CN118810839B - Underground auxiliary transport robot iCAR and its control method - Google Patents
Underground auxiliary transport robot iCAR and its control method Download PDFInfo
- Publication number
- CN118810839B CN118810839B CN202410698838.6A CN202410698838A CN118810839B CN 118810839 B CN118810839 B CN 118810839B CN 202410698838 A CN202410698838 A CN 202410698838A CN 118810839 B CN118810839 B CN 118810839B
- Authority
- CN
- China
- Prior art keywords
- icar
- auxiliary transport
- transport robot
- chassis
- underground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D9/00—Tipping wagons
- B61D9/02—Tipping wagons characterised by operating means for tipping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D11/00—Mine cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/021—Measuring and recording of train speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Mining & Mineral Resources (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明提供了一种井下辅运机器人iCAR及其控制方法，涉及井下装备技术领域，包括底盘、舵轮、全向行驶控制系统、全路段视觉导航系统、主从鲁棒多模态导航系统和装卸系统，底盘呈矩形结构；舵轮的数量为四个；全向行驶控制系统设置于底盘，全向行驶控制系统与四个舵轮连接；全路段视觉导航系统设置于底盘，全路段视觉导航系统与全向行驶控制系统连接，用于获取环境信息并将数据帧信息发送至全向行驶控制系统；主从鲁棒多模态导航系统设置于底盘，主从鲁棒多模态导航系统用于获取井下辅运机器人iCAR的位置信息和姿态信息并发送至全向行驶控制系统；装卸系统包括举升机构和与举升机构配合使用的装载容器，举升机构安装于底盘。本发明运输效率高。
The present invention provides an underground auxiliary transport robot iCAR and a control method thereof, which relates to the technical field of underground equipment, including a chassis, a steering wheel, an omnidirectional driving control system, a full-section visual navigation system, a master-slave robust multimodal navigation system and a loading and unloading system, wherein the chassis is a rectangular structure; the number of steering wheels is four; the omnidirectional driving control system is arranged on the chassis, and the omnidirectional driving control system is connected to the four steering wheels; the full-section visual navigation system is arranged on the chassis, and the full-section visual navigation system is connected to the omnidirectional driving control system, for obtaining environmental information and sending data frame information to the omnidirectional driving control system; the master-slave robust multimodal navigation system is arranged on the chassis, and the master-slave robust multimodal navigation system is used to obtain the position information and posture information of the underground auxiliary transport robot iCAR and send it to the omnidirectional driving control system; the loading and unloading system includes a lifting mechanism and a loading container used in conjunction with the lifting mechanism, and the lifting mechanism is installed on the chassis. The present invention has high transportation efficiency.
Description
Technical Field
The invention relates to the technical field of underground equipment, in particular to an underground auxiliary transport robot iCAR and a control method thereof.
Background
The auxiliary transportation is communicated with underground and ground, is a main channel for conveying and communicating underground and aboveground substances, and the safe and stable transportation system can greatly improve the production efficiency and the safety of the coal mine.
However, when the conventional auxiliary transportation mode is used in a down-hole gate with a narrow width, the conventional auxiliary transportation mode is inconvenient to turn around and turn, so that the transportation efficiency is low.
Disclosure of Invention
The first object of the present invention is to provide an underground auxiliary transportation robot iCAR, so as to solve the technical problem that the transportation efficiency of the existing auxiliary transportation mode is low.
The underground auxiliary transport robot iCAR comprises a chassis, steering wheels, an omni-directional travel control system, an all-road-section visual navigation system, a master-slave robust multi-mode navigation system and a loading and unloading system, wherein the chassis is of a rectangular structure, the steering wheels are four in number, the steering wheels are respectively arranged at four corner positions of the chassis, the omni-directional travel control system is arranged on the chassis, the omni-directional travel control system is connected with the four steering wheels and is used for driving the four steering wheels to drive the chassis to travel, the all-road-section visual navigation system is arranged on the chassis, the all-road-section visual navigation system is connected with the omni-directional travel control system and is used for acquiring environment information and sending data frame information to the omni-directional travel control system, the master-slave robust multi-mode navigation system is arranged on the chassis and is used for acquiring position information and attitude information of the underground auxiliary transport robot iCAR and sending the position information to the omni-directional travel control system, and the master-slave robust multi-mode navigation system is used for acquiring position information and attitude information of the underground auxiliary transport robot iCAR and is matched with a lifting mechanism and is arranged on the lifting mechanism and is matched with the lifting mechanism and is arranged on the lifting container.
Further, the lifting mechanism comprises a hydraulic cylinder and a lifting support, wherein a cylinder body of the hydraulic cylinder is mounted on the chassis, the lifting support is fixedly connected with a piston rod of the hydraulic cylinder, one of the lifting support and the loading container is provided with a clamping block, the other of the lifting support and the loading container is provided with a clamping groove, and the clamping groove is matched with the clamping block in a clamping mode.
Further, the loading container includes a case having an open top and a plurality of legs mounted to a bottom of the case, or the loading container includes a support plate and a plurality of legs mounted to a bottom of the support plate, or the loading container includes a case having an open top.
Further, the omnidirectional running control system comprises an electric control device, a hydraulic pump station, a whole vehicle controller and a vehicle-mounted domain controller, wherein the electric control device, the hydraulic pump station, the whole vehicle controller and the vehicle-mounted domain controller are all installed on the chassis, each steering wheel is provided with a steering driving device, the electric control device is connected with each steering driving device, the hydraulic pump station is connected with the hydraulic cylinder, and the whole vehicle controller and the vehicle-mounted domain controller are connected with the electric control device.
The full-road-section visual navigation system comprises a positioning camera, a visible light camera, a virtual track and visual positioning identification plates, wherein the positioning camera is arranged in front of and behind a chassis, the visible light camera is arranged in front of, behind, on the left side and on the right side of the chassis, the virtual track comprises a top rail positioned above a road and a ground rail positioned on the surface of the road, the virtual track is configured to guide the underground auxiliary transport robot iCAR to run, the visual positioning identification plates are arranged in a plurality, the visual positioning identification plates are distributed at intervals along the running path of the underground auxiliary transport robot iCAR, and the positioning camera and the visible light camera are connected with a vehicle-mounted domain controller.
Further, the overhead rail is suspended above the underground auxiliary transport robot iCAR, and the ground rail is sprayed below the underground auxiliary transport robot iCAR.
The master-slave robust multi-mode navigation system further comprises a laser radar, a thermal imaging camera, a wheel speed meter, a positioning communication module, an inertial measurement unit and an inertial navigation antenna, wherein the laser radar is arranged at the left front side and the right rear side of the chassis, the wheel speed meter is arranged at each steering wheel, the thermal imaging camera is arranged at the right front side and the right rear side of the chassis, the positioning communication module and the inertial measurement unit are arranged on the chassis, the inertial navigation antenna is arranged at the left side and the right side of the front side of the chassis, and the laser radar, the thermal imaging camera, the wheel speed meter, the inertial measurement unit and the positioning communication module are all connected with the vehicle-mounted domain controller.
The underground auxiliary transport robot iCAR has the beneficial effects that:
By arranging an underground auxiliary robot mainly composed of a chassis, an omni-directional running control system, an all-road-section visual navigation system, a master-slave robust multi-mode navigation system, a loading and unloading system and four steering wheels, when the underground auxiliary robot iCAR is required to execute auxiliary operation tasks, the all-road-section visual navigation system firstly acquires surrounding environment information of a ground material yard, identifies a loading container to be transported, acquires first path information from the underground auxiliary robot iCAR to the loading container and sends the first path information to the omni-directional running control system, the omni-directional running control system moves the underground auxiliary robot iCAR to the position right below the loading container by utilizing four steering wheels, the loading and unloading system loads the loading container by utilizing a lifting mechanism to execute auxiliary operation tasks, the all-road-section visual navigation system acquires surrounding environment information, acquires second path information from the underground auxiliary robot iCAR to an auxiliary operation destination and sends the data frame information to the omni-directional running control system, the master-slave multi-mode navigation system acquires position information and attitude information of the underground auxiliary robot iCAR, the omni-directional running control system controls the underground auxiliary robot iCAR to move right below the loading and unloading mechanism of the underground auxiliary robot iCAR to the loading and unloading mechanism of the underground auxiliary robot.
This underground auxiliary transport robot iCAR is through setting up the steering wheel in four angular point positions departments on chassis for when its motion to the narrower underground crossheading of width, can directly utilize four steering wheels to carry out back-and-forth movement and left-right movement, effectively improved the drawback that traditional trackless rubber-tyred car need travel to the extra space that the chamber of turning around provided and can carry out the turn around and turn to the operation, the turn around turns to conveniently, thereby has improved conveying efficiency.
In addition, the underground auxiliary transport robot iCAR is provided with the full-road-section visual navigation system and the master-slave robust multi-mode navigation system, so that when an auxiliary transport task is executed, the full-road-section visual navigation system is preferentially utilized for navigation, and then the master-slave robust multi-mode navigation system is utilized for acquiring position information and attitude information, so that stability and safety of underground navigation are improved in an auxiliary mode, the situation that the full-road-section visual navigation system reduces navigation precision of the underground auxiliary transport robot iCAR due to excessive dust and excessive humidity in an underground environment is avoided, and adaptability of the underground auxiliary transport robot iCAR in an underground severe environment is improved.
The second object of the invention is to provide a control method of the underground auxiliary transport robot iCAR, so as to solve the technical problem of lower transport efficiency of the existing auxiliary transport mode.
The control method of the underground auxiliary transport robot iCAR provided by the invention is used for the underground auxiliary transport robot iCAR and comprises the following steps:
The full-road section visual navigation system acquires environment information, identifies a loading container to be transported, acquires first path information and sends the data frame information to the omnidirectional driving control system, wherein the first path information is the path information between the underground auxiliary transport robot iCAR and the loading container to be transported;
the omnidirectional running control system controls the underground auxiliary transport robot iCAR to move to the position right below the loading container, and the loading and unloading system loads the loading container by using the lifting mechanism;
The full-road section visual navigation system acquires environment information, acquires second path information and sends the data frame information to a vehicle-mounted domain controller of the omnidirectional running control system, wherein the second path information is path information between an underground auxiliary transport robot iCAR loaded with a loading container and an auxiliary transport destination;
the master-slave robust multi-mode navigation system acquires position information and attitude information of an underground auxiliary transport robot iCAR;
After receiving the image information and the data frame information, the vehicle-mounted domain controller of the omnidirectional running control system sends the information after fusion processing to the whole vehicle controller;
the whole vehicle controller gives a control instruction according to the whole vehicle state information and the road condition information, so that the underground auxiliary transport robot iCAR moves omnidirectionally;
When the underground auxiliary transport robot iCAR fails, the vehicle-mounted domain controller sends an alarm to the remote control center so as to switch the control mode of the underground auxiliary transport robot iCAR;
the underground auxiliary transport robot iCAR reaches an auxiliary transport destination, and the loading and unloading system unloads the loading container.
Further, the control modes of the underground auxiliary transport robot iCAR include an unmanned mode, a remote control mode, and a short-range remote control mode.
Further, the omni-directional movement mode of the underground auxiliary transport robot iCAR comprises back-and-forth movement and left-and-right movement.
The control method of the underground auxiliary transport robot iCAR has the beneficial effects that:
The control method of the underground auxiliary transport robot iCAR controls the underground auxiliary transport robot iCAR so as to realize the whole-process unmanned transportation from the ground loading of the loading container to the underground unloading, not only has higher transportation efficiency, but also can improve the adaptability of the underground auxiliary transport robot iCAR in the underground severe environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an underground auxiliary robot iCAR according to an embodiment of the present invention;
FIG. 2 is a schematic view of a first type of loading container for use with the underground auxiliary robot iCAR according to an embodiment of the present invention;
FIG. 3 is a schematic view of a second type of loading container for use with the underground auxiliary robot iCAR according to an embodiment of the present invention;
FIG. 4 is a schematic view of a third type of loading container for use with the underground auxiliary robot iCAR according to an embodiment of the present invention;
Fig. 5 is a schematic layout diagram of a positioning camera, a visible light camera, a thermal imaging camera, a laser radar and an inertial navigation antenna of the underground auxiliary robot iCAR according to the embodiment of the present invention;
Fig. 6 is a schematic diagram of a downhole auxiliary robot iCAR according to an embodiment of the present invention traveling along a virtual track;
fig. 7 is a schematic installation diagram of a steering driving device of an underground auxiliary robot iCAR provided by the embodiment of the invention on a steering wheel;
fig. 8 is a schematic structural diagram of a lifting mechanism of an underground auxiliary robot iCAR according to an embodiment of the present invention.
Reference numerals illustrate:
1-chassis, 2-lifting mechanism, 3-electric control device, 4-hydraulic pump station, 5-whole vehicle controller, 6-steering driving device, 7-vehicle-mounted domain controller, 8-positioning communication module, 9-inertia measuring unit, 10-steering wheel, 11-wheel speed meter, 12-box body, 121-top opening, 13-supporting leg, 14-supporting plate, 15-positioning camera, 16-visible light camera, 17-thermal imaging camera, 18-laser radar, 19-inertial navigation antenna, 20-virtual track, 201-day rail, 202-ground rail, 21-visual positioning identification plate, 22-shock absorber, 23-steering mechanism, 24-guiding mechanism, 25-lifting strut and 26-hydraulic cylinder.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the embodiment provides an underground auxiliary robot iCAR, which comprises a chassis 1, steering wheels 10, an omni-directional running control system, an all-road visual navigation system, a master-slave robust multi-mode navigation system and a loading and unloading system, wherein the chassis 1 is in a rectangular structure, the steering wheels 10 are four in number, the steering wheels 10 are respectively arranged at four corner positions of the chassis 1, the omni-directional running control system is arranged on the chassis 1, the omni-directional running control system is connected with the steering wheels 10 and is used for driving the steering wheels 10 to drive the chassis 1 to run, the all-road visual navigation system is arranged on the chassis 1 and is connected with the omni-directional running control system and is used for acquiring environmental information and sending data frame information to the omni-directional running control system, the master-slave robust multi-mode navigation system is arranged on the chassis 1 and is used for acquiring position information and attitude information of the underground auxiliary robot iCAR and sending the position information to the omni-directional running control system, the loading and unloading system comprises a lifting mechanism 2 and a loading and unloading container matched with the lifting mechanism 2, and the lifting mechanism 2 is arranged on the chassis 1.
When the underground auxiliary transport robot iCAR needs to be used for executing an auxiliary transport task, the full-road-section visual navigation system firstly acquires surrounding environment information of a ground stock ground, identifies a loading container to be transported, acquires first path information from the underground auxiliary transport robot iCAR to the loading container and sends the first path information to the omnidirectional running control system, the omnidirectional running control system utilizes four steering wheels 10 to enable the underground auxiliary transport robot iCAR to move to the position right below the loading container, the loading and unloading system loads the loading container by utilizing the lifting mechanism 2 to carry out the auxiliary transport task, the full-road-section visual navigation system acquires surrounding environment information, acquires second path information from the underground auxiliary transport robot iCAR to an auxiliary transport destination and sends the data frame information to the omnidirectional running control system, the master-slave robust multi-mode navigation system acquires position information and attitude information of the underground auxiliary transport robot iCAR, the omnidirectional running control system controls the underground auxiliary transport robot iCAR to move in an omnidirectional manner, and after the underground auxiliary transport robot iCAR reaches the auxiliary transport destination, the lifting mechanism 2 of the auxiliary transport system unloads the container.
According to the underground auxiliary robot iCAR, the steering wheels 10 are arranged at the four corner positions of the chassis 1, so that when the underground auxiliary robot iCAR moves to an underground crossheading with a narrower width, the four steering wheels 10 can be directly utilized to move back and forth and move left and right, the defect that a traditional trackless rubber-tyred vehicle can turn around and turn around only by needing to travel to an extra space provided by a turning-around chamber is effectively overcome, the turning-around is convenient, and the transportation efficiency is improved.
In addition, the underground auxiliary transport robot iCAR is provided with the full-road-section visual navigation system and the master-slave robust multi-mode navigation system, so that when an auxiliary transport task is executed, the full-road-section visual navigation system is preferentially utilized for navigation, and then the master-slave robust multi-mode navigation system is utilized for acquiring position information and attitude information, so that stability and safety of underground navigation are improved in an auxiliary mode, the situation that the full-road-section visual navigation system reduces navigation precision of the underground auxiliary transport robot iCAR due to excessive dust and excessive humidity in an underground environment is avoided, and adaptability of the underground auxiliary transport robot iCAR in an underground severe environment is improved.
In this embodiment, as shown in fig. 8, the lifting mechanism 2 includes a hydraulic cylinder 26 and a lifting prop 25, wherein a cylinder body of the hydraulic cylinder 26 is mounted on the chassis 1, the lifting prop 25 is fixedly connected to a piston rod of the hydraulic cylinder 26, the lifting prop 25 is provided with a clamping block, and the loading container is provided with a clamping groove in clamping fit with the clamping block.
When the loading container needs to be loaded, the underground auxiliary transport robot iCAR moves to the position right below the loading container, the hydraulic cylinder 26 of the lifting mechanism 2 acts to drive the lifting support column 25 to extend, the clamping block arranged on the lifting support column 25 is matched with the clamping groove arranged on the loading container in a clamping mode, after limiting and fixing of the lifting support column 25, the underground auxiliary transport robot iCAR drives the loading container borne by the lifting support column 25 to an unloading position, and in the process that the underground auxiliary transport robot iCAR transports the loading container to the unloading position, the lifting support column 25 is kept in an extending state all the time, so that the loading container is located above the ground and cannot be in contact with the ground. When the underground auxiliary transport robot iCAR drives the loading container to move to the unloading position and the loading container needs to be unloaded, the hydraulic cylinder 26 drives the lifting support column 25 to retract, so that the loading container descends to the ground, and the unloading of the loading container can be realized by releasing the clamping limit of the clamping block and the clamping groove between the lifting support column 25 and the loading container.
This arrangement of the lifting mechanism 2 results in a stable lifting process and a reliable lifting force. Moreover, when the loading container is transferred from the loading position to the unloading position for unloading, only one extending and one retracting action of the lifting support column 25 is required in the whole process, and the action flow is less.
In other embodiments, the latch may be provided to the loading container and the slot may be provided to the lifting prop 25.
As shown in fig. 2, in the present embodiment, the loading container may be a case 12 having an opening 121 at the top and a plurality of legs 13 mounted to the bottom of the case 12.
In use, this form of loading container can be used to place material in the bin 12 through the open top 121, and the risk of material spillage is reduced by the containment of the material by the bin 12. Moreover, the arrangement of the supporting legs 13 also enables a certain space to be formed between the box body 12 and the placing surface, so that the underground auxiliary transport robot iCAR can move to the lower side of the box body 12 to load the box body, and the loading efficiency is high.
As shown in fig. 3, in this embodiment, the loading container may be a support plate 14 and a plurality of legs 13 mounted on the bottom of the support plate 14.
When the loading container in the form is used, materials can be directly fixed on the supporting plate 14, so that the loading purpose can be achieved when the structural size of the materials is large, and the loading requirement of large-size materials is met.
As shown in fig. 4, in the present embodiment, the loading container may also be only the case 12 having the top opening 121. That is, the loading container is now a container structure with an open top 121.
The loading container in this form has a large capacity when in use and is capable of loading a large quantity of material at a time.
Wherein for the loading container shown in fig. 4, it can be placed on the chassis 1 by means of a spreader to connect with the lifting column 25 of the lifting mechanism 2, or a supporting frame is provided below the loading container, so that the loading container has a certain height with respect to the ground, so that the underground auxiliary transport robot iCAR can move to below it to load it.
It will be appreciated that it is also possible for the loading container shown in fig. 4 to be placed on the support plate 14 of the loading container shown in fig. 3, in which case the two loading containers are stacked together to form a loading container combination, the final configuration of which can be seen with reference to fig. 1, which configuration comprises two loading containers of the container type shown in fig. 4, wherein the transfer of the loading container of the container type shown in fig. 4 can be seen as a transfer of the loading container of the transport plate type shown in fig. 3.
Specifically, when the auxiliary transport task is executed, the underground auxiliary transport robot iCAR can be moved to the lower part of the loading container combination, the lifting support posts 25 extend out to be matched with the support plates 14 in a clamping manner, so that the loading container combination is limited and fixed on the lifting support posts 25, the loading container combination is lifted up, the auxiliary transport purpose is achieved, when the underground auxiliary transport robot iCAR moves to the unloading position, the lifting support posts 25 are lowered, the supporting legs 13 of the loading container of the transport plate type are contacted with the ground, and the loading container combination is placed at the unloading position, so that the unloading purpose is achieved. The container type loading container shown in fig. 4 can be transported at one time by using the loading container combination to assist in transporting the container type loading containers shown in fig. 4, and the transportation efficiency is high.
Referring to fig. 1, in the embodiment, the omnidirectional driving control system includes an electric control device 3, a hydraulic pump station 4, a vehicle controller 5 and a vehicle-mounted domain controller 7, wherein the electric control device 3, the hydraulic pump station 4, the vehicle controller 5 and the vehicle-mounted domain controller 7 are all installed on a chassis 1, each steering wheel 10 is provided with a steering driving device 6, the electric control device 3 is connected with each steering driving device 6, the hydraulic pump station 4 is connected with a hydraulic cylinder 26, and the vehicle controller 5 and the vehicle-mounted domain controller 7 are all connected with the electric control device 3.
In the omnidirectional running control system, the electric control device 3 is used for supplying power to the whole system, the electric control device 3 comprises a brake lifting motor which is used as an internal pressure source of a hydraulic cylinder 26, the steering driving device 6 is used for realizing steering driving of steering wheels 10, the whole vehicle controller 5 is a control center of the whole underground auxiliary transport robot iCAR, and the vehicle-mounted domain controller 7 is used for integrating part of functions of the underground auxiliary transport robot iCAR into one controller so as to reduce the number of electronic controller units.
When the omnidirectional driving control system receives data frame information sent by the full road section visual navigation system, wherein the data frame information is specifically received by the vehicle-mounted domain controller 7, the steering driving device 6 is controlled by the electric control device 3, so that the steering wheel 10 at the corresponding position is steered and acted to enable the underground auxiliary transportation robot iCAR to move to the position of the loading container, and meanwhile, the electric control device 3 also controls the braking lifting motor of the hydraulic pump station 4 to act so as to provide a pressure source for the hydraulic cylinder 26, and the hydraulic cylinder 26 can drive the lifting strut 25 to stretch out for loading.
In this embodiment, the electric control device 3 includes a high-voltage power distribution unit, which is responsible for power distribution and management of the underground auxiliary robot iCAR. The steering wheel 10 is provided with a driving motor and a steering motor, and the driving motor and the steering motor are connected with the electric control device 3 and controlled by the electric control device 3.
As shown in fig. 7, the steering driving device 6 comprises a damper 22, a steering mechanism 23 and a guiding mechanism 24, wherein the steering mechanism 23 is arranged on the steering wheel 10 and is connected with a steering motor, the steering motor drives the wheel body of the steering wheel 10 to steer through the steering mechanism 23, the guiding mechanism 24 is arranged on the steering wheel 10 and is used for guiding the steering wheel 10 during running, one end of the damper 22 is connected with the steering wheel 10, and the other end of the damper 22 is connected to the chassis 1 and is used for damping the steering wheel 10 during running.
As shown in fig. 5 and 6, in the present embodiment, the full road section visual navigation system includes a positioning camera 15, a visible light camera 16, a virtual rail 20 and visual positioning identification plates 21, wherein the positioning camera 15 is disposed in front of and behind the chassis 1, the visible light camera 16 is disposed in front of, behind, left of and right of the chassis 1, the virtual rail 20 includes a top rail 201 located above a road and a ground rail 202 located on a road surface, the virtual rail 20 is configured to guide the underground auxiliary transport robot iCAR to travel, the number of the visual positioning identification plates 21 is plural, the plural visual positioning identification plates 21 are arranged at intervals along a travel path of the underground auxiliary transport robot iCAR, and the positioning camera 15 and the visible light camera 16 are connected with the vehicle-mounted domain controller 7.
When the auxiliary transportation task is executed, the full-road section visual navigation system acquires the surrounding environment information of the ground material field by using the positioning camera 15 and the visible light camera 16, identifies the loading container to be transported, acquires the first path information between the loading container and the loading container, and sends the first path information to the vehicle-mounted domain controller 7 of the omnidirectional driving control system, the vehicle-mounted domain controller 7 further controls the steering wheel 10 to act through the electric control device 3, so that the underground auxiliary transportation robot iCAR moves to the lower part of the loading container to load the loading container, and when the loading of the loading container is completed, the full-road section visual navigation system acquires the surrounding environment information of the ground material field by using the positioning camera 15 and the visible light camera 16 again, acquires the second path information between the loading container and the auxiliary transportation destination and the road end information, and sends the data frame information to the vehicle-mounted domain controller 7 again. Wherein the positioning camera 15 and the visible light camera 16 can acquire the first path information and the second path information by recognizing the virtual track 20. By visually locating the identification plate 21, the current position of the underground auxiliary transport robot iCAR can be determined.
The positioning camera 15 and the visible light camera 16 are arranged, so that the underground auxiliary robot iCAR can smoothly travel to a required position, and the visual positioning signboard 21 is assisted, so that the underground auxiliary robot iCAR can be positioned. The form of the virtual track 20 is formed by combining the top rail 201 and the ground rail 202, so that the situation that the ground rail 202 cannot be successfully identified due to severe underground environment can be avoided, and the working stability and safety of the underground auxiliary transport robot iCAR in the embodiment are effectively improved.
With continued reference to fig. 6, in this embodiment, the ceiling rail 201 is suspended above the underground auxiliary robot iCAR, and the ground rail 202 is sprayed below the underground auxiliary robot iCAR.
This arrangement of the headrail 201 by means of suspension facilitates adjustment. The form of the ground rail 202 formed by the spraying mode can reduce the interference caused by the underground auxiliary transport robot iCAR in the driving process on the premise of ensuring effective identification, and ensures the smoothness of the driving of the underground auxiliary transport robot iCAR.
With continued reference to fig. 5, in this embodiment, the master-slave robust multi-mode navigation system also includes the positioning camera 15 and the visible light camera 16, on the basis of which, the master-slave robust multi-mode navigation system further includes a laser radar 18, a thermal imaging camera 17, a wheel speed meter 11, a positioning communication module 8, an inertial measurement unit 9 and an inertial navigation antenna 19, wherein the laser radar 18 is disposed at the left front and the right rear of the chassis 1, the wheel speed meter 11 is disposed at each steering wheel 10, the thermal imaging camera 17 is disposed at the right front and the right rear of the chassis 1, the positioning communication module 8 and the inertial measurement unit 9 are disposed at the chassis 1, the inertial navigation antenna 19 is disposed at the left and right sides in front of the chassis 1, and the laser radar 18, the thermal imaging camera 17, the wheel speed meter 11, the inertial measurement unit 9 and the positioning communication module 8 are all connected with the vehicle-mounted domain controller 7.
When the auxiliary transport task is executed, the master-slave robust multi-mode navigation system is tightly coupled with the inertial measurement unit 9 by utilizing the laser radar 18, and is assisted by SLAM (Simultaneous localization AND MAPPING, instant positioning and map building) technology, so that the three-dimensional real-time positioning and attitude estimation of the underground auxiliary transport robot iCAR are realized. The laser radar 18 is arranged, can timely remind when encountering obstacles during running and ensure safety during running, the wheel speed meter 11 is arranged, speed detection of the underground auxiliary transport robot iCAR during running can be achieved, the thermal imaging camera 17 is arranged, detection robustness for a person is higher, the thermal imaging camera 17 is arranged right in front of and right behind the chassis 1, induction of the person can still be achieved after the underground auxiliary transport robot iCAR turns around, the inertial navigation antenna 19 does not depend on external information, position judgment of the underground auxiliary transport robot iCAR is accurate, and the inertial navigation antenna 19 can form a navigation coordinate system based on the underground auxiliary transport robot iCAR.
In this embodiment, the positioning communication module 8 is a 5G communication module.
In addition, the embodiment also provides a control method of the underground auxiliary transport robot iCAR, which is used for the underground auxiliary transport robot iCAR and comprises the following steps:
The full-road section visual navigation system acquires environment information, identifies a loading container to be transported, acquires first path information and sends the data frame information to the omnidirectional driving control system, wherein the first path information is the path information between the underground auxiliary transport robot iCAR and the loading container to be transported;
The omnidirectional running control system controls the underground auxiliary transport robot iCAR to move to the position right below the loading container, and the loading and unloading system loads the loading container by using the lifting mechanism 2;
The full-road section visual navigation system acquires environment information, acquires second path information and sends the data frame information to a vehicle-mounted domain controller 7 of the omnidirectional running control system, wherein the second path information is path information between an underground auxiliary transport robot iCAR loaded with a loading container and an auxiliary transport destination;
the master-slave robust multi-mode navigation system acquires position information and attitude information of an underground auxiliary transport robot iCAR;
After receiving the image information and the data frame information, the vehicle-mounted domain controller 7 of the omnidirectional running control system sends the information after fusion processing to the whole vehicle controller 5;
The whole vehicle controller 5 gives a control instruction according to the whole vehicle state information and the road condition information, so that the underground auxiliary transport robot iCAR moves omnidirectionally;
When the underground auxiliary transport robot iCAR fails, the vehicle-mounted domain controller 7 sends an alarm to a remote control center so as to switch the control mode of the underground auxiliary transport robot iCAR;
the underground auxiliary transport robot iCAR reaches an auxiliary transport destination, and the loading and unloading system unloads the loading container.
The control method of the underground auxiliary transport robot iCAR controls the underground auxiliary transport robot iCAR so as to realize the whole-process unmanned transportation from the ground loading of the loading container to the underground unloading, not only has higher transportation efficiency, but also can improve the adaptability of the underground auxiliary transport robot iCAR in the underground severe environment.
In this embodiment, the control modes of the underground auxiliary robot iCAR may include an unmanned mode, a remote control mode, and a short-range remote control mode. The running mode of the underground auxiliary transport robot iCAR is expanded through the arrangement, so that the underground auxiliary transport robot iCAR can be timely adjusted when faults occur, and smooth operation of auxiliary transport tasks is guaranteed.
In this embodiment, the omni-directional movement mode of the underground auxiliary robot iCAR includes forward and backward movement and left and right movement. The device can well meet the auxiliary transportation requirement under a narrow underground space.
As a specific embodiment, the method for controlling the underground auxiliary transport robot iCAR includes:
When an auxiliary transportation task is executed, the full-road-section visual navigation system acquires surrounding environment information of a ground stock ground, identifies a loading container to be transported, acquires path information and sends data frame information to the omnidirectional driving intelligent control system;
Secondly, the omnidirectional running control system moves to the position right below the loading container by utilizing the steering wheel 10 assisted by the ground global high-precision map, and the loading and unloading system completes the loading task by using the lifting mechanism 2 to carry out the assisted transportation task;
Sensing the surrounding environment by the full-road-section visual navigation system, acquiring path information and road end information, and transmitting data frame information to a vehicle-mounted domain controller 7 in the omnidirectional driving control system;
step four, the master-slave robust multi-mode navigation system is tightly coupled with the inertial measurement unit 9 by utilizing the laser radar 18 and assisted by SLAM technology, so that the three-dimensional real-time positioning and attitude estimation of the vehicle are realized;
Step five, the vehicle-mounted domain controller 7 receives the image information and the data frame information, performs fusion processing, and sends the processed information to the whole vehicle controller 5;
Step six, the whole vehicle controller 5 gives instructions according to the whole vehicle state information, road condition information and the vehicle-mounted accessory state, the executing mechanism completes running, steering and braking, and the steering wheel 10 completes omnidirectional movement;
step seven, when the underground auxiliary robot iCAR fails, the vehicle-mounted domain controller 7 timely sends an alarm to a remote control center, and the remote control center is switched among an unmanned driving mode, a remote control mode and a short-range remote control mode;
And step eight, when the underground auxiliary transport robot iCAR reaches an auxiliary transport destination, the loading and unloading system unloads the loading container by using the lifting mechanism 2 and returns to complete an auxiliary transport task.
In the second step, the omnidirectional driving control system starts the loading and unloading system by braking the lifting motor, the hydraulic cylinder 26 of the lifting mechanism 2 lifts the lifting strut 25 to lift the loading container, the self-loading task is completed by matching the clamping block of the lifting strut 25 with the clamping groove of the loading container, the loaded underground auxiliary transportation robot iCAR starts to execute the auxiliary transportation task, the ground global high-precision map is generated by the master-slave robust multi-mode navigation system, data can be stored in the master-slave robust multi-mode navigation system in advance, and when the underground auxiliary transportation robot iCAR operates, the full-road visual navigation system and the master-slave robust multi-mode navigation system can acquire data update data in real time, so that the ground global high-precision map is constructed.
In the third step, the positioning camera 15 and the visible light camera 16 respectively detect the virtual track 20 and the visual positioning signboard 21 in real time to obtain path information and road end information, and send data frame information to the vehicle-mounted domain controller 7 in the omnidirectional driving control system, wherein the road end information comprises people, obstacles and the like, and also comprises the virtual track 20 and the visual positioning signboard 21.
In the fourth step, the multiple beams of laser emitted by the laser radar 18 can acquire the point cloud information of the surrounding environment, construct an underground three-dimensional point cloud map, tightly couple the laser radar 18 with the inertial measurement unit 9, and assist in SLAM technology to realize three-dimensional real-time positioning and attitude estimation of the vehicle, when the laser radar 18 detects obstacles and pedestrians or the underground auxiliary transport robot iCAR advances to a narrow roadway and a gateway, the omnidirectional running control system timely adjusts four steering wheels 10 according to the positioning and the attitude of the laser radar, performs forward and backward movement and left and right movement, realizes transverse two-dimensional translation and rapid switching running function, cancels a turning chamber in the underground roadway, and simplifies the transport system.
In the sixth step, the vehicle controller 5 issues control information to the driving motor, the steering motor and the brake lifting motor to realize speed regulation, steering and lifting braking of the vehicle, and the vehicle-mounted accessory refers to a positioning camera 15, a visible light camera 16, a thermal imaging camera 17, a laser radar 18 and an inertial navigation antenna 19.
In the eighth step, the omnidirectional driving control system starts the loading and unloading system by braking the lifting motor, the hydraulic cylinder 26 of the lifting mechanism 2 descends the lifting support column 25 to place the loading container, the clamping block of the lifting support column 25 is released from the clamping groove of the loading container, the autonomous unloading task is completed, the unloaded underground auxiliary transport robot iCAR returns, and the auxiliary transport task is completed.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
In the above embodiments, descriptions of orientations such as "upper", "lower", "front", "rear", "left", "right", "side", and the like are based on the drawings.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410698838.6A CN118810839B (en) | 2024-05-31 | 2024-05-31 | Underground auxiliary transport robot iCAR and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410698838.6A CN118810839B (en) | 2024-05-31 | 2024-05-31 | Underground auxiliary transport robot iCAR and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118810839A CN118810839A (en) | 2024-10-22 |
| CN118810839B true CN118810839B (en) | 2025-02-25 |
Family
ID=93069328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410698838.6A Active CN118810839B (en) | 2024-05-31 | 2024-05-31 | Underground auxiliary transport robot iCAR and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118810839B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022408A (en) * | 2021-04-15 | 2021-06-25 | 中国矿业大学 | 360-degree self-adaptive loading and unloading unmanned mining dump truck and control method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH351626A (en) * | 1956-08-10 | 1961-01-31 | Ver Westdeutsche Waggonfab | Dump truck |
| US8240969B2 (en) * | 2008-08-28 | 2012-08-14 | Duratray Ltda. | Cargo train wagon for the transportation of bulk material |
| EP3409554A1 (en) * | 2017-06-01 | 2018-12-05 | Walo Bertschinger AG | Rail vehicle with all-wheel drive |
| CN212796879U (en) * | 2020-09-04 | 2021-03-26 | 新疆德泉矿山机械制造有限公司 | High-toughness light-weight heavy-load mine car |
| CN216332021U (en) * | 2021-10-12 | 2022-04-19 | 程雷雷 | Colliery excavation transportation equipment convenient to remove and have shockproof function |
| CN114251116A (en) * | 2021-12-21 | 2022-03-29 | 袁文鸿 | A mine dust-suppressing mine truck utilizing mine wind |
| CN114906178B (en) * | 2022-04-01 | 2023-10-13 | 中车长江运输设备集团有限公司 | Bidirectional side turning railway wagon system |
| CN117142390A (en) * | 2023-09-01 | 2023-12-01 | 山西天地煤机装备有限公司 | Auxiliary material self-loading and unloading device for coal mine tunneling working face |
-
2024
- 2024-05-31 CN CN202410698838.6A patent/CN118810839B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022408A (en) * | 2021-04-15 | 2021-06-25 | 中国矿业大学 | 360-degree self-adaptive loading and unloading unmanned mining dump truck and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118810839A (en) | 2024-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3842605B1 (en) | Intelligent parking lot and cluster transport robot thereof | |
| CN105888338B (en) | UWB-positioning-based intelligent automobile transfer robot and control method thereof | |
| CN206128772U (en) | Intelligent automobile transfer robot based on UWB location | |
| CN109625123B (en) | Spliced type carrying vehicle, carrying system and carrying method | |
| WO2016197610A1 (en) | Agv comb-type transfer robot | |
| CN106927395A (en) | Automatic guided vehicle and unmanned handling system | |
| CN203512793U (en) | Container automation dock loading and unloading system | |
| WO2018076836A1 (en) | Aerial railway-based multimodal transport interconnecting system | |
| CN105905809A (en) | Method for controlling container handling trolleys | |
| CN104149875A (en) | Laser navigation forklift type AGV | |
| CN110498059A (en) | Large-scale heavy-duty parts horizontal docking assembly 6 degrees of freedom parallel attitude adjustment platform | |
| KR20220067668A (en) | Smart container shuttle | |
| CN113085917B (en) | A wheel-rail compound unmanned underground continuous transport vehicle and its control method | |
| CN206720664U (en) | Automatic guided vehicle and unmanned handling system | |
| CN109025439A (en) | Intelligent robot for carrying automobiles | |
| CN110843648A (en) | A train equipment box automatic assembly system | |
| US12214978B1 (en) | Platform apparatuses | |
| CN118810839B (en) | Underground auxiliary transport robot iCAR and its control method | |
| US20250058469A1 (en) | Mobile Robot System for Handling Railway IBC | |
| CN113120119A (en) | Transportation and storage separable automatic driving logistics system and operation method | |
| CN113104768A (en) | Reach forklift AGV | |
| CN210942034U (en) | Outdoor robot | |
| CN108179906B (en) | Three-dimensional intelligent parking lot and parking method thereof | |
| US20240035825A1 (en) | Navigation Alignment Systems and Methods for a Material Handling Vehicle | |
| CN118458387A (en) | Intelligent transportation robot and transportation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |