CN113293814A - Control method and control system of remote control bulldozer in mining operation - Google Patents
Control method and control system of remote control bulldozer in mining operation Download PDFInfo
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- CN113293814A CN113293814A CN202110594954.XA CN202110594954A CN113293814A CN 113293814 A CN113293814 A CN 113293814A CN 202110594954 A CN202110594954 A CN 202110594954A CN 113293814 A CN113293814 A CN 113293814A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
- E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a control method and a control system of a remote control bulldozer in mining operation, and relates to the technical field of engineering machinery. The control method of the remote control bulldozer in the mining operation comprises the following steps: setting an operation area of the remote control bulldozer; when the remote control bulldozer receives the radio frequency signal of the unmanned mine card, the remote control bulldozer is controlled to enter an operation preparation state, and simultaneously, a signal is sent to a remote control console which reminds an operator of the existence of the unmanned mine card entering an operation area; when the remote control bulldozer in the operation preparation state receives the signal that the speed of the unmanned mine card is zero and the unloading of the materials on the unmanned mine card is finished, the remote control bulldozer is controlled to enter the operation state, and meanwhile, the signal is sent to the remote control console which reminds an operator to remotely control the operation of the remote control bulldozer. The control method of the remote control bulldozer in the mining operation reduces the labor intensity of operators; the fuel consumption is saved, and the service life of the remote control bulldozer is prolonged.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a control method and a control system of a remote control bulldozer in mining operation.
Background
Traditional mine remote control bull-dozer, it is generally that a remote control panel matches with a remote control bull-dozer and operates, and the mine operating mode has a plurality of operation faces, all can distribute the remote control bull-dozer on every operation face, just needs to have a plurality of remote control operation panels to control, and the remote control bull-dozer on the different operation faces is used for the material of unmanned ore deposit card uninstallation, moves the retaining wall outside.
The time interval for carrying and conveying the unmanned ore cards is long, so that the operation interval time of the remote control bulldozer is also long, and the waiting time of operators is also long; and operating personnel can't learn very first time whether have unmanned mine card to enter into the operation region, even get into the operation region, when the unloading of material finishes also need pay attention to constantly to in time operate the remote control bull-dozer and carry out the material and remove.
Disclosure of Invention
The invention aims to provide a control method and a control system of a remote control bulldozer in mining operation, so as to reduce the labor intensity of operators, reduce the waiting time of the remote control bulldozer and save the fuel consumption.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method of a remote control bulldozer in mining operation comprises the following steps:
setting an operation area of the remote control bulldozer;
after the remote control bulldozer receives a radio frequency signal of an unmanned mine card, the remote control bulldozer is controlled to enter an operation preparation state, and meanwhile, a signal is sent to a remote control console, and the remote control console reminds an operator that the unmanned mine card enters the operation area;
and when the remote control bulldozer in the operation preparation state receives a signal that the speed of the unmanned mine card is zero and the unloading of the materials on the unmanned mine card is finished, controlling the remote control bulldozer to enter an operation state, and simultaneously sending a signal to the remote control console, wherein the remote control console reminds an operator to carry out operation remote control on the remote control bulldozer.
Optionally, after the remote control bulldozer in the operation preparation state receives the signal that the speed of the unmanned mine card is zero and the unloading of the material on the unmanned mine card is completed, the step of controlling the remote control bulldozer to enter the operation state further includes:
the remote control bulldozer detects whether the radio frequency signal of the unmanned mine card disappears, and if yes, the remote control bulldozer is controlled to enter an operation state; if not, the remote control bulldozer is continuously in a work preparation state.
Optionally, when the remote control bulldozer detects radio frequency signals of more than two unmanned mine cards simultaneously, according to a preset code priority decision rule, sequentially issuing target unloading points and path planning navigation information to the more than two unmanned mine cards, and unloading the more than two unmanned mine cards at respective corresponding target unloading points and leaving the operation area according to the respective received target unloading points and path planning navigation information and the respective path planning navigation information in sequence.
Optionally, when the radio frequency signal of the unmanned mine card is detected after the remote control bulldozer enters an operation state, controlling the unmanned mine card to wait in a safe area; and after the current operation of the remote control bulldozer is finished, controlling the remote control bulldozer to enter a designated area for waiting, and then controlling the unmanned mine cards to unload at the corresponding target unloading points according to the respective path planning navigation information and leave the operation area.
Optionally, a plurality of the remote control bulldozers are arranged in different work areas.
Optionally, the method for the operator to remotely control the operation of the remote control bulldozer comprises the following steps:
and switching to a communication link of the remote control bulldozer which sends a signal to the remote control console, and controlling the remote control bulldozer to work through the remote control console.
Optionally, the remote control console can only be in communication connection with one remote control bulldozer at the same time, and the switched remote control bulldozer retracts to a specified area and turns off the bulldozer.
Optionally, the remote control console can control the remote bulldozer and the unmanned mine card emergency stop.
A control system of a remote control bulldozer in mining operation adopts any one of the control methods of the remote control bulldozer in mining operation, and comprises the remote control bulldozer, an unmanned mine card and a remote control console, wherein the remote control bulldozer and the unmanned mine card are in wireless communication connection with the remote control console;
the remote control bulldozer comprises a wireless radio frequency receiving device and a signal receiving device, the unmanned mine card comprises a wireless radio frequency transmitting device, a speed detection module, a material unloading switch and a signal sending device, and the wireless radio frequency receiving device is used for receiving radio frequency signals transmitted by the wireless radio frequency transmitting device;
the speed detection module is used for detecting the speed of the unmanned mine card, the material unloading switch is used for controlling the hopper of the unmanned mine card to unload materials, and when the speed detection module detects that the speed of the unmanned mine card is zero and the material unloading switch completes one on-off period, the signal sending device sends a signal to the signal receiving device.
Optionally, the remote control console includes a signal switching device and an instruction issuing device, the signal switching device is configured to switch communication link signals of different remote control bulldozers and communication link signals of different unmanned mine cards, and the instruction issuing device is configured to control the remote control bulldozers and the unmanned mine cards, which are in communication connection with the remote control console, to operate.
Optionally, the remote control console further comprises an emergency stop button, and the emergency stop button is used for controlling the remote control bulldozer and the unmanned mine card which are in communication connection with the remote control console to stop emergently.
Optionally, the control system for remotely controlling the bulldozer in the mining operation further comprises a remote operation platform, and the remote operation platform is in wireless communication connection with the remote operation console, the remote control bulldozer and the unmanned mine card.
The invention has the beneficial effects that:
the invention provides a method for controlling a remote control bulldozer in mining operation, which is characterized in that after the remote control bulldozer in an operation area receives a radio frequency signal of an unmanned mine card, the remote control bulldozer is controlled to enter an operation preparation state, and simultaneously, a signal is sent to a remote control console, and the remote control console reminds an operator of the existence of the unmanned mine card entering the operation area. When the remote control bulldozer in the operation preparation state receives the signal that the speed of the unmanned mine card is zero and the unloading of the materials on the unmanned mine card is finished, the remote control bulldozer is controlled to enter the operation state, and meanwhile, the signal is sent to the remote control console to remind an operator of remotely controlling the operation of the remote control bulldozer. The control method of the remote control bulldozer in the mining operation provided by the invention improves the operation efficiency, avoids the fatigue caused by long-time checking of operators, and reduces the labor intensity of the operators; the waiting time of the remote control bulldozer is reduced, the fuel consumption is saved, the engine of the remote control bulldozer is prevented from being in an idle state for a long time, the abrasion is reduced, and the service life of the remote control bulldozer is prolonged.
The invention provides a control system of a remote control bulldozer in mining operation, which adopts the control method of the remote control bulldozer in mining operation, and the remote control bulldozer and an unmanned mine card are in wireless communication connection with a remote control console. When the radio frequency receiving device of the remote control bulldozer receives the radio frequency signal of the radio frequency transmitting device on the unmanned mine card, the fact that the unmanned mine card enters the operation area is indicated, the remote control bulldozer sends a signal to the remote control console, and the remote control console reminds an operator of preparation work. When the unmanned mine card stops walking to start unloading, and after unloading is finished, the signal sending device sends a signal to the signal receiving device of the remote control bulldozer, the remote control bulldozer receives the signal and enters a working state, and sends the signal to the remote control console, and the remote control console reminds an operator to carry out operation remote control on the remote control bulldozer. The control system of the remote control bulldozer in the mining operation reduces the waiting time of the remote control bulldozer and operators, saves fuel consumption and reduces the labor intensity of the operators.
Drawings
FIG. 1 is a schematic diagram of a control system for remotely controlling a bulldozer in mining operation according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for controlling a remote bulldozer in mining operation according to a second embodiment of the present invention.
In the figure:
1. a remote control console; 2. remotely controlling the bulldozer; 3. an unmanned mine card; 4. a remote operation platform; 5. a 5G network;
11. a signal switching device; 12. an instruction issuing device; 21. a wireless radio frequency receiving device; 31. a wireless radio frequency transmitting device; 32. and (6) a material unloading switch.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Example one
As shown in fig. 1, the present embodiment provides a control system for a remote control bulldozer in mining operation, which includes a remote control bulldozer 2, an unmanned mine card 3 and a remote control console 1, wherein the remote control bulldozer 2 and the unmanned mine card 3 are both in wireless communication connection with the remote control console 1. The remote control bulldozer 2 comprises a wireless radio frequency receiving device 21 and a signal receiving device, the unmanned mine card 3 comprises a wireless radio frequency transmitting device 31, a speed detection module, a material unloading switch 32 and a signal sending device, and the wireless radio frequency receiving device 21 is used for receiving radio frequency signals transmitted by the wireless radio frequency transmitting device 31. The speed detection module is used for detecting the speed of the unmanned mine card 3, the material unloading switch 32 is used for controlling the hopper of the unmanned mine card 3 to unload materials, and when the speed detection module detects that the speed of the unmanned mine card 3 is zero and the material unloading switch 32 completes one on-off period, the signal sending device sends a signal to the signal receiving device.
In the control system of the remote control bulldozer in the mining operation provided by the embodiment, the remote control bulldozer 2 and the unmanned mine card 3 are in wireless communication connection with the remote control console 1. When the radio frequency receiving device 21 of the remote control bulldozer 2 receives the radio frequency signal of the radio frequency transmitting device 31 on the unmanned mine card 3, it is indicated that the unmanned mine card 3 enters the working area, the remote control bulldozer 2 sends a signal to the remote control console 1, and the remote control console 1 reminds an operator of preparation. When the unmanned mine card 3 stops walking to start unloading, and after unloading is finished, a signal is sent to a signal receiving device of the remote control bulldozer 2 through a signal sending device, the remote control bulldozer 2 enters a working state after receiving the signal, and sends a signal to the remote control console 1, and the remote control console 1 reminds an operator to carry out operation remote control on the remote control bulldozer 2. The control system of the remote control bulldozer in the mining operation reduces the waiting time of the remote control bulldozer 2 and operators, saves the fuel consumption and reduces the labor intensity of the operators.
In this embodiment, a plurality of remote bulldozers 2 and unmanned mine cards 3 are provided, the plurality of remote bulldozers 2 are distributed in different operation areas on a mine operation surface, and the plurality of unmanned mine cards 3 convey materials to different operation areas or the same operation area. The remote control bulldozer 2 and the unmanned mine card 3 are both in communication connection with the remote control console 1 through a 5G network 5. When the remote control bulldozer 2 receives the radio frequency signal of the unmanned mine card 3, the remote control bulldozer 2 is automatically powered on and enters an operation preparation state. When the remote control bulldozer 2 receives a signal that the speed of the unmanned mine card 3 is zero and the unloading of the material of the unmanned mine card 3 is completed, the remote control bulldozer 2 starts the engine and enters an operation state.
Certainly, in other embodiments, a material lifting detection device may also be disposed on the unmanned mine card 3, and the material lifting detection device is disposed at the opening and closing position of the hopper of the unmanned mine card 3, and is mainly used for acquiring the lifting and leveling working states of the hopper, making a judgment whether the discharging is completed according to the condition of the material periodic opening and closing signal, and further driving the remote-control bulldozer 2 in the working area to enter the working state, thereby saving the labor intensity of the operator and improving the operating efficiency of the operator.
In order to avoid collision between the remote control bulldozer 2 and the unmanned mine card 3 in the operation area, after the remote control bulldozer 2 receives a signal that the speed of the unmanned mine card 3 is zero and the unloading of the material of the unmanned mine card 3 is completed, the engine is started again after the radio frequency signal of the unmanned mine card 3 disappears (namely after the unmanned mine card 3 leaves the operation area). Of course, in other embodiments, the traveling route of the remote control bulldozer 2 in the working area and the traveling route of the unmanned mine card 3 may be set to be different routes, so as to avoid collision between the two routes.
Optionally, the remote control console 1 comprises a signal switching device 11 and an instruction issuing device 12, the signal switching device 11 is used for switching communication link signals of different remote control bulldozers 2 and communication link signals of different unmanned mine cards 3, and the instruction issuing device 12 is used for controlling the actions of the remote control bulldozers 2 and the unmanned mine cards 3 which are in communication connection with the remote control console 1. In order to ensure the operation safety, the signal switching device 11 can only ensure the communication with one remote control bulldozer 2 at the same time, and other remote control bulldozers 2 which do not communicate and exceed the communication threshold value actively shut down after retracting to the designated area of the working area so as to save the waiting time and the idle time and reduce the fuel consumption and the mechanical wear. The command issuing device 12 issues commands for controlling the remote control bulldozer 2 to walk, steer, brake, blade operation and ripper operation, and the command issuing device 12 controls the remote control bulldozer 2 to transfer the material to the outer side of the retaining wall.
In this embodiment, the remote control console 1 further includes a video display device, a sound display device, and a light display device, and is used to sense visual and auditory information of the remote control bulldozer 2 on site and provide the information to the operator.
Optionally, the remote control console 1 further comprises an emergency stop button for controlling emergency stop of the remote control bulldozer 2 and the unmanned mine card 3 which are in communication connection with the remote control console 1. When the unmanned mine card 3 has navigation deviation or in an emergency, the remote control bulldozer 2 and the unmanned mine card 3 are emergently stopped by pressing the emergency stop button to further ensure safety. After the remote control bulldozer 2 and the unmanned mine card 3 are stopped emergently, the remote control bulldozer 2 can be stopped in a designated area through manual intervention, and then the unmanned mine card 3 is driven away from the operation area through manual intervention.
Optionally, the control system for remotely controlling the bulldozer in the mining operation further comprises a remote operation platform 4, and the remote operation platform 4 is in wireless communication connection with the remote operation console 1, the remote control bulldozer 2 and the unmanned mine card 3. The remote operation platform 4 sets an operation area of the remote control bulldozer 2 according to an area environment in which the remote control bulldozer 2 is distributed, plans a path for the remote control bulldozer 2 and the unmanned mine card 3, and sets a target unloading point for the unmanned mine card 3. The working area may be regular or irregular and is preset on a map mainly according to the location and safety of the site environment.
The remote operation platform 4 comprises a computer control device and a display device, and is used for judging the stop and walking area of the remote control bulldozer 2 according to the map condition of the operation surface, remotely setting the designated area for parking the remote control bulldozer 2, carrying out three-dimensional modeling on the barrier and the retaining wall simultaneously, forming three-dimensional point cloud data, adjusting the operation area of the remote control bulldozer 2 through a positioning map in time when the retaining wall or the designated area changes, updating the three-dimensional point cloud data, and sending a trigger signal to the remote control bulldozer 2 and the unmanned mine card 3. Meanwhile, the remote operation platform 4 can receive a signal that the radio frequency pairing is successful or actively disconnected from the remote control bulldozer 2, and the signal is displayed in a map in time for an operator to make a judgment and a decision.
Optionally, the remote control bulldozer 2 and the unmanned mine card 3 are further provided with a positioning navigation device, and the positioning navigation device comprises a GPS and a GNSS, and is used for detecting position information of the remote control bulldozer 2 and the unmanned mine card 3 and uploading the information to the remote operation platform 4, so that the remote operation platform 4 can update map information of the operation area in time.
The GPS and the GNSS are mainly used for navigation and positioning, provide high-precision position information for the unmanned mine card 3 and the remote control bulldozer 2, feed back information such as the running speed of the remote control bulldozer 2 and the unmanned mine card 3 and the relative position of a corresponding operation area in real time, and update three-dimensional point cloud data of the remote operation platform 4 according to the collected related information so as to update the operation area in time when the operation area is changed seriously. The designated area is set in advance through the remote operation platform 4, and the constraint condition is formulated in the operation area, so that the problem of one person for multiple machines is solved, the occurrence of accidents is avoided, the waiting time of the remote control bulldozer 2 is effectively reduced, the fuel consumption is saved, the engine of the remote control bulldozer 2 is further prevented from being in an idle state for a long time, the system abrasion is reduced, and the service life is prolonged.
In mine operation, each remote control bulldozer 2 and each unmanned mine card 3 are provided with serial numbers, each remote control bulldozer 2 is provided with a wireless radio frequency receiving device 21, each unmanned mine card 3 is provided with a wireless radio frequency transmitting device 31, when the radio frequency receiving device 21 of the remote control bulldozer 2 in the working area receives the radio frequency signal from the radio frequency transmitting device 31, then, the corresponding remote control bulldozer 2 is activated to enter a preparation working state after the triggering of the radio frequency receiving device 21 is successful, which represents that the unmanned mine card 3 enters the working area, and the remote control console 1 actively receives the signal of the remote control bulldozer 2, the remote control console 1 lights an indicator lamp to prompt an operator that whether a mine card 3 enters the operation area after receiving the signal, and simultaneously, a map and a corresponding number of the remote control bulldozer 2 are displayed on the remote work platform 4 to prompt the operator.
The speed of the unmanned ore card 3 at a target unloading point after entering the operation area of the remote control bulldozer 2 is detected by a speed detection module arranged on the unmanned ore card 3, and when the speed becomes zero and the material unloading switch 32 on the hopper completes a cycle of on-off signals, the unmanned ore card 3 is judged to complete one-time unloading in the operation area, and the remote control bulldozer 2 can be driven to enter the working state at the moment. The detection signal is absent, if the remote control bulldozer 2 detects that the speed detected by the speed detection module on the unmanned mine card 3 is not zero, or the material switch on the hopper does not complete a cycle of opening and closing signals after the speed is zero, the unmanned mine card 3 is considered not to complete one-time material unloading, and the remote control bulldozer 2 cannot actively carry out the operation state.
After the remote control bulldozer 2 receives the stop signal of the unmanned mine card 3 and the material lifting unloading period opening and closing signal on the hopper, it is determined that the unmanned mine card 3 unloads the material in the operation area, the signal can actively drive the remote control bulldozer 2 to enter a working state, the working state comprises that the remote control bulldozer 2 in the operation area is actively started and synchronously transmits the signal back to the remote control console 1 and the remote operation platform 4 through the 5G network 5, so that an operator can timely operate the signal switching device 11 of the remote control console 1, and a control instruction is switched to the target remote control bulldozer 2 to perform remote control operation. The active triggering mode can further improve the operation efficiency, reduce the labor intensity of operators, reduce the waiting time of the remote control bulldozer 2 and save the fuel consumption.
In this embodiment, the control system for remotely controlling a bulldozer in mining operations further comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the steps comprising:
initializing a system;
setting the operation area of the remote control bulldozer 2;
the remote control bulldozer 2 receives the radio frequency signal of the unmanned mine card 3 and then enters a preparation working state, and an indicator lamp of the remote control operation table 1 is lightened;
the remote control bulldozer 2 receives a stop signal of the unmanned mine card 3 and a periodic opening and closing signal of the material unloading switch 32, and after the unmanned mine card 3 exits from the operation area, the remote control bulldozer 2 enters a working state, starts an engine and simultaneously lights an indicator lamp of the remote control console 1;
reminding an operator to switch the command control signal of the remote control console 1 and establish communication link connection with the target remote control bulldozer 2.
Example two
As shown in fig. 2, the present embodiment provides a method for controlling a remote control bulldozer 2 in mining work, and the control system for a remote control bulldozer in mining work provided in the first embodiment includes the following steps:
s10, the work area of bulldozer 2 is set.
Alternatively, a plurality of remote-controlled bulldozers 2 may be provided, and a plurality of remote-controlled bulldozers 2 may be provided in different work areas. In the embodiment, one operator controls a plurality of remote bulldozers 2 through one remote control console 1, thereby improving the working efficiency. The number of the unmanned mine cards 3 may be one or more.
The work area of each remote controlled bulldozer 2 is set by the remote work platform 4, and each remote controlled bulldozer 2 waits for work in a designated area within the work area.
And S20, after the remote control bulldozer 2 receives the radio frequency signal of the unmanned mine card 3, controlling the remote control bulldozer 2 to enter a work preparation state, and simultaneously sending a signal to the remote control console 1, wherein the remote control console 1 reminds an operator of the existence of the unmanned mine card 3 entering a work area.
The remote control bulldozer 2 entering the work preparation state includes automatic power-up, ready to be started at any time. After the remote control bulldozer 2 sends a signal to the remote control console 1 through the 5G network 5, an indicator lamp on the remote control console 1 is turned on to remind an operator of whether a mine card 3 enters an operation area, and the communication link of the remote control bulldozer 2 in the operation area is ready to be switched at any time.
Optionally, when the remote control bulldozer 2 detects radio frequency signals of more than two unmanned mine cards 3 at the same time, according to a preset code priority decision rule, sequentially issuing target unloading points and path planning navigation information to the more than two unmanned mine cards 3, and the more than two unmanned mine cards 3 sequentially unloading at the corresponding target unloading points and leaving the operation area according to the received target unloading points and path planning navigation information.
Alternatively, the remote control console 1 can control the remote bulldozer 2 and the unmanned mine card 3 to make an emergency stop. The remote control operation platform 1 is provided with an emergency stop button, when more than two unmanned mine cards 3 exist in an operation area, the risk that the two unmanned mine cards 3 collide with each other or the remote control bulldozer 2 due to disordered programs easily occurs, and when an emergency situation occurs, the emergency stop button is used for controlling the unmanned mine cards 3 and the remote control bulldozer 2 to stop emergently.
And S30, when the remote control bulldozer 2 in the operation preparation state receives the signal that the speed of the unmanned mine card 3 is zero and the unloading of the material on the unmanned mine card 3 is finished, controlling the remote control bulldozer 2 to enter the operation state, and simultaneously sending a signal to the remote control console 1, wherein the remote control console 1 reminds an operator to remotely control the operation of the remote control bulldozer 2.
Stopping walking when the unmanned mine card 3 walks to a target unloading point, wherein the speed is zero; when the unmanned mine card 3 unloads the materials in the hopper to the target unloading point, the material unloading switch 32 completes one cycle of opening and closing, and when the remote control bulldozer 2 receives a cycle opening and closing signal of the signal sending device of the unmanned mine card 3 through the signal receiving device, the operation state is entered, namely, the remote control bulldozer 2 automatically starts the engine. Meanwhile, the remote control bulldozer 2 sends a signal to the remote control console 1, and an indicator light on the remote control console 1 is turned on to remind an operator of preparing to switch to a communication link of the remote control bulldozer 2 through the signal switching device 11 at any time.
Alternatively, the method for remotely controlling the operation of the remote-controlled bulldozer 2 by the operator includes switching to the communication link of the remote-controlled bulldozer 2, which transmits a signal to the remote-control console 1, and controlling the operation of the remote-controlled bulldozer 2 through the remote-control console 1. The signal switching device 11 switches the communication link between the remote control console 1 and the target remote control bulldozer 2, and commands the lower device to control the operation of the remote control bulldozer 2.
Alternatively, the remote control console 1 can be connected to only one remote control bulldozer 2 at a time, and the switched remote control bulldozer 2 is retracted to a specified area and turned off. In this embodiment, in order to ensure the operation safety, the signal switching device 11 can only ensure the communication with one remote control bulldozer 2 at the same time, and other remote control bulldozers 2 which do not communicate beyond the communication threshold are actively shut down after retracting to the designated area of the working area, so as to save the waiting time and the idle time, and reduce the fuel consumption and the mechanical wear. The command issuing device 12 issues commands for controlling the remote control bulldozer 2 to walk, steer, brake, blade operation and ripper operation, and the command issuing device 12 controls the remote control bulldozer 2 to transfer the material to the outer side of the retaining wall.
Optionally, after the remote control bulldozer 2 in the operation preparation state receives the signal that the speed of the unmanned mine card 3 is zero and the unloading of the material on the unmanned mine card 3 is completed, the step of controlling the remote control bulldozer 2 to enter the operation state further includes:
the remote control bulldozer 2 detects whether the radio frequency signal of the unmanned mine card 3 disappears, and if yes, the remote control bulldozer 2 is controlled to enter an operation state; if not, the remote-controlled bulldozer 2 continues to be in the work-ready state.
In order to avoid collision between the unmanned mine card 3 and the remote control bulldozer 2 in the working area, after the remote control bulldozer 2 receives a periodic opening and closing signal of the material unloading switch 32 of the unmanned mine card 3, the remote control bulldozer 2 does not immediately enter the working state, but continuously monitors whether the unmanned mine card 3 has exited the working area of the remote control bulldozer 2, when the remote control bulldozer 2 does not receive a radio frequency signal of the unmanned mine card 3 which is successfully paired with the remote control bulldozer before, the remote control bulldozer indicates that the unmanned mine card 3 has left the working area, judges that the working area has no risk of collision with the unmanned mine card 3, and then the remote control bulldozer 2 enters the working state.
Alternatively, when the radio frequency signal of the unmanned mine card 3 is detected after the remote control bulldozer 2 enters the working state, the unmanned mine card 3 is controlled to wait in a safe area; and after the current operation of the remote control bulldozer 2 is finished, controlling the remote control bulldozer 2 to enter a designated area for waiting, and then controlling the unmanned mine card 3 to unload at the corresponding target unloading point and leave the operation area according to the respective path planning navigation information.
When the two unmanned mine cards 3 are all connected with the wireless radio frequency signals of the remote control bulldozer 2 in the operation area and then are actively disconnected, the remote control bulldozer 2 can enter the working state. Similarly, when the remote control bulldozer 2 judges that all radio frequency signals are disconnected, the remote control bulldozer 2 enters a working state and starts an engine, if the radio frequency signals are successfully matched at the moment, the unmanned mine card 3 is actively braked and waits in a safety area outside the working area according to a first-in first-out principle preset by the remote operation platform 4, and after the operation is completed and the remote control bulldozer 2 returns to a specified area, the unmanned mine card 3 in the safety area can be manually or automatically released to enter a target unloading point according to a set path. When the remote bulldozer 2 continues to detect the stop signal of the unmanned mine card 3 and the periodic opening and closing signal of the material unloading switch 32, and the remote bulldozer 2 can enter the working state only after the remote bulldozer actively disconnects the wireless radio frequency signal of the matched unmanned mine card 3.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (12)
1. A control method of a remote control bulldozer in mining operation is characterized by comprising the following steps:
setting a working area of the remote control bulldozer (2);
after the remote control bulldozer (2) receives the radio frequency signal of the unmanned mine card (3), the remote control bulldozer (2) is controlled to enter an operation preparation state, and meanwhile, a signal is sent to the remote control console (1), and the remote control console (1) reminds an operator that the unmanned mine card (3) enters the operation area;
when the remote control bulldozer (2) in the operation preparation state receives the signal that the speed of the unmanned mine card (3) is zero and the unloading of the materials on the unmanned mine card (3) is finished, the remote control bulldozer (2) is controlled to enter the operation state, and meanwhile, the signal is sent to the remote control console (1), and the remote control console (1) reminds an operator to carry out operation remote control on the remote control bulldozer (2).
2. The method of controlling a remote bulldozer in mining operation according to claim 1, in which, when said remote bulldozer (2) in a preparation-for-operation state receives a signal that the speed of said unmanned ore card (3) is zero and the unloading of material from said unmanned ore card (3) is complete, the step of controlling said remote bulldozer (2) to enter the operation state further includes:
the remote control bulldozer (2) detects whether the radio frequency signal of the unmanned mine card (3) disappears, and if yes, the remote control bulldozer (2) is controlled to enter an operation state; if not, the remote control bulldozer (2) continues to be in a work preparation state.
3. The method for controlling the remote control bulldozer in the mining operation according to claim 1, wherein when the remote control bulldozer (2) detects radio frequency signals of more than two unmanned mine cards (3) at the same time, target unloading points and path planning navigation information are sequentially issued to the more than two unmanned mine cards (3) according to a preset coding priority decision rule, and the more than two unmanned mine cards (3) are unloaded at the corresponding target unloading points and leave the operation area according to the received target unloading points and path planning navigation information in sequence.
4. The method of controlling a remote bulldozer in mining operation according to claim 3, in which said unmanned ore card (3) is controlled to wait in a safe area when a radio frequency signal of said unmanned ore card (3) is detected after said remote bulldozer (2) has entered an operating state; and after the current operation of the remote control bulldozer (2) is finished, controlling the remote control bulldozer (2) to enter a designated area for waiting, and then controlling the unmanned mine card (3) to unload at the corresponding target unloading point and leave the operation area according to the respective path planning navigation information.
5. The method of controlling a remotely controlled bulldozer in mining operation according to claim 1, in which a plurality of said remotely controlled bulldozers (2) are provided, and a plurality of said remotely controlled bulldozers (2) are provided in different said work areas.
6. The method of controlling a remotely controlled dozer in a mining operation as claimed in claim 5 wherein the method of remotely controlling the operation of the remotely controlled dozer (2) by an operator comprises:
and switching to a communication link of the remote control bulldozer (2) which sends signals to the remote control console (1), and controlling the remote control bulldozer (2) to work through the remote control console (1).
7. The method of claim 6, wherein the remote control console (1) is capable of communicating with only one of the remote control bulldozers (2) at a time, and the switched remote control bulldozer (2) is retracted to a predetermined area and turned off.
8. The method of controlling a remotely controlled dozer in a mining operation as claimed in claim 1 wherein said remotely controlled console (1) is capable of controlling said remotely controlled dozer (2) and said unmanned mine card (3) to make an emergency stop.
9. A control system of a remote control bulldozer in mining operation, characterized in that the control method of the remote control bulldozer in mining operation according to any one of claims 1 to 8 is adopted, and comprises the remote control bulldozer (2), an unmanned mine card (3) and a remote control console (1), wherein the remote control bulldozer (2) and the unmanned mine card (3) are in wireless communication connection with the remote control console (1);
the remote control bulldozer (2) comprises a wireless radio frequency receiving device (21) and a signal receiving device, the unmanned mine card (3) comprises a wireless radio frequency transmitting device (31), a speed detection module, a material unloading switch (32) and a signal sending device, and the wireless radio frequency receiving device (21) is used for receiving radio frequency signals transmitted by the wireless radio frequency transmitting device (31);
the speed detection module is used for detecting the speed of the unmanned mine card (3), the material unloading switch is used for controlling the hopper of the unmanned mine card (3) to unload materials, and when the speed detection module detects that the speed of the unmanned mine card (3) is zero, and after the material unloading switch (32) completes one switching period, the signal sending device sends a signal to the signal receiving device.
10. The control system of the remote control bulldozer in mining operation according to claim 9, characterized in that the remote control console (1) includes a signal switching device (11) and a command issuing device (12), the signal switching device (11) is used for switching communication link signals of different remote control bulldozers (2) and communication link signals of different unmanned mine cards (3), and the command issuing device (12) is used for controlling the remote control bulldozers (2) and the unmanned mine cards (3) which are in communication connection with the remote control console (1) to act.
11. The control system for the remote control bulldozer in mining operation according to claim 10, characterized in that said remote control console (1) further comprises an emergency stop button for controlling emergency stop of said remote control bulldozer (2) and said unmanned mine card (3) which are communicatively connected to said remote control console (1).
12. The control system of the remote control bulldozer in mining operation according to claim 11, further comprising a remote operation platform (4), wherein said remote operation platform (4) is in wireless communication connection with said remote operation console (1), said remote control bulldozer (2) and said unmanned mine card (3).
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