A coal mine transport trolley device

Abstract

The utility model discloses a coal mine transport trolley equipment belongs to coal mine auxiliary transport technical field, the coal mine transport trolley equipment includes the car body, drive module, load detection module, environment perception module, central control module and barrier -free execution module, load detection module detects car body load weight, environment perception module detects the distance and type of front obstacle, central control module receives above -mentioned data, controls drive module adjustment travel speed to through barrier -free execution module executes deceleration, parking or alarm action, according to the coal mine transport trolley equipment of the utility model can through multi -sensor fusion perception roadway environment and load state, real -time adjustment travel speed and trigger barrier -free action, significantly improve security and efficiency, be applicable to all kinds of complex coal mine underground transport scene.

Description

Technical Field

[0001] This utility model relates to the field of auxiliary transportation technology in coal mines, and in particular to a coal mine transportation trolley device. Background Technology

[0002] Existing coal mine transport vehicles mostly travel at a fixed speed or rely on manual speed control. When there are curves, intersections, obstacles, or load changes in the tunnel, collisions are likely to occur due to untimely reaction. At the same time, traveling at a constant speed when the load is unstable will lead to energy waste or insufficient power, affecting transportation efficiency.

[0003] Traditional anti-collision technologies often rely on a single sensor, such as an infrared sensor, which is greatly affected by underground environments such as dust and darkness, resulting in low detection accuracy. The speed control system is disconnected from the load and environmental conditions, making dynamic adaptation impossible.

[0004] Patent CN2022204569539 discloses a coal mine transport trolley with anti-collision function and easy assembly. Although it adopts a protective design combining an anti-collision layer and a buffer layer, with the two layers tightly fitted and vertically arranged, effectively mitigating the impact force of collisions between the vehicle body and other objects during transportation, it is only a passive protective structure. It lacks the function of actively detecting obstacles and providing early warnings or avoidance. In complex tunnel environments, its ability to cope with sudden obstacles is weak, and the risk of collision still exists. At the same time, its power unit can only provide basic driving force and does not have an adaptive speed adjustment mechanism that matches the load weight and driving conditions. This may result in problems such as excessive energy consumption when unloaded and insufficient power when heavily loaded, affecting energy utilization efficiency and transportation adaptability.

[0005] In light of this, a coal mine transport trolley device is provided, comprising a vehicle body, a drive module, a load detection module, an environmental perception module, a central control module, and an obstacle avoidance execution module. This coal mine transport trolley device can perceive the tunnel environment and load status through multi-sensor fusion, adjust its travel speed in real time, and trigger obstacle avoidance actions, significantly improving safety and efficiency. It is suitable for various complex underground coal mine transport scenarios. Utility Model Content

[0006] The present invention aims to provide a coal mine transport trolley device that can achieve real-time perception of load status, accurate detection of obstacles in the underground environment, and automatically adjust the driving speed and perform obstacle avoidance actions accordingly, thereby improving the safety and efficiency of transportation.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A coal mine transport trolley device according to an embodiment of the present utility model is characterized in that it includes a vehicle body, a drive module, a load detection module, an environmental perception module, a central control module, and an obstacle avoidance execution module. The load detection module detects the load weight of the vehicle body, the environmental perception module detects the distance and type of obstacles in front, and after receiving the above data, the central control module controls the drive module to adjust the driving speed and executes deceleration, stopping, or alarm actions through the obstacle avoidance execution module.

[0009] Furthermore, the vehicle body is equipped with wheels at the bottom for carrying coal and mineral materials.

[0010] Furthermore, the drive module includes a motor and a gearbox. The drive module is controlled by the central control module to adjust its output power. The motor and the gearbox are connected through a drive shaft. The output end of the motor is connected to the input end of the gearbox. The output end of the gearbox is connected to the drive shaft of the walking wheel. The central control module is connected to the motor control end through a wire to transmit control signals.

[0011] Furthermore, the load detection module is located below the vehicle body bearing surface. The load detection module uses a pressure sensor to monitor the vehicle body load weight in real time and transmit the data to the central control module. The pressure sensor is connected to the signal input terminal of the central control module through a signal line.

[0012] Furthermore, the environmental perception module includes a lidar, an ultrasonic sensor, and a camera. The lidar has a detection range of 0-50 meters, the ultrasonic sensor has a detection range of 0-5 meters, and the camera is used to identify obstacle types. The lidar is bolted to the top of the traction ring at the front of the vehicle body, and the ultrasonic sensor and the camera are both bolted to the top of the handle at the front of the vehicle body. The lidar and the ultrasonic sensor are positioned horizontally forward, and the camera lens faces directly forward. All three are connected to the signal input terminal of the central control module via signal lines.

[0013] Furthermore, the circuit composition of the central control module includes a core processor, a power supply module, a signal conditioning circuit, and a relay output circuit. The control signal output terminal of the core processor is connected to the input terminal of the relay output circuit. The power supply module supplies power to each module of the coal mine transport trolley equipment. The sensor signal output terminals of each module of the coal mine transport trolley equipment are connected to the input terminal of the signal conditioning circuit through signal lines. The output terminal of the signal conditioning circuit is connected to the signal input terminal of the core processor. The output terminal of the relay output circuit is connected to the drive module 20 and the obstacle avoidance execution module 60, respectively.

[0014] Furthermore, the obstacle avoidance execution module includes an audible and visual alarm and a braking unit. The audible and visual alarm is activated when deceleration is triggered, and the braking unit performs deceleration or stopping actions.

[0015] Compared with the prior art, the advantages and positive effects of this utility model are as follows: This utility model provides a coal mine transport trolley device that uses multi-sensor fusion of lidar, ultrasonic waves and cameras, which has strong resistance to interference from underground dust and dark environments, and obstacle detection accuracy of over 98%. Combined with deceleration and stopping mechanisms, it significantly reduces the risk of collisions. Through dynamic matching of load and speed, it avoids the problems of high energy consumption when unloaded at high speed or low speed and inefficiency when heavily loaded, reducing energy consumption by 15-20%. At the same time, it can complete environmental adaptation and speed adjustment and obstacle avoidance without manual intervention, reducing the intensity of manual operation and adapting to the complex working conditions in underground coal mines. Attached Figure Description

[0016] Figure 1 This is a perspective view of a coal mine transport trolley device according to an embodiment of the present utility model;

[0017] Figure 2 This is a side view of a coal mine transport trolley device according to an embodiment of the present utility model;

[0018] Figure 3 This is a circuit module diagram of a coal mine transport trolley device according to an embodiment of the present utility model.

[0019] Reference numerals: Coal mine transport trolley equipment 100; vehicle body 10; traveling wheel 11; traction ring 12; handle 13; drive module 20; motor 21; gearbox 22; load detection module 30; environmental perception module 40; lidar 41; camera 42; ultrasonic sensor 43; central control module 50; obstacle avoidance execution module 60; audible and visual alarm 61; braking unit 62. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that in the description of this invention, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] Furthermore, it should be understood that, for ease of description, the dimensions of the various components shown in the accompanying drawings are not drawn to actual scale; for example, the thickness or width of some layers may be exaggerated relative to other layers.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined or described in one figure, it will not need to be discussed or described in detail in the description of the subsequent figures.

[0024] While existing coal mine transport trolleys effectively mitigate the impact of collisions with other objects during transport, they are merely passive protective structures, lacking the ability to actively detect obstacles and provide early warnings or avoidance. In complex tunnel environments, their ability to cope with sudden obstacles is weak, and collision risks remain. Furthermore, their power units only provide basic driving force and lack an adaptive speed regulation mechanism that matches load weight and road conditions. This may result in excessive energy consumption when unloaded and insufficient power when heavily loaded, affecting energy efficiency and transport adaptability.

[0025] The coal mine transport trolley device 100 according to an embodiment of the present utility model has the following structure: Figure 1 As shown, the system includes a vehicle body 10, a drive module 20, a load detection module 30, an environmental perception module 40, a central control module 50, and an obstacle avoidance execution module 60. The load detection module 30 detects the vehicle body load weight, the environmental perception module 40 detects the distance and type of obstacles in front, and the central control module 50, after receiving the above data, controls the drive module 20 to adjust the driving speed and executes deceleration, stopping, or alarm actions through the obstacle avoidance execution module 60.

[0026] Specifically, the components of the coal mine transport trolley equipment 100 are: Figure 2 As shown, the bottom of the vehicle body 10 is provided with wheels 11 for carrying coal and mineral materials.

[0027] The drive module 20 includes a motor 21 and a gearbox 22. The drive module 20 is controlled by the central control module 50 to adjust its output power. The power input terminal of the motor 21 is connected to the output terminal of the relay output circuit of the central control module 50. The motor 21 and the gearbox 22 are connected through a drive shaft. The output terminal of the motor 21 is connected to the input terminal of the gearbox 22. The output terminal of the gearbox 22 is connected to the drive shaft of the walking wheel 11. The central control module 50 is connected to the control terminal of the motor 21 through wires to transmit control signals.

[0028] Specifically, the motor 21 is an explosion-proof three-phase asynchronous motor of model YBX3-132S-4, and the gearbox 22 is an MBW04-Y0.75-C5 planetary gearbox, which is suitable for the flammable and explosive environment underground.

[0029] The load detection module 30 is located below the load-bearing surface of the vehicle body 10. The load detection module 30 uses a pressure sensor to monitor the load weight of the vehicle body 10 in real time and transmits the data to the central control module 50. The pressure sensor is connected to the signal input terminal of the central control module 50 through a signal line, and the power supply terminal of the pressure sensor is connected to the 12V DC power input terminal of the central control module 50.

[0030] Specifically, the load detection module 30 uses a pressure sensor of model PT124G-111 with an accuracy of ±0.5%FS. During installation, four sensors can be evenly distributed under the bearing surface of the vehicle body 10, and the average value is taken as the load data.

[0031] The environmental perception module 40 includes a lidar 41, a camera 42, and an ultrasonic sensor 43. The lidar 41 has a detection range of 0-50 meters, the ultrasonic sensor 43 has a detection range of 0-5 meters, and the camera 42 is used to identify obstacle types. The lidar 40 is bolted to the front traction ring 11 of the vehicle body 10, and the camera 42 and the ultrasonic sensor 43 are bolted to the front handle 12 of the vehicle body 10. The detection directions of the lidar 41 and the ultrasonic sensor 43 face the direction of the vehicle's movement, and the lens of the camera 42 faces the direction of the vehicle's movement. All three are connected to the signal input terminal of the central control module 50 via signal lines, and their power supply terminals are all connected to the 5V DC power output terminal of the central control module 50.

[0032] Specifically, the lidar 41 is a TOF lidar of model LDS-50B to resist underground dust, the ultrasonic sensor 43 is a JSN-SR04T waterproof sensor to adapt to the humid underground environment, and the camera 42 is an HBV-3018 infrared night vision camera to ensure clear imaging in dark environments.

[0033] The circuit module diagram of the coal mine transport trolley equipment 100 is as follows: Figure 3 As shown, specifically, the circuit composition of the central control module 50 includes a core processor, a power supply module, a signal conditioning circuit, and a relay output circuit. The core processor is an STM32H743, which serves as the control core of the entire central control module 50. The control signal output terminal of the core processor is connected to the input terminal of the relay output circuit.

[0034] Furthermore, the power supply module includes an input power supply of AC127V and output power supplies of DC5V and DC12V. The input power supply is connected to the components of the central control module 50, and the output power supply is connected to the sensors of the modules of the coal mine transport trolley equipment 100.

[0035] Furthermore, the signal conditioning circuit is used to filter and amplify the input signals of the sensors of each module of the coal mine transport trolley equipment 100, so that the input signals can be effectively recognized by the core processor. The sensor signal output terminals of each module of the coal mine transport trolley equipment 100 are connected to the input terminal of the signal conditioning circuit through signal lines. The output terminal of the signal conditioning circuit is connected to the signal input terminal of the core processor, and the processed signal is transmitted to the core processor.

[0036] Furthermore, the output terminal of the relay output circuit is connected to the drive module 20 and the obstacle avoidance execution module 60 respectively to transmit control signals.

[0037] The obstacle avoidance execution module 60 includes an audible and visual alarm 61 and a braking unit 62. When the audible and visual alarm 61 triggers deceleration, the braking unit 62 decelerates or stops.

[0038] Specifically, the audible and visual alarm 61 is a BBJ-3 type explosion-proof audible and visual alarm, and the braking unit 62 is a DZD5-25 type electromagnetic brake.

[0039] In a mine tunnel 3000 meters underground, an experiment was conducted lasting 1000 hours, simulating 1000 obstacle scenarios and a full load of 5 tons of material. The following average data were obtained:

[0040] Test Project Traditional transport cart This utility model equipment Improvement range Obstacle detection accuracy 72％ 98.3％ +26.3％ Energy consumption (full load condition) 120Wh / km 98Wh / km -18.3％ Collision accident rate 3.2 times / thousand hours 0.1 times / thousand hours -96.9％

[0041] Based on the above data, the coal mine transport trolley equipment according to the embodiment of this utility model has strong resistance to interference from underground dust and dark environments, and the obstacle detection accuracy reaches over 98%. Combined with the deceleration and stopping mechanism, it significantly reduces the risk of collision. Through dynamic matching of load and speed, it avoids the problems of high energy consumption under no-load conditions or low speed and inefficiency under heavy load conditions, reducing energy consumption by 15-20%. At the same time, it can complete environmental adaptation and speed adjustment and obstacle avoidance without manual intervention, reducing the intensity of manual operation and adapting to the complex working conditions in underground coal mines.

[0042] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A coal mine transport car apparatus, characterized by, It includes the vehicle body, drive module, load detection module, environmental perception module, central control module, and obstacle avoidance execution module; The vehicle body is equipped with wheels at the bottom. The drive module is located at the bottom of the vehicle body and is connected to the driving wheels. The drive module includes a motor and a gearbox. The motor and the gearbox are connected through a drive shaft. The output end of the motor is connected to the input end of the gearbox. The output end of the gearbox is connected to the drive shaft of the driving wheels. The central control module is connected to the motor control end through a wire. The load detection module is located below the vehicle body bearing surface and is connected to the signal input terminal of the central control module via a signal line. The environmental perception module includes a lidar, an ultrasonic sensor, and a camera; the lidar is bolted to the top of the traction ring at the front of the vehicle body, and the ultrasonic sensor and the camera are bolted to the top of the front handle of the vehicle body. All three are connected to the signal input terminal of the central control module via signal lines. The central control module is located on one side below the vehicle body and includes a core processor, a power module, a signal conditioning circuit, and a relay output circuit. The output terminal of the relay output circuit is connected to the drive module and the obstacle avoidance execution module, respectively. The obstacle avoidance module is installed at the bottom end of the vehicle body and includes an audible and visual alarm and a braking unit. The obstacle avoidance module is connected to the output terminal of the relay output circuit.

2. The coal mine transport car apparatus of claim 1, wherein, The load detection module includes a pressure sensor, which monitors the vehicle load weight in real time and transmits the data to the central control module. The pressure sensor is connected to the signal input terminal of the central control module via a signal line.

3. The coal mine transport car apparatus of claim 1, wherein, The detection direction of the lidar and the ultrasonic sensor is facing the direction of the vehicle's movement, and the camera lens is also facing the direction of the vehicle's movement.

4. The coal mine transport car apparatus of claim 1, wherein, The control signal output terminal of the core processor is connected to the input terminal of the relay output circuit. The power supply module supplies power to each module of the coal mine transport trolley equipment. The sensor signal output terminals of each module of the coal mine transport trolley equipment are connected to the input terminal of the signal conditioning circuit through signal lines. The output terminal of the signal conditioning circuit is connected to the signal input terminal of the core processor.

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