Multi-wheel transport vehicle based on real-time perception of a road surface

Abstract

The utility model discloses a kind of multi-wheel transport vehicles based on road surface real-time sensing, including frame and the carriage, first wheel group, second wheel group, third wheel group, hydraulic system and electric control monitoring system installed on frame;First wheel group, second wheel group and third wheel group are sequentially spaced from front to back, each wheel group includes symmetrically arranged, and wheel is installed on frame by axle assembly;Hydraulic system includes hydraulic pump station and hydraulic control valve group, and hydraulic control valve group is connected with the hydraulic motor and steering oil cylinder of first wheel group, second wheel group and third wheel group by hydraulic pipeline respectively;Electric control monitoring system includes industrial computer and the camera, radar and rotary encoder electrically connected with industrial computer, and industrial computer is electrically connected with hydraulic pump station and hydraulic control valve group respectively.The utility model is driven by independent wheel and can better adapt to underground narrow, complex roadway working condition by multi-sensor fusion sensing system, and improve passability and driving stability.

Description

Technical Field

[0001] This utility model relates to a multi-wheeled transport vehicle, specifically a multi-wheeled transport vehicle based on real-time road surface perception, and belongs to the field of vehicle engineering technology. Background Technology

[0002] In modern mines, multi-wheeled transport vehicles undertake heavy material handling tasks, and their operational efficiency and stability directly affect overall production benefits. Currently, most widely used multi-wheeled transport vehicles still employ fixed wheelbase, integral chassis structures, and a single steering method, resulting in poor adaptability to complex, narrow, or uneven road surfaces. Especially in environments with limited space and harsh road conditions, such as underground tunnels and construction sites, traditional transport vehicles generally suffer from large turning radii, poor maneuverability, and a tendency to skid or slip, leading to poor performance when turning, climbing slopes, or traversing potholes, severely impacting transport efficiency and operational safety. Furthermore, due to the lack of real-time perception and dynamic response mechanisms for road conditions, traditional vehicles struggle to proactively adjust their driving posture and load distribution according to actual working conditions, further limiting their operational capabilities in complex environments.

[0003] In existing technologies, industry researchers have attempted to improve the flexibility of multi-wheeled transport vehicles by adding independent steering axles or adopting electric wheel drives, but problems such as system complexity, high cost, and maintenance difficulties still exist. Especially in terms of dynamic load distribution, most vehicles still rely on mechanical structures or simple hydraulic systems for passive adjustment, lacking active control capabilities based on real-time road information. Furthermore, the perception systems of existing vehicles are mostly limited to navigation and obstacle avoidance, failing to deeply integrate road surface recognition, attitude estimation, and drive control, resulting in insufficient passability and stability of vehicles in complex road conditions such as slopes, mud, and potholes. Regarding intelligent integration, existing transport vehicles have limited functions, making it difficult to achieve multi-task collaboration between transportation, inspection, and monitoring, thus limiting their application potential in unmanned and intelligent operation scenarios.

[0004] Therefore, there is an urgent need to develop a multi-wheeled transport vehicle and its loading system with real-time road surface perception and dynamic load adjustment capabilities. This system can adjust the steering angle and driving force distribution of each wheel group in real time according to road conditions, thereby improving the vehicle's passability, stability and transportation efficiency in complex environments. It should also have modular, intelligent and easy-to-maintain features to meet the development needs of future intelligent mines. Utility Model Content

[0005] To address the problems existing in the prior art, this utility model provides a multi-wheeled transport vehicle based on real-time road surface perception, which can solve the problems of poor steering flexibility, insufficient maneuverability, easy skidding or slippage of traditional multi-wheeled transport vehicles under complex, narrow or uneven road surface conditions, as well as low passability, stability and transport efficiency caused by the lack of real-time perception and dynamic response capabilities.

[0006] To achieve the above objectives, this multi-wheeled transport vehicle based on real-time road surface perception includes a frame and a cargo box mounted on the frame, a first wheel set, a second wheel set, a third wheel set, a hydraulic system, and an electronic control and monitoring system; The first, second, and third wheel sets are arranged sequentially from front to back along the frame. Each wheel set includes wheels symmetrically arranged on the left and right and mounted on the frame via an axle assembly. The axle assembly includes a wheel frame, a hydraulic motor, a mounting bracket, and an axle pin. The mounting bracket is fixedly connected to the frame. The wheel frame is hinged to the mounting bracket via an axle pin arranged axially in the front-rear direction. The wheel is rolled and fitted onto the wheel frame. The hydraulic motor is connected to the wheel drive. The two wheel frames symmetrically arranged on the left and right of each wheel set are hinged together by a horizontally arranged steering tie rod. Each wheel set also includes at least one steering cylinder, and the two ends of the steering cylinder are hinged to the wheel frame and the frame, respectively. The hydraulic system includes a hydraulic pump station and a hydraulic control valve group. The hydraulic control valve group is connected to the hydraulic motors and steering cylinders of the first wheel group, the second wheel group and the third wheel group respectively through hydraulic pipelines. The electronic control monitoring system includes an industrial computer and cameras, radar, and rotary encoders that are electrically connected to the industrial computer. The cameras and radar are located at the front of the vehicle frame, and the rotary encoder is located at the hinged mounting position of the steering tie rod. The industrial computer is electrically connected to the hydraulic pump station and the hydraulic control valve group respectively.

[0007] As a further improvement of this utility model, the frame is also equipped with a boom controlled by a hydraulic pump station and a hydraulic control valve group.

[0008] As a further improvement of this utility model, the vehicle frame is also equipped with an environmental perception sensor connected to the industrial control electromechanical system.

[0009] As a further improvement of this utility model, the chassis is also equipped with an emergency stop button that is connected to the industrial control computer.

[0010] Compared with existing technologies, this multi-wheeled transport vehicle based on real-time road surface perception has the following advantages: 1. By adopting hydraulic motors that drive each wheel set independently, and in conjunction with the linkage mechanism consisting of steering tie rods and cylinders, multi-wheel coordinated steering is achieved, enabling the transport vehicle to have mechanical differential function. This can improve the vehicle's steering flexibility and passability in narrow wells, and reduce tire wear. At the same time, its modular independent structure facilitates fault diagnosis and component replacement.

[0011] 2. By using a multi-sensor fusion perception system including cameras and radar, road conditions and vehicle attitude information can be acquired in real time. Combined with the rotary encoder and hydraulic cylinder adjustment mechanism at the hinged installation position of the steering tie rod joint, a dynamic load distribution system can be formed. The dynamic load distribution system adaptively adjusts the load and steering of each wheel set based on the perception information, thereby improving the vehicle's passability, traction and driving stability under complex working conditions such as uneven roads and slopes in underground mines.

[0012] 3. By integrating the boom and environmental sensing sensors into a single vehicle platform, the functions of material transportation and roadway safety inspection can be integrated. It can perform autonomous loading, unloading and handling tasks, and simultaneously collect environmental parameters and visual information. Thus, material transportation and environmental safety monitoring can be completed simultaneously in a single operation process, which helps to improve the integration and intelligence level of mining operations. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model; Figure 2 This is a three-dimensional structural schematic diagram of the axle assembly of this utility model; Figure 3 This is a hydraulic schematic diagram of this utility model; Figure 4 This is a schematic diagram of the dynamic loading system of this utility model; Figure 5 This is the control flowchart of the dynamic loading system of this utility model.

[0014] In the diagram: 1. Carriage, 2. Crane boom, 3. Hydraulic control valve group, 4. Camera, 5. Radar, 6. Headlights, 7. First wheel set, 8. Second wheel set, 9. Third wheel set, 10. Emergency stop button, 11-1. Wheel frame, 11-2. Steering cylinder, 11-3. Hydraulic motor, 11-4. Steering tie rod, 11-5. Mounting bracket, 11-6. Axle pin. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] like Figure 1 As shown, this multi-wheeled transport vehicle based on real-time road perception includes a frame and a cargo box 1, a first wheel set 7, a second wheel set 8, a third wheel set 9, a hydraulic system, and an electronic control monitoring system mounted on the frame. A vehicle light 6 can be installed at the front end of the frame.

[0017] The first round group 7, the second round group 8, and the third round group 9 are arranged sequentially with intervals, such as... Figure 2As shown, each wheelset includes wheels symmetrically arranged on the left and right and mounted on the frame via an axle assembly. The axle assembly includes a wheel frame 11-1, a hydraulic motor 11-3, a mounting bracket 11-5, and axle pins 11-6. The mounting bracket 11-5 is fixedly connected to the frame. The wheel frame 11-1 is hinged to the mounting bracket 11-5 via axle pins 11-6 arranged axially in the front-rear direction. The wheels are rolled and fitted onto the wheel frame 11-1. The hydraulic motor 11-3 is connected to the wheel drive. The two wheel frames 11-1 symmetrically arranged on the left and right of each wheelset are hinged together by a horizontally arranged steering tie rod 11-4. Each wheelset also includes at least one steering cylinder 11-2, and the two ends of the steering cylinder 11-2 are hinged to the wheel frame 11-1 and the frame, respectively. By controlling the extension and retraction of the steering cylinder 11-2, the two wheels of the wheelset can be controlled to swing up and down synchronously around the axis of axle pin 11-6.

[0018] The hydraulic system includes a hydraulic pump station and a hydraulic control valve assembly 3. The hydraulic control valve assembly is connected to the hydraulic motors 11-3 and steering cylinders 11-2 of the first wheel assembly 7, the second wheel assembly 8, and the third wheel assembly 9 via hydraulic pipelines, respectively. Figure 3 As shown, the hydraulic drive system can selectively provide hydraulic power to the hydraulic motors 11-3 and steering cylinders 11-2 of each steering mechanism through the hydraulic control valve group.

[0019] The electronic control monitoring system includes an industrial computer and a camera 4, a radar 5, and a rotary encoder that are electrically connected to the industrial computer. The camera 4 and radar 5 are located at the front of the vehicle frame, and the rotary encoder is located at the hinged mounting position of the steering tie rod 11-4. The industrial computer is electrically connected to the hydraulic pump station and the hydraulic control valve group 3, respectively.

[0020] During the operation of this multi-wheeled transport vehicle based on real-time road surface perception, such as Figure 4 As shown, a multi-sensor fusion perception system can be formed by camera 4 and radar 5 to collect and identify the type, slope, and obstacle information of the road surface ahead in real time. Simultaneously, a rotary encoder installed at the hinged position of the steering tie rod 11-4 detects the steering angle of each wheel set in real time. This angle data is fused with the data acquired by the multi-sensor fusion perception system to jointly construct a real-time perception closed loop for the road surface condition and vehicle operating status. Based on this perception closed loop, the industrial control computer performs calculations and analysis, and generates adjustment commands for the steering angle and driving force of each wheel set. Then, according to the adjustment commands, the industrial control computer controls the hydraulic control valve group 3 to adjust the extension and retraction of the steering cylinder 11-2, achieving coordinated adjustment of the steering angle of each wheel set, thereby ensuring the vehicle's flexibility on complex paths such as curves and narrow alleys; simultaneously, as... Figure 5As shown, by independently controlling the output torque of each hydraulic motor 11-3, the dynamic distribution of driving force to each wheel set is realized, thereby improving the vehicle's passability and driving stability on poor road conditions such as slopes, mud, and potholes, and realizing adaptive driving and dynamic load adjustment under complex road conditions.

[0021] To achieve autonomous loading and unloading of materials, as a further improvement of this utility model, a boom 2 controlled by a hydraulic pump station and a hydraulic control valve group 3 is also provided on the chassis. This is prior art and will not be described in detail here. The boom 2 integrated into the vehicle body enables autonomous loading and unloading of materials.

[0022] To achieve the function of roadway safety inspection, as a further improvement of this utility model, the vehicle frame is also equipped with environmental sensing sensors such as gas concentration sensor and temperature sensor connected to the industrial control computer.

[0023] To ensure operational safety, as a further improvement of this utility model, an emergency stop button 10 connected to the industrial control computer is also provided on the chassis.

[0024] This multi-wheeled transport vehicle, based on real-time road surface perception, is better adapted to the narrow and complex underground tunnel conditions by setting up six independent drive modes and a multi-sensor fusion perception system, thereby improving passability, traction, and driving stability.

Claims

1. A multi-wheeled transport vehicle based on real-time road surface perception, characterized in that, Includes the frame and the carriage (1) mounted on the frame, the first wheel set (7), the second wheel set (8), the third wheel set (9), the hydraulic system, and the electronic control monitoring system; The first wheel set (7), the second wheel set (8), and the third wheel set (9) are arranged sequentially from front to back along the frame. Each wheel set includes wheels that are symmetrically arranged on the left and right and mounted on the frame through the axle assembly. The axle assembly includes a wheel frame (11-1), a hydraulic motor (11-3), a mounting bracket (11-5), and a pin (11-6). The mounting bracket (11-5) is fixedly connected to the frame. The wheel frame (11-1) is hinged to the mounting bracket (11-5) through the pin (11-6) arranged in the axial direction along the front and rear directions. The wheel is rolled and fitted on the wheel frame (11-1). The hydraulic motor (11-3) is connected to the wheel drive. The two wheel frames (11-1) arranged symmetrically on the left and right of each wheel set are hinged and connected to each other through a horizontally arranged steering tie rod (11-4). Each wheel set also includes at least one steering cylinder (11-2), and the two ends of the steering cylinder (11-2) are hinged and connected to the wheel frame (11-1) and the frame, respectively. The hydraulic system includes a hydraulic pump station and a hydraulic control valve group (3). The hydraulic control valve group is connected to the hydraulic motors (11-3) and steering cylinders (11-2) of the first wheel group (7), the second wheel group (8) and the third wheel group (9) respectively through hydraulic pipelines. The electronic control monitoring system includes an industrial computer and a camera (4), radar (5) and rotary encoder that are electrically connected to the industrial computer. The camera (4) and radar (5) are located at the front of the frame, and the rotary encoder is located at the hinged mounting position of the steering tie rod (11-4). The industrial computer is electrically connected to the hydraulic pump station and the hydraulic control valve group (3) respectively.

2. The multi-wheeled transport vehicle based on real-time road surface perception according to claim 1, characterized in that, The frame is also equipped with a boom (2) controlled by a hydraulic pump station and a hydraulic control valve group (3).

3. The multi-wheeled transport vehicle based on real-time road surface perception according to claim 1, characterized in that, The chassis is also equipped with environmental sensing sensors that are connected to industrial control electromechanical systems.

4. The multi-wheeled transport vehicle based on real-time road surface perception according to claim 1, characterized in that, The chassis is also equipped with an emergency stop button (10) that is connected to the industrial control computer.

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