Reverse safety device for a side discharge rock loader for coal mines

Abstract

This utility model discloses a reversing safety device for a side-loading rock-loading machine used in coal mines, including a controller, a display screen, a millimeter-wave radar, a pressure transmitter, a lidar, a camera assembly, and a tail shell of the side-loading rock-loading machine. Two lidar units are provided, located on either side of the top of the tail shell. The pressure transmitter is installed in the hydraulic system of the side-loading rock-loading machine and is electrically connected to the hydraulic valve group of the side-loading rock-loading machine. The millimeter-wave radar is located in the middle of the top of the tail shell, and the camera is located on the rear tail wall of the tail shell. An inwardly recessed groove is provided in the middle of the rear tail wall of the tail shell, located near the top of the tail shell. A base and a power assembly for rotating the base 90 degrees are provided in the groove. The camera assembly is fixedly mounted on the base. The display screen is located in the driver's cab. The controller is electrically connected to the control system of the side-loading rock-loading machine, and the display screen, millimeter-wave radar, lidar, and camera assembly are all electrically connected to the controller.

Description

Technical Field

[0001] This utility model relates to the technical field of reversing auxiliary devices for rock loading machines, and more particularly to a reversing safety device for a side-unloading rock loading machine used in coal mines. Background Technology

[0002] In underground coal mining operations, side-loading rock loaders are crucial rock-loading equipment, operating in complex and harsh environments. Currently, most side-loading rock loaders are only equipped with simple audible and visual alarms when reversing. The dim lighting and pervasive dust underground severely impair the driver's visibility, and the machines generate considerable noise during operation. Drivers cannot accurately determine the precise location of obstacles and personnel behind them using only audible and visual alarms, and may struggle to react promptly in dangerous situations. While a small number of existing side-loading rock loaders are equipped with reversing cameras, these cameras lack external protection due to the harsh working environment, making them susceptible to damage. Utility Model Content

[0003] The main purpose of this utility model is to provide a reversing safety device for a side-unloading rock loading machine used in coal mines, so as to solve the problems that the existing side-unloading rock loading machines do not have a complete reversing auxiliary device and the cameras are easily damaged.

[0004] To solve the above-mentioned technical problems, this utility model is implemented as follows: It includes a controller, a display screen, a millimeter-wave radar, a pressure transmitter, a lidar, a camera assembly, and a tail shell of a side-loading rock machine. Two lidar units are provided, located on opposite sides of the top of the tail shell. The pressure transmitter is installed in the hydraulic system of the side-loading rock machine and is electrically connected to the hydraulic valve group of the side-loading rock machine. The millimeter-wave radar is located in the middle of the top of the tail shell, and the camera is located on the rear tail wall of the tail shell. An inwardly recessed groove is provided in the middle of the rear tail wall of the tail shell, located near the top of the tail shell. A base and a power assembly for rotating the base 90 degrees are provided in the groove. The camera assembly is fixedly mounted on the base. The display screen is located in the driver's cab. The controller is electrically connected to the control system of the side-loading rock machine, and the display screen, millimeter-wave radar, lidar, and camera assembly are all electrically connected to the controller.

[0005] As a further technical solution, a U-shaped seat is fixedly provided in the inner groove, with the opening of the U-shaped seat facing the opening of the inner groove. The base is rotatably disposed in the U-shaped seat, and a rotating shaft is fixedly provided through and fixed in the center of the base. The rotating shaft is rotatably connected to the U-shaped seat. The power component is disposed on one side of the U-shaped seat, and one end of the rotating shaft passes through the U-shaped seat and is connected to the power component.

[0006] As a further technical solution, the power assembly includes a gear, a rack, and a cylinder. The center of the gear is fixedly sleeved on the rotating shaft. The rack is slidably disposed below the gear. The length direction of the rack is perpendicular to the axis of the rotating shaft. The gear meshes with the rack. The cylinder is disposed at one end of the rack, and the piston rod of the cylinder is fixedly connected to the corresponding end of the rack.

[0007] As a further technical solution, the power assembly also includes a bracket located below the rack. One end of the bracket is provided with a fixed platform, and the other end is provided with a slide rail. The rack is slidably connected to the slide rail, and the cylinder is fixedly mounted on the fixed platform.

[0008] As a further technical solution, the power assembly is provided with an outer cover.

[0009] As a further technical solution, a wire hole is provided on the inner wall of the inner groove on the side opposite to the opening of the inner groove.

[0010] As a further technical solution, the top of the inner groove is provided with a rain cover, and the top of the rain cover is arc-shaped.

[0011] As a further technical solution, the camera assembly includes a camera, and fill lights are provided on both sides of the camera.

[0012] The beneficial effects of this utility model are as follows:

[0013] 1. This application incorporates millimeter-wave radar and lidar, which, when combined, enable more precise detection of the position, shape, and movement of obstacles behind the side-loading rock unloader when it is reversing. Simultaneously, an explosion-proof high-definition camera, equipped with supplementary lighting, is installed on the rear wall of the tail section, allowing for clear image capture in low-light conditions. A display screen in the cab can also provide real-time reversing images, offering the driver intuitive visual assistance. Furthermore, this application includes a controller that analyzes the millimeter-wave radar, lidar, and reversing and image information. Programs can be preset in the controller to automatically control the side-loading rock unloader to decelerate or apply emergency braking in case of danger.

[0014] 2. In addition, this application also includes a pressure transmitter, which can monitor the pressure of the hydraulic pipeline in real time and transmit the pressure signal to the controller in real time. The controller uses the pressure signal to identify the driver's operating behavior. In case of danger, the controller first identifies the driver's operating intention. If the driver does not brake in time, the controller then uses the control system of the side rock loading and unloading machine to perform braking control, thereby avoiding the impact on the driver's normal operation due to system mis-triggeredness.

[0015] 3. In this application, the rear wall of the tail shell is provided with an inner groove, the camera assembly is located in the inner groove, and the camera can be rotated 90 degrees when reversing so that the lens is slightly exposed in the groove to take a reversing image; after reversing, it is rotated 90 degrees in the opposite direction and hidden in the inner groove to avoid damage in the mining environment. Attached Figure Description

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1 This is a three-dimensional structural diagram of the tail shell in this utility model;

[0018] Figure 2 This is a schematic diagram of the inner groove on the tail shell of this utility model;

[0019] Figure 3 This is a schematic diagram of the internal components of the inner groove in this utility model;

[0020] Figure 4 This is a detailed view of the internal components of the inner groove in this utility model;

[0021] Figure 5 This is a schematic diagram showing the connection between the bracket, rack, and cylinder in this utility model;

[0022] Figure 6 This is a diagram showing the state of the camera being hidden inside the inner groove in this utility model;

[0023] Figure 7 This is a flowchart showing the connection process of each component in this utility model.

[0024] Explanation of reference numerals in the attached figures

[0025] 1. Millimeter-wave radar; 2. LiDAR; 3. Camera assembly; 30. Camera; 31. Fill light; 4. Tail shell; 40. Rear tail wall; 5. Inner groove; 6. Base; 7. Shaft; 8. U-shaped seat; 9. Gear; 10. Rack; 11. Cylinder; 12. Bracket; 120. Slide rail; 121. Fixing platform; 13. Outer cover; 14. Cable hole; 15. Rain cover; 16. Controller; 17. Pressure transmitter; 18. Control system; 19. Hydraulic system; 20. Hydraulic valve group; 21. Braking system. Detailed Implementation

[0026] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Many specific details are set forth in the following description to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] like Figure 1 , Figure 3 and Figure 7As shown, this utility model proposes a reversing safety device for a side-loading rock-loading machine in coal mines, including a millimeter-wave radar 1, a pressure transmitter 17, a lidar 2, a camera assembly 3, and a tail shell 4 of the side-loading rock-loading machine. Two lidar 2 units are provided, located on opposite sides of the top of the tail shell 4. The pressure transmitter 17 is installed in the hydraulic system 19 of the side-loading rock-loading machine and is electrically connected to the hydraulic valve assembly 20 in the hydraulic system 19; the hydraulic system 19 and the hydraulic valve assembly 20 are existing technologies. The millimeter-wave radar 1 is located in the middle of the top of the tail shell 4, and the camera assembly 3 is located on the rear tail wall 40 of the tail shell 4. The camera assembly 3 includes a camera 30, with supplementary lights 31 on both sides of the camera 30. In this application, the millimeter-wave radar 1 operates using electromagnetic waves in the millimeter-wave frequency band, which has strong resistance to dust and fog interference and can scan objects within a range of 5-10 meters behind the side-loading rock-loading machine in real time. The lidar 2 obtains the distance information of target objects behind the side of the side-loading rock machine by emitting a laser beam and measuring the time of reflected light, and has the advantage of recognizing the shape of the target object. By combining the data of the two, the position, shape and movement of obstacles behind the side of the side-loading rock machine can be detected more accurately when reversing. At the same time, an explosion-proof high-definition camera 30 is installed on the rear wall 40 of the tail shell 4, and equipped with a supplementary light 31, which can clearly capture the rear view in low light conditions. At the same time, a display screen (not shown in the figure) can be equipped in the cab to display the reversing image in real time, providing the driver with intuitive visual assistance. In addition, this application also includes a controller 16, which is electrically connected to the control system 18 of the side-loading rock machine. The millimeter-wave radar 1, lidar 2 and camera assembly 3 in this application are all connected to the controller 16. The controller 16 can receive and analyze the data and video information of the millimeter-wave radar 1, lidar 2 and camera 30 in real time. The controller 16 can preset the safety threshold range when reversing through a computer program. When an obstacle is detected to enter the set safety threshold range, the corresponding control strategy is activated. For example, when the obstacle is 1-2 meters away, it is considered a warning state; when the distance is 0.5-1 meter, it is considered a danger approaching state; and when the distance is less than 0.5 meters, it is considered a dangerous state. Simultaneously, the controller 16 is connected to the control system 18 of the side-loading rock machine itself. That is, when the controller 16 determines that a danger approaching state is in effect, the controller 16 automatically adjusts the output flow of the oil pump in the hydraulic system 19 or changes the opening of the corresponding hydraulic valve 20 through the control system 18 of the side-loading rock machine, thereby reducing the reversing speed of the side-loading rock machine, such as from 5 km / h to 2 km / h. If a dangerous state is determined, emergency braking is immediately triggered, controlling the brake cylinder in the side-loading rock machine's braking system 21 to increase the braking force, forcing the side-loading rock machine to stop. The braking system 21 of the side-loading rock machine is existing technology, and the control method of the controller 16 is implemented using existing program control.

[0028] In addition, this application installs a pressure transmitter 17 in the hydraulic system 19 of the side-loading rock unloading machine itself. The pressure transmitter 17 is electrically connected to the hydraulic valve group 20 inside the side-loading rock unloading machine. In the prior art, the hydraulic valve group 20 inside the side-loading rock unloading machine mainly controls the movement of the hydraulic travel motor inside the side-loading rock unloading machine by controlling the flow direction, pressure, and flow rate of hydraulic oil, thereby realizing the forward, backward, and turning movements of the side-loading rock unloading machine. The pressure transmitter 17 can be set according to the power distribution and control method of the side-loading rock unloading machine. For example, in a side-loading rock unloading machine that uses left and right hydraulic travel motors for track control, two pressure transmitters 17 can be set. The two pressure transmitters 17 are respectively connected to two sets of hydraulic valve groups that control the left and right hydraulic travel motors, thereby monitoring the hydraulic oil circuits of the left and right travel motors of the side-loading rock unloading machine respectively.

[0029] This application utilizes a pressure transmitter 17 to monitor the hydraulic circuit pressure in real time and transmits the pressure signal to the controller 16. The controller 16 uses the pressure signal to identify the driver's operating behavior. For example, if the pressure in the pilot circuit of the hydraulic system 19 decreases gradually (the driver releases the accelerator pedal or control lever), and the inlet pressure of the hydraulic travel motor decreases synchronously without drastic fluctuations, then the driver is actively decelerating. If the pilot circuit pressure remains unchanged (the driver has not released the control lever), then the driver is not actively decelerating. If the controller 16 detects through the pressure signal that the driver has not taken effective braking measures, then the controller 16 controls the control system 18 of the side unloading rock machine to automatically perform deceleration or braking operations according to the degree of danger. If it detects that the driver is performing active braking, the controller 16 controls the brake cylinder through the control system 18 to enhance the braking effect. Therefore, by using a pressure transmitter 17 in this application, the driver's operating intention can be identified before automatic system control is performed in case of danger, thereby avoiding the impact on the driver's normal operation due to system mis-triggers.

[0030] In addition, such as Figures 1-6 As shown, to prevent damage from prolonged exposure, the camera 30 in this application has a protective structure on the tail cover 4. In this application, the rear wall 40 of the tail cover 4 has an inwardly recessed groove 5 located near the top of the tail cover 4. The groove 5 contains a base 6 and a power assembly that rotates the base 6 90 degrees. The camera assembly 3 is fixedly mounted on the base 6. A U-shaped seat 8 is fixedly mounted in the groove 5, with its opening facing the opening of the groove 5. The base 6 is rotatably mounted in the U-shaped seat 8, and a rotating shaft 7 is fixedly mounted through and connected to the U-shaped seat 8. The power assembly is located on one side of the U-shaped seat 8, and one end of the rotating shaft 7 passes through the U-shaped seat 8 and connects to the power assembly. Figure 4 and Figure 5As shown, the power assembly includes a gear 9, a rack 10, and a cylinder 11. The center of the gear 9 is fixedly sleeved on the rotating shaft 7. The rack 10 is slidably disposed below the gear 9, and its length direction is perpendicular to the axis of the rotating shaft 7. The gear 9 meshes with the rack 10. The cylinder 11 is disposed at one end of the rack 10, and its piston rod is fixedly connected to the corresponding end of the rack 10. Additionally, the power assembly includes a bracket 12 located below the rack 10. One end of the bracket 12 has a fixed platform 121, and the other end has a slide rail 120. The rack 10 is slidably connected to the slide rail 120, and the cylinder 11 is fixedly disposed on the fixed platform 121. In this application, the camera 30 assembly 3, when not reversing, is in a position... Figure 6 In the current state, the camera 30's image-facing end is upward, and the entire camera 30 assembly 3 is located within the inner groove 5. When reversing, the controller 16 controls the piston rod of the cylinder 11 to extend, pushing the rack 10 to slide. As the rack 10 slides, it drives the gear 9 to rotate, which in turn drives the rotating shaft 7 to rotate 90 degrees. This causes the base 6 to rotate the camera assembly 3 by 90 degrees, presenting... Figure 1 and Figure 3 In the indicated state, the camera end of camera assembly 3 faces the opening of the inner groove 5, and the camera end of camera assembly 3 protrudes slightly outward from the inner groove 5, thereby preventing the inner groove 5 from obstructing its shooting range. After reversing is complete, the piston rod of cylinder 11 retracts, simultaneously driving rack 10, gear 9, and rotating shaft 7 to move or rotate in the opposite direction, and camera assembly 30 returns to its original position. Figure 6 The state shown.

[0031] In this application, if Figure 2 As shown, a wire hole 14 is provided on the inner wall of the inner groove 5 on the side opposite to the opening of the inner groove 5. The wires of the cylinder 11 and the camera assembly 3 can be passed through the wire hole 14 and connected to the controller 16. The controller 16 controls the rotation of the camera assembly 3 through a program and connecting wires. The control program and connecting wires are existing technologies.

[0032] In this application, if Figure 3 As shown, the power assembly is provided with an outer cover 13 that seals the power assembly. Additionally, as... Figure 1 The top of the inner groove 5 shown is equipped with a rain cover 15, and the top of the rain cover 15 is curved. This can prevent rainwater from blurring the lens of the camera 30 when reversing in rainy or other weather conditions.

[0033] The above description is only a preferred embodiment of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

Claims

1. A reversing safety device for a side discharge rock loader for use in a coal mine, characterised in that, The system includes a controller, a display screen, a millimeter-wave radar, a pressure transmitter, a lidar, a camera assembly, and a tail shell for a side-loading rock machine. Two lidar units are located on either side of the top of the tail shell. The pressure transmitter is integrated into the hydraulic system of the side-loading rock machine and is electrically connected to the hydraulic valve group. The millimeter-wave radar is located in the center of the top of the tail shell, and the camera is located on the rear tail wall. An inwardly recessed groove is formed in the middle of the rear tail wall, near the top of the tail shell. A base and a power assembly for rotating the base 90 degrees are located within the groove. The camera assembly is fixedly mounted on the base. The display screen is located in the driver's cab. The controller is electrically connected to the control system of the side-loading rock machine, and the display screen, millimeter-wave radar, lidar, and camera assembly are all electrically connected to the controller.

2. The reverse travel safety device for a coal mine side discharge rock loader according to claim 1, characterized in that, A U-shaped seat is fixedly installed in the inner groove, with the opening of the U-shaped seat facing the opening of the inner groove. The base is rotatably installed in the U-shaped seat, and a rotating shaft is fixedly installed through the center of the base. The rotating shaft is rotatably connected to the U-shaped seat. The power component is installed on one side of the U-shaped seat, and one end of the rotating shaft passes through the U-shaped seat and is connected to the power component.

3. The reversing safety device for a side-unloading rock-loading machine for coal mines according to claim 2, characterized in that, The power assembly includes a gear, a rack, and a cylinder. The center of the gear is fixedly mounted on the rotating shaft. The rack is slidably disposed below the gear. The length direction of the rack is perpendicular to the axis of the rotating shaft. The gear meshes with the rack. The cylinder is disposed at one end of the rack, and the piston rod of the cylinder is fixedly connected to the corresponding end of the rack.

4. The reversing safety device for a side-unloading rock-loading machine for coal mines according to claim 3, characterized in that, The power assembly also includes a bracket located below the rack. One end of the bracket is provided with a fixed platform, and the other end is provided with a slide rail. The rack is slidably connected to the slide rail, and the cylinder is fixedly mounted on the fixed platform.

5. The reversing safety device for a side-unloading rock-loading machine for coal mines according to claim 3, characterized in that, The power unit is covered by an outer casing.

6. The reversing safety device for a side-unloading rock-loading machine for coal mines according to claim 1, characterized in that, A wire hole is provided on the inner wall of the inner groove on the side opposite to the opening of the inner groove.

7. The reversing safety device for a side-unloading rock-loading machine for coal mines according to claim 1, characterized in that, The top of the inner groove is provided with a rain cover, and the top of the rain cover is arc-shaped.

8. The reversing safety device for a side-unloading rock-loading machine for coal mines according to claim 1, characterized in that, The camera assembly includes a camera, and fill lights are provided on both sides of the camera.

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