Unmanned operation control system of discharging car

Abstract

The utility model relates to an unmanned operation control system of a discharging car, and relates to the technical field of aluminum oxide production, and the unmanned operation control system comprises a wireless network device which covers an operation area through a wireless network; the real-time position distance between the discharging trolley and the target grinding head stock bin is positioned through a positioning device; the height of the mineral aggregate in the bin grid is monitored through the material level monitoring device; and the center console controls the unloading vehicle to move to the real-time position distance, and the ore raw materials transported by the unloading vehicle are unloaded into the bin cells till the height of the ore materials is equal to the preset height of the ore materials. According to the scheme, an operator does not need to go to the site personally and only needs to remotely control the discharging car at the center console, direct exposure in a high-dust environment is avoided, the risk of suffering from occupational diseases such as pneumoconiosis is reduced, interference of steam and dust in a high-humidity environment is avoided, position information of the discharging car can be accurately obtained, and the working efficiency is improved. Positioning deviation caused by visual interference is avoided, and material leakage or blockage accidents are avoided.

Description

Technical Field

[0001] This disclosure relates to the field of alumina production technology, specifically to an unmanned operation control system for an unloading vehicle. Background Technology

[0002] In the alumina production process, the mill head silo unloading car is the core equipment of the raw material conveying system, undertaking the crucial task of continuously and evenly supplying bauxite from the silo to the mill. Currently, traditional unloading cars mainly adopt manual driving or semi-automatic control modes, requiring operators to manually adjust the unloading car's travel path, unloading port opening, and vibration frequency based on silo position monitoring data.

[0003] Due to the extremely high dust concentration in the working environment, long-term exposure can easily lead to occupational diseases such as pneumoconiosis among operators. Furthermore, the current positioning of the unloading truck mainly relies on visual judgment by the operator. However, in high-humidity working environments, steam and dust inside the bin cause significant interference, resulting in alignment errors between the unloading truck and the bin compartments often exceeding ±50mm. Positioning deviations can easily lead to misalignment between the unloading port and the bin compartments, causing material leakage or blockages. This not only increases the cost of clearing and maintenance but also leads to discontinuous material supply, hindering overall production efficiency. Utility Model Content

[0004] In view of this, the present disclosure provides an unmanned operation control system for a material unloading vehicle. The main purpose is to solve the technical problems that currently, due to the extremely high dust concentration in the working environment, long-term exposure can easily lead to occupational diseases such as pneumoconiosis for operators. In addition, the positioning of the current material unloading vehicle mainly relies on the operator's visual judgment. However, in high humidity working environments, the steam and dust in the bin cause serious interference, which can lead to positioning deviation between the material unloading vehicle and the bin, resulting in material leakage or blockage accidents.

[0005] According to a first aspect of this disclosure, an unmanned operation control system for an unloading vehicle is provided, the unmanned operation control system being used to control the unloading vehicle, the system comprising: a wireless network device, a positioning device, a material level monitoring device, and a central control console;

[0006] The wireless network device includes a wireless access point deployed in the work area and a wireless adapter mounted on the unloading vehicle. The unloading vehicle and the central control unit establish a communication connection with the wireless access point through the wireless adapter.

[0007] The positioning device includes a low-power laser ranging and positioning device installed on the unloading vehicle. The low-power laser ranging and positioning device is signal-connected to the central control console. The low-power laser ranging and positioning device is used to locate the real-time position distance between the unloading vehicle and the corresponding compartment unloading port of the target grinding head hopper, and sends the real-time position distance to the central control console.

[0008] The material level monitoring device includes a radar pulse level gauge installed on the top of the target grinding head hopper. The radar pulse level gauge is connected to the central control station via the wireless access point. The radar pulse level gauge is used to monitor the material level in the hopper and send the material level to the central control station.

[0009] The central control station is deployed in the working area. The central control station is used to receive the real-time location distance and the height of the ore, and is also used to send control commands to the unloading vehicle.

[0010] By means of the above technical solution, the unmanned operation control system for a unloading vehicle provided in this disclosure, compared with the prior art, includes a wireless network device comprising a wireless access point deployed in the work area and a wireless adapter mounted on the unloading vehicle. The unloading vehicle and the central control station establish a communication connection through the wireless adapter and the wireless access point. The positioning device includes a low-power laser ranging and positioning device installed on the unloading vehicle. The low-power laser ranging and positioning device is signal-connected to the central control station and is used to locate the real-time position distance between the unloading vehicle and the corresponding unloading port of the target grinding head hopper, and sends the real-time position distance to the central control station. The material level monitoring device includes a radar pulse level gauge installed on the top of the target grinding head hopper. The radar pulse level gauge is data-connected to the central control station through the wireless access point and is used to monitor the material level in the hopper and send the material level to the central control station. The central control station is deployed in the work area and is used to receive the real-time position distance and material level, and also to send control commands to the unloading vehicle.

[0011] The solution disclosed herein utilizes a wireless network device to establish wireless network coverage over the work area, enabling communication between the unloading vehicle and the central control station. Operators do not need to be physically present on-site; they can remotely control the unloading vehicle from the central control station, avoiding direct exposure to high-dust environments and thus reducing the risk of occupational diseases such as pneumoconiosis. A positioning device provides real-time location data of the unloading vehicle's position and distance from the corresponding compartment discharge port of the target mill head hopper, providing a reliable basis for precise vehicle movement. Compared to manual visual judgment, the positioning device is unaffected by steam and dust in high-humidity environments, accurately acquiring the unloading vehicle's position information and avoiding positioning errors caused by visual interference.

[0012] The material level monitoring device can monitor the material level in the bins in real time. Based on the real-time position distance provided by the positioning device and the material level information provided by the material level monitoring device, the central control station precisely controls the unloading truck to move to the appropriate position and accurately unload the ore transported by the unloading truck into the bins until the material level reaches the preset material level. This precise control method effectively avoids material leakage or blockage accidents.

[0013] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0015] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This diagram illustrates the structure of an unmanned operation control system for an unloading vehicle according to an embodiment of the present disclosure.

[0017] Figure 2 This diagram illustrates the structure of another unmanned operation control system for an unloading vehicle provided in an embodiment of this disclosure;

[0018] Figure 1 middle:

[0019] 1- Wireless network device;

[0020] 2-Positioning device;

[0021] 3-Material level monitoring device;

[0022] 4-Center console;

[0023] 5-Video surveillance device;

[0024] 6-Safety protection devices;

[0025] Figure 2 middle:

[0026] 11-Wireless access point, 12-Wireless adapter;

[0027] 21-Low-power laser ranging and positioning equipment; 22-Low-power laser ranging and material level detection equipment;

[0028] 31-Radar pulse level gauge;

[0029] 4-Center console;

[0030] 51-Camera;

[0031] 61-Light grating guardrail; 62-Alarm device;

[0032] 7-Unloading trolley, 71-PLC controller, 72-Frequency converter, 73-Motor, 74-Moisture-proof encoder, 75-Anti-blocking switch;

[0033] 8-Target grinding head hopper, 81-Laser position detection device. Detailed Implementation

[0034] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise expressly specified.

[0036] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0037] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0038] To address the technical problems of high dust concentrations in current operating environments, which can easily lead to occupational diseases such as pneumoconiosis for operators with prolonged exposure, and the fact that current unloading vehicle positioning relies mainly on visual judgment by operators, but in high-humidity operating environments, severe interference from steam and dust inside the bin can cause positioning deviations between the unloading vehicle and the bin, resulting in material leakage or blockage accidents, this disclosure provides an unmanned operation control system for an unloading vehicle.

[0039] like Figure 1 As shown, an embodiment of this disclosure provides an unmanned operation control system for an unloading vehicle 7. The system includes: a wireless network device 1, a positioning device 2, a material level monitoring device 3, and a central control console 4.

[0040] For embodiments of this disclosure, such as Figure 2 As shown, the wireless network device 1 may include a wireless access point 11 deployed in the work area and a wireless adapter 12 mounted on the unloading vehicle 7. The unloading vehicle 7 and the central control station 4 establish a communication connection with the wireless access point 11 through the wireless adapter 12.

[0041] Wireless network device 1 ensures comprehensive wireless network coverage across the entire work area. Device 1 can employ industrial-grade wireless communication equipment, possessing high stability and anti-interference capabilities to guarantee real-time and stable data transmission between the unloading vehicle 7 and the central control station 4. For example, a wireless module supporting 5G communication technology can be selected, whose high speed and low latency characteristics meet the system's data transmission requirements.

[0042] A wireless network can be constructed, with two sets of wireless access points (APs) installed on-site to cover the entire unloading area. Simultaneously, a wireless adapter (12) is installed on the unloading vehicle (7). Communication with the on-site wireless APs is achieved through the wireless adapter (12) on the unloading vehicle (7).

[0043] The wireless access point 11 can be an industrial-grade dustproof and waterproof wireless AP (such as the Siemens SCALANCEWLC711), deployed at both ends of the work area on high platforms (e.g., 4 meters above the ground) to ensure wireless signal coverage of the entire unloading vehicle 7's operating path. The wireless adapter 12 can be installed on the top of the unloading vehicle 7 (model: Honeywell HCNR2100), connected to the vehicle control system via the M12 interface, and supports the IEEE 802.11ac protocol to ensure low-latency communication (<100ms).

[0044] The wireless AP can interact with the central control console 4 via the OPC UA protocol to transmit the status and control commands of the unloading vehicle 7 in real time. The wireless adapter 12 can establish a dual-band (2.4GHz / 5GHz) connection with the AP and automatically switch to the optimal channel to avoid interference.

[0045] In this embodiment of the disclosure, two wireless access points 11 can be arranged in the working area of ​​the grinding head hopper and its surroundings according to the signal coverage requirements. These wireless access points 11 can be connected to the local area network of the central control station 4 through a wired network or other means to provide wireless signal coverage.

[0046] A wireless network card or similar device can be installed on the unloading vehicle 7 as a wireless adapter 12. When the unloading vehicle 7 moves within the work area, its wireless adapter 12 can automatically search for and connect to the wireless access point 11 with the strongest signal.

[0047] Through the cooperation of wireless adapter 12 and wireless access point 11, unloading vehicle 7 can establish a stable and reliable wireless communication connection with central control station 4. Central control station 4 can send control commands (such as forward, reverse, stop, unload, stop unloading, etc.) to unloading vehicle 7 through this connection, while unloading vehicle 7 can also feed back its own status information, sensor data, etc. to central control station 4.

[0048] This communication method ensures timely interaction of various signals (such as positioning signals, control signals, and status monitoring signals), preparing for the subsequent integration of these signals into the central control system for unified management.

[0049] For embodiments of this disclosure, such as Figure 2 As shown, the positioning device 2 may include a low-power laser ranging and positioning device 21 installed on the unloading vehicle 7. The low-power laser ranging and positioning device 21 is connected to the central control console 4 via signal. The low-power laser ranging and positioning device 21 is used to locate the real-time position distance between the unloading vehicle 7 and the corresponding compartment unloading port of the target grinding head hopper 8, and sends the real-time position distance to the central control console 4.

[0050] Specifically, the low-power laser ranging and positioning device 21 can be installed at the front or side of the unloading vehicle 7. The low-power laser ranging and positioning device 21 has significant advantages in medium- and long-distance ranging and positioning applications, including strong dust resistance, high accuracy, convenient installation, and durability. Its laser emission / receiving port faces the wall of the grinding head hopper or a specific marked point, enabling it to scan the unloading port area of ​​the target hopper. The device emits a low-power laser beam, which reflects back after encountering the target (such as the hopper wall, the edge of the unloading port, etc.). The distance to the target is calculated by measuring the round-trip time of the laser. Through multi-angle scanning or combining multiple ranging points, the device can calculate the precise real-time position distance of the unloading vehicle 7 relative to the target unloading port.

[0051] The positioning device 2 transmits its measured real-time location and distance data to the central control unit 4 via wired or wireless means (e.g., connected to the wireless adapter 12 via a CAN bus and then to the Internet, or via the wireless network device 1). This data is the key basis for the central control unit 4 to determine whether the unloading vehicle 7 has reached the designated unloading position.

[0052] As one possible approach, a precise positioning system can be built, with two positioning devices installed on the unloading vehicle 7. One device is used to locate the real-time position and distance between the unloading vehicle 7 and the unloading port of the bin, and the other device is used to detect the height of the ore inside the bin.

[0053] For embodiments of this disclosure, such as Figure 2 As shown, the safety protection device 3 may include a radar pulse level gauge 31 installed on the top of the target grinding head hopper 8. The radar pulse level gauge 31 is connected to the central control station 4 via a wireless access point 11. The radar pulse level gauge 31 is used to monitor the ore height in the hopper and send the ore height to the central control station 4.

[0054] Among them, a radar pulse level gauge 31 can be installed on the top of the target grinding head hopper 8, above the corresponding hopper that needs to be monitored, with the transmitting / receiving antenna of the radar pulse level gauge 31 pointing vertically downward.

[0055] The radar pulse level gauge 31 can emit short microwave pulses into the silo. After the pulses encounter the surface of the ore, they are reflected back and received by the antenna. By measuring the flight time of the pulses, the distance from the level gauge to the surface of the ore can be accurately calculated, and thus the height of the ore in the silo can be obtained.

[0056] Since wireless access point 11 has been deployed in the work area, radar pulse level gauge 31 can wirelessly transmit the measured ore height data via wireless access point 11 to the central control station 4. This data is the key basis for the central control station 4 to determine whether unloading needs to continue.

[0057] For embodiments of this disclosure, such as Figure 2 As shown, the central control console 4 can be deployed in the working area. The central control console 4 is used to receive real-time location distance and ore height, and also to send control commands to the unloading vehicle 7.

[0058] The central control console 4 integrates various intelligent devices (such as lidar position gauges and radar pulse level gauges) into the distributed control system (DCS) via wireless network device 1. Operations from the central control console can control functions such as starting and stopping the unloading vehicle and opening the unloading baffle. A control box is also located on-site to handle scenarios where personnel need to operate the unloading vehicle 7 during inspections of the grinding head silo. Furthermore, the central control system centrally processes information from various systems, performing functions such as receiving, data acquisition and interaction, strategy adjustment, and task distribution. Within the unmanned operating system of the grinding head silo, it handles: receiving IoT data, issuing commands, storing data, processing data, and providing data application interfaces. The central control management system supports large-scale, high-concurrency data processing and multi-server cascading; it also supports the management and configuration of various complex data mapping rules, calculation methods, and data processing methods.

[0059] Specifically, the central control console 4 can employ a high-performance industrial computer equipped with specialized control software. This software possesses functions such as data processing, logical judgment, and command transmission, enabling it to control the operation of the unloading vehicle 7 based on information provided by the positioning device 2 and the material level monitoring device 3. Simultaneously, the central control console 4 also features a human-machine interface, allowing operators to set operating parameters and monitor operating status.

[0060] In this embodiment of the disclosure, before the operation begins, the operator can set relevant parameters on the human-machine interface of the central control console 4, which may include a first preset distance threshold, a preset ore height, etc. Simultaneously, the operator checks the working status of each module to ensure the system operates normally.

[0061] The first preset distance threshold can be the maximum allowable distance between the unloading vehicle 7 and the corresponding unloading port of the target grinding head hopper 8. When the real-time position distance between the unloading vehicle 7 and the unloading port is less than or equal to the threshold, the central control console 4 can control the unloading vehicle 7 to perform unloading operations, thereby ensuring the accuracy and safety of unloading and avoiding material scattering or failure to accurately enter the hopper due to excessive distance.

[0062] The preset material height can be the maximum material stacking height allowed in the bin. When the safety protection device 3 detects that the material height in the bin has reached the preset value, the central control console 4 will stop the unloading operation to prevent the material from overflowing the bin, causing resource waste and environmental pollution, while ensuring the normal operation of subsequent operations.

[0063] The operator can issue a start command on the central control console 4, and the unloading vehicle 7 will start running. The positioning device 2 can obtain the real-time position and distance between the unloading vehicle 7 and the corresponding unloading port of the target grinding head hopper 8, and transmit the data to the central control console 4.

[0064] The central control unit 4 can determine whether the unloading vehicle 7 has reached the target position (i.e., the real-time position distance is less than or equal to the first preset distance threshold) based on the real-time position distance provided by the positioning device 2. If the target position has not been reached, the central control unit 4 can send a movement command to the unloading vehicle 7 to control the unloading vehicle 7 to continue moving until it reaches the target position.

[0065] Once the unloading truck 7 reaches the target location, the safety protection device 3 can monitor the ore height in the bin in real time and transmit the data to the central control station 4. Based on the data provided by the safety protection device 3, the central control station 4 controls the unloading truck 7 to unload the transported ore raw materials into the bin. During the unloading process, the safety protection device 3 continuously monitors the ore height. When the ore height reaches the preset height, the central control station 4 can send a stop unloading command to the unloading truck 7, and the unloading operation is completed.

[0066] After the unloading operation is completed, the unloading vehicle 7 returns to its initial position and awaits the next operation instruction. The central control console 4 can record relevant data of this operation, such as unloading time, unloading volume, and material level changes, for subsequent analysis and statistics.

[0067] The unmanned operation control system disclosed herein enables unmanned operation of the unloading vehicle 7, eliminating the need for operators to be physically present at the work site and effectively avoiding the health hazards posed by dust. Simultaneously, the high-precision measurements of the positioning device 2 and the safety protection device 3 ensure accurate positioning and unloading of the unloading vehicle 7, preventing material leakage or blockage accidents and improving production efficiency and product quality.

[0068] This disclosure introduces an unmanned control system for the grinding head compartment on the unloading truck. The central control unit can then control the truck's start and stop, and open the unloading baffle for unloading, eliminating the need for on-site personnel. Currently, most alumina plants employ at least three people in their grinding head compartments, working in four shifts. Based on a three-person shift, this disclosure will optimize the workforce by two people per shift, resulting in a total optimization of eight people. Given that the grinding head compartment is a high-risk position, and assuming an average pre-deduction wage of 150,000 yuan per person per year, this would generate a revenue of 150,000 * 8 = 1.2 million yuan per year. The remaining person will only need to conduct occasional on-site inspections, reducing the workload and hazards for employees.

[0069] In a preferred embodiment of this invention, such as Figure 2 As shown, in order to further improve the reliability and redundancy of the system, the positioning device 2 can also be further integrated with a low-power laser ranging material level detection device 22. The low-power laser ranging material level detection device 22 is connected to the central control console 4 by signal. The low-power laser ranging material level detection device 22 is used to detect the height of the ore in the target grinding head hopper 8.

[0070] The low-power laser ranging level detection device 22 is installed on the unloading car 7. Its installation position is preferably chosen on the side or rear wall of the unloading car 7, with its laser emission / reception window facing the inside of the target grinding head hopper 8. This device operates using the time-of-flight (ToF) principle of laser pulses. It emits a low-power laser pulse into the hopper; when the pulse encounters the surface of the ore, it is reflected. The device receives the reflected laser signal and calculates the vertical distance from the laser emission point (i.e., the installation point on the unloading car 7) to the ore surface by accurately measuring the time difference between the emitted and received pulses.

[0071] Since the device is installed on the moving unloading truck 7, the "material height" detected by the low-power laser ranging level detection device 22 is actually a relative height, that is, the distance of the material surface relative to the bottom plate of the unloading truck 7 (or a specific installation reference point). After receiving the signal from the device, the central control console 4 can combine the attitude information of the unloading truck 7 itself (if the unloading truck 7 is equipped with an inertial measurement unit, IMU, etc.) and the known height difference from the bottom plate of the truck to the bottom of the bin to perform necessary calculations, thereby obtaining a value that is consistent with the safety protection device 3 (radar pulse level gauge 31) and represents the absolute height of the material in the bin.

[0072] By integrating the laser ranging level detection device 22 into the positioning device 2, when the radar pulse level gauge 31 installed on the top fails due to malfunction, signal obstruction (such as being blocked by large pieces of material or hanging material) or severe weather, the vehicle-mounted laser ranging level detection device 22 can serve as a backup level monitoring method, ensuring the safety and controllability of the unloading process and improving the robustness of the entire control system.

[0073] To achieve precise, smooth, and remote control of the movement of the unloading vehicle 7, such as Figure 2 As shown, in this embodiment, a PLC controller 71, a frequency converter 72, and a motor 73 are integrated into the drive system of the unloading vehicle 7, and a corresponding control loop is designed. The PLC controller 71 is connected to the central control console 4 via a wireless access point 11. The frequency converter 72 is connected to the PLC controller 71, and the motor 73 is connected to the frequency converter 72. The PLC controller 71 drives the motor 73 to control the unloading vehicle 7 through the frequency converter 72.

[0074] Specifically, a PLC controller 71 (i.e., a programmable logic controller) can be installed near the drive axle or traveling mechanism of the unloading vehicle 7. This PLC controller 71 is the local control core of the unloading vehicle 7, responsible for receiving control commands from the central control station 4 and executing specific drive tasks according to preset logic or programs. To achieve unmanned remote control, the PLC controller 71 can connect to the wireless access point 11 deployed in the work area via its built-in wireless communication module (or via a separate wireless communication unit). Through this wireless connection, the PLC controller 71 can establish a stable data connection with the central control station 4 located in a safe area, receiving movement commands sent by the central control station 4 in real time, such as forward, backward, acceleration, deceleration, and stop, as well as steering commands.

[0075] Upon receiving a command signal, the PLC controller 71 transmits it to the connected frequency converter 72. The frequency converter 72 converts the fixed-frequency, fixed-voltage AC power supplied by the power grid into AC power with adjustable frequency and voltage, which is then supplied to the drive motor 73. By changing the frequency of the output power, the frequency converter 72 can precisely control the speed of the motor 73, thereby achieving stepless adjustment of the unloading vehicle 7's travel speed. Furthermore, the frequency converter 72 provides excellent starting and braking characteristics, enabling the unloading vehicle 7 to start smoothly, travel at a constant speed, and stop accurately, avoiding the shocks and vibrations that may occur with traditional relay control.

[0076] The output of the frequency converter 72 is connected to the motor 73 that drives the unloading vehicle 7, which is typically an AC asynchronous motor 73 or a permanent magnet synchronous motor 73 that drives the wheels or tracks. The motor 73 converts the variable frequency power supplied by the frequency converter 72 into mechanical power, driving the unloading vehicle 7 to move according to the instructions parsed by the PLC controller 71.

[0077] The specific workflow is as follows: The central control console 4 can calculate the target position and speed that the unloading vehicle 7 needs to move based on the data received from the positioning device 2 (laser rangefinder positioning device 21) and the safety protection device 3 (radar pulse level gauge 31, optional laser rangefinder level detection device 22). The central control console 4 sends the corresponding control commands (such as "move in the X direction at a speed of V") to the PLC controller 71 on the unloading vehicle 7 via a wireless network. After receiving the commands, the PLC controller 71 parses the commands internally and sends the corresponding control signals (such as adjusting the output frequency and voltage) to the frequency converter 72. Based on the received signals, the frequency converter 72 adjusts the power parameters output to the motor 73, thereby precisely controlling the speed and torque of the motor 73, so that the unloading vehicle 7 moves smoothly and accurately to the designated position.

[0078] This drive control method, based on PLC, frequency converter 72, and motor 73, enables the central control console 4 to remotely and precisely control the movement of the unloading vehicle 7, which is a key element in achieving unmanned operation. It not only improves the precision and stability of control but also enhances the reliability and flexibility of the system, adapting to the automated operation requirements under complex working conditions.

[0079] In this embodiment of the disclosure, the unloading trolley 7 can achieve soft start and soft stop via a PLC and a frequency converter 72. That is, the speed of the drive device is changed by the frequency converter 72, gradually accelerating from slow to fast during start-up and gradually decelerating from fast to slow during stop. Furthermore, a pre-installed laser accurately detects the position of the unloading trolley 7, achieving low-inertia positioning and braking. A trolley position detection laser is installed at each material inlet position to ensure the trolley moves accurately to that position, providing position information feedback to prevent ore from being unloaded outside the hopper.

[0080] Considering the harsh environment of high humidity and high dust levels typically found in the grinding head hopper area, ordinary encoders are prone to malfunction or significant errors due to moisture and dust contamination, affecting positioning accuracy and system reliability. Therefore, in this embodiment, to further improve positioning accuracy and system robustness, such as... Figure 2 As shown, a moisture-proof encoder 74 is specially installed on the drive system of the unloading vehicle 7. The moisture-proof encoder 74 is connected to the PLC controller 71 via pulse signal or communication bus protocol, and is used to record the position distance between the unloading vehicle 7 and the unloading port of the bin.

[0081] The moisture-proof encoder 74 is preferably installed on a key rotating component of the drive system, such as being directly connected to the shaft of the motor 73 or the output shaft of the reducer, or installed on the drive wheel / track. Its function is to accurately record the number of rotations or linear displacement of the drive component, and then calculate the distance the unloading vehicle 7 moves relative to the starting point or a certain reference point.

[0082] To adapt to harsh environments, this encoder adopts a special sealing and protection design, which can effectively resist the intrusion of high humidity and dust in the working environment, ensuring stable and reliable readings during long-term use.

[0083] The moisture-proof encoder 74 can be connected to the PLC controller 71 on the unloading vehicle 7. There are two specific connection methods: one is through pulse signals, where the encoder converts the detected displacement into a series of pulse signals and sends them to the PLC controller 71; the other is through a communication bus protocol, such as CAN bus or Modbus RTU, where the encoder acts as a node on the bus, periodically packaging position data into information frames conforming to a specific protocol format and sending them to the PLC controller 71. The PLC controller 71 has built-in corresponding interface circuits and parsing programs, capable of receiving and processing pulse signals or communication data from the moisture-proof encoder 74.

[0084] By analyzing the data transmitted from the encoder, the PLC controller 71 can calculate the current position of the unloading vehicle 7 relative to a known reference point (such as the hopper inlet) in real time, or more specifically, by combining other positioning information, calculate the real-time position distance between the unloading vehicle 7 and the corresponding hopper unloading port of the target grinding head hopper 8.

[0085] The advantage of this design is that even if the main positioning device 2 (such as the laser rangefinder positioning device 21) temporarily fails or its accuracy decreases due to some reason (such as temporary obstruction or signal interference), the moisture-proof encoder 74 can still provide continuous and reliable relative displacement information. The PLC controller 71 can use this information to perform precise positioning compensation or estimation over short distances, ensuring that the unloading vehicle 7 can stably approach the target unloading port. At the same time, the position information provided by the encoder can also be fused with the main positioning system to further improve the overall positioning accuracy and reliability.

[0086] In summary, the addition of the moisture-proof encoder 74 to the unmanned operation control system of the unloading vehicle 7 disclosed herein significantly enhances the system's positioning capability in harsh environments, improves the stability and safety of control, and is an important guarantee for achieving reliable unmanned operation.

[0087] This disclosed precision positioning system employs lidar ranging, with lidar ranging installed on the unloading car, along with a moisture-proof encoder 74. Additionally, an advanced PLC, in conjunction with a frequency converter 72 and the moisture-proof encoder 74, achieves accurate positioning. The unloading car 7 achieves soft start and soft stop via the PLC and frequency converter 72; that is, the frequency converter 72 changes the speed of the drive unit, gradually accelerating from slow to fast during start-up and gradually decelerating from fast to slow during stop. The pre-installed lidar accurately detects the position of the unloading car 7, achieving low-inertia positioning and braking. At each of the five material inlets, a trolley position detection laser is installed to ensure the trolley moves accurately to its designated position. Information feedback is provided at each position to prevent ore from being unloaded outside the hopper. This disclosure completely eliminates the problem of inaccurate unloading when manually operating the unloading car 7. It also solves the technical problem of existing semi-automatic systems using track encoders and limit switches, where the encoder is susceptible to moisture and condensation, leading to pulse counting distortion and a cumulative positioning drift rate of 0.3% / hour, requiring frequent manual calibration.

[0088] To further precisely calibrate the final position of the unloading vehicle 7 relative to the unloading port of the storage compartment, especially in the critical stage when the unloading vehicle 7 is about to reach the target position and precise alignment is required, such as... Figure 2 As shown, in this embodiment, at least one laser position detection device 81 is installed at the unloading port of the target grinding head hopper 8. The laser position detection device 81 is connected to the central control console 4 via a wireless access point 11. The laser position detection device 81 is used in conjunction with the low-power laser ranging and positioning device 21 to detect the real-time position distance between the unloading vehicle 7 and the unloading port of the hopper.

[0089] Specifically, the laser position detection device 81 is preferably installed in a location near the unloading port that is not easily affected by dust and steam, such as on the side wall or top structure of the silo, so that its laser beam can effectively cover the key area or reference point where the unloading vehicle 7 needs to stop (such as specific marked points below or on the side of the unloading vehicle 7).

[0090] The laser position detection device 81 typically includes one or more laser emitters and corresponding receivers (or reflectors). It can emit one or more laser beams, and when the unloading vehicle 7 enters its detection range, the laser beams are blocked, reflected, or triggered by specific parts of the unloading vehicle 7, and the sensors inside the device detect this change.

[0091] The laser position detection device 81 can establish a data connection with the central control station 4 via the wireless access point 11. When the unloading vehicle 7 approaches the target unloading port under the initial guidance of the PLC controller 71 and the moisture-proof encoder 74, the device starts to work and sends detection signals to the central control station 4 in real time, indicating the precise lateral, longitudinal or angular deviation of the unloading vehicle 7 relative to the unloading port.

[0092] This laser position detection device 81, together with the low-power laser ranging and positioning device 21 installed on the unloading vehicle 7, forms a joint detection mechanism. The low-power laser ranging and positioning device 21 can roughly measure the distance between the unloading vehicle 7 and the unloading port over a relatively large area, providing a basis for the initial navigation of the unloading vehicle 7. When the unloading vehicle 7 enters the coverage area of ​​the laser position detection device 81, the latter takes on the task of precise positioning and calibration, providing higher resolution distance and position information, accurate to the centimeter or even millimeter level.

[0093] After receiving precise position information from the laser position detection device 81, the central control console 4 can further fine-tune the instructions to the PLC controller 71. By controlling the frequency converter 72, it can precisely adjust the speed and direction of the motor 73, so that the unloading vehicle 7 can be aligned with the unloading port of the bin very precisely, ensuring the accurate execution of subsequent unloading actions.

[0094] By using this combined detection method of "coarse positioning + fine calibration", the unmanned operation control system provided in this disclosure not only improves the final positioning accuracy of the unloading vehicle 7 and reduces the risk of material leakage caused by positioning deviation, but also enhances the system's adaptability and robustness under different working conditions, making unmanned unloading operations safer, more efficient and reliable.

[0095] To enhance the system's visual monitoring capabilities and facilitate real-time monitoring of the unloading vehicle 7 and its surrounding environment, as well as the operational status of key equipment components by operators at the central control console 4 (even remotely), such as... Figure 2As shown, the unmanned operation control system of this embodiment also includes a video monitoring device 5. The video monitoring device 5 can be composed of multiple cameras 51 distributed in the working area. Specifically, it can include at least two cameras 51 installed on the unloading vehicle 7 body, and multiple cameras 51 installed on the belt and key operating parts. The at least two cameras 51 on the unloading vehicle 7 are used to monitor the unloading port and the travel track of the unloading vehicle, respectively, and the multiple cameras 51 installed on the belt and key operating parts are used to monitor the operation status.

[0096] Specifically, at least two cameras 51 are installed on the unloading car 7. One camera 51 is preferably installed in a position that provides a clear view of the unloading car's discharge port, such as above or to the side of the unloading car 7 frame. This camera can be used to monitor the real-time discharge of ore from the unloading car's discharge port, including discharge speed, uniformity of discharge, and whether there are any material blockages. The other camera 51 can be installed at a suitable position above the unloading car's travel track, with its lens covering the track. This camera can be used to monitor the unloading car's operation on the travel track, such as whether there are any obstacles obstructing the path and whether the movement is smooth.

[0097] Another camera 51 is installed in a position that can cover the travel track of the unloading vehicle 7 (e.g., both sides of the track, the end of the track, or at a bend). Its main function is to monitor the running trajectory and position of the unloading vehicle 7 on the track, as well as the condition of the track itself, to assist the central control console 4 in confirming the movement of the unloading vehicle 7, and to provide visual reference when necessary to help judge the positioning accuracy or detect track abnormalities.

[0098] Cameras can be installed on the belt and key operating components (such as motor 73, reducer, coupling, etc.). Depending on the belt's length and direction, cameras can be installed at the beginning, middle, and end of the belt to ensure comprehensive monitoring of its operation, such as belt misalignment, damage, and material transport. For each key operating component, at least one camera should be installed near each component to observe vibration, temperature, lubrication, and other factors during operation.

[0099] Based on the actual situation on site, blind spots in the monitoring of the unloading operation can be identified. For example, eight additional cameras can be installed in areas where there may be blind spots, such as where the unloading truck turns or where equipment is obstructed, to ensure that there are no blind spots in the monitoring of the entire unloading operation and to meet the comprehensive requirements of remote monitoring during the production process.

[0100] All installed cameras 51 and newly added cameras can be connected to the video surveillance device 55 via video transmission lines (such as network cables, coaxial cables, etc., selecting appropriate cables according to device interfaces and transmission distances). The video surveillance device 55 uses a high-performance video capture card or network video recorder (NVR) capable of acquiring, encoding, and storing multiple video signals.

[0101] The video surveillance device 55 and the central control console 4 can be connected via a communication interface (such as RS485, Ethernet, etc.) to achieve data interaction and sharing. The central control console 4 can perform operations such as parameter setting and video playback control on the video surveillance device 55.

[0102] The output signal of the video surveillance device 55 can be connected to a computer. By installing the corresponding video surveillance software, the real-time monitoring images can be displayed, stored, and played back on the computer. After the equipment is connected, debugging should be performed to ensure that the images from all cameras 51 are clear, the transmission is stable, and the communication between the video surveillance device 55 and the central control console 4 is normal.

[0103] The video surveillance device 55 can store the monitoring footage from all cameras 51 in real time, and the storage time can be set according to actual needs (such as storing 30 days of video data). The stored video data is saved as files on the computer's hard drive or external storage device for easy retrieval and playback later.

[0104] The video monitoring device 55 can transmit the video signals collected by all these cameras 51 to the control console 4 via a wireless network (e.g., via the wireless adapter 12 on the unloading vehicle 7 or directly connected to the wireless access point 11). The control console 4 can be equipped with a large-screen display or multiple split screens, allowing operators to simultaneously observe the images from multiple cameras 51.

[0105] The central control console 4 can be linked with the video monitoring device 55. The central control console 4 can integrate and analyze video data collected by the video monitoring device 55 with other production data (such as the operating speed of the unloading vehicle 7, the conveying capacity of the belt, and equipment operating parameters). For example, by analyzing the relationship between the material discharge speed and the operating speed of the unloading vehicle 7 in the monitoring screen of the discharge port, the parameter settings for the unloading operation can be optimized; by observing the operating screens and temperature data of key operating parts, potential equipment malfunctions can be detected in advance, allowing for preventative maintenance.

[0106] By integrating the video monitoring device 5, the unmanned operation control system provided in this disclosure not only achieves automated and precise control of the unloading vehicle 7's positioning, material level, and operating status, but also adds powerful visual monitoring capabilities. This allows the operator at the central control station 4 to remotely "see" the actual situation of the unloading operation. Even when the system is operating normally with automatic control, the operator can still monitor the on-site dynamics in real time. In case of abnormal situations or when manual intervention is required, the intuitive information provided by the video monitoring can greatly assist the operator in quickly judging the situation and making decisions, improving the overall safety, reliability, and maintainability of the system, and further ensuring the smooth operation of unmanned operations.

[0107] The unloading system disclosed herein enables real-time remote monitoring of the unloading vehicle's discharge port, travel track, conveyor belt, and other key operating components, significantly improving the safety and efficiency of unloading operations. Operators can promptly detect and handle abnormal situations, reducing the risk of equipment damage and material leakage, and lowering production costs.

[0108] To further improve the system's safety and ability to respond to emergencies (such as discharge port blockage), such as Figure 2 As shown, the material level monitoring device 3 in this embodiment also integrates an anti-blocking switch 75 installed at the discharge port of the unloading vehicle. The anti-blocking switch 75 is electrically connected to the belt motor 73, and is used to stop the belt motor 73 from operating when blockage occurs at the discharge port.

[0109] Among them, the anti-blocking switch 75 can be a rotary paddle blockage detector, and the normally closed contact of the rotary paddle blockage detector is connected in series in the control circuit of the belt motor 73.

[0110] In this embodiment of the present disclosure, the anti-blocking switch 75 is preferably installed close to the outlet of the feed port, for example, fixed to the side or bottom of the feed port pipe. Its structural design enables it to sense whether ore accumulation, agglomeration, or complete blockage occurs inside the feed port. When the ore passes through the feed port normally, the anti-blocking switch 75 is in an untriggered state; once the feed port is blocked, the ore cannot flow out smoothly, and the accumulated ore will contact or press against the sensing element of the anti-blocking switch 75, causing the switch state to change (e.g., from normally closed to normally open, or from normally open to normally closed).

[0111] The anti-blockage switch 75 is directly connected to the belt motor 73 via electrical wiring and is designed to forcibly cut off the power supply to the belt motor 73 when a blockage is detected. Specifically, the anti-blockage switch 75 can be connected in series in the control circuit of the belt motor 73, or it can control the on / off state of the motor 73 contactor via an intermediate relay. When the anti-blockage switch 75 is triggered, it immediately interrupts the circuit supplying power to the belt motor 73, causing the belt motor 73 to stop rotating, thereby stopping the belt conveyor of ore raw materials.

[0112] Specifically, the unloading car mainly consists of a car body, a traveling mechanism, a hopper, a discharge port, and a belt conveyor. The car body is mounted on the traveling mechanism and can move on the track; the hopper is used to receive materials, and the discharge port can be located at the bottom of the hopper, through which materials fall onto the belt; the belt conveyor is driven by a belt motor 73, which transports the materials on the belt to the designated location.

[0113] During actual unloading, blockages can easily occur at the discharge port due to the properties of the material (such as high moisture content or uneven particle size), excessively fast discharge speed, or unreasonable discharge port design. When the discharge port is blocked, the material cannot fall normally and will accumulate at the discharge port, causing the material on the belt to continuously increase. This can lead to belt overload, motor damage, or even safety accidents, seriously affecting normal production.

[0114] Therefore, an anti-blocking switch 75 suitable for the feeding port environment and operating requirements can be selected. Considering the potential presence of dust and material impact at the feeding port, an anti-blocking switch 75 with dustproof, moisture-proof, and impact-resistant properties can be selected, such as a capacitive proximity switch or a mechanical limit switch. Capacitive proximity switches use capacitance changes to detect the presence of objects without direct contact with the material, offering high sensitivity and reliability; mechanical limit switches are triggered by material compression or collision, featuring a simple structure and lower cost.

[0115] The anti-blocking switch 75 can be installed at a suitable location at the discharge port to ensure accurate detection of blockages. For example, for a capacitive proximity switch, it can be installed on the side wall of the discharge port at a certain height from the bottom of the port (the height and characteristics of the material accumulation can be determined, generally 10-30cm). When the material accumulates to this height, the capacitance value changes, triggering the switch. For a mechanical limit switch, it can be installed at the bottom or outlet of the discharge port. When the discharge port is blocked, causing material to accumulate and press against the switch, the switch will activate.

[0116] Connect the signal output terminal of the anti-blocking switch 75 to the control system of the unloading vehicle. The control system uses a programmable logic controller (PLC) or microcontroller to receive the signal from the anti-blocking switch 75 and control the operation of the belt motor 73 according to the signal. During the electrical connection process, pay attention to the insulation and protection of the lines to avoid short circuits or signal interference caused by dust, moisture, or other factors.

[0117] When the unloading vehicle is unloading normally, the material falls smoothly through the discharge port onto the conveyor belt, and the anti-blocking switch 75 is in an untriggered state. When the discharge port becomes blocked, the material will accumulate at the discharge port. For capacitive proximity switches, the accumulation of material will change the capacitance value around it. When the capacitance value reaches the set threshold, the switch will activate and output an electrical signal. For mechanical limit switches, the accumulation of material will compress the switch, causing the switch contacts to close or open, and output a corresponding electrical signal.

[0118] The control system can monitor the signal status of the anti-blocking switch 75 in real time. When the anti-blocking switch 75 is detected to be activated, the control system can immediately send a stop command to the belt motor 73, causing the belt motor 73 to stop running. At the same time, the control system can issue an alarm signal through the audible and visual alarm device 61 to remind the operator that there is a blockage at the discharge port, so that it can be dealt with in a timely manner. After the blockage problem is resolved, the operator can use the manual reset button or remote control to release the stop control of the belt motor 73 and resume the unloading operation.

[0119] After the anti-blocking switch 75 is installed, its sensitivity can be adjusted. By simulating a blockage at the feed inlet, the detection parameters of the anti-blocking switch 75 (such as the capacitance threshold of the capacitive proximity switch, the triggering force of the mechanical limit switch, etc.) can be adjusted to ensure that the anti-blocking switch 75 can accurately trigger when the material accumulates to a certain extent, while avoiding false triggering due to normal fluctuations or slight accumulation of material.

[0120] The anti-blockage switch 75 is tested for its response time from detecting a blockage to outputting a signal, as well as the time it takes for the control system to stop the belt motor 73 from receiving the signal. This ensures that the response time of the entire anti-blockage protection system meets production safety requirements, stopping the belt motor 73 in the shortest possible time to prevent equipment damage and the escalation of accidents.

[0121] A fault diagnosis mechanism can be established for the anti-blocking protection system, which can promptly issue a fault alarm signal when the anti-blocking switch 75 or the control system malfunctions. For example, when the anti-blocking switch 75 is damaged, causing abnormal signals, the control system can detect the instability or absence of the signal and prompt the operator to perform repair or replacement.

[0122] By installing an anti-blockage switch 75 at the discharge port of the unloading car, the belt motor 73 can be stopped in time when blockage occurs, effectively avoiding problems such as belt overload and motor 73 damage caused by blockage, thus improving the safety of unloading operations and the reliability of the equipment. At the same time, the audible and visual alarm device 61 can promptly remind operators to deal with the blockage problem, reducing production downtime and improving production efficiency.

[0123] To ensure the safety of personnel in the work area during unmanned operation and to prevent accidental injuries, such as Figure 2As shown, the unmanned operation control system of this embodiment also includes a complete safety protection device 6. The safety protection device 6 mainly consists of two parts: a light-glint guardrail 61 deployed around the perimeter of the main working area of ​​the unloading vehicle 7, and a matching alarm device 61. The light-glint guardrail 61 and the alarm device 61 are connected by a signal line, and the alarm device 61 is connected to the central control station 4 through a wireless access point 11; the light-glint guardrail 61 is used to send an abnormal signal to the alarm device 61 when personnel linger or accidentally enter the working area; the alarm device 61 is used to receive the abnormal signal sent by the light-glint guardrail 61 and send a stop command to the central control station 4.

[0124] Specifically, the grating guardrail 61 can be a through-beam infrared grating sensor array. The grating sensors can be installed in pairs on opposite sides of the work area, such as on either side of the track on which the unloading vehicle 7 travels or on a fixed structure around the unloading port of the bin. They can be used to emit and receive invisible infrared beams, forming one or more "light walls" covering the entire entrance or key work surface of the work area. In this embodiment, to improve detection accuracy and prevent false triggering by small or fast-moving objects, the infrared beam spacing of the grating guardrail 61 is designed to be less than or equal to 50mm, which can effectively detect larger objects such as human bodies.

[0125] The alarm device 61 is installed near the work area so that the operator at the central control station 4 can easily observe and hear the signals it emits. The alarm device 61 contains a signal receiving unit and a command sending unit, and is connected to the output end of the light curtain guardrail 61 via a signal line.

[0126] Its working principle is as follows: Under normal circumstances, the infrared beam emitted by the grating guardrail 61 is continuously and stably received by the corresponding receiver. When the central control console 4 issues a command, the unmanned operation control system is activated, and the unloading vehicle 7 begins to move or perform unloading operations, the grating guardrail 61 is in monitoring mode.

[0127] If a person inadvertently stays or enters the protected area formed by the light grating fence 61, their body will block part or all of the infrared beam. The light grating sensor will immediately detect the interruption of the beam and generate an abnormal signal within a very short time (usually less than 50ms). This abnormal signal is transmitted to the alarm device 61 through a pre-embedded signal line.

[0128] After receiving an abnormal signal from the light barrier 61, the alarm device 61 will immediately execute a preset program: on the one hand, it can activate an audible and visual alarm, such as emitting a high-decibel alarm sound and flashing warning lights, to warn personnel who have mistakenly entered the area to evacuate as soon as possible, and also to remind the operator of the central control console 4 to pay attention; on the other hand, the alarm device 61 can send a command containing "emergency stop" information to the central control console 4 in real time through the wireless access point 11.

[0129] Upon receiving the shutdown command, the central control console 4 will immediately interrupt the current unloading operation and send an emergency stop signal to the unloading vehicle 7 to stop its movement. It may also shut down related power outputs (such as belt motor 73) to avoid collisions or accidents.

[0130] By setting up a safety protection device 6 consisting of a light-grate guardrail 61 and an alarm device 61, this disclosure not only automates the unloading process but also adds an active safety protection mechanism at the system level. Even in unattended or remote operation mode, it can effectively prevent unauthorized personnel from entering the danger zone and respond quickly in the event of potential danger, forcibly stopping equipment operation, greatly improving the safety of the work site and meeting the requirements of modern industrial safety production.

[0131] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0132] Obviously, those skilled in the art should understand that the modules or steps of this disclosure described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by the computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this disclosure is not limited to any particular combination of hardware and software. The above are merely preferred embodiments of this disclosure and are not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An unmanned operation control system for an unloading vehicle, characterized in that, The unmanned operation control system is used to control the unloading vehicle and includes: a wireless network device, a positioning device, a material level monitoring device, and a central control console; The wireless network device includes a wireless access point deployed in the work area and a wireless adapter mounted on the unloading vehicle. The unloading vehicle and the central control unit establish a communication connection with the wireless access point through the wireless adapter. The positioning device includes a low-power laser ranging and positioning device installed on the unloading vehicle. The low-power laser ranging and positioning device is signal-connected to the central control console. The low-power laser ranging and positioning device is used to locate the real-time position distance between the unloading vehicle and the corresponding compartment unloading port of the target grinding head hopper, and sends the real-time position distance to the central control console. The material level monitoring device includes a radar pulse level gauge installed on the top of the target grinding head hopper. The radar pulse level gauge is connected to the central control station via the wireless access point. The radar pulse level gauge is used to monitor the material level in the hopper and send the material level to the central control station. The central control station is deployed in the working area. The central control station is used to receive the real-time location distance and the height of the ore, and is also used to send control commands to the unloading vehicle.

2. The unmanned operation control system for the unloading vehicle according to claim 1, characterized in that, The positioning device also includes a low-power laser ranging material level detection device installed on the unloading vehicle. The low-power laser ranging material level detection device is connected to the central control console and is used to detect the material level in the target grinding head hopper.

3. The unmanned control system of a dump car of claim 1, wherein, The unloading vehicle's drive system is equipped with a PLC controller, a frequency converter, and a motor. The PLC controller is connected to the central control unit via the wireless access point. The frequency converter is connected to the PLC controller, and the motor is connected to the frequency converter. The PLC controller controls the unloading vehicle by driving the motor through the frequency converter.

4. The unmanned operation control system for the unloading vehicle according to claim 3, characterized in that, The unloading vehicle's drive system is also equipped with a moisture-proof encoder. The moisture-proof encoder is connected to the PLC controller via a pulse signal or communication bus protocol. The moisture-proof encoder is used to record the positional distance between the unloading vehicle and the unloading port of the bin.

5. The unmanned control system of a dump car of claim 1, wherein, At least one laser position detection device is installed at the unloading port of the bin. The laser position detection device is connected to the central control unit through the wireless access point. The laser position detection device is used in conjunction with the low-power laser ranging and positioning equipment to detect the real-time position distance between the unloading vehicle and the unloading port of the bin.

6. The unmanned operation control system for the unloading vehicle according to claim 1, characterized in that, The system also includes: a video surveillance device; The video monitoring device includes at least two cameras installed on the unloading vehicle, and multiple cameras installed on the belt and key operating parts; the at least two cameras on the unloading vehicle are used to monitor the unloading port and the travel track of the unloading vehicle, respectively, and the multiple cameras installed on the belt and key operating parts are used to monitor the operation.

7. The unmanned control system of a dump car of claim 1, wherein, The material level monitoring device also includes an anti-blocking switch installed at the discharge port of the unloading vehicle. The anti-blocking switch is electrically connected to the belt motor and is used to stop the belt motor from operating when the discharge port is blocked.

8. The unmanned control system of a dump car of claim 7, wherein, The anti-blocking switch is a rotary paddle blockage detector, and the normally closed contact of the rotary paddle blockage detector is connected in series in the belt motor control circuit.

9. The unmanned operation control system for the unloading vehicle according to claim 1, characterized in that, The system also includes: safety protection devices; The safety protection device includes a light-gloss guardrail and an alarm device installed in the working area of ​​the unloading vehicle. The light-gloss guardrail and the alarm device are connected by a signal line, and the alarm device is connected to the central control station through the wireless access point. The light-gloss guardrail is used to send an abnormal signal to the alarm device when personnel linger or accidentally enter the working area. The alarm device is used to receive the abnormal signal sent by the light-gloss guardrail and send a stop command to the central control station.

10. The unmanned operation control system for the unloading vehicle according to claim 9, characterized in that, The spacing between the infrared beams of the grating guardrail is less than or equal to 50mm.

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