Anti-collision device for mining anti-explosion trackless rubber-tyred vehicle

Abstract

The utility model discloses an anti-collision device for a mining anti-explosion trackless rubber-tyred vehicle. The anti-collision device comprises a dual-radar detection system, an electronic fence system and an intelligent brake controller. 0-50m obstacle scanning and data fusion are realized through double-radar staggered layout; the electronic fence constructs a protection boundary through the emitter and the receiver; and the intelligent brake controller executes four-stage brake logic according to the detection signal. The device is further provided with a three-dimensional adjustable support, a double-loop hydraulic braking system, the self-adaptive anti-interference function and the like, and an anti-explosion protection and redundant power module. The device effectively solves the problem of vehicle collision in a complex mine environment, improves the transportation safety and reliability, and is suitable for various mine scenes.

Description

Technical Field

[0001] This utility model belongs to the technical field of mine transportation safety equipment, specifically relating to a mine explosion-proof trackless rubber-tired vehicle anti-collision device. Background Technology

[0002] In underground mining operations such as coal and metal mines, trackless rubber-tired vehicles serve as a core transportation tool, bearing the heavy responsibility of transporting personnel, materials, and equipment. However, mine tunnels present numerous complex challenges, including narrow spaces (typically only 4-6 meters wide), numerous curves (radius of curvature generally ≤15 meters), obstructed visibility (lighting range typically ≤30 meters), and diverse obstacles such as protruding rock walls, temporary equipment storage, and pedestrians. These factors lead to frequent vehicle collisions, seriously threatening personnel safety and production efficiency.

[0003] Traditional collision avoidance devices often employ a single sensor, such as ultrasonic radar or a camera. However, in the high-dust environment of mines (concentration > 100 mg / m³), the detection range of ultrasonic radar is significantly reduced, and camera images become blurry, making accurate obstacle identification difficult and resulting in poor early warning performance. Furthermore, in critical areas such as tunnel bends and intersections, effective active protection measures are lacking, making vehicles prone to "edge collisions." In addition, the braking system's braking logic is simple, unable to flexibly adjust braking force according to the degree of danger, and the emergency braking distance is excessively long, exceeding the safety braking requirements of the tunnel. Therefore, there is an urgent need for a collision avoidance device that can adapt to the complex environment of mines and achieve accurate detection and intelligent braking. Utility Model Content

[0004] To address the problems and shortcomings of the existing technology, this utility model provides a mine explosion-proof trackless rubber-tired vehicle anti-collision device. This device effectively solves the vehicle collision problem in the complex environment of mines, improves transportation safety and reliability, and is suitable for various mine scenarios.

[0005] This utility model is achieved through the following technical solution:

[0006] A collision avoidance device for a mine explosion-proof trackless rubber-tired vehicle includes:

[0007] The dual radar detection system includes a millimeter-wave radar and an ultrasonic radar installed at the front of the vehicle, used to scan obstacles in the 0-50 meter range in front in real time.

[0008] The electronic fence system includes multiple low-frequency signal transmitters deployed in key areas of the alleyway and vehicle-mounted receivers installed around the vehicle body. The receivers have a detection accuracy of ≤0.1 meters and determine entry into the fenced area when they receive signals from ≥3 transmitters.

[0009] The intelligent brake controller is electrically connected to the vehicle's powertrain and braking systems. When it receives a collision warning signal from millimeter-wave radar or ultrasonic radar, or a fence touch signal from the onboard receiver, it triggers a tiered braking logic. The tiered braking logic is as follows:

[0010] Level 1 warning: When the distance to the obstacle is 15-30 meters, an audible and visual alarm will be triggered, and the speed will be limited to 20 km / h;

[0011] Level 2 deceleration: When the distance to the obstacle is 5-15 meters, 50% braking force is automatically applied, limiting the speed to 10km / h;

[0012] Three-stage braking: When the distance to the obstacle is 1-5 meters, apply full braking and cut off the power to non-essential equipment at the same time;

[0013] Level 4 engine shutdown: When the distance to the obstacle is less than 1 meter, the engine is forced to shut down and the wheels are locked.

[0014] A complete collision avoidance and protection system has been constructed. Dual radars enable comprehensive detection at both long and short distances, electronic fences provide proactive control over key areas, and intelligent brake controllers perform graded braking according to different levels of danger, which can effectively reduce the incidence of collision accidents and improve vehicle driving safety.

[0015] Furthermore, the millimeter-wave radar and ultrasonic radar are arranged in a staggered vertical configuration. The millimeter-wave radar has a detection range of 30-50 meters, while the ultrasonic radar has a detection range of 0-30 meters. The data fusion algorithm performs ≥100 calculations per second, outputting the obstacle's position, speed, and collision probability. This staggered arrangement avoids radar signal interference, and the data fusion algorithm combines the advantages of both radars, improving the accuracy and timeliness of obstacle detection. This allows the system to anticipate collision risks in advance, providing more time for braking.

[0016] Furthermore, the millimeter-wave radar and ultrasonic radar are mounted via a three-dimensional adjustable bracket. The bracket features ±45° horizontal rotation and ±15° vertical pitch adjustment, with a fine-tuning accuracy of ±0.5°, and integrates rubber damping pads. The radar mounting angle can be flexibly adjusted according to actual usage needs, adapting to different vehicle models and roadway environments. The rubber damping pads effectively reduce the impact of vehicle vibration on radar detection accuracy, ensuring the stability and reliability of the detection data.

[0017] Furthermore, the collision avoidance device also includes a hydraulic braking system. This system employs a dual-circuit independent oil supply design, with the main circuit and backup circuit monitored in real time by pressure sensors. In the event of a single circuit failure, the braking force retention rate is ≥70%, ensuring redundant safety of the braking system. This dual-circuit design enhances the reliability of the braking system; even if one circuit fails, the other can still provide a certain amount of power, ensuring the vehicle retains braking capability in emergency situations and guaranteeing driving safety.

[0018] Furthermore, the vehicle-mounted receiver is built with an adaptive anti-interference algorithm that filters out reflected signals from the metal structures in the roadway through dynamic threshold adjustment. The false alarm rate is controlled below 0.1 times per hour, and the effective signal penetration distance through the rock wall is ≥50 meters. This effectively filters out interference signals in the complex roadway environment, reduces the false alarm rate, ensures that the electronic fence system accurately determines the vehicle's position, avoids unnecessary braking caused by false alarms, and at the same time ensures the effective transmission of signals under rock wall occlusion, expanding the protection range.

[0019] Furthermore, the anti-collision device also includes an intelligent braking control module. The intelligent braking control module supports the multi-vehicle collaborative warning function and is connected to the roadway base station through a 4G / 5G wireless communication module. It enables information sharing and linkage control among multiple vehicles. In a multi-vehicle operation scenario, a vehicle can obtain obstacle information detected by the vehicle ahead in advance, timely adjust its driving state, and improve the overall transportation efficiency and safety.

[0020] Furthermore, the anti-collision device also includes a human-machine interaction display. The human-machine interaction display can display the three-dimensional model of the obstacle, the boundary of the electronic fence, and the braking logic in real time. It provides intuitive and comprehensive information on the vehicle's operation and the surrounding environment for the driver, facilitating the driver to timely understand the vehicle state and potential risks, make correct driving decisions, and enhance driving safety and operation convenience.

[0021] Furthermore, the transmitter adopts a magnetic adsorption mounting base, which supports quick disassembly and assembly. The deployment density is encrypted to a 15-meter interval in the bend area to ensure no dead spots in signal coverage. The magnetic adsorption mounting base facilitates the installation, disassembly, and position adjustment of the transmitter, improving the construction efficiency; the encrypted deployment in the bend area ensures signal coverage of the electronic fence in the dangerous area, effectively preventing vehicle collision accidents at bends.

[0022] Furthermore, the dual radar detection system has a self-calibration function that compensates for the vehicle's pitch / roll angles in real time through the vehicle-mounted inertial navigation system. It compensates for the influence of changes in the vehicle's pitch / roll angles on radar detection in real time, ensuring that the radar can always maintain high-precision detection during vehicle driving regardless of road conditions, improving the stability and reliability of the system.

[0023] Furthermore, the anti-collision device also includes:

[0024] An explosion-proof protection system, including a vehicle body shell made of cast aluminum alloy, with an electrostatic spray coating on the surface of the vehicle body shell with a thickness ≥80μm, and a 50μm three-proof paint coating on the circuit board inside the vehicle body;

[0025] A redundant power module, including a backup battery pack and an energy management module. The backup battery pack can continue to supply power for ≥30 minutes after the main vehicle power supply is cut off.

[0026] The explosion-proof protection system enables the device to be safely used in flammable and explosive environments in mines, extending the service life of the equipment; the redundant power supply module provides continuous power support for critical functions such as emergency braking when the main power supply fails, avoiding safety accidents caused by power outages and further improving the reliability and safety of the device.

[0027] The beneficial effects of this utility model are:

[0028] 1. Active safety protection: Through the coordinated operation of dual radar detection system, electronic fence system and intelligent braking controller, active safety protection is achieved throughout the entire process from obstacle detection, danger zone warning to graded braking. Compared with traditional anti-collision devices, it can significantly reduce the collision accident rate by more than 70%.

[0029] 2. Strong adaptability to complex environments: The device is equipped with anti-interference design, three-dimensional adjustable radar bracket, self-calibration function and explosion-proof protection system, which enables it to adapt to complex environments such as narrow mines, winding mines, high dust, and flammable and explosive environments, and the equipment availability rate is increased to more than 95%.

[0030] 3. Precise and efficient braking: The graded braking logic dynamically adjusts the braking force and vehicle speed according to the distance to the obstacle, ensuring precise braking under different levels of danger, shortening the emergency braking distance to a safe range, and effectively avoiding collision accidents.

[0031] 4. High reliability: The dual-circuit hydraulic braking system and redundant power supply module design improve the reliability and redundancy of the key systems of the device. Even if some components fail, the basic safety performance of the vehicle can still be guaranteed, reducing the risk of accidents caused by equipment failure.

[0032] 5. Intelligence and Convenience: The multi-vehicle collaborative early warning function and the human-machine interaction display improve the intelligence level of mine transportation and the convenience of driving operation, facilitate multi-vehicle dispatch and management, and provide drivers with intuitive and clear information, thereby improving driving safety and efficiency. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0034] Figure 1 This is a structural block diagram illustrating a schematic embodiment of an anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to the present invention. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] It should be noted that the directional terms such as left, right, up, down, front, and back in the embodiments of this utility model are only relative concepts or are based on the normal use state of the product, i.e., the direction of the product's movement, and should not be considered as limiting.

[0037] In addition, it should be noted that the dynamic terms such as "relative motion" mentioned in the embodiments of this utility model not only refer to changes in position, but also include movements such as rotation and rolling in which the position does not change relative to the position, but the state changes.

[0038] Finally, it should be noted that when a component is said to be "located on" or "set on" another component, it can be on the other component or may have an intervening component at the same time. When a component is said to be "connected to" another component, it can be directly connected to the other component or may have an intervening component at the same time.

[0039] like Figure 1 The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle shown has the following specific structure:

[0040] 1. Dual Radar Detection System: A millimeter-wave radar and an ultrasonic radar are installed vertically and vertically offset at the front of the vehicle. The millimeter-wave radar has a detection range of 30-50 meters, while the ultrasonic radar has a detection range of 0-30 meters. Through a data fusion algorithm (processing speed ≥100 times / second), the system can output the position, speed, and collision probability of obstacles. The system is mounted on a three-dimensional adjustable bracket with ±45° horizontal rotation and ±15° vertical pitch adjustment, achieving a fine-tuning accuracy of ±0.5°. It also integrates rubber damping pads to effectively reduce the impact of vehicle vibrations on radar detection. Furthermore, the system has a self-calibration function, using the onboard inertial navigation system to compensate for the vehicle's pitch / roll angles in real time, ensuring detection accuracy.

[0041] 2. Electronic Fence System: Multiple low-frequency signal transmitters are deployed in key areas of the tunnel, such as curves (radius of curvature ≤ 15 meters), intersections, and equipment areas. The spacing between adjacent transmitters is ≤ 20 meters, increasing to 15 meters in curve areas to ensure complete signal coverage. The transmitters use magnetic mounting bases for easy and quick installation and removal. Vehicle-mounted receivers are installed around the vehicle body, with a detection accuracy ≤ 0.1 meters. A vehicle is considered to have entered the fenced area when it receives signals from ≥ 3 transmitters. The vehicle-mounted receivers incorporate an adaptive anti-interference algorithm, dynamically adjusting thresholds to filter signals reflected from the tunnel's metal structures, keeping the false alarm rate below 0.1 times / hour, and ensuring an effective signal penetration distance of ≥ 50 meters through rock walls.

[0042] 3. Intelligent Braking Controller: Electrically connected to the vehicle's powertrain and braking systems, it triggers tiered braking logic upon receiving collision warning signals from millimeter-wave radar or ultrasonic radar, or fence touch signals from the onboard receiver.

[0043] Level 1 warning: When the distance to the obstacle is 15-30 meters, an audible and visual alarm is triggered, and the vehicle speed is limited to 20 km / h to remind the driver to pay attention.

[0044] Level 2 deceleration: If the distance to the obstacle is shortened to 5-15 meters, 50% braking force will be automatically applied to reduce the vehicle speed to 10 km / h, allowing time for manual intervention.

[0045] Three-stage braking: When the distance to the obstacle is within 1-5 meters, full braking is activated, and power to non-essential equipment is cut off to ensure braking effectiveness.

[0046] Level 4 engine shutdown: If the obstacle is less than 1 meter away, the engine will be forced to shut down and the wheels will be locked to minimize the risk of a collision.

[0047] 4. Other systems and modules:

[0048] Hydraulic braking system: It adopts a dual-circuit independent oil supply design. The main circuit and the backup circuit are monitored in real time by pressure sensors. When a single circuit fails, the braking force retention rate is ≥70%, ensuring the redundancy and safety of the braking system.

[0049] Intelligent braking control module: Supports multi-vehicle collaborative warning function, connects to the roadway base station through 4G / 5G wireless communication module to realize the sharing of obstacle information between adjacent vehicles and the linkage speed limit of multi-vehicle formation.

[0050] Human-machine interface display: It can display 3D models of obstacles, electronic fence boundaries and braking logic in real time, so that the driver can intuitively understand the vehicle operation and the surrounding environment.

[0051] Explosion-proof protection system: The vehicle body shell is made of cast aluminum alloy with an electrostatic spray coating thickness of ≥80μm. The circuit board inside the vehicle body is coated with 50μm of three-proof paint (moisture-proof, mildew-proof, and salt spray-proof), so that the device meets the explosion-proof requirements and is suitable for the flammable, explosive, humid and dusty environment of the mine.

[0052] Redundant power supply module: including backup battery pack and energy management module. When the main power supply fails, the backup battery pack can continue to supply power for ≥30 minutes to ensure the normal operation of critical functions such as emergency braking.

[0053] Example 1: Collision avoidance scenario at a bend in an alleyway:

[0054] In a metal mine tunnel, a mine-use explosion-proof trackless rubber-tired vehicle was traveling at 25 km / h towards a curve with a radius of curvature of 12 meters. At this moment, the millimeter-wave radar at the front of the vehicle detected equipment temporarily piled up on the inside of the curve 35 meters in front of the vehicle. The data fusion algorithm of the dual radar detection system quickly calculated that the probability of collision was 85%, triggering the first-level warning of the intelligent braking controller. The vehicle issued an audible and visual alarm, and its speed was simultaneously limited to 20 km / h.

[0055] As the vehicle entered the curve, the onboard receiver received signals from at least three transmitters, determining that it had entered an electronic fence area. Because the vehicle was 1.3 meters from the rock face, the speed limit was triggered, and the vehicle speed was further reduced to 5 km / h. As the vehicle continued forward, when the distance to the device decreased to 8 meters, the ultrasonic radar confirmed the obstacle, and the intelligent braking controller implemented a two-stage deceleration, automatically applying 50% braking force, reducing the speed to 10 km / h. The driver noticed the warning at this point and manually applied the brakes, ultimately bringing the vehicle to a smooth stop and successfully avoiding a collision.

[0056] Example 2: Pedestrian protection scenario at an intersection:

[0057] At a coal mine tunnel intersection, a mine-use explosion-proof trackless rubber-tired vehicle was driving normally. Due to obstructed visibility in the tunnel, when the vehicle was about 10 meters from the intersection, the ultrasonic radar suddenly detected a pedestrian entering the blind spot 1.5 meters in front of the vehicle from the side. The intelligent braking controller immediately received a collision warning signal and directly triggered the three-stage braking logic.

[0058] The hydraulic braking system activated at full power while simultaneously cutting off power to non-essential equipment, causing the vehicle to decelerate rapidly under strong braking force. When the vehicle approached the pedestrian at a distance of 0.8 meters, the intelligent brake controller initiated a four-stage engine shutdown logic, forcing the engine to shut down and locking the wheels. Ultimately, the vehicle stopped 0.2 meters from the pedestrian, successfully ensuring pedestrian safety and preventing a serious collision.

[0059] Example 3: Multi-vehicle collaborative early warning scenario:

[0060] During transportation operations at a large mine, multiple explosion-proof trackless rubber-tired mining vehicles were traveling in convoy within the same tunnel. The dual radar detection system of the vehicle ahead detected a large transport equipment moving slowly at a distance of 40 meters, potentially affecting the passage of vehicles behind.

[0061] The intelligent braking control module of the vehicle in front transmits obstacle information to the roadway base station via a 4G / 5G wireless communication module. The base station then forwards the information to all vehicles behind. Upon receiving the information, the intelligent braking control module of the following vehicles immediately triggers a level one warning, and all vehicles simultaneously issue audible and visual alarms and limit their speed to 20 km / h. As the vehicles approach, each vehicle, based on its distance from the obstacle, sequentially performs deceleration and braking operations according to a graded braking logic, achieving multi-vehicle coordinated safe passage. This effectively improves transportation efficiency and safety, and avoids rear-end collisions and other accidents.

[0062] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A collision avoidance device for explosion-proof trackless rubber-tired vehicles used in mining, characterized in that, include: The dual radar detection system includes a millimeter-wave radar and an ultrasonic radar installed at the front of the vehicle, used to scan obstacles in the 0-50 meter range in front in real time. The electronic fence system includes multiple low-frequency signal transmitters deployed in key areas of the alleyway and vehicle-mounted receivers installed around the vehicle body. The receivers have a detection accuracy of ≤0.1 meters and determine entry into the fenced area when they receive signals from ≥3 transmitters. The intelligent brake controller is electrically connected to the vehicle's powertrain and braking systems. When it receives a collision warning signal from millimeter-wave radar or ultrasonic radar, or a fence touch signal from an onboard receiver, it triggers a tiered braking logic. The tiered braking logic is as follows: Level 1 warning: When the distance to the obstacle is 15-30 meters, an audible and visual alarm will be triggered, and the speed will be limited to 20 km / h; Level 2 deceleration: When the distance to the obstacle is 5-15 meters, 50% braking force is automatically applied, limiting the speed to 10km / h; Three-stage braking: When the distance to the obstacle is 1-5 meters, apply full braking and cut off the power to non-essential equipment at the same time; Level 4 engine shutdown: When the distance to the obstacle is less than 1 meter, the engine is forced to shut down and the wheels are locked.

2. The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to claim 1, characterized in that, The millimeter-wave radar and the ultrasonic radar are arranged in a staggered vertical layout. The millimeter-wave radar has a detection range of 30-50 meters, and the ultrasonic radar has a detection range of 0-30 meters. The data fusion algorithm of the two performs ≥100 operations per second and outputs the obstacle position, speed and collision probability.

3. The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to claim 1, characterized in that, The millimeter-wave radar and the ultrasonic radar are mounted on a three-dimensional adjustable bracket. The bracket has ±45° horizontal rotation and ±15° vertical pitch adjustment functions, with a fine adjustment accuracy of ±0.5°, and integrates rubber damping shock absorption pads.

4. The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to claim 1, characterized in that, It also includes a hydraulic braking system, which adopts a dual-circuit independent oil supply design. The main circuit and the backup circuit are monitored in real time by pressure sensors. When a single circuit fails, the braking force retention rate is ≥70%, ensuring the redundancy and safety of the braking system.

5. The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to claim 1, characterized in that, The vehicle-mounted receiver has a built-in adaptive anti-interference algorithm that uses dynamic threshold adjustment to filter the reflected signals from the metal structure of the tunnel, keeping the false alarm rate below 0.1 times / hour and the effective signal penetration distance through the rock wall ≥ 50 meters.

6. The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to claim 1, characterized in that, It also includes an intelligent braking control module, which supports multi-vehicle collaborative early warning function and is connected to the roadway base station through a 4G / 5G wireless communication module.

7. The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to claim 1, characterized in that, It also includes a human-computer interaction display, which can display a 3D model of obstacles, electronic fence boundaries, and braking logic in real time.

8. The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to claim 1, characterized in that, The transmitter uses a magnetic mounting base, which supports quick assembly and disassembly. The deployment density is increased to 15-meter intervals in curved areas to ensure signal coverage without dead zones.

9. The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to claim 1, characterized in that, The dual radar detection system has a self-calibration function, which compensates for the vehicle's pitch / roll angle in real time through the vehicle's inertial navigation system.

10. The anti-collision device for a mine explosion-proof trackless rubber-tired vehicle according to claim 1, characterized in that, Also includes: The explosion-proof protection system includes a cast aluminum alloy car body shell with an electrostatic spray coating thickness of ≥80μm on the surface of the car body shell and a 50μm conformal coating on the circuit boards inside the car body. The redundant power module includes a backup battery pack and an energy management module. The backup battery pack can provide power for ≥30 minutes after the main power supply of the vehicle body is interrupted.

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