Automatic driving mine car and automatic watering and dust suppression system for mining area

Abstract

The utility model relates to an automatic driving mine car and an automatic watering and dust suppression system for a mining area. The automatic driving mine car comprises a vehicle-mounted controller, a dust monitoring sensor, a vehicle-mounted watering device, a car body, a car frame and front wheels, the car body and the front wheels are arranged on the car frame, the vehicle-mounted watering device comprises a water storage tank, a first water conveying assembly and a first spray head, the first water conveying assembly is connected with the water storage tank, and the first spray head is arranged on the car frame. In the front-back direction of the self-driving mine car, the first spray head corresponds to the front wheel, and the dust monitoring sensor and the first water conveying assembly are both in communication connection with the vehicle-mounted controller.

Description

Technical Field

[0001] This application relates to the field of dust control on roads in unmanned mining areas, and in particular to an autonomous mining truck and an automatic water spraying dust suppression system for mining areas. Background Technology

[0002] In open-pit mines, traditional mining dump trucks are typically operated and transported by drivers. Because mining dump trucks generate a large amount of dust during transport, it can worsen working conditions during loading and transportation. Therefore, drivers who are constantly on-site may experience adverse effects on their physical and mental health.

[0003] To improve safety in mining areas, autonomous mining trucks are introduced for transportation operations. A central control platform manages these trucks, controlling them to complete loading, transportation, and unloading tasks along predetermined routes, thus achieving unmanned mining operations. The autonomous operation of these trucks requires numerous sensors, such as lasers, cameras, or millimeter-wave radar for environmental perception. However, the transportation process still generates significant amounts of dust, which can adversely affect the sensors and, in severe cases, disrupt the normal operation of the autonomous mining trucks, posing a safety hazard.

[0004] To control dust in mining areas, some technologies employ the deployment of traditional water trucks to spray water along the routes of autonomous mining trucks. However, configuring water trucks separately is costly, and these trucks typically operate intermittently, making real-time dust control difficult. Furthermore, water truck operations obstruct the autonomous mining trucks' routes, affecting their normal operation and schedule planning, which is detrimental to the overall automated management and control of unmanned mining areas. Utility Model Content

[0005] This application provides an autonomous mining truck and an automatic water spraying dust suppression system for mining areas, which is conducive to realizing automated real-time dust removal and suppression functions, and is beneficial to the overall automated management and control of unmanned mining areas.

[0006] This application provides an autonomous driving mining truck. The autonomous driving mining truck includes an on-board controller, a dust monitoring sensor, an on-board water spraying device, a body, a frame, and front wheels. The body and front wheels are both mounted on the frame. The on-board water spraying device includes a water tank, a first water delivery assembly, and a first nozzle. The first water delivery assembly is connected to the water tank and is used to deliver water from the water tank to the first nozzle. The first nozzle is mounted on the frame and is positioned corresponding to the front wheels along the front-rear direction of the autonomous driving mining truck. The dust monitoring sensor and the first water delivery assembly are both communicatively connected to the on-board controller.

[0007] The dust monitoring sensor installed on the autonomous mining truck in this application embodiment can automatically monitor the dust concentration in the current environment in real time, and automatically start or stop the on-board water spraying device installed on the autonomous mining truck in real time according to the monitoring results. Thus, the autonomous mining truck can realize real-time dust removal and dust suppression functions, which helps to ensure the continuity of the autonomous mining truck transportation operation process. The normal driving and time planning of the autonomous mining truck will not be affected by the water spraying operation, which is conducive to the overall automated management and control of the unmanned mining area.

[0008] In some feasible implementations, the vehicle-mounted water sprinkler system also includes a water inlet tank and a water storage tank connected together, with the water inlet tank mounted on the vehicle body and the water storage tank mounted on the vehicle frame.

[0009] In some feasible implementations, along the height direction of the autonomous mining truck, the water inlet tank is located above the water storage tank. The water inlet tank is equipped with a first water supply pipe, and the water storage tank is equipped with a second water supply pipe. The diameter of the first water supply pipe is smaller than the diameter of the second water supply pipe. The first water supply pipe is inserted into the second water supply pipe, and there is a gap between the first water supply pipe and the second water supply pipe.

[0010] In some feasible implementations, the vehicle body includes a cab and a running platform, with the water inlet tank located on the running platform.

[0011] In some feasible implementations, the water tank includes a tank body and a door panel. The tank body has a water inlet, and the door panel is slidably connected to the tank body. The vehicle-mounted sprinkler also includes a drive mechanism that is communicatively connected to the vehicle controller and connected to the door panel. The drive mechanism drives the door panel to slide relative to the tank body to open or close the water inlet.

[0012] In some feasible implementations, vertical guide rails are installed on both sides of the box along the front-rear direction of the autonomous mining truck, and the door panel can be slidably connected to the vertical guide rails along the height direction of the autonomous mining truck.

[0013] In some feasible implementations, the vehicle-mounted sprinkler system also includes a bracket assembly that connects the water tank to the vehicle frame.

[0014] In some feasible embodiments, the support assembly includes a first support, a second support, and a third support. Along the front-rear direction of the autonomous mining truck, the first and second supports are connected to the sides of the water tank, respectively, and the bottom of the water tank is connected to the third support.

[0015] In some feasible implementations, the vehicle-mounted sprinkler system also includes a water level monitoring sensor that is communicatively connected to the vehicle controller and connected to the water tank. The water level monitoring sensor is used to monitor the water level in the water tank.

[0016] In some feasible implementations, the water level monitoring sensor includes a sensing guide rod and a float. The float is movably mounted on the sensing guide rod. Both the sensing guide rod and the float are located inside the water tank. Along the height direction of the automated mining truck, the float is positioned corresponding to the center area of ​​the bottom plate of the water tank. The float moves relative to the sensing guide rod so that the water level monitoring sensor can monitor the water level in the water tank.

[0017] In some feasible embodiments, the first water delivery assembly includes a first electric water pump, a first control valve, a first connecting pipe, and a flow regulating valve. Both the first electric water pump and the first control valve are communicatively connected to the vehicle controller. The first electric water pump is connected to a water storage tank. The first control valve is located on the outlet side of the first electric water pump. A first connecting pipe is provided between the first control valve and the flow regulating valve. A first nozzle is provided on the outlet side of the flow regulating valve.

[0018] In some possible implementations, the first water delivery assembly also includes a filter element connected between the water storage tank and the first electric water pump.

[0019] In some feasible implementations, the left and right front wheels are respectively equipped with flow regulating valves and first nozzles, and the water storage tank, the first electric water pump, and the first control valve are all located near the right front wheel; the first water delivery assembly includes a water distributor, a first connecting pipe is provided between the water distributor and the first control valve, a first connecting pipe is provided between the water distributor and the flow regulating valve, the first connecting pipe between the water distributor and the right flow regulating valve has a first length, and the first connecting pipe between the water distributor and the left flow regulating valve has a second length, the first length being less than the second length.

[0020] In some feasible embodiments, the first nozzle includes a flat nozzle with a spray nozzle having a first dimension along the left-right direction of the automated mining vehicle and a second dimension along the front-rear direction of the automated mining vehicle, the first dimension being larger than the second dimension, and the flat nozzle being positioned in the middle area of ​​the front wheel along the left-right direction of the automated mining vehicle.

[0021] In some feasible implementations, the frame includes a front bumper, with the first nozzle detachably attached to the side of the front bumper facing the front wheel.

[0022] In some feasible approaches, dust monitoring sensors include at least one of lidar and camera modules.

[0023] In some feasible implementations, the water tank is located on the vehicle body and has a top water inlet.

[0024] This application provides an automatic water spraying dust suppression system for mining areas. The automatic water spraying dust suppression system for mining areas includes an autonomous driving mining truck and an automatic water supply device.

[0025] The automatic water supply device includes a control unit, a second water supply component, a drive component, and a second nozzle. The control unit is configured to wirelessly connect with the on-board controller. The second water supply component and the drive component are both connected to the control unit. The second water supply component is used to deliver water from the water source to the second nozzle. The second nozzle is connected to the drive component. When the autonomous mining truck is in the loading area, unloading area, or battery swapping area, the drive component drives the second nozzle to move so that the second nozzle fills the water tank with water.

[0026] The dust monitoring sensor installed on the autonomous mining truck in this embodiment can automatically monitor the dust concentration in the current environment in real time, and automatically start or stop the on-board water spraying device based on the monitoring results. This allows the autonomous mining truck to achieve real-time dust removal and suppression functions, ensuring the continuity of the autonomous mining truck's transportation operations and preventing water spraying from affecting the truck's normal driving and time planning. This is beneficial for the overall automated management and control of unmanned mining areas. When the autonomous mining truck is in the loading, unloading, or battery swapping area, the automatic water supply device can automatically add water to the on-board water spraying device during the truck's stationary position, ensuring that the water supply process does not affect the truck's normal driving and time planning. The automatic water spraying and dust suppression system in this embodiment can achieve automated closed-loop control of water spraying and water supply, which helps improve the automation level of the overall management and control of unmanned mining areas.

[0027] In some feasible implementations, the second nozzle includes a conical nozzle with a circular spray nozzle orifice.

[0028] In some feasible embodiments, the second water delivery assembly includes a second electric water pump, a second control valve, and a second connecting pipe. Both the second electric water pump and the second control valve are communicatively connected to the control unit. The second control valve is located on the outlet side of the second electric water pump, and a second connecting pipe is provided between the second control valve and the second nozzle.

[0029] In some possible implementations, the drive assembly includes a base, a first support member, and a first driver member, wherein the first support member is slidably connected to the base along a first horizontal direction, the first driver member is connected to the first support member, and a second nozzle is connected to the first support member, and the first driver member is used to drive the first support member to slide relative to the base.

[0030] In some possible implementations, the drive assembly further includes a second support and a second driver, the second support being slidably connected to the first support in a vertical direction, the second nozzle being connected to the second support, and the second driver being used to drive the second support to slide relative to the first support.

[0031] In some possible implementations, the drive assembly further includes a third support and a third driver, the third support being slidably connected to the second support along a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction, the second nozzle being connected to the third support, and the third driver being used to drive the third support to slide relative to the second support. Attached Figure Description

[0032] The features, advantages, and technical effects of exemplary embodiments of this application will now be described with reference to the accompanying drawings.

[0033] Figure 1 Schematic diagrams of the structure of an autonomous mining truck and an automatic water supply device provided in some embodiments of this application;

[0034] Figure 2 A partial structural schematic diagram of an automatic water spraying dust suppression system for mining areas provided in some embodiments of this application;

[0035] Figure 3 This is a schematic diagram of the structure of an autonomous mining truck provided in some embodiments of this application;

[0036] Figure 4 A partial structural schematic diagram of an autonomous mining truck provided in some embodiments of this application;

[0037] Figure 5 This is a partial cross-sectional structural schematic diagram of a vehicle-mounted sprinkler device provided in some embodiments of this application;

[0038] Figure 6 This is a schematic diagram of the structure of a vehicle-mounted water spraying device provided in some embodiments of this application;

[0039] Figure 7 This is a partial structural schematic diagram of a vehicle-mounted sprinkler device provided in some embodiments of this application;

[0040] Figure 8 for Figure 6 Enlarged view of point M in the middle;

[0041] Figure 9 This is a partial structural schematic diagram of an automatic water filling device provided in some embodiments of this application;

[0042] Figure 10 Schematic diagrams of the structure of an autonomous mining truck and an automatic water supply device provided in some embodiments of this application;

[0043] Figure 11 This is a partial structural schematic diagram of an autonomous mining truck provided in some embodiments of this application.

[0044] The accompanying drawings are not necessarily drawn to scale.

[0045] Explanation of reference numerals in the attached figures:

[0046] 10. Autonomous mining truck; 101. Onboard controller; 102. Vehicle body; 1021. Cab; 1022. Walking platform; 103. Frame; 1031. Front bumper; 104. Front wheel; 105. Rear wheel; 106. Truck bed; 20. Dust monitoring sensor; 30. Onboard water sprinkler system; 31. Water inlet tank; 311. Tank body; 3111. Water inlet; 312. Door panel; 313. Vertical guide rail; 32. Water storage tank; 32a. Liquid level; 320. Top water inlet; 321. Bottom 33. Plate; 331. First water supply assembly; 332. First electric water pump; 333. First control valve; 334. First connecting pipe; 335. Flow regulating valve; 336. Filter component; 337. Water distributor; 34. First nozzle; 341. Flat nozzle; 35. First water supply pipe; 36. Second water supply pipe; 37. Drive mechanism; 38. Support assembly; 381. First support; 382. Second support; 383. Third support; 39. Water level monitoring sensor; 391. Sensing guide rod; 392. Float ball;

[0047] 100. Automatic water filling device; 110. Control unit; 120. Second water delivery assembly; 121. Second electric water pump; 122. Second control valve; 123. Second connecting pipe; 130. Drive assembly; 131. Base; 132. First support member; 133. First actuator; 134. Second support member; 135. Second actuator; 136. Third support member; 137. Third actuator; 140. Second nozzle; 141. Conical nozzle;

[0048] X: Front / backward direction; Y: Left / right direction; Z: Height direction. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0051] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0052] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0053] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0054] In this application, "multiple" means two or more (including two).

[0055] See Figures 1 to 4 As shown in the figure, this application provides an autonomous driving mining truck 10.

[0056] The autonomous mining truck 10 includes an onboard controller 101 (vehicle control unit, VCU), a dust monitoring sensor 20, an onboard water spraying device 30, a body 102, a frame 103, and front wheels 104. The body 102 and the front wheels 104 are both mounted on the frame 103.

[0057] The vehicle-mounted water spraying device 30 includes a water storage tank 32, a first water delivery assembly 33, and a first nozzle 34. The first water delivery assembly 33 is connected to the water storage tank 32. The first water delivery assembly 33 is used to deliver water from the water storage tank 32 to the first nozzle 34.

[0058] The first nozzle 34 is mounted on the frame 103. Along the longitudinal direction X of the autonomous mining truck 10, the first nozzle 34 is positioned corresponding to the front wheel 104. The dust monitoring sensor 20 and the first water delivery assembly 33 are both communicatively connected to the on-board controller 101.

[0059] In this embodiment, the automatic dust suppression system for mining areas may include a system management control platform. The system management control platform can centrally schedule the autonomous mining trucks 10. The platform can acquire the location and vehicle status information of the autonomous mining trucks 10 for real-time monitoring. The autonomous mining trucks 10 can automatically travel between loading and unloading areas according to a predetermined route. When in the loading or unloading area, the autonomous mining trucks 10 are stationary; for example, in the unloading area, the autonomous mining trucks 10 need to remain stationary for 2 to 5 minutes to perform unloading operations.

[0060] The automated driving mining truck 10 also includes a cargo bed 106. The cargo bed 106 is mounted on the frame 103. Along the longitudinal direction X of the automated driving mining truck 10, the vehicle body 102 is located in front of the cargo bed 106. The cargo bed 106 is used for loading materials. The automated driving mining truck 10 also includes an empty state and a fully loaded state. In the empty state, the automated driving mining truck 10 returns from the unloading area to the loading area. In the fully loaded state, the automated driving mining truck 10 returns from the loading area to the unloading area.

[0061] When the autonomous mining truck 10 is in operation, whether it is empty or fully loaded, the dust monitoring sensor 20 on the autonomous mining truck 10 monitors the dust level in the environment in real time. The data signals collected by the dust monitoring sensor 20 are sent to the on-board controller 101 for processing. The dust level may include, but is not limited to, the concentration of dust in the air.

[0062] The autonomous mining truck 10 includes front wheels 104 and rear wheels 105. During the operation of the autonomous mining truck 10, the rotation of the front wheels 104 and rear wheels 105 will generate dust.

[0063] When the dust value detected by the dust monitoring sensor 20 exceeds a preset threshold, the vehicle controller 101 can control the first water delivery component 33 to start, so that the first water delivery component 33 delivers water from the water storage tank 32 to the first nozzle 34. The first nozzle 34 is configured to correspond to the front wheel 104, so that the first nozzle 34 can spray water onto the road surface that the wheel (including the front wheel 104 and the rear wheel 105) is about to travel on, so as to moisten the road surface that the wheel is about to travel on. Figure 3 The dashed triangle K in the middle schematically shows the shape of the water flow during spraying. When the wheels drive on the wet road surface, they are less likely to kick up dust, thus achieving the dust suppression function of spraying water.

[0064] The autonomous mining truck 10 travels along a relatively fixed route. During its operation, the rotation of its wheels generates dust. By wetting the surface the wheels are about to reach using the first nozzle 34, dust suppression is achieved, while also reducing the spraying area and saving water.

[0065] When the dust value detected by the dust monitoring sensor 20 is less than the preset threshold, the vehicle controller 101 controls the first water delivery component 33 to stop working and the first nozzle 34 to stop spraying.

[0066] In the loading or unloading area, the on-board controller 101 controls the first water supply component 33 to stop working and the first nozzle 34 to stop spraying, that is, the autonomous mining truck 10 does not perform water spraying operations during the loading or unloading stage.

[0067] The dust monitoring sensor 20 installed on the autonomous mining truck 10 in this embodiment can automatically monitor the dust concentration in the current environment in real time, and automatically start or stop the on-board water spraying device 30 installed on the autonomous mining truck 10 in real time according to the monitoring results. Thus, the autonomous mining truck 10 can realize real-time dust removal and dust suppression functions, which helps to ensure the continuity of the transportation operation of the autonomous mining truck 10. The normal driving and time planning of the autonomous mining truck 10 will not be affected by the water spraying operation, which is conducive to the overall automated management and control of the unmanned mining area.

[0068] In some implementations, both the vehicle controller 101 and the dust monitoring sensor 20 are located on the vehicle body 102. The vehicle controller 101 and the dust monitoring sensor 20 can be connected via a signal cable for wired communication. Alternatively, they can be connected wirelessly via Bluetooth, 2G / 3G / 4G / 5G, or Wi-Fi modules.

[0069] In some examples, the dust monitoring sensor 20 may be positioned on top of the vehicle body 102 to reduce the possibility that the vehicle body 102 may obstruct the dust monitoring sensor 20 and affect its monitoring accuracy.

[0070] In some feasible implementations, the vehicle controller 101 and the first water delivery component 33 can be connected via a signal cable to achieve wired communication. Alternatively, the vehicle controller 101 and the first water delivery component 33 can achieve wireless communication via a Bluetooth module, a 2G / 3G / 4G / 5G module, or a Wi-Fi module.

[0071] In some feasible implementations, the vehicle-mounted water sprinkler system 30 also includes a water inlet tank 31. The water inlet tank 31 and the water storage tank 32 are connected. The water inlet tank 31 is located on the vehicle body 102. The water storage tank 32 is located on the vehicle frame 103. The water storage tank 32 can reuse the vehicle frame 103, which helps to improve the space utilization of the vehicle frame 103.

[0072] This application provides an automatic water spraying dust suppression system for mining areas. The automatic water spraying dust suppression system includes an automatic water filling device 100. The automatic water filling device 100 includes a control unit 110, a second water delivery assembly 120, a drive assembly 130, and a second nozzle 140. The control unit 110 is configured to wirelessly connect with an on-board controller 101. The second water delivery assembly 120 and the drive assembly 130 are both communicatively connected to the control unit 110. The second water delivery assembly 120 is used to deliver water from a water source to the second nozzle 140. The second nozzle 140 is connected to the drive assembly 130. When the automated driving mining truck 10 is in the loading or unloading area, the drive assembly 130 drives the second nozzle 140 to move, so that the second nozzle 140 is aligned with the water inlet tank 31 and sprays water into the water inlet tank 31.

[0073] An automatic water supply device 100 is installed in both the loading and unloading areas. When the autonomous mining truck 10 is in either the loading or unloading area, it stops near the automatic water supply device 100 with a gap between them to prevent collisions. The control unit 110 communicates wirelessly with the on-board controller 101, which sends the current location data of the autonomous mining truck 10 to the control unit 110. After obtaining the current location data, the control unit 110 controls the drive assembly 130 to move the second nozzle 140 so that it is aligned with the water inlet tank 31. The control unit 110 also controls the second water delivery assembly 120 to deliver water from the source to the second nozzle 140. The second nozzle 140 then sprays water into the water inlet tank 31. The water injected into the water inlet tank 31 can flow to the storage tank 32 for storage. When the water tank 32 is filled with a predetermined amount of water or when the autonomous mining truck 10 needs to leave the loading or unloading area, the control unit 110 controls the second water supply component 120 to stop working and the second nozzle 140 to stop spraying water into the water tank 31, thus completing the water filling operation.

[0074] In some feasible ways, the control unit 110 and the vehicle controller 101 can achieve wireless communication connection via a Bluetooth module, a 2G / 3G / 4G / 5G module, or a Wi-Fi module.

[0075] In some feasible implementations, the control unit 110 and the second water delivery assembly 120 can be connected via a signal cable to achieve wired communication. Alternatively, the control unit 110 and the second water delivery assembly 120 can be connected wirelessly via a Bluetooth module, a 2G / 3G / 4G / 5G module, or a Wi-Fi module.

[0076] The automatic dust suppression system for mining areas in this embodiment utilizes a dust monitoring sensor 20 installed on the autonomous mining truck 10. This sensor automatically monitors the dust concentration in the environment in real time and automatically activates or deactivates the onboard water spraying device 30 based on the monitoring results. This allows the autonomous mining truck 10 to achieve real-time dust removal and suppression, ensuring the continuity of its transportation operations and preventing disruption to its normal driving and schedule planning due to water spraying. This is beneficial for the overall automated management and control of unmanned mining areas. When the autonomous mining truck 10 is stationary, the automatic water filling device 100 automatically fills the onboard water spraying device 30 with water during the stationary period, ensuring that the water filling process does not affect the normal driving and schedule planning of the autonomous mining truck 10. The automatic dust suppression system for mining areas in this embodiment achieves automated closed-loop control of water spraying and filling, which improves the automation level of overall management and control in unmanned mining areas.

[0077] See also some of the possible implementation methods. Figure 4 , Figure 5 and Figure 6 As shown, along the height direction Z of the autonomous mining truck 10, the water inlet tank 31 is located above the water storage tank 32. The water inlet tank 31 is equipped with a first water supply pipe 35, and the water storage tank 32 is equipped with a second water supply pipe 36. The diameter of the first water supply pipe 35 is smaller than the diameter of the second water supply pipe 36. The first water supply pipe 35 is inserted into the second water supply pipe 36, and there is a gap between the first water supply pipe 35 and the second water supply pipe 36 to allow for a movable connection between the water inlet tank 31 and the water storage tank 32.

[0078] When the automatic water filling device 100 fills the water inlet tank 31, the water in the water inlet tank 31 flows into the second water inlet pipe 36 through the first water inlet pipe 35, and then into the water storage tank 32. The way in which the first water inlet pipe 35 is inserted into the second water inlet pipe 36 makes it less likely for water to leak from the connection between the first water inlet pipe 35 and the second water inlet pipe 36, and also helps to reduce the possibility that debris from the external environment will enter the water storage tank 32 along with the water flow.

[0079] Shock absorbers are installed between the body 102 and the frame 103 of the autonomous mining truck 10. During the operation of the autonomous mining truck 10, there is relative movement between the body 102 and the frame 103. The water inlet tank 31 and the water storage tank 32 are connected by a movable connection. When relative movement occurs between the body 102 and the frame 103, the connection between the water inlet tank 31 and the water storage tank 32 is less likely to experience stress concentration, thus preventing breakage or damage.

[0080] When relative movement occurs between the vehicle body 102 and the frame 103, relative movement also occurs between the water inlet tank 31 located on the vehicle body 102 and the water storage tank 32 located on the frame 103. A gap exists between the first water pipe 35 and the second water pipe 36. Therefore, when relative movement occurs between the water inlet tank 31 and the water storage tank 32, the first water pipe 35 can move freely relative to the second water pipe 36, preventing contact between them. This reduces the possibility of deformation or damage to at least one of the first and second water pipes due to mutual compression, and also reduces the possibility of tearing between the first water pipe 35 and the water inlet tank 31 or between the second water pipe 36 and the water storage tank 32 due to mutual compression. This helps ensure the normal operation of the vehicle-mounted water spraying device 30 and reduces the possibility of affecting the normal operation and time planning of the autonomous driving mining truck 10 due to maintenance of the vehicle-mounted water spraying device 30.

[0081] After the water tank 32 is connected and fixed to the frame 103, the first water supply pipe 35 on the water inlet tank 31 is directly inserted into the second water supply pipe 36, and then the water inlet tank 31 is connected and fixed to the vehicle body 102. The connection process between the first water supply pipe 35 and the second water supply pipe 36 does not require the use of installation tools, which simplifies the connection operation between the water inlet tank 31 and the water tank 32 and reduces the connection difficulty.

[0082] In some examples, along the height direction Z of the autonomous mining truck 10, a first water supply pipe 35 is provided at the bottom of the water inlet tank 31, and a second water supply pipe 36 is provided at the top of the water storage tank 32. Along the height direction Z of the autonomous mining truck 10, the first water supply pipe 35 is inserted into the second water supply pipe 36. Exemplarily, both the first water supply pipe 35 and the second water supply pipe 36 are straight pipes, which facilitates the relatively easy and rapid discharge of water from the water inlet tank 31 into the water storage tank 32 under its own gravity.

[0083] For example, the materials of the first water pipe 35 and the second water pipe 36 include, but are not limited to, stainless steel, which helps to improve the adaptability of the first water pipe 35 and the second water pipe 36 to harsh environments, increase the service life of the first water pipe 35 and the second water pipe 36, and reduce the number of maintenance or replacements.

[0084] See also some of the possible implementation methods. Figure 4 As shown, the vehicle body 102 includes a cab 1021 and a running platform 1022. A water inlet tank 31 is disposed on the running platform 1022.

[0085] Under normal operating conditions, the driver of the autonomous mining truck 10 does not need to operate the truck from inside the cab 1021. If the autonomous mining truck 10 malfunctions and needs to leave the mining area for repairs, the driver can enter the cab 1021 and operate the truck to drive it to a predetermined location.

[0086] The walking platform 1022 is a structure that allows the driver to board the vehicle body 102 and provides a walking passage. The walking platform 1022 includes a ladder and a walking platform. The driver can climb onto the walking platform by stepping on the ladder to perform corresponding operations.

[0087] The water inlet tank 31 is installed on the walking platform 1022, which allows for the reuse of the space of the walking platform 1022, improves the space utilization of the walking platform 1022, expands the function of the walking platform 1022, and reduces the difficulty of arranging the water inlet tank 31. The walking platform 1022 has a relatively flat walking surface, which facilitates the connection and fixing of the water inlet tank 31.

[0088] In some examples, the water inlet tank 31 is detachably connected to the walking platform 1022 by fasteners such as screws.

[0089] In some examples, the cab 1021 and the walking platform 1022 are arranged adjacent to each other along the left-right direction Y of the autonomous mining truck 10.

[0090] See in some examples Figure 4 , Figure 5 and Figure 6 As shown, the water inlet tank 31 includes a tank body 311 and a door panel 312. The tank body 311 has a water inlet 3111. Exemplarily, the water inlet 3111 may face away from the driver's cab 1021. The door panel 312 is slidably connected to the tank body 311. The vehicle-mounted sprinkler system 30 also includes a drive mechanism 37. The drive mechanism 37 is communicatively connected to the vehicle controller 101. The drive mechanism 37 may be connected to the vehicle body 102. The drive mechanism 37 is connected to the door panel 312. The drive mechanism 37 drives the door panel 312 to slide relative to the tank body 311, so that the door panel 312 opens or closes the water inlet 3111. The second nozzle 140 is a horizontal nozzle. When the door panel 312 opens the water inlet 3111, the second nozzle 140 is aligned with the water inlet 3111 and sprays water into the water inlet tank 31.

[0091] The container 311 is connected to the vehicle body 102. The container 311 has a horizontal water inlet 3111. When water is not needed, the on-board water sprinkler system 30 closes the water inlet 3111 with the door panel 312, reducing the possibility of debris from the external environment entering the water storage tank 32 through the water inlet 3111. After the autonomous mining truck 10 stops in the loading or unloading area, the on-board water sprinkler system 30 can control the drive mechanism 37 to start, so that the drive mechanism 37 drives the door panel 312 to move and open the water inlet 3111. After the second water delivery assembly 120 is started, water is sprayed onto the water tank 31 through the second nozzle 140, aimed at the water inlet 3111. After the water filling operation is completed, the on-board water sprinkler system 30 can control the drive mechanism 37 to start, so that the drive mechanism 37 drives the door panel 312 to move and close the water inlet 3111.

[0092] The automatic water-filling device 100 adds water to the vehicle-mounted water spraying device 30 in a horizontal direction, so that the automatic water-filling device 100 will not affect the loading or unloading operations of the autonomous mining truck 10. At the same time, the left or right side of the autonomous mining truck 10 itself is relatively flat, so that the autonomous mining truck 10 is less likely to scratch or collide with the automatic water-filling device 100 when driving into or out of the loading or unloading area, thus reducing the possibility of accidental damage to the automatic water-filling device 100.

[0093] In some examples, along the height direction Z of the autonomous mining truck 10, the box 311 is located above the walking platform.

[0094] In some examples, the vehicle controller 101 and the drive mechanism 37 can be connected via a signal cable to achieve wired communication. Alternatively, the vehicle controller 101 and the drive mechanism 37 can also achieve wireless communication via a Bluetooth module, a 2G / 3G / 4G / 5G module, or a Wi-Fi module.

[0095] In some examples, the water inlet 3111 of the housing 311 is rectangular. The door panel 312 is also rectangular in shape. The water inlet 3111 of the housing 311 has a relatively large area, which facilitates the water inlet 3111 receiving the water jet from the second nozzle 140 and reduces the possibility of the sprayed water hitting areas outside the housing 311.

[0096] In some examples, during the water filling process, there is a gap between the second nozzle 140 and the water inlet tank 31, and the second nozzle 140 is not inserted into the water inlet tank 31.

[0097] See in some examples Figure 6 As shown, vertical guide rails 313 are respectively provided on both sides of the box body 311 along the front-rear direction X of the autonomous driving mining truck 10. The door panel 312 is slidably connected to the vertical guide rails 313 along the height direction Z of the autonomous driving mining truck 10.

[0098] The vertical guide rail 313 can guide and position the door panel 312, making the opening or closing process of the door panel 312 more stable and smooth, reducing the possibility that the door panel 312 may get stuck and thus fail to fully open or close the water inlet 3111.

[0099] In some examples, the drive mechanism 37 includes a motor and a lead screw. The output shaft of the motor is connected to the lead screw. The lead screw is threadedly connected to the door panel 312. The motor drives the lead screw to rotate, and the lead screw drives the door panel 312 to slide relative to the vertical guide rail 313.

[0100] In some examples, the drive mechanism 37 includes a hydraulic cylinder or an electric cylinder. The telescopic rod of the hydraulic cylinder or electric cylinder is connected to the door panel 312. The hydraulic cylinder or electric cylinder drives the door panel 312 to slide relative to the vertical guide rail 313 through the telescopic movement of the telescopic rod.

[0101] See also some of the possible implementation methods. Figure 6 As shown, the vehicle-mounted water spraying device 30 also includes a bracket assembly 38. The bracket assembly 38 connects the water storage tank 32 to the vehicle frame 103.

[0102] The water tank 32 can be pre-connected and fixed to the bracket assembly 38, and then the bracket assembly 38 can be connected and fixed to the frame 103, reducing the difficulty of fixing the water tank 32 to the frame 103. The bracket assembly 38 can provide support for the water tank 32, so that the water tank 32 and the frame 103 can move synchronously, reducing the possibility of friction or impact between the water tank 32 and the frame 103 due to relative movement between them, and reducing the possibility of damage and leakage of the water tank 32 due to friction or impact between them.

[0103] See in some examples Figure 6 As shown, the support assembly 38 includes a first support 381, a second support 382, ​​and a third support 383. Along the longitudinal direction X of the autonomous mining truck 10, the first support 381 and the second support 382 are connected to both sides of the water tank 32, respectively. The bottom of the water tank 32 is connected to the third support 383.

[0104] During the starting, acceleration, deceleration, or stopping of the autonomous mining truck 10, the water tank 32 exhibits significant inertia in the longitudinal direction X. Along the longitudinal direction X, the water tank 32 is connected to the frame 103 on both sides via a first bracket 381 and a second bracket 382. These brackets effectively constrain and limit the water tank 32, effectively buffering its own inertial force. They also distribute the force across the frame 102, reducing the likelihood of loosening or detachment of the connection between the water tank 32 and the frame 103 due to prolonged and frequent exposure to inertial forces. This improves the safety and stability of the water tank 32 during use.

[0105] The bottom of the water tank 32 is connected to the third bracket 383. The third bracket 383 can provide support for the water tank 32 in the direction of gravity, reducing the possibility of the water tank 32 becoming loose or falling off the frame 103 under the inertial action of the height direction Z.

[0106] See also some of the possible implementation methods. Figure 6 and Figure 7 As shown, the vehicle-mounted sprinkler system 30 also includes a water level monitoring sensor 39. The water level monitoring sensor 39 is communicatively connected to the vehicle controller 101. The water level monitoring sensor 39 is connected to the water storage tank 32. The water level monitoring sensor 39 is used to monitor the water level within the water storage tank 32.

[0107] The water level monitoring sensor 39 can send the monitored water level signal to the vehicle controller 101 in real time. When the water level monitored by the water level monitoring sensor 39 is lower than a predetermined threshold, the vehicle controller 101 controls the vehicle-mounted water sprinkler 30 to stop watering. Simultaneously, when the autonomous mining truck 10 is in the loading or unloading area, the automatic water filling device 100 fills the vehicle-mounted water sprinkler 30 with water. During the water filling process, when the water level monitored by the water level monitoring sensor 39 rises to the predetermined threshold, the water filling operation stops. The vehicle controller 101 can then control the vehicle-mounted water sprinkler 30 to perform watering operations.

[0108] The method of setting water level monitoring sensor 39 in water storage tank 32 is conducive to improving the automation level and real-time monitoring capability of water level monitoring, and to improving the automation management level of watering and water filling operations.

[0109] In some examples, the water level monitoring sensor 39 and the vehicle controller 101 can be connected via a signal cable to achieve a wired communication connection.

[0110] See in some examples Figure 7As shown, the water level monitoring sensor 39 includes a sensing guide rod 391 and a float 392. The float 392 is movably sleeved on the sensing guide rod 391. Both the sensing guide rod 391 and the float 392 are located inside the water storage tank 32. Along the height direction Z of the autonomous mining truck 10, the float 392 is positioned corresponding to the central area of ​​the bottom plate 321 of the water storage tank 32. When the water level in the water storage tank 32 changes, the float 392 moves relative to the sensing guide rod 391, so that the water level monitoring sensor 39 can monitor the water level in the water storage tank 32.

[0111] The mining area has both flat and sloping road surfaces, causing the autonomous mining truck 10 to be in a flat or tilted state. The water tank 32 moves synchronously with the chassis 103. When the autonomous mining truck 10 is in a flat state, the liquid level 32a in the water tank 32 is horizontal. When the autonomous mining truck 10 is tilted, the liquid level 32a in the water tank 32 forms an angle with the horizontal plane.

[0112] The water level monitoring sensor 39 uses a float 392 to monitor the water level. The float 392 is set in a manner that corresponds to the central area of ​​the bottom plate 321 of the water storage tank 32. This allows the float 392 to accurately monitor the current water level in the water storage tank 32 whether the liquid surface 32a in the water storage tank 32 is horizontal or inclined. This helps to reduce water level monitoring errors, lower the probability of misjudging the total water volume in the water storage tank 32, and ensure that watering or water filling operations can be performed normally.

[0113] For example, the water level monitoring sensor 39 includes a float 392 level gauge. The float 392 is a measuring element equipped with a magnet. The sensing rod 391 and the float 392 are magnetically coupled to cause the internal resistance of the water level monitoring sensor 39 to change linearly, and then the resistance change is converted into a standard current signal (e.g., 4 mA to 20 mA) to obtain the current water level signal.

[0114] For example, the water storage tank 32 has a square structure. The bottom plate 321 of the water storage tank 32 has a rectangular structure. The float 392 is positioned at the intersection of the diagonals of the bottom plate 321. The intersection of the diagonals of the bottom plate 321 is the central area of ​​the bottom plate 321.

[0115] See also some of the possible implementation methods. Figure 6As shown, the first water supply assembly 33 includes a first electric water pump 331, a first control valve 332, a first connecting pipe 333, and a flow regulating valve 334. Both the first electric water pump 331 and the first control valve 332 are communicatively connected to the vehicle controller 101. The first electric water pump 331 is connected to the water storage tank 32. The first control valve 332 is located on the outlet side of the first electric water pump 331. The first connecting pipe 333 is provided between the first control valve 332 and the flow regulating valve 334. A first nozzle 34 is provided on the outlet side of the flow regulating valve 334.

[0116] When watering operations are required, the vehicle controller 101 controls the first control valve 332 to open and the first electric water pump 331 to start. The first electric water pump 331 draws water from the water storage tank 32 and pressurizes the water. The water flows through the first control valve 332, the first connecting pipe 333, and the flow regulating valve 334 to the first nozzle 34, and is sprayed onto the road surface through the first nozzle 34. The flow regulating valve 334 is used to regulate the water flow rate to control the flow rate and coverage area of ​​the water sprayed from the first nozzle 34. By controlling the opening of the flow regulating valve 334, the water sprayed from the first nozzle 34 can completely cover the road surface where the wheels travel, without covering too large an area of ​​other road surfaces, which helps to reduce the amount of water sprayed and improve watering efficiency.

[0117] In some examples, both the first electric water pump 331 and the first control valve 332 can be connected to the vehicle controller 101 via signal cables to achieve wired communication. Alternatively, both the first electric water pump 331 and the first control valve 332 can be connected to the vehicle controller 101 wirelessly via Bluetooth, 2G / 3G / 4G / 5G, or Wi-Fi modules.

[0118] In some examples, during the water spraying operation of the vehicle-mounted sprinkler system 30, the vehicle controller 101 can obtain the current driving speed information of the autonomous mining truck 10. When the driving speed is high, the vehicle controller 101 controls the first electric water pump 331 to increase the water delivery power to increase the water spray volume; when the driving speed is low, the vehicle controller 101 controls the first electric water pump 331 to decrease the water delivery power to reduce the water spray volume, which helps to ensure uniform water spraying on the road surface.

[0119] In some examples, the first control valve 332 may include, but is not limited to, an electro-hydraulic valve or a solenoid valve.

[0120] In some examples, the first connecting pipe 333 can be a flexible hose, which helps to reduce the difficulty of arranging the first connecting pipe 333. For example, the first connecting pipe 333 can be a rubber hose.

[0121] In some examples, the flow regulating valve 334 can be a manually adjustable valve, which helps reduce the cost and difficulty of arranging the flow regulating valve 334. After the vehicle-mounted sprinkler device 30 is connected and fixed to the vehicle body 102 and the frame 103, the flow of the flow regulating valve 334 can be adjusted to a preset flow rate by manually controlling the flow regulating valve 334. Afterwards, the flow regulating valve 334 can always maintain the currently set flow rate. Exemplarily, the flow regulating valve 334 may include, but is not limited to, an angle valve.

[0122] See in some examples Figure 6 As shown, the first water supply assembly 33 also includes a filter element 335. The filter element 335 is connected between the water storage tank 32 and the first electric water pump 331. The filter element 335 is disposed on the water inlet side of the first electric water pump 331.

[0123] When the first electric water pump 331 draws water from the water storage tank 32 for water spraying, the water in the water storage tank 32 enters the filter component 335, and then flows through the first electric water pump 331, the first control valve 332, the first connecting pipe 333, and the flow regulating valve 334 to the first nozzle 34 after filtration. The filter component 335 can filter the water in the water storage tank 32, reducing the possibility of blockage of the first control valve 332, the first connecting pipe 333, the flow regulating valve 334, or the first nozzle 34 due to impurities in the water, which helps to ensure that the vehicle-mounted water spraying device 30 can perform water spraying operations normally.

[0124] For example, the filter element 335 may include a filter screen.

[0125] See in some examples Figure 3 and Figure 6 As shown, the autonomous mining truck 10 includes a left front wheel 104 and a right front wheel 104. The left and right front wheels 104 refer to the view from the rear of the autonomous mining truck 10. A flow regulating valve 334 and a first nozzle 34 are respectively installed on the left and right front wheels 104. The water tank 32, the first electric water pump 331, and the first control valve 332 are all located near the right front wheel 104.

[0126] The first water delivery assembly 33 includes a water distributor 336. A first connecting pipe 333 is provided between the water distributor 336 and the first control valve 332. A first connecting pipe 333 is also provided between the water distributor 336 and the flow regulating valve 334. The water distributor 336 is used to distribute water flow to the first nozzles 34 on the left and right sides.

[0127] The first connecting pipe 333 between the water distributor 336 and the flow regulating valve 334 on the right has a first length, and the first connecting pipe 333 between the water distributor 336 and the flow regulating valve 334 on the left has a second length, the first length being less than the second length.

[0128] The water storage tank 32, the first electric water pump 331, and the first control valve 332 are all located near the right front wheel 104. The first length of the first connecting pipe 333 near the right side is shorter than the second length of the first connecting pipe 333 near the left side. Therefore, the water pressure reaching the first nozzle 34 near the right side is different from the water pressure reaching the first nozzle 34 near the left side. If a flow regulating valve 334 is not installed upstream of the first nozzle 34, the spray volume of the first nozzles 34 on the left and right sides will be different, resulting in different wetting effects on the left and right sides of the road surface. This will affect the consistency of dust suppression effect between the left and right wheels of the autonomous mining truck 10 and increase the difficulty of automated control of the dust suppression function.

[0129] By setting a flow regulating valve 334 upstream of the first nozzle 34, the opening of the left and right flow regulating valves 334 can be adjusted so that the opening sizes of the left and right flow regulating valves 334 are different, thereby making the spraying volume of the first nozzles 34 on the left and right sides approximately the same. This is beneficial to improve the consistency of dust suppression effect of the left and right wheels of the autonomous mining truck 10 and reduce the difficulty of automated control of the dust suppression function.

[0130] By setting a flow regulating valve 334 and a first nozzle 34 for each of the left and right wheels, it is possible to separately spray water on the left and right sides of the road surface through the first nozzles 34 on the left and right sides, which helps to reduce the amount of water sprayed and improve the water spraying efficiency.

[0131] In some examples, the distributor 336 includes, but is not limited to, a tee pipe.

[0132] In some possible implementations, see 6 and Figure 8 As shown, the first nozzle 34 includes a flat nozzle 341. The nozzle 341 has a first dimension along the left-right direction Y of the automated driving mining vehicle 10 and a second dimension along the front-rear direction X of the automated driving mining vehicle 10, wherein the first dimension is larger than the second dimension. Along the left-right direction Y of the automated driving mining vehicle 10, the flat nozzle 341 is positioned corresponding to the middle area of ​​the front wheel 104.

[0133] The water sprayed from the flat nozzle 341 has a smaller size in the front-rear X direction of the autonomous mining truck 10. The water sprayed from the flat nozzle 341 can spread out along the left and right sides of the autonomous mining truck 10 in a triangular shape. It can easily and completely cover the road surface that the wheels are about to travel on with a small amount of water, which helps to reduce the amount of water used, while improving the water spraying effect and efficiency.

[0134] In some examples, the flat nozzle 341 can be a fan-shaped nozzle.

[0135] See in some examples Figure 3As shown, the frame 103 includes a front bumper 1031. A first nozzle 34 is detachably attached to the side of the front bumper 1031 facing the front wheel 104.

[0136] Along the longitudinal direction X of the autonomous mining truck 10, the front bumper 1031 is positioned closer to the front of the frame 103 relative to the front wheels 104, so that the front bumper 1031 can protect the frame 103. The front bumper 1031 can absorb impact energy and reduce the possibility of the frame 103 of the autonomous mining truck 10 being severely deformed by an impact.

[0137] The first nozzle 34 can be reused on the front bumper 1031, which expands the function of the front bumper 1031 and eliminates the need for a separate connecting structure on the frame 103 to fix the first nozzle 34, reducing the number of parts and simplifying assembly.

[0138] The first nozzle 34 is located on the side of the front bumper 1031 facing the front wheel 104, so that the front bumper 1031 can protect the first nozzle 34, reduce the possibility of objects in the external environment directly colliding with the first nozzle 34 and causing the first nozzle 34 to deform or fail, and ensure that the first nozzle 34 works normally.

[0139] For example, the first nozzle 34 can be detachably connected to the front bumper 1031 by fasteners such as screws.

[0140] For example, along the height direction Z of the autonomous mining truck 10, the nozzle of the first nozzle 34 is lower than the lower surface of the front bumper 1031, so that the front bumper 1031 will not block the nozzle of the first nozzle 34, reducing the possibility that the front bumper 1031 will block the nozzle of the first nozzle 34 and cause the water spraying effect of the first nozzle 34 to deteriorate.

[0141] See also some of the possible implementation methods. Figure 1 and Figure 9 As shown, the second nozzle 140 includes a conical nozzle 141. The nozzle orifice of the conical nozzle 141 is circular.

[0142] The conical nozzle 141 of the second nozzle 140 has the effect of concentrating and pressurizing water. The spray nozzle 141 has a circular spray opening, which makes the water jet sprayed from the spray opening generally flow into a relatively concentrated conical water jet. This is conducive to the water sprayed from the spray opening entering the water inlet 3111 of the tank 311 relatively accurately, reducing the possibility of water being sprayed outside the tank 311, reducing water waste, and improving water filling efficiency.

[0143] In some examples, the parking position of the autonomous mining truck 10 in the loading or unloading area has an allowable error. The area of ​​the water inlet 3111 of the housing 311 is larger than the area of ​​the spray nozzle of the second nozzle 140, which can compensate for the deviation caused by the parking position of the autonomous mining truck 10. This helps the water sprayed from the nozzle to enter the water inlet 3111 of the housing 311 more accurately, reducing the possibility of water being sprayed outside the housing 311, reducing water waste, and improving water filling efficiency.

[0144] See also some of the possible implementation methods. Figure 1 and Figure 9 As shown, the second water supply assembly 120 includes a second electric water pump 121, a second control valve 122, and a second connecting pipe 123. Both the second electric water pump 121 and the second control valve 122 are communicatively connected to the control unit 110. The second control valve 122 is located on the outlet side of the second electric water pump 121. The second connecting pipe 123 is provided between the second control valve 122 and the second nozzle 140.

[0145] When the autonomous mining truck 10 is stationary in the loading or unloading area and needs to perform a water replenishment operation, the on-board controller 101 sends a water replenishment command to the control unit 110 and sends the current vehicle position information of the autonomous mining truck 10. Based on the vehicle position information, the control unit 110 drives the second nozzle 140 to move along the X-direction (forward / backward) or Z-direction (height) of the autonomous mining truck 10 to align with the water inlet tank 31 via the drive assembly 130. The way the drive assembly 130 drives the second nozzle 140 can compensate for the deviation caused by the parking position of the autonomous mining truck 10, which is conducive to the water sprayed from the nozzle entering the water inlet tank 31 relatively accurately. The control unit 110 controls the second control valve 122 to open and the second electric water pump 121 to start. The second electric water pump 121 can draw water from the water source and pressurize the water. The water flows through the second control valve 122 and the second connecting pipe 123 to the second nozzle 140, and is sprayed into the water inlet tank 31 through the second nozzle 140.

[0146] In some examples, the second electric water pump 121 and the second control valve 122 can be connected to the control unit 110 via signal cables to achieve wired communication. Alternatively, the second electric water pump 121 and the second control valve 122 can each achieve wireless communication with the control unit 110 via Bluetooth, 2G / 3G / 4G / 5G, or Wi-Fi modules.

[0147] In some examples, the second control valve 122 may include, but is not limited to, an electro-hydraulic valve or a solenoid valve.

[0148] In some examples, the second connecting pipe 123 can be a flexible hose, which helps reduce the difficulty of arranging the second connecting pipe 123. At the same time, during the process of the drive assembly 130 driving the second nozzle 140 to move, the second connecting pipe 123 is easy to deform, reducing the movement constraint of the second connecting pipe 123 on the second nozzle 140. For example, the second connecting pipe 123 can be a rubber tube.

[0149] In some feasible implementations, the dust monitoring sensor 20 includes at least one of a lidar and a camera module. The lidar and camera module can be positioned at the highest point of the vehicle body 102, which helps reduce the possibility of the vehicle body 102 obstructing the lidar and camera module, allowing the lidar and camera module to accurately acquire information about the dust conditions in the surrounding environment, thus improving the accuracy and reliability of the monitoring results.

[0150] In some examples, the dust monitoring sensor 20 includes a lidar unit and a camera module. The data on dust concentration acquired by the lidar unit and the camera module can be cross-referenced and analyzed, which helps to improve the accuracy and reliability of the monitoring results.

[0151] See also some of the possible implementation methods. Figure 1 and Figure 9 As shown, the drive assembly 130 includes a base 131, a first support member 132, and a first driver 133. The first support member 132 is slidably connected to the base 131 along a first horizontal direction. The first driver 133 is connected to the first support member 132. A second nozzle 140 is connected to the first support member 132. The first driver 133 is used to drive the first support member 132 to slide relative to the base 131.

[0152] When the autonomous mining truck 10 stops near the automatic water supply device 100, the first horizontal direction is the same as the front-rear direction X of the autonomous mining truck 10.

[0153] When the autonomous mining truck 10 is stationary in the loading or unloading area and needs to perform a water replenishment operation, the on-board controller 101 sends a water replenishment command to the control unit 110 and sends the current vehicle position information of the autonomous mining truck 10. Based on the vehicle position information, the control unit 110 starts the first driver 133 and drives the first support member 132 to move relative to the base 131 in the first horizontal direction, so that the first support member 132 drives the second nozzle 140 to move in the forward and backward direction X of the autonomous mining truck 10 and align it with the water inlet tank 31.

[0154] The way in which the base 131, the first support 132 and the first driver 133 work together to drive the second nozzle 140 to move can compensate for the deviation caused by the parking position of the autonomous mining truck 10, which is conducive to the water sprayed from the nozzle entering the water inlet tank 31 relatively accurately.

[0155] In some examples, the base 131 has a guide rail extending along a first horizontal direction. The first support 132 is a support column. The first support 132 is slidably connected to the guide rail. The first actuator 133 is connected and fixed to the base 131.

[0156] In some examples, the first actuator 133 includes a motor and a lead screw. The output shaft of the motor is connected to the lead screw. The lead screw is threadedly connected to the first support member 132. The motor drives the lead screw to rotate, and the lead screw drives the first support member 132 to slide relative to the base 131.

[0157] In some examples, the first actuator 133 includes a hydraulic cylinder or an electric cylinder. The telescopic rod of the hydraulic cylinder or electric cylinder is connected to the first support member 132. The hydraulic cylinder or electric cylinder drives the first support member 132 to slide relative to the base 131 through the telescopic movement of the telescopic rod.

[0158] In some examples, the first driver 133 and the control unit 110 can be connected via a signal cable to achieve a wired communication connection. Alternatively, the first driver 133 and the control unit 110 can also achieve a wireless communication connection via a Bluetooth module, a 2G / 3G / 4G / 5G module, or a Wi-Fi module.

[0159] See in some examples Figure 1 and Figure 9 As shown, the drive assembly 130 further includes a second support member 134 and a second driver 135. The second support member 134 is slidably connected to the first support member 132 in a vertical direction. The second nozzle 140 is connected to the second support member 134. The second driver 135 is used to drive the second support member 134 to slide relative to the first support member 132.

[0160] When the autonomous mining truck 10 is stationary in the loading or unloading area and needs to perform a water replenishment operation, the on-board controller 101 sends a water replenishment command to the control unit 110 and sends the current vehicle position information of the autonomous mining truck 10. Based on the vehicle position information, the control unit 110 controls the first driver 133 to start and drive the first support member 132 to move relative to the base 131 in the first horizontal direction, and controls the second driver 135 to start and drive the second support member 134 to move in the vertical direction, so that the first support member 132 and the second support member 134 together drive the second nozzle 140 to move in the front-rear direction X and the height direction Z of the autonomous mining truck 10 to align with the water inlet tank 31.

[0161] The base 131, the first support 132, the first driver 133, the second support 134, and the second driver 135 work together to drive the second nozzle 140 to move. This can compensate for the deviation caused by the parking position of the autonomous mining truck 10, and help the water sprayed from the nozzle to enter the water inlet tank 31 relatively accurately.

[0162] In some examples, the first support 132 has a guide rail extending in a vertical direction. The second support 134 is a support column. The second support 134 is slidably connected to the guide rail. The second actuator 135 is connected and fixed to the first support 132.

[0163] In some examples, the second actuator 135 includes a motor and a lead screw. The output shaft of the motor is connected to the lead screw. The lead screw is threadedly connected to the second support 134. The motor drives the lead screw to rotate, and the lead screw drives the second support 134 to slide relative to the first support 132.

[0164] In some examples, the second actuator 135 includes a hydraulic cylinder or an electric cylinder. The telescopic rod of the hydraulic cylinder or electric cylinder is connected to the second support 134. The hydraulic cylinder or electric cylinder drives the second support 134 to slide relative to the first support 132 through the telescopic movement of the telescopic rod.

[0165] In some examples, the second driver 135 and the control unit 110 can be connected via a signal cable to achieve a wired communication connection. Alternatively, the second driver 135 and the control unit 110 can be connected wirelessly via a Bluetooth module, a 2G / 3G / 4G / 5G module, or a Wi-Fi module.

[0166] See in some examples Figure 1 and Figure 9 As shown, the drive assembly 130 also includes a third support member 136 and a third actuator 137. The third support member 136 is slidably connected to the second support member 134 along a second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction. The second nozzle 140 is connected to the third support member 136. The third actuator 137 is used to drive the third support member 136 to slide relative to the second support member 134.

[0167] When the autonomous mining truck 10 stops near the automatic water supply device 100, the first horizontal direction is the same as the front-rear direction X of the autonomous mining truck 10, and the second horizontal direction is the same as the left-right direction Y of the autonomous mining truck 10.

[0168] When the autonomous mining truck 10 is stationary in the loading or unloading area and needs to perform a water replenishment operation, the on-board controller 101 sends a water replenishment command to the control unit 110 and sends the current vehicle position information of the autonomous mining truck 10. Based on the vehicle position information, the control unit 110 controls the first driver 133 to start and drive the first support member 132 to move relative to the base 131 in the first horizontal direction, and controls the second driver 135 to start and drive the second support member 134 to move in the vertical direction, so that the first support member 132 and the second support member 134 together drive the second nozzle 140 to move in the front-rear direction X and the height direction Z of the autonomous mining truck 10 to align with the water inlet tank 31.

[0169] The control unit 110 starts the third drive 137 and drives the third support 136 to move along the second horizontal direction, so that the third support 136 drives the second nozzle 140 to move closer to or further away from the water inlet tank 31 in the left-right direction Y of the autonomous mining truck 10, so as to adjust the distance between the second nozzle 140 and the water inlet tank 31. On the one hand, it helps to reduce the possibility that the water sprayed by the second nozzle 140 will be offset downward under the action of gravity and not fully enter the water inlet tank 31 due to the large distance between the second nozzle 140 and the water inlet tank 31. On the other hand, it helps to reduce the possibility that the autonomous mining truck 10 will scrape or collide with the second nozzle 140 when leaving the loading area or unloading area due to the small distance between the second nozzle 140 and the water inlet tank 31.

[0170] The base 131, the first support 132, the first driver 133, the second support 134, the second driver 135, the third support 136, and the third driver 137 work together to drive the second nozzle 140 to move. This can compensate for the deviation caused by the parking position of the autonomous mining truck 10, and help the water sprayed from the nozzle to enter the water inlet tank 31 relatively accurately.

[0171] In some examples, the second support 134 has a guide rail extending along a second horizontal direction. The third support 136 is a support column. The third support 136 is slidably connected to the guide rail. The third actuator 137 is connected and fixed to the second support 134.

[0172] In some examples, the third actuator 137 includes a motor and a lead screw. The output shaft of the motor is connected to the lead screw. The lead screw is threadedly connected to the third support 136. The motor drives the lead screw to rotate, and the lead screw drives the third support 136 to slide relative to the second support 134.

[0173] In some examples, the third actuator 137 includes a hydraulic cylinder or an electric cylinder. The telescopic rod of the hydraulic cylinder or electric cylinder is connected to the third support 136. The hydraulic cylinder or electric cylinder drives the third support 136 to slide relative to the second support 134 through the telescopic movement of the telescopic rod.

[0174] In some examples, the third driver 137 and the control unit 110 can be connected via a signal cable to achieve a wired communication connection. Alternatively, the third driver 137 and the control unit 110 can be connected wirelessly via a Bluetooth module, a 2G / 3G / 4G / 5G module, or a Wi-Fi module.

[0175] See Figure 10 and Figure 11 As shown, this application embodiment provides an autonomous driving mining truck 10. The autonomous driving mining truck 10 includes an on-board controller 101, a dust monitoring sensor 20, an on-board water spraying device 30, a body 102, a frame 103, and front wheels 104. The body 102 and the front wheels 104 are both mounted on the frame 103. The on-board water spraying device 30 includes a water tank 32, a first water delivery assembly 33, and a first nozzle 34. The first water delivery assembly 33 is connected to the water tank 32. The first water delivery assembly 33 is used to deliver water from the water tank 32 to the first nozzle 34. The water tank 32 is mounted on the body 102. The water tank 32 has a top water inlet 320. The first nozzle 34 is mounted on the frame 103. Along the longitudinal direction X of the autonomous driving mining truck 10, the first nozzle 34 is correspondingly positioned to the front wheels 104. The dust monitoring sensor 20 and the first water delivery assembly 33 are both communicatively connected to the on-board controller 101.

[0176] This application provides an automatic water spraying dust suppression system for mining areas. The automatic water spraying dust suppression system includes an autonomous driving mining truck 10 and an automatic water supply device 100. The automatic water supply device 100 includes a control unit 110, a second water delivery assembly 120, a drive assembly 130, and a second nozzle 140. The control unit 110 is configured to wirelessly connect with an on-board controller 101. The second water delivery assembly 120 and the drive assembly 130 are both communicatively connected to the control unit 110. The second water delivery assembly 120 is used to deliver water from a water source to the second nozzle 140. The second nozzle 140 is connected to the drive assembly 130. When the autonomous driving mining truck 10 is in a battery swapping area, the drive assembly 130 drives the second nozzle 140 to move above the top water inlet 320, so that the second nozzle 140 is aligned with the top water inlet 320 to inject water.

[0177] In this embodiment, the autonomous mining truck 10 includes a battery module. The battery module provides power to the autonomous mining truck 10 to drive it. When the battery module's charge level is below a threshold, the autonomous mining truck 10 travels to the battery swapping area and stops. Then, a battery swapping operation is performed on the autonomous mining truck 10, replacing the low-charge battery module with a fully charged one. After the battery swap is completed, the autonomous mining truck 10 leaves the battery swapping area to continue performing its corresponding transportation tasks.

[0178] An automatic water supply device 100 is installed in the battery swapping area. When the autonomous mining truck 10 is stationary in the battery swapping area, it approaches and stops near the automatic water supply device 100, maintaining a distance between them to prevent collisions. The control unit 110 communicates wirelessly with the on-board controller 101, which sends the current location data of the autonomous mining truck 10 to the control unit 110. After obtaining the current location data, the control unit 110 controls the drive assembly 130 to move the second nozzle 140 so that it is vertically aligned with the top opening of the water storage tank 32. The control unit 110 then activates the second water delivery assembly 120, which delivers water from the source to the second nozzle 140. The second nozzle 140 then sprays water into the top opening of the water storage tank 32. When the water tank 32 is filled with a predetermined amount of water or when the autonomous mining vehicle 10 needs to leave the battery swapping area, the control unit 110 controls the second water supply component 120 to stop working and the second nozzle 140 to stop spraying water into the water tank 32, thus completing the water filling operation.

[0179] In some implementations, the vehicle-mounted sprinkler system 30 includes a door panel 312 and a drive mechanism 37. The door panel 312 is slidably connected to a water tank 32. The drive mechanism 37 drives the door panel 312 to slide relative to the water tank 32, thereby opening or closing the top water inlet 320. In some examples, the drive mechanism 37 is connected to the water tank 32.

[0180] When water replenishment is not required, the vehicle-mounted water sprinkler system 30 closes the top water inlet 320 via the door panel 312, reducing the possibility of external debris entering the water storage tank 32 through the top water inlet 320. After the autonomous mining truck 10 stops at the battery swapping area, the vehicle-mounted water sprinkler system 30 can control the drive mechanism 37 to start, causing the drive mechanism 37 to move the door panel 312 to open the top water inlet 320. After the second water delivery assembly 120 is activated, water is sprayed onto the water storage tank 32 through the second nozzle 140. After the water replenishment operation is completed, the vehicle-mounted water sprinkler system 30 can control the drive mechanism 37 to start, causing the drive mechanism 37 to move the door panel 312 to close the top water inlet 320.

[0181] In some feasible configurations, the vehicle body 102 may not have a driver's cab 1021. A water tank 32 can be installed in the location reserved for installing the driver's cab 1021. The water tank 32 and the traveling platform 1022 are arranged in a lateral direction Y of the autonomous mining truck 10.

[0182] In some examples, the water tank 32 can be located near the left front wheel 104 or near the right front wheel 104. This application embodiment does not specifically limit this.

[0183] In some feasible implementations, the vehicle-mounted sprinkler system 30 also includes a bracket assembly 38. The bracket assembly 38 connects the water tank 32 to the vehicle body 102.

[0184] In some examples, the support assembly 38 includes a first support 381 and a second support 382. Along the longitudinal direction X of the autonomous mining truck 10, the first support 381 and the second support 382 are respectively connected to the two sides of the water tank 32.

[0185] This application provides an automatic water spraying method for dust suppression in mining areas, comprising:

[0186] An autonomous mining truck 10 is provided, which includes an on-board controller 101, a dust monitoring sensor 20, and an on-board water spraying device 30.

[0187] When the autonomous mining truck 10 is in motion, the dust monitoring sensor 20 monitors the dust level in the environment. The dust monitoring sensor 20 sends the real-time monitoring data to the vehicle controller 101. When the dust level is greater than a preset threshold, the vehicle controller 101 controls the vehicle sprinkler device 30 to perform water spraying on the road surface where the autonomous mining truck 10 is traveling. When the dust level is less than the preset threshold, the vehicle controller 101 controls the vehicle sprinkler device 30 to stop performing water spraying.

[0188] When the autonomous mining truck 10 stops in the loading area, unloading area or battery swapping area, the on-board controller 101 controls the on-board water spraying device 30 to stop the water spraying operation, and the automatic water filling device 100 set in the loading area, unloading area or battery swapping area verifies the information between the on-board controller 101 and the vehicle controller 101.

[0189] After verification, the automatic water filling device 100 performs water filling operation on the vehicle-mounted sprinkler device 30.

[0190] The automatic dust suppression method for mining areas according to this application embodiment utilizes a dust monitoring sensor 20 installed on an autonomous mining truck 10. This sensor can automatically monitor the dust concentration in the current environment in real time and automatically activate or deactivate the onboard water spraying device 30 based on the monitoring results. This allows the autonomous mining truck 10 to achieve real-time dust removal and suppression, ensuring the continuity of its transportation operations and preventing disruption to its normal driving and time planning due to water spraying. This is beneficial for the overall automated management and control of unmanned mining areas. When the autonomous mining truck 10 is stationary in the loading, unloading, or battery swapping areas, the automatic water filling device 100 can automatically fill the onboard water spraying device 30 with water during the stationary period, ensuring that the water filling process does not affect the normal driving and time planning of the autonomous mining truck 10. The automatic dust suppression system for mining areas according to this application embodiment can achieve automated closed-loop control of water spraying and water filling, which is beneficial for improving the automation level of overall management and control in unmanned mining areas.

[0191] In some feasible implementations, the automatic water supply device 100 receives the stopping position information of the autonomous mining truck 10 sent by the on-board controller 101. When the automatic water supply device 100 verifies that the stopping position of the autonomous mining truck 10 is within a predetermined area, the verification is successful, and the automatic water supply device 100 performs water supply operation on the on-board sprinkler device 30.

[0192] In some possible implementations, the automatic water filling device 100 receives the identity information of the autonomous mining truck 10 sent by the on-board controller 101. The automatic water filling device 100 verifies the identity information of the autonomous mining truck 10. If the verification is successful, the automatic water filling device 100 performs a water filling operation on the on-board sprinkler device 30. Exemplarily, the identity information of the autonomous mining truck 10 includes, but is not limited to, vehicle type and vehicle size information.

[0193] In some feasible implementations, the automated driving mining truck 10 in the automated dust suppression method for mining areas can be any automated driving mining truck 10 of any embodiment of the automated dust suppression system for mining areas, and will not be described in detail here. The automatic water supply device 100 in the automated dust suppression method for mining areas can be any automatic water supply device 100 of any embodiment of the automated dust suppression system for mining areas, and will not be described in detail here.

[0194] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An autonomous mining truck, characterized in that, include: Vehicle controller, dust monitoring sensor, vehicle sprinkler system, body, frame and front wheels; Both the vehicle body and the front wheels are mounted on the vehicle frame; The vehicle-mounted water spraying device includes a water storage tank, a first water conveying component, and a first nozzle. The first water conveying component is connected to the water storage tank and is used to convey water from the water storage tank to the first nozzle. The first nozzle is disposed on the frame along the front-rear direction of the autonomous mining truck, and the first nozzle is disposed corresponding to the front wheel. The dust monitoring sensor and the first water delivery component are both communicatively connected to the vehicle controller.

2. The autonomous mining truck according to claim 1, characterized in that, The vehicle-mounted water sprinkler system also includes a water inlet tank, which is connected to the water storage tank. The water inlet tank is installed on the vehicle body, and the water storage tank is installed on the vehicle frame.

3. The autonomous mining truck according to claim 2, characterized in that, Along the height direction of the autonomous mining truck, the water inlet tank is located above the water storage tank. The water inlet tank is provided with a first water supply pipe, and the water storage tank is provided with a second water supply pipe. The diameter of the first water supply pipe is smaller than the diameter of the second water supply pipe. The first water supply pipe is inserted into the second water supply pipe, and there is a gap between the first water supply pipe and the second water supply pipe.

4. The autonomous mining truck according to claim 2, characterized in that, The water inlet tank includes a tank body and a door panel. The tank body has a water inlet, and the door panel is slidably connected to the tank body. The vehicle-mounted water sprinkler also includes a drive mechanism, which is communicatively connected to the vehicle controller and connected to the door panel. The drive mechanism drives the door panel to slide relative to the housing so that the door panel can open or close the water inlet.

5. The autonomous mining truck according to claim 1, characterized in that, The vehicle-mounted water spraying device also includes a water level monitoring sensor, which is communicatively connected to the vehicle-mounted controller and connected to the water storage tank. The water level monitoring sensor is used to monitor the water level in the water storage tank.

6. The autonomous mining truck according to claim 1, characterized in that, The first water delivery assembly includes a first electric water pump, a first control valve, a first connecting pipe, and a flow regulating valve. Both the first electric water pump and the first control valve are communicatively connected to the vehicle-mounted controller. The first electric water pump is connected to the water storage tank, the first control valve is located on the outlet side of the first electric water pump, the first connecting pipe is provided between the first control valve and the flow regulating valve, and the first nozzle is provided on the outlet side of the flow regulating valve.

7. The autonomous mining truck according to claim 6, characterized in that, The flow regulating valve and the first nozzle are respectively provided on the left and right front wheels, and the water storage tank, the first electric water pump and the first control valve are all located near the right front wheel. The first water supply assembly includes a water distributor, a first connecting pipe is provided between the water distributor and the first control valve, and a first connecting pipe is provided between the water distributor and the flow regulating valve. The first connecting pipe between the water distributor and the flow regulating valve on the right has a first length, and the first connecting pipe between the water distributor and the flow regulating valve on the left has a second length, wherein the first length is less than the second length.

8. The autonomous mining truck according to claim 1, characterized in that, The frame includes a front bumper, and the first nozzle is detachably connected to the side of the front bumper facing the front wheel.

9. The autonomous mining truck according to claim 1, characterized in that, The water tank is installed on the vehicle body and has a top water inlet.

10. An automatic water spraying dust suppression system for mining areas, characterized in that, include: The autonomous mining truck as described in any one of claims 1 to 9; An automatic water supply device includes a control unit, a second water delivery assembly, a drive assembly, and a second nozzle; The control unit is configured to wirelessly connect with the vehicle controller. Both the second water delivery assembly and the drive assembly are communicatively connected to the control unit. The second water delivery assembly delivers water from a water source to the second nozzle, and the second nozzle is connected to the drive assembly. When the autonomous mining truck is in the loading area, unloading area, or battery swapping area, the drive component drives the second nozzle to move so that the second nozzle injects water into the water storage tank.

11. The automatic water spraying dust suppression system for mining areas according to claim 10, characterized in that, The second water supply assembly includes a second electric water pump, a second control valve, and a second connecting pipe. Both the second electric water pump and the second control valve are communicatively connected to the control unit. The second control valve is located on the outlet side of the second electric water pump, and the second connecting pipe is provided between the second control valve and the second nozzle.

12. The automatic water spraying dust suppression system for mining areas according to claim 10, characterized in that, The drive assembly includes a base, a first support member, and a first driver. The first support member is slidably connected to the base along a first horizontal direction. The first driver is connected to the first support member. The second nozzle is connected to the first support member. The first driver is used to drive the first support member to slide relative to the base.

13. The automatic water spraying dust suppression system for mining areas according to claim 12, characterized in that, The drive assembly further includes a second support member and a second driver. The second support member is slidably connected to the first support member in a vertical direction, the second nozzle is connected to the second support member, and the second driver is used to drive the second support member to slide relative to the first support member.

14. The automatic water spraying dust suppression system for mining areas according to claim 13, characterized in that, The drive assembly further includes a third support member and a third driver. The third support member is slidably connected to the second support member along a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction. The second nozzle is connected to the third support member, and the third driver is used to drive the third support member to slide relative to the second support member.

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