and exhaust emission, and the hybrid power can effectively prolong the cruising range of the vehicle.

[0027] Please refer to Figure 2 One side of the vehicle body 1 is provided with an electric hydraulic lifting control box 5, and the electric hydraulic lifting control box 5 is connected with the vehicle body 1 through screws, the electric hydraulic lifting control box 5 is electrically connected with the unmanned control box 17, the upper portion of the vehicle body 1 is provided with a hydraulic system 16, and the hydraulic system 16 is arranged below the self-unloading box 4, the hydraulic system 16 comprises a hydraulic pump, a hydraulic cylinder, a hydraulic oil tank and a control valve group, the hydraulic system 16 is in rotation connection with the vehicle body 1 and the self-unloading box 4, and the hydraulic system 16 is connected with the electric hydraulic lifting control box 5, the electric hydraulic lifting control box 5 controls the hydraulic system 16, the hydraulic system 16 controls the lifting and unloading of the unloading system, the hydraulic pump generates high-pressure oil, and the lifting and lowering of the self-unloading box 4 are realized by pushing the hydraulic cylinder through oil pressure, the hydraulic system 16 adopts load-sensitive control technology, can automatically adjust the flow and pressure of the hydraulic pump according to the load size, improves the efficiency and reliability of the hydraulic system, adopts electro-hydraulic proportional control technology, can realize stepless adjustment of the lifting and tilting speed of the box, improves the unloading efficiency and safety.

[0028] Please refer to Figure 2The lower part of the battery box 3 is provided with an automatic fire extinguishing system 13, and the automatic fire extinguishing system 13 is connected with the vehicle body 1 through screws. The automatic fire extinguishing system 13 comprises a fire extinguishing agent tank, an electric control nozzle, a controller, a temperature sensor, a smoke sensor and a thermal imaging camera. The electric control nozzle is arranged towards the power battery pack 20. The temperature sensor, the smoke sensor and the thermal imaging camera are arranged in the interior of the battery box 3, and the electric control nozzle, the temperature sensor, the smoke sensor and the thermal imaging camera are electrically connected with the controller. The automatic fire extinguishing system 13 is electrically connected with the unmanned control box 17. The temperature sensor, the smoke sensor and the thermal imaging camera monitor the temperature, the smoke degree, the thermal image signal and other fire warning information in the battery box 3. When a fire hazard is detected in the battery box 3, the controller controls the electric control nozzle to open, and the electric control nozzle sprays the fire extinguishing agent towards the fire point to extinguish the fire, thereby ensuring the safety of personnel and vehicles.

[0029] Please refer to Figure 4 One side of the battery box 3 is provided with a wireless communication module 18, and the wireless communication module 18 is connected with the battery box 3 through screws. The wireless communication module 18 is electrically connected with the unmanned control box 17. The wireless communication module 18 communicates with the ground control center and other vehicles to realize information sharing and collaborative work. When the vehicle appears abnormal, the fault information is provided in time, which is convenient for maintenance personnel to quickly troubleshoot and solve problems. The wireless communication module 18 adopts 5G communication technology, has the advantages of high transmission rate, low delay and large number of connections, and can meet the high requirements of the unmanned mine underground self-unloading vehicle on communication.

[0030] Please refer to Figure 2 The bottom and the inner wall of the self-unloading box 4 are provided with anti-skid and anti-impact inner liners 15, and the anti-skid and anti-impact inner liners 15 are integrated with the self-unloading box 4. The anti-skid and anti-impact inner liners 15 increase the structural strength of the self-unloading box 4. The goods falling into the self-unloading box 4 play a buffering role, reduce the wear and impact of the goods on the self-unloading box 4, and improve the service life of the self-unloading box 4.

[0031] Working principle: the ultrasonic probe 6 emits ultrasonic waves and receives the reflected echoes to form ultrasonic imaging, the blind filling laser radar 7 and the main laser radar 9 calculate the distance and speed of the object according to the time interval and intensity of the signal by emitting a laser beam and receiving the reflected signal, the millimeter wave radar 10 detects the target and measures its spatial position by using radio waves, the GMSL camera 8 and the IP camera 12 shoot the environment around the dump truck, perceive the environmental information around the vehicle, the unmanned control box 17 plans the path and makes the behavior decision according to the perceived environmental information, and sends the control instruction to the power system 2 according to the path planning and behavior decision, so as to realize the unmanned driving of the dump truck through the power system 2; the hydraulic pump generates high-pressure oil, and the hydraulic cylinder is pushed by the oil pressure to realize the lifting and lowering of the dump box 4, the temperature sensor, the smoke sensor and the thermal camera monitor the fire warning information such as temperature, smoke and thermal image signal in the battery box 3, when the fire hazard in the battery box 3 is monitored, the controller controls the electric control nozzle to open, and the fire extinguishing agent is sprayed towards the fire point by the electric control nozzle to extinguish the fire; when the vehicle starts, accelerates or climbs, the power battery pack 20 supplies power to the motor 21 to provide auxiliary power, when the vehicle runs at a constant speed, the diesel engine 25 drives the generator 24 to generate electricity, and supplies the motor 21 to drive the vehicle to run, and charges the power battery pack 20 at the same time, when the vehicle decelerates or brakes, the motor 21 is converted into a generator mode, and the kinetic energy of the vehicle is converted into electrical energy and stored in the power battery pack 20; the wireless communication module 18 communicates with the ground control center and other vehicles to realize information sharing and cooperative operation, when the vehicle is abnormal, the fault information is provided in time, and the maintenance personnel can quickly troubleshoot and solve the problem.

[0032] The contents not described in detail in the specification belong to the prior art known to those skilled in the art.

[0033] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A hybrid unmanned mine underground dump truck comprising a truck body (1), characterized in that: The lower part of the vehicle body (1) is provided with a power system (2), the upper part of the front end of the vehicle body (1) is provided with a cockpit (11), and the cockpit (11) is connected with the vehicle body (1) through screws, the upper part of the vehicle body (1) is provided with an unmanned control box (17), and the unmanned control box (17) is connected with the vehicle body (1) through screws, the unmanned control box (17) is arranged in the inside of the cockpit (11), the back of the cockpit (11) is provided with a battery box (3), and the battery box (3) is connected with the vehicle body (1) through screws, one side of the battery box (3) is provided with a self-unloading box (4), and the self-unloading box (4) is arranged above the vehicle body (1), the lower end of one side of the self-unloading box (4) is rotatably connected with the vehicle body (1), the front end of the cockpit (11) and the tail of the vehicle body (1) are provided with ultrasonic probes (6), and the ultrasonic probes (6) are connected with the vehicle body (1) and the cockpit (11) through screws, the front end of the cockpit (11), the tail of the vehicle body (1) and the two sides of the battery box (3) are provided with blind-filling laser radars (7), and the blind-filling laser radars (7) are connected with the vehicle body (1), the battery box (3) and the cockpit (11) through screws, the upper end of the cockpit (11) is provided with a GMSL camera (8), one side of the GMSL camera (8) is provided with a main laser radar (9), and the GMSL camera (8) and the main laser radar (9) are connected with the cockpit (11) through screws, the two sides of the battery box (3) are provided with millimeter wave radars (10) and IP cameras (12), and the millimeter wave radars (10) and the IP cameras (12) are connected with the battery box (3) through screws, the power system (2), the ultrasonic probe (6), the blind-filling laser radar (7), the GMSL camera (8), the main laser radar (9), the millimeter wave radar (10) and the IP camera (12) are all electrically connected with the unmanned control box (17); The power system (2) comprises a range extender (19), a power battery pack (20), a motor (21), a transmission shaft (22) and a drive axle (23), the power battery pack (20) is arranged in the inside of the battery box (3), the range extender (19) is connected with the power battery pack (20) and the motor (21), and the motor (21) is drivingly connected with the drive axle (23) through the transmission shaft (22).

2. The hybrid unmanned mine underground dump truck of claim 1, wherein: The range extender (19) comprises a generator (24) and a diesel engine (25), and the generator (24) is connected with the diesel engine (25), one side of the vehicle body (1) is provided with a diesel tank (14), and the diesel tank (14) is connected with the vehicle body (1) through screws, and the diesel tank (14) is connected with the diesel engine (25).

3. The hybrid unmanned mine underground dump truck of claim 1, wherein: One side of the vehicle body (1) is provided with an electric control hydraulic lifting control box (5), and the electric control hydraulic lifting control box (5) is connected with the vehicle body (1) through screws, the electric control hydraulic lifting control box (5) is electrically connected with the unmanned control box (17), the top of the vehicle body (1) is provided with a hydraulic system (16), and the hydraulic system (16) is arranged below the self-unloading box (4), the hydraulic system (16) comprises a hydraulic pump, a hydraulic cylinder, a hydraulic oil tank and a control valve group, the hydraulic system (16) is rotatably connected with the vehicle body (1) and the self-unloading box (4), and the hydraulic system (16) is connected with the electric control hydraulic lifting control box (5).

4. The hybrid unmanned mine-duty underground dump truck of claim 1, wherein: The lower portion of the battery box (3) is provided with an automatic fire extinguishing system (13), and the automatic fire extinguishing system (13) is connected with the vehicle body (1) through screws, the automatic fire extinguishing system (13) comprises a fire extinguishing agent tank, an electric control nozzle, a controller, a temperature sensor, a smoke sensor and a thermal imaging camera, the electric control nozzle is arranged towards the power battery pack (20), the temperature sensor, the smoke sensor and the thermal imaging camera are arranged in the battery box (3), and the electric control nozzle, the temperature sensor, the smoke sensor and the thermal imaging camera are electrically connected with the controller, and the automatic fire extinguishing system (13) is electrically connected with the unmanned control box (17).

5. The hybrid unmanned mine-duty underground dump truck of claim 1, wherein: One side of the battery box (3) is provided with a wireless communication module (18), and the wireless communication module (18) is connected with the battery box (3) through screws, and the wireless communication module (18) is electrically connected with the unmanned control box (17).

6. The hybrid unmanned mine-duty underground dump truck of claim 1, wherein: The bottom and inner wall of the self-unloading box (4) are provided with anti-skid and anti-impact inner liners (15), and the anti-skid and anti-impact inner liners (15) are integrated with the self-unloading box (4).

Images