An auxiliary brake control system for a trackless vehicle in a mine

Abstract

This utility model discloses an auxiliary braking control system for an underground trackless vehicle, relating to the field of safety control technology for underground trackless vehicles. The utility model includes a trackless vehicle, with a control box and a monitoring screen inside the driver's cab. The control box contains a regulated switching power supply and an edge vision controller. Cameras are installed on the front and rear of the trackless vehicle. The signal output of the cameras is connected to the signal receiving end of the edge vision controller, and the video signal output of the edge vision controller is connected to the video signal receiving end of the monitoring screen. The monitoring screen is connected to the regulated switching power supply via a power bus. By detecting the external environment of the vehicle through the cameras and transmitting video signals to the monitoring screen, it can effectively cope with the dim underground environment, significantly reduce blind spots, and solve the problem of limited field of vision in traditional manual observation.

Description

Technical Field

[0001] This utility model relates to the field of safety control technology for trackless vehicles in underground mines, and in particular to an auxiliary braking control system for trackless vehicles in underground mines. Background Technology

[0002] As the core equipment for material transportation and personnel transfer in underground mines, trackless vehicles operate in environments characterized by narrow spaces, dim lighting, high dust concentrations, complex types of obstacles (such as scattered ore, temporary support structures, workers, other vehicles, etc.), and poor communication signals. This results in limited visibility for drivers and difficulty in perceiving the environment.

[0003] Currently, braking control of trackless vehicles in underground mines mainly relies on manual operation by the driver, who observes the surrounding environment and manually operates the brake pedal to achieve braking. However, in the complex underground environment, drivers are prone to collisions due to visual fatigue, lack of concentration, or delayed reaction to sudden obstacles. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides an auxiliary braking control system for underground trackless vehicles, which solves the problem that the braking control of existing underground trackless vehicles mainly relies on manual operation by the driver, making collisions more likely.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows:

[0006] An auxiliary braking control system for an underground trackless vehicle includes a trackless vehicle. A control box and a monitoring screen are provided in the driver's cab of the trackless vehicle. The control box contains a regulated switching power supply and an edge vision controller. Cameras are installed on the front and rear of the trackless vehicle. The signal output of the camera is connected to the signal receiving end of the edge vision controller. The video signal output of the edge vision controller is connected to the video signal receiving end of the monitoring screen. The monitoring screen is connected to the regulated switching power supply via a power bus.

[0007] The trackless vehicle is also equipped with millimeter-wave radar on its front and rear sides, and the signal output end of the millimeter-wave radar is connected to the signal receiving end of the edge vision controller.

[0008] The control box also houses a hybrid remote controller. The power supply of the hybrid remote controller is connected to a regulated switching power supply via a power bus. The control signal output of the edge vision controller is connected to the signal receiving end of the hybrid remote controller. A brake pedal sensor for monitoring the pedal signal status is installed on the brake pedal of the trackless vehicle. A gear position sensor is installed at the gear position. An oil pressure sensor is installed on the brake cylinder. The signal outputs of the brake pedal sensor, gear position sensor, and oil pressure sensor are all connected to the signal receiving end of the hybrid remote controller. The brake control signal of the hybrid remote controller is connected to the wheel brake calipers for braking the wheels via an electro-hydraulic control valve. The signal output of the oil pressure sensor is also connected to the electro-hydraulic control valve.

[0009] The control signal output terminal of the hybrid remote controller is also connected to a relay control module. The power supply terminal of the relay control module is connected to a regulated switching power supply via a power bus. The signal output terminal of the relay control module is also connected to an alarm and a warning light, which are integrated into the driver's cab.

[0010] The control box also contains an industrial wireless router. The power supply of the industrial wireless router is connected to the regulated switching power supply via a power bus, and the network communication signal of the industrial wireless router is connected to the edge vision controller.

[0011] The control box also contains a GPS communication module, whose time synchronization signal is connected to the edge vision controller.

[0012] The start / stop signals of the trackless vehicle are connected to the signal receiving end of the hybrid remote controller.

[0013] The brake pedal sensor is a position sensor, a pressure sensor, or a potentiometer that monitors the depth of brake pedal application.

[0014] Compared with the prior art, the beneficial effects of this utility model are: This utility model uses a dual-mode detection method of "camera + millimeter-wave radar", which combines a multispectral camera and a high-penetration millimeter-wave radar to effectively cope with the complex environment of dark and dusty underground, achieve accurate identification and distance measurement of obstacles, greatly reduce blind spots, and solve the problem of limited field of vision in traditional manual observation.

[0015] The edge vision controller can analyze environmental data in real time. When it determines that there is a collision risk, it will promptly issue an audible and visual alarm to the driver through an alarm and warning light, giving the driver sufficient reaction time and reducing the probability of accidents.

[0016] The system monitors the vehicle's operating status in real time through brake pedal sensors, gear position sensors, and hydraulic pressure sensors. When the driver fails to respond to the alarm in time or the braking system malfunctions, the hybrid remote controller can automatically trigger auxiliary braking. It controls the wheel brake cylinders through electro-hydraulic control valves to achieve braking, while hydraulic pressure closed-loop control ensures stable brake oil pressure and improves braking reliability.

[0017] The setup of an industrial wireless router and GPS communication module enables real-time interaction between vehicle data and the ground monitoring center, facilitating remote monitoring of vehicle operation status by ground personnel. At the same time, GPS positioning can assist in vehicle dispatching and improve the efficiency of underground operations.

[0018] Greater adaptability: The system is powered by a regulated switching power supply, which can adapt to voltage fluctuations in the underground power grid. At the same time, all components are integrated into the control box, which is compact, easy to install and maintain, and can be adapted to different types of underground trackless vehicles. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the control system of this utility model;

[0020] Figure 2 This is a schematic diagram of the front section structure of the vehicle according to this utility model;

[0021] Figure 3 This is a schematic diagram of the rear structure of the vehicle according to this utility model;

[0022] Figure 4 This is a schematic diagram of the installation of this utility model inside the driver's cab.

[0023] In the picture:

[0024] 1. Trackless vehicle; 2. Control box; 3. Monitoring screen; 4. Regulated switching power supply; 5. Edge vision controller; 6. Camera; 7. Millimeter-wave radar; 8. Hybrid remote controller; 9. Brake pedal sensor; 10. Gear position sensor; 11. Hydraulic pressure sensor; 12. Electro-hydraulic control valve; 13. Wheel brake cylinder; 14. Relay control module; 15. Alarm; 16. Warning light; 17. Industrial wireless router; 18. GPS communication module; 19. Driver's cab. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of this utility model.

[0026] An auxiliary braking control system for an underground trackless vehicle includes a trackless vehicle 1. The driver's cab 19 of the trackless vehicle 1 is equipped with a control box 2 and a monitoring screen 3. The control box 2 is equipped with a regulated switching power supply 4 and an edge vision controller 5. The edge vision controller 5 is used to analyze the video stream transmitted by the camera 6 and the sensor information transmitted by the millimeter-wave radar 7 to realize the automatic identification of obstacles (such as workers, other vehicles, scattered ore, etc.) and make alarm decisions and auxiliary braking decisions based on the identification results.

[0027] Cameras 6 are installed on the front and rear of the trackless vehicle 1. The cameras 6 are used to collect environmental images in front of and behind the trackless vehicle 1 to identify the surrounding environment and obstacles. Multiple cameras 6 can be set to cover the entire field of view in front of and behind the vehicle and reduce blind spots. The cameras 6 can be monocular cameras, binocular cameras, or multispectral cameras to adapt to the complex lighting environment of the mine, which is dark and dusty. The signal output terminal of the camera 6 is connected to the signal receiving terminal of the edge vision controller 5 through a data cable. The video signal output terminal of the edge vision controller 5 is connected to the video signal receiving terminal of the monitoring screen 3 to transmit the real-time video images collected by the camera 6 to the monitoring screen 3 for the driver to view. The monitoring screen 3 is connected to the regulated switching power supply 4 through a power bus, and the regulated switching power supply 4 provides stable power to it.

[0028] The trackless vehicle 1 is equipped with millimeter-wave radar 7 on its front and rear sides. The millimeter-wave radar 7 is used to measure the distance and speed of obstacles in front of and behind the vehicle to compensate for the recognition limitations of the camera 6 in dusty or low-light environments. The signal output end of the millimeter-wave radar 7 is connected to the signal receiving end of the edge vision controller 5 to transmit the detected obstacle distance, speed and other information to the edge vision controller 5.

[0029] The control box 2 is also equipped with a hybrid remote controller 8. The hybrid remote controller 8 is used to collect analog signals transmitted by various sensors (such as brake pedal status, gear status, and brake fluid pressure), and issue analog control signals according to the decision instructions of the edge vision controller 5. The power supply terminal of the hybrid remote controller 8 is connected to the regulated switching power supply 4 through the power bus, and is provided with stable power by the regulated switching power supply 4. The control signal output terminal of the edge vision controller 5 is connected to the signal receiving terminal of the hybrid remote controller 8, and transmits alarm control instructions and auxiliary braking control instructions to the hybrid remote controller 8.

[0030] The trackless vehicle 1 is equipped with a brake pedal sensor 9 for monitoring the pedal signal status. The brake pedal sensor 9 is used to monitor in real time whether the driver is pressing the brake pedal and the depth of pressing. It can be a position sensor, a pressure sensor, or a potentiometer for monitoring the depth of brake pressing. The trackless vehicle 1 is equipped with a gear position sensor 10 for monitoring the current gear position of the vehicle (such as forward gear, reverse gear, neutral gear) in real time. The trackless vehicle 1 is equipped with an oil pressure sensor 11 for monitoring the oil pressure value of the braking system in real time to determine whether there is a fault such as insufficient oil pressure in the braking system.

[0031] The signal output terminals of the brake pedal sensor 9, gear position sensor 10, and hydraulic pressure sensor 11 are all connected to the signal receiving terminal of the hybrid remote controller 8, transmitting the monitored brake pedal status, gear position status, and brake oil pressure signals to the hybrid remote controller 8. The brake control signal of the hybrid remote controller 8 is connected to the wheel brake calipers 13 for braking the wheels via the electro-hydraulic control valve 12. When the hybrid remote controller 8 receives the auxiliary braking command from the edge vision controller 5, it can adjust the braking force of the wheel brake calipers 13 by controlling the opening of the electro-hydraulic control valve 12 to achieve auxiliary braking. The signal output terminal of the hydraulic pressure sensor 11 is also connected to the electro-hydraulic control valve 12, which can directly feed back the brake oil pressure signal to the electro-hydraulic control valve 12, forming a closed-loop control of the oil pressure to ensure stable brake oil pressure.

[0032] The control signal output terminal of the hybrid remote controller 8 is also connected to a relay control module 14. The relay control module 14 is used to convert the electrical signal of the hybrid remote controller 8 into a switching signal to control the start and stop of the alarm 15 and the warning light 16. The power supply terminal of the relay control module 14 is connected to the regulated switching power supply 4 through the power bus and is powered by the regulated switching power supply 4. The signal output terminal of the relay control module 14 is also connected to the alarm 15 and the warning light 16. The alarm 15 and the warning light 16 are integrated in the driver's cab 19. When the edge vision controller 5 determines that there is a collision risk, the hybrid remote controller 8 triggers the alarm 15 to emit an audible alarm and the warning light 16 to emit a visual alarm through the relay control module 14 to remind the driver to take timely measures.

[0033] The control box 2 is also equipped with an industrial wireless router 17. The industrial wireless router 17 is used to realize network communication between the edge vision controller 5 and the underground ground monitoring center. It can upload data such as vehicle location information, operating status, and environmental images to the ground monitoring center, and at the same time receive remote control commands from the ground monitoring center. The power supply of the industrial wireless router 17 is connected to the regulated switching power supply 4 through the power bus, and the regulated switching power supply 4 provides stable power supply. The network communication signal of the industrial wireless router 17 is connected to the edge vision controller 5 to realize data interaction.

[0034] The control box 2 is also equipped with a GPS communication module 18, which is used to obtain the real-time location information of the trackless vehicle 1 and provide a time synchronization signal to the edge vision controller 5 to ensure that the timestamps of each sensor data and the video stream are consistent, thereby improving the accuracy of data fusion; the time synchronization signal of the GPS communication module 18 is connected to the edge vision controller 5.

[0035] The start / stop signal of the trackless vehicle 1 is connected to the signal receiving end of the hybrid remote controller 8. The hybrid remote controller 8 can automatically activate or deactivate the auxiliary braking control system according to the start / stop status of the vehicle to prevent the system from operating ineffectively when the vehicle is turned off.

[0036] When using:

[0037] When the driver starts the trackless vehicle 1, the ignition switch closes, generating a start / stop signal. Upon receiving this signal, the hybrid remote controller 8 triggers the system activation process: First, it sends a start command to the regulated switching power supply 4. After starting, the regulated switching power supply 4 provides a matching stable voltage to core components such as the edge vision controller 5, monitoring screen 3, relay control module 14, industrial wireless router 17, and GPS communication module 18 via the power bus, ensuring that all electrical equipment completes power-on initialization. Next, the edge vision controller 5 conducts a communication test with the hybrid remote controller 8 via the RS485 bus to verify that the communication link is smooth. At the same time, the GPS communication module 18 receives dual-mode satellite signals to generate a high-precision time synchronization signal, which is transmitted to the edge vision controller 5 to uniformly calibrate the timestamps of the camera 6, millimeter-wave radar 7, and various sensors. Subsequently, the hybrid remote controller 8 sends detection commands to the brake pedal sensor 9, gear position sensor 10, and oil pressure sensor 11 in sequence. After confirming that the signals of each sensor are normal, it sends a "system ready" command to the edge vision controller 5. The monitoring screen 3 displays a system normal prompt, and the system enters standby mode.

[0038] During system standby, each component continuously collects and transmits data: Camera 6 collects wide-field images of the front and rear of the vehicle, which are then preprocessed and transmitted to the edge vision controller 5. The edge vision controller 5 uses AI algorithms to classify and identify obstacles in the images and mark their position coordinates; Millimeter-wave radar 7 periodically scans the surrounding environment and transmits the relative distance, speed, and azimuth data of obstacles to the edge vision controller 5, compensating for the recognition limitations of camera 6 in complex environments; At the same time, brake pedal sensor 9 monitors the pedal depth in real time and transmits the signal to hybrid remote controller 8; gear position sensor 10 identifies the vehicle's gear position and transmits it to hybrid remote controller 8 in digital code form; and hydraulic pressure sensor 11 collects the brake master cylinder hydraulic pressure and transmits the signal to hybrid remote controller 8 and electro-hydraulic control valve 12 respectively, ensuring that the brake hydraulic pressure is within the normal range.

[0039] The edge vision controller 5 performs fusion analysis on the received environmental and vehicle status data: it matches the obstacle position coordinates identified by the camera 6 with the azimuth angle detected by the millimeter-wave radar 7, eliminates misidentified data to determine valid obstacles, and then dynamically sets a safe distance threshold based on the gear position signal transmitted by the hybrid remote controller 8, and calculates the collision risk time based on the relative speed of the obstacle; when the obstacle distance is less than the safe threshold but the collision time is sufficient, the edge vision controller 5 sends a first-level warning command to the hybrid remote controller 8, and the hybrid remote controller 8 controls the relay control module 14 to trigger the alarm 15 to emit an intermittent warning sound and the warning light 16 to flash slowly, and the monitoring screen 3 displays a warning frame line in the obstacle area; when the collision time is tight and the brake pedal sensor 9 detects that the driver has not pressed the brake, a second-level warning command is sent, controlling the alarm 15 to sound continuously and the warning light 16 to flash at high frequency; if no effective brake pedal is detected within a short time after the second-level warning, the edge vision controller 5 sends an auxiliary braking command to the hybrid remote controller 8.

[0040] After receiving the auxiliary braking command, the hybrid remote controller 8 calculates the required braking force based on the obstacle data transmitted by the edge vision controller 5, and outputs the corresponding control voltage to the electro-hydraulic control valve 12. The electro-hydraulic control valve 12 adjusts the valve opening according to the control voltage to control the flow rate of oil delivered from the master cylinder to the wheel brake cylinders 13, thereby achieving braking at different intensities. At the same time, the oil pressure sensor 11 monitors the actual oil pressure of the wheel brake cylinders 13 in real time and feeds it back to the electro-hydraulic control valve 12. The electro-hydraulic control valve 12 compares the actual oil pressure with the target oil pressure and automatically adjusts the valve opening to form a closed-loop control, ensuring stable output of braking force and avoiding abnormal braking.

[0041] In addition, the edge vision controller 5 uploads data such as environmental video stream, obstacle recognition results, real-time vehicle location, and braking system status to the underground ground monitoring center in real time through the industrial wireless router 17. At the same time, it receives remote commands from the ground monitoring center and transmits them to the hybrid remote controller 8 for execution. When the driver turns off the vehicle, the ignition switch is turned off, generating a shutdown signal. After receiving the signal, the hybrid remote controller 8 sends shutdown commands to each component in sequence. First, it controls the electro-hydraulic control valve 12 to close and release the brake oil pressure. Then, it controls the voltage regulator switch power supply 4 to stop supplying power to cut off the power to each device. Finally, it enters a low-power sleep state to avoid unnecessary power consumption.

[0042] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An auxiliary braking control system for an underground trackless vehicle, comprising a trackless vehicle (1), characterized in that, The driver's cab (19) of the trackless vehicle (1) is equipped with a control box (2) and a monitoring screen (3). The control box (2) is equipped with a regulated switching power supply (4) and an edge vision controller (5). Cameras (6) are installed on the front and rear of the trackless vehicle (1). The signal output end of the camera (6) is connected to the signal receiving end of the edge vision controller (5). The video signal output end of the edge vision controller (5) is connected to the video signal receiving end of the monitoring screen (3). The monitoring screen (3) is connected to the regulated switching power supply (4) through a power bus.

2. A supplemental braking control system for a trackless underground vehicle as defined in claim 1, wherein The trackless vehicle (1) is also equipped with a millimeter-wave radar (7) on its outer front and rear sides. The signal output end of the millimeter-wave radar (7) is connected to the signal receiving end of the edge vision controller (5).

3. A supplemental braking control system for a trackless underground vehicle as defined in claim 2, wherein The control box (2) is also equipped with a hybrid remote controller (8). The power supply of the hybrid remote controller (8) is connected to the regulated switching power supply (4) via a power bus. The control signal output of the edge vision controller (5) is connected to the signal receiving end of the hybrid remote controller (8). The brake pedal of the trackless vehicle (1) is equipped with a brake pedal sensor (9) for monitoring the pedal signal status. A gear position sensor (10) is installed at the gear position. A hydraulic pressure sensor (11) is installed on the brake cylinder. The signal output ends of the brake pedal sensor (9), gear position sensor (10) and hydraulic pressure sensor (11) are all connected to the signal receiving end of the hybrid remote controller (8). The brake control signal of the hybrid remote controller (8) is connected to the wheel brake cylinder (13) for braking the wheels via an electro-hydraulic control valve (12). The signal output end of the hydraulic pressure sensor (11) is also connected to the electro-hydraulic control valve (12).

4. A supplemental braking control system for a trackless underground vehicle as defined in claim 3, wherein The control signal output terminal of the hybrid remote controller (8) is also connected to a relay control module (14). The power supply terminal of the relay control module (14) is connected to the regulated switching power supply (4) via a power bus. The signal output terminal of the relay control module (14) is also connected to an alarm (15) and a warning light (16). The alarm (15) and the warning light (16) are integrated in the cab (19).

5. A supplemental braking control system for a trackless underground vehicle as defined in claim 4, wherein The control box (2) is also equipped with an industrial wireless router (17). The power supply of the industrial wireless router (17) is connected to the regulated switching power supply (4) through the power bus. The network communication signal of the industrial wireless router (17) is connected to the edge vision controller (5).

6. A supplemental braking control system for a trackless underground vehicle as defined in claim 5, wherein The control box (2) is also equipped with a GPS communication module (18), and the time synchronization signal of the GPS communication module (18) is connected to the edge vision controller (5).

7. The auxiliary braking control system for trackless underground vehicles according to claim 6, characterized in that, The start / stop signal of the trackless vehicle (1) is connected to the signal receiving end of the hybrid remote controller (8).

8. A supplemental braking control system for a trackless underground vehicle as defined in claim 7, wherein The brake pedal sensor (9) is a position sensor, a pressure sensor, or a potentiometer that monitors the depth of brake pedal application.

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