CN115653672B - Intelligent transfer system for auxiliary inclined shaft bottom yard and control method - Google Patents
Intelligent transfer system for auxiliary inclined shaft bottom yard and control method Download PDFInfo
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Abstract
The invention relates to the field of auxiliary transportation of mines, in particular to an intelligent transfer system for a bottom yard of an auxiliary inclined shaft and a control method, wherein the intelligent loading system mainly comprises a special hook head vehicle for a hoisting machine, an electric locomotive robot, a flat car, an empty rail transfer robot, a monorail crane robot, a track crane, a standard container, a weighing unit, a GPS module, a communication module and a robot sensing control unit. The weighing unit and the GPS module transmit the weight and position information of the flat car to the robot perception control unit, and the robot perception control unit gathers various information and controls the movement behavior of each robot. The invention realizes the monitoring of the weight and position information of the flat car, the perception of the surrounding environment of each robot and the control of the robots, can timely and accurately master the production running condition of the bottom yard of the auxiliary inclined shaft, intelligently and efficiently realize the loading process of the bottom yard of the auxiliary inclined shaft, optimize the transfer process, improve the transfer efficiency and obtain higher economic benefit.
Description
Technical Field
The invention relates to the field of auxiliary transportation of mines, in particular to an intelligent transfer system for a bottom yard of a secondary inclined shaft and a control method.
Background
The transportation systems such as the electric locomotive, the monorail crane, the transfer robot and the like of the mine are the aorta of the auxiliary transportation system of the mine, and are important guarantees for the safe and efficient operation of the transportation system. At present, most of dispatching of transportation systems such as electric locomotives or monorail cranes and the like are manually dispatched, and the dispatching of underground transportation vehicles is realized by manual operation and state by partially relying on a 'signal collection closing' system mainly of a programmable controller, so that the problems that underground road condition information cannot be mastered in time, dispatching can only be carried out locally, transportation efficiency is low and the like exist.
Along with the improvement of automation degree of underground modern exploitation technology, mine enterprises face the current situations of how to improve working efficiency, improve working safety coefficient, improve operation efficiency and the like, and the requirements on automation and informatization of underground transportation systems are also higher and higher. For the existing transportation systems such as electric locomotives or monorail cranes, how to provide a method capable of efficiently realizing intelligent transfer and effective control of underground transportation is a technical problem of unmanned and less humanization.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide an intelligent transfer system and a control method for a bottom yard of a secondary inclined shaft, which are used for analyzing bottom yard information and state information of various vehicles through an information technology and an intelligent control method so as to realize intelligent transfer and autonomous operation of the bottom yard, thereby realizing the intellectualization of auxiliary transportation of the bottom yard and improving the transportation efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides an vice inclined shaft bottom yard intelligence transfer system, includes tunnel and transfer transportation equipment, the tunnel includes auxiliary shaft, auxiliary shaft head yard, vice inclined shaft bottom yard, major road and upper portion yard, transfer transportation equipment is intelligent transfer transportation equipment, includes: the system comprises a first intelligent transfer device, a lifting machine, an empty rail transfer robot, a second intelligent transfer device and a monorail crane robot; wherein:
the first intelligent transfer device comprises a special hook head vehicle for a hoisting machine, a first electric locomotive robot, a first flat car row and a first signal detection unit, wherein a first perception control unit is integrated on the first electric locomotive robot; the second intelligent transfer device comprises a second electric locomotive robot, a second flat pallet truck array and a second signal detection unit, and a second perception control unit is integrated on the second electric locomotive robot; the empty rail transfer robot is integrated with a third sensing control unit; the monorail crane robot is integrated with a fourth perception control unit;
the first signal detection unit is used for detecting the position information and the weight information of the first flat car train and feeding back the position information and the weight information to the first sensing control unit and the third sensing control unit;
The second signal detection unit is used for detecting the position information and the weight information of the second pallet truck array and feeding back the position information and the weight information to the second sensing control unit and the fourth sensing control unit;
the first perception control unit controls the first electric locomotive robot to be connected with/disconnected from the first flat car train according to the received position information and weight information of the first flat car train, controls the first electric locomotive robot to start/stop, and controls the elevator to be connected with/disconnected from the first flat car train through a special hook head car of the elevator;
the first electric locomotive robot can be connected with the first flat car train and drives the first flat car train to shuttle between an industrial square container loading area of the auxiliary wellhead yard and a ground transfer area of the auxiliary wellhead yard under the control of the first perception control unit;
the hoisting machine can drive the first flat car train to reciprocate in a ground transfer area of the auxiliary wellhead car yard and a container ground idling load area of the auxiliary well slope bottom through a special hook car of the hoisting machine under the control of the first perception control unit in a state that the first electric locomotive robot and the first flat car train are dissociated;
the third perception control unit is used for controlling the starting/stopping of the empty rail transfer robot according to the received position information and weight information of the first flat car train;
The empty rail transfer robot can reciprocate between an empty transfer area of a container at the bottom of the auxiliary well and a parking position of a first flat train to be transferred under the control of a third perception control unit, and can hoist and transfer full-load standard containers on the first flat train in the empty transfer area of the container at the bottom of the auxiliary well to a second flat train to be loaded, which is parked at the parking position of the first flat train to be transferred; the parking position of the first flat train to be transferred is arranged on a bottom yard of the auxiliary inclined shaft;
the second perception control unit is used for controlling the connection/disconnection of the second electric locomotive robot and the second plate train according to the received position information and weight information of the second plate train;
the second electric locomotive robot can be connected with the second flat train and drives the second flat train to shuttle along the first flat train parking position to be transferred, a main roadway and the second flat train parking position to be transferred under the control of the second perception control unit, and the second flat train parking position to be transferred is arranged at the upper yard;
the fourth perception control unit is used for controlling the starting/stopping of the monorail crane robot according to the received position information and weight information of the second pallet truck array;
The monorail crane robot can transfer full-load standard containers on the second pallet truck at the upper station container idle load position to a working face gateway for unloading under the control of the fourth perception control unit, and can transport the unloaded standard containers back to the second pallet truck.
Preferably, the auxiliary wellhead yard comprises an industrial square container loading area, a first ground rail line and a first car stopping device; wherein:
the first ground rail line extends from the industrial square container loading area to the wellhead position of the auxiliary well, forms a ground transfer area of the auxiliary wellhead yard at the wellhead position close to the auxiliary well by arranging a first car blocking device, and is provided with a rail crane at the position close to the industrial square container loading area;
a fifth perception control unit is integrated on the track crane;
the position information and the weight information of the first flat car train detected by the first signal detection unit can be fed back to the fifth perception control unit;
the fifth perception control unit can control the track crane to work through the received position information and weight information of the first flat car train;
under the control of a fifth perception control unit, the track crane can hoist full-load standard containers piled in the industrial square container loading area onto an empty first flat car in the industrial square container loading area until the first flat car is full;
The first electric locomotive robot drives the first flatbed train to move back and forth between the industrial square container loading area and the ground transferring area of the auxiliary wellhead yard along a first ground track line under the control of the first perception control unit.
Preferably, the auxiliary inclined shaft bottom yard comprises an auxiliary shaft slope bottom, a second ground rail line, a transfer empty rail line and a first to-be-transferred flat train berth; wherein:
a second ground track line extends from the secondary well slope bottom to the lower end of the main roadway, and the second ground track line forms the container ground idling load zone of the secondary well slope bottom by arranging a second car stop device at a position close to the secondary well slope bottom;
a part of the second ground track circuit is provided with a first parallel branch circuit, both ends of which are connected with the second ground track circuit; a first to-be-transferred flat train berth is arranged on the first parallel branch; the first parallel branch is respectively and correspondingly provided with a third car stopping device and a fourth car stopping device at two sides of a parking position of the first flat train to be transferred;
the projection line of the transfer empty rail line on the roadway ground is overlapped with the first parallel branch, one end of the projection line of the transfer empty rail line on the roadway ground can extend to a container ground idling carrying area at the bottom of a secondary well slope, and the other end of the projection line can extend to a first to-be-transferred flat train parking position;
The empty rail transfer robot can be hung on a transfer empty rail line and run along the transfer empty rail line;
and the second electric locomotive robot drives the second scooter line to run along a second ground track line under the control of the second perception control unit.
Preferably, the upper yard comprises a third ground rail line, a rail downhill, a second parking place of the flat-bed train to be transferred and a monorail crane empty rail line; wherein:
the third ground rail line extends from the upper end of the main roadway to the track downhill, and a part of the third ground rail line is provided with a second parallel branch with both ends connected with the third ground rail line; the second parallel branch is provided with a second parking position of the flat train to be transferred, and the second parking position of the flat train to be transferred is formed by arranging a fifth car stopping device and a sixth car stopping device on the second parallel branch;
the projection line of the overhead monorail line on the ground of the roadway is overlapped with the second parallel branch, one end of the projection line of the overhead monorail line on the ground of the roadway can extend to a second flat-bed train parking position to be transferred, and the other end of the projection line of the overhead monorail line can extend to a working face crossheading;
the monorail crane robot can be suspended below a monorail crane empty rail line under the control of a fourth perception control unit and can reciprocate between berths and working face slots of a second flat-bed train to be transferred;
The second electric locomotive robot drives the second flat train to sequentially move back and forth along the first to-be-transferred flat train berth of the second ground track line, the main roadway and the second to-be-transferred flat train berth of the third ground track line under the control of the second sensing control unit.
Preferably, the first signal detection unit and the second signal detection unit comprise a weighing unit and a GPS module;
the weighing unit of the first signal detection unit is used for detecting weight information of the first flat train, and the GPS module of the first signal detection unit is used for detecting position information of the first flat train;
the weighing unit of the second signal detection unit is used for detecting weight information of the second scooter column, and the GPS module of the second signal detection unit is used for detecting position information of the second scooter column.
The invention further aims to provide a control method of the intelligent transfer system of the auxiliary inclined shaft bottom yard, and the transfer scheduling between the full-load standard container of the industrial square container loading area and the container ground idling loading area of the auxiliary inclined shaft bottom slope is realized by cooperatively controlling the first intelligent transfer device and the lifting machine; the first intelligent transfer device and the empty rail transfer robot are cooperatively controlled to realize transfer scheduling of a full-load first flat train of the container land idle load area parked at the slope bottom of the auxiliary well; and the transfer scheduling of the full-load second flat train at the parking position of the second flat train to be transferred, which is parked at the upper train yard, is realized by cooperatively controlling the second intelligent transfer device and the monorail crane transfer robot.
Preferably, the transfer scheduling between the full standard container of the industrial square container loading area and the idle container loading area of the container at the bottom of the auxiliary well slope specifically comprises the following steps:
s01, a first signal detection unit sends position information and weight information of a first flat car train to a first perception control unit and a fifth perception control unit respectively through a communication module; the fifth perception control unit processes the received position information and weight information of the first flat car train, and when the first flat car train is in an industrial square container loading area and is in an empty state, an execution instruction is sent to an execution mechanism of the track crane, and the execution mechanism of the track crane is controlled to hoist the full-load standard container of the stock yard onto the empty first flat car train until the empty first flat car train is fully loaded;
s02, after processing the received position information and weight information of the first flat car train, the first perception control unit sends an execution instruction to the first electric locomotive robot when the first flat car train is in an industrial square container loading area and is in a full-load state;
s03, after receiving an execution instruction, the first electric locomotive robot automatically runs to the position of the full first flat car train, is connected with the full first flat car train through an automatic connecting device, and then starts the first electric locomotive robot to push the full first flat car train to run to a first car stopping device of a subsidiary wellhead yard;
S04, after the first electric locomotive robot pushes the fully loaded first flat car train to reach the first car stopping device of the auxiliary wellhead car yard, the first electric locomotive robot and the fully loaded first flat car train are automatically separated; the special hook head vehicle of the hoister receives an execution instruction and moves towards the fully loaded first flat car train so as to be automatically connected with the first flat car train;
s05, receiving an execution instruction by the hoisting machine, and mounting a special hook head vehicle for the hoisting machine and a fully loaded first flat car train to a second car blocking device at the slope bottom of the auxiliary well;
s06, loading the full-load first flatbed train on the slope bottom of the auxiliary well to finish loading the full-load standard container;
s07, after the integrated perception control unit in the elevator processes the received position information and weight information of the first flat car train, when the first flat car train is at the slope bottom of the auxiliary well and is in an idle state, an execution instruction is sent to the elevator, and the elevator is controlled to mount a special hook head car of the elevator and the idle first flat car train and recycle the hook head car to the well;
s08, stopping at a first car stopping device of a secondary wellhead car yard after the auxiliary wellhead car yard is put into a well, and automatically separating an empty first flat car train from a special hook head car of a hoisting machine and automatically connecting the empty first flat car train with a first electric locomotive robot;
S09, the first electric locomotive robot pulls the empty first flat car train to return to the industrial square container loading area; before that, the track crane lifts the full-load standard container of the stock yard to the first pallet truck row to be loaded in the other group under the control of the fifth perception control unit, and loading of the first pallet truck row to be loaded in the other group is completed;
s10, automatically separating the first electric locomotive robot from an empty first flat train after the first electric locomotive robot and the empty first flat train reach a parking area of an industrial square container loading area, automatically running to the position of another group of full first flat trains, and connecting the first flat trains with the full first flat trains through an automatic connecting device;
the first electric locomotive robot pushes the fully loaded first flat car train to arrive at the car stopping device of the auxiliary wellhead car yard to perform next round of operation.
Preferably, the step S06 is completed by cooperatively controlling the empty rail transfer robot and the second intelligent transfer device, and the full-load first flatbed train completes the transfer of the container at the bottom of the auxiliary well slope, specifically comprising the following steps:
s0601, when a special hook head vehicle of a hoister carries a fully loaded first flat train to reach a car stopping device at the bottom of a secondary well slope, sending own weight information and position information to a third sensing control unit integrated on an empty rail transfer robot;
S0602, after receiving the signal, the third perception control unit sends out an execution instruction to control the empty rail transfer robot to go to the first full-load flat train to hoist and transfer the full-load standard container to the second flat train to be transferred, which is parked at the parking position of the first flat train to be transferred;
s0603, after the second pallet truck column to be reloaded is full, sending own weight information and position information to a first sensing control unit integrated on a second electric locomotive robot;
s0604, after receiving the signal, the first perception control unit sends out an execution instruction to control the second electric locomotive robot to drag the fully loaded second flat train to go to a second to-be-transferred flat train parking position of the upper train yard through a main roadway;
s0605, after the full-loaded second flat train reaches a sixth car stopping device of an upper car yard, sending own weight information and position information to a fourth perception control unit integrated on the monorail crane robot; after receiving the signal, the fourth perception control unit sends out an execution instruction to control the monorail crane robot to reload the full-load standard containers of the second flat train;
s0606, after the transfer is completed, the second flat-bed train sends own weight information and position information to a second electric locomotive robot, and the second electric locomotive robot drags the second flat-bed train which is recovered to be empty to return to enter a bottom yard of the auxiliary inclined shaft, pushes the second flat-bed train which is empty to enter an empty berth, and waits for the transfer of the empty rail transfer robot;
After the completion, the second electric locomotive robot is automatically separated from the second pallet truck array, and the next transportation scheduling is waited for.
Preferably, in step S0605, the monorail crane robot of the upper yard reloads the full standard containers of the flat train, and specifically comprises the following steps:
s060501, after a train to be transferred is parked and enters a car stopping position, weight information and position information are sent to a monorail crane robot;
s060502, after receiving information, the monorail crane robot goes to hoist through a perception control unit;
s060503, enabling the monorail crane robot to carry full-load standard containers to automatically run to a working face gateway along a monorail crane empty track line;
s060504, after unloading the working face gateway, transporting the empty standard container back;
s060505, the monorail crane robot goes back and forth until the transfer operation of the platform truck train to be transferred is completed;
and the electric locomotive robot recovers the empty container flat car train which is subjected to transfer.
The invention has the beneficial effects that:
the weight and position information of the standard container or the flatbed train are transmitted to the robot perception control unit through the information technology, and the robot perception control unit gathers various information and controls the movement behavior of each robot. The invention realizes the monitoring of the weight and position information of the flat car, the perception of the surrounding environment of each robot and the control of the robots, timely and accurately grasps the production running condition of the bottom yard of the auxiliary inclined shaft, intelligently and efficiently realizes the loading process of the bottom yard of the auxiliary inclined shaft, and achieves the purposes of optimizing the transfer process, improving the transfer efficiency and obtaining higher economic benefit.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a frame diagram of a schematic plan view of an auxiliary transportation robot system in an mining area three provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a ground industrial plaza and auxiliary wellhead yard loading, unloading and train dispatching provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of container transfer and train scheduling of a robot for an electric locomotive in a bottom yard according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
For convenience of description, the electric locomotive robots and the flat locomotive trains which shuttle between the auxiliary wellhead yards and the auxiliary well slope bottoms are correspondingly marked as first electric locomotive robots and first flat locomotive trains, and the electric locomotive robots and the flat locomotive trains which shuttle between the auxiliary inclined shaft bottom yards and the upper yards are correspondingly marked as second electric locomotive robots and second flat locomotive trains.
As shown in fig. 1 to 3, the auxiliary inclined shaft bottom yard intelligent transfer system of the present invention comprises a roadway and transfer transportation equipment, wherein the roadway comprises an auxiliary shaft, an auxiliary shaft top yard, an auxiliary inclined shaft bottom yard, a main roadway and an upper yard, and the transfer transportation equipment is intelligent transfer transportation equipment, and comprises: the system comprises a first intelligent transfer device, a lifting machine, an empty rail transfer robot, a second intelligent transfer device and a monorail crane robot; wherein:
the first intelligent transfer device comprises a special hook head vehicle for a hoisting machine, a first electric locomotive robot, a first flat car row and a first signal detection unit, wherein a first perception control unit is integrated on the first electric locomotive robot; the second intelligent transfer device comprises a second electric locomotive robot, a second flat pallet truck array and a second signal detection unit, and a second perception control unit is integrated on the second electric locomotive robot; the empty rail transfer robot is integrated with a third sensing control unit; the monorail crane robot is integrated with a fourth perception control unit;
The first signal detection unit is used for detecting the position information and the weight information of the first flat car train and feeding back the position information and the weight information to the first sensing control unit and the third sensing control unit;
the second signal detection unit is used for detecting the position information and the weight information of the second pallet truck array and feeding back the position information and the weight information to the second sensing control unit and the fourth sensing control unit;
the first perception control unit controls the first electric locomotive robot to be connected with/disconnected from the first flat car train according to the received position information and weight information of the first flat car train, controls the first electric locomotive robot to start/stop, and controls the elevator to be connected with/disconnected from the first flat car train through a special hook head car of the elevator;
the first electric locomotive robot can be connected with the first flat car train and drives the first flat car train to shuttle between an industrial square container loading area of the auxiliary wellhead yard and a ground transfer area of the auxiliary wellhead yard under the control of the first perception control unit;
the hoisting machine can drive the first flat car train to reciprocate in a ground transfer area of the auxiliary wellhead car yard and a container ground idling load area of the auxiliary well slope bottom through a special hook car of the hoisting machine under the control of the first perception control unit in a state that the first electric locomotive robot and the first flat car train are dissociated;
The third perception control unit is used for controlling the starting/stopping of the empty rail transfer robot according to the received position information and weight information of the first flat car train;
the empty rail transfer robot can reciprocate between an empty transfer area of a container at the bottom of the auxiliary well and a parking position of a first flat train to be transferred under the control of a third perception control unit, and can hoist and transfer full-load standard containers on the first flat train in the empty transfer area of the container at the bottom of the auxiliary well to a second flat train to be loaded, which is parked at the parking position of the first flat train to be transferred; the parking position of the first flat train to be transferred is arranged on a bottom yard of the auxiliary inclined shaft;
the second perception control unit is used for controlling the connection/disconnection of the second electric locomotive robot and the second plate train according to the received position information and weight information of the second plate train;
the second electric locomotive robot can be connected with the second flat train and drives the second flat train to shuttle along the first flat train parking position to be transferred, a main roadway and the second flat train parking position to be transferred under the control of the second perception control unit, and the second flat train parking position to be transferred is arranged at the upper yard;
The fourth perception control unit is used for controlling the starting/stopping of the monorail crane robot according to the received position information and weight information of the second pallet truck array;
the monorail crane robot can transfer full-load standard containers on the second pallet truck at the upper station container idle load position to a working face gateway for unloading under the control of the fourth perception control unit, and can transport the unloaded standard containers back to the second pallet truck.
Preferably, the auxiliary wellhead yard comprises an industrial square container loading area, a first ground rail line and a first car stopping device; wherein:
the first ground rail line extends from the industrial square container loading area to the wellhead position of the auxiliary well, forms a ground transfer area of the auxiliary wellhead yard at the wellhead position close to the auxiliary well by arranging a first car blocking device, and is provided with a rail crane at the position close to the industrial square container loading area;
a fifth perception control unit is integrated on the track crane;
the position information and the weight information of the first flat car train detected by the first signal detection unit can be fed back to the fifth perception control unit;
the fifth perception control unit can control the track crane to work through the received position information and weight information of the first flat car train;
Under the control of a fifth perception control unit, the track crane can hoist full-load standard containers piled in the industrial square container loading area onto an empty first flat car in the industrial square container loading area until the first flat car is full;
the first electric locomotive robot drives the first flatbed train to move back and forth between the industrial square container loading area and the ground transferring area of the auxiliary wellhead yard along a first ground track line under the control of the first perception control unit.
Preferably, the auxiliary inclined shaft bottom yard comprises an auxiliary shaft slope bottom, a second ground rail line, a transfer empty rail line and a first to-be-transferred flat train berth; wherein:
a second ground track line extends from the secondary well slope bottom to the lower end of the main roadway, and the second ground track line forms the container ground idling load zone of the secondary well slope bottom by arranging a second car stop device at a position close to the secondary well slope bottom;
a part of the second ground track circuit is provided with a first parallel branch circuit, both ends of which are connected with the second ground track circuit; a first to-be-transferred flat train berth is arranged on the first parallel branch; the first parallel branch is respectively and correspondingly provided with a third car stopping device and a fourth car stopping device at two sides of a parking position of the first flat train to be transferred;
The projection line of the transfer empty rail line on the roadway ground is overlapped with the first parallel branch, one end of the projection line of the transfer empty rail line on the roadway ground can extend to a container ground idling carrying area at the bottom of a secondary well slope, and the other end of the projection line can extend to a first to-be-transferred flat train parking position;
the empty rail transfer robot can be hung on a transfer empty rail line and run along the transfer empty rail line;
and the second electric locomotive robot drives the second scooter line to run along a second ground track line under the control of the second perception control unit.
Preferably, the upper yard comprises a third ground rail line, a rail downhill, a second parking place of the flat-bed train to be transferred and a monorail crane empty rail line; wherein:
the third ground rail line extends from the upper end of the main roadway to the track downhill, and a part of the third ground rail line is provided with a second parallel branch with both ends connected with the third ground rail line; the second parallel branch is provided with a second parking position of the flat train to be transferred, and the second parking position of the flat train to be transferred is formed by arranging a fifth car stopping device and a sixth car stopping device on the second parallel branch;
the projection line of the overhead monorail line on the ground of the roadway is overlapped with the second parallel branch, one end of the projection line of the overhead monorail line on the ground of the roadway can extend to a second flat-bed train parking position to be transferred, and the other end of the projection line of the overhead monorail line can extend to a working face crossheading;
The monorail crane robot can be suspended below a monorail crane empty rail line under the control of a fourth perception control unit and can reciprocate between berths and working face slots of a second flat-bed train to be transferred;
the second electric locomotive robot drives the second flat train to sequentially move back and forth along the first to-be-transferred flat train berth of the second ground track line, the main roadway and the second to-be-transferred flat train berth of the third ground track line under the control of the second sensing control unit.
Preferably, the first signal detection unit and the second signal detection unit comprise a weighing unit and a GPS module;
the weighing unit of the first signal detection unit is used for detecting weight information of the first flat train, and the GPS module of the first signal detection unit is used for detecting position information of the first flat train;
the weighing unit of the second signal detection unit is used for detecting weight information of the second scooter column, and the GPS module of the second signal detection unit is used for detecting position information of the second scooter column.
Based on the auxiliary inclined shaft bottom yard intelligent transfer system, the invention discloses a control method of the auxiliary inclined shaft bottom yard intelligent transfer system, which comprises the following steps:
The track crane senses the position information and the weight information of the stock yard standard container through the sensing control unit, and automatically controls the track crane to hoist the stock yard full-load standard container onto the first flat car to be loaded through the information processing and the environment sensing until the weight of the first flat car to be loaded is increased to full load due to the fact that the standard container is loaded, and the first flat car to be loaded becomes a full-load first flat car column (or a loaded first flat car column);
s02, the full first flatbed train sends the position information and the weight information of the full first flatbed train to the first electric locomotive robot through the communication module;
s03, after receiving the information, the first electric locomotive robot automatically runs to the position of the full first flat car train through the sensing control unit, is connected with the full first flat car train through the automatic connecting device, and pushes the full first flat car train to the car stopping device of the auxiliary wellhead car yard;
s04, after reaching the car stopping device of the auxiliary wellhead car yard, automatically disconnecting the first electric locomotive robot from the fully loaded first flat car train, and automatically connecting the hook head car with the fully loaded first flat car train;
s05, a lifting machine mounts a hook head vehicle and a first full-load flatbed train to a vehicle stopping device at the slope bottom of a secondary well;
S06, the first flat car train transfers standard containers on the fully loaded first flat car train to the second flat car train through the empty rail transfer robot at the position of the slope bottom of the auxiliary well so as to finish container transfer; in the process, the weight of the fully loaded first flat train is reduced to an empty state after the transfer, the empty first flat train is formed, and the weight of the empty second flat train is increased to be fully loaded due to the fact that the standard container is loaded, and the empty second flat train is formed;
s07, the empty first flat train sends the position information and the weight information of the empty first flat train to the hoister through the communication module, and the hoister receives the information and then mounts the hook head train and the empty first flat train to recycle the hook head train to the well;
s08, stopping at a car stopping device of a secondary wellhead car yard after the well is put on, and automatically separating an empty first flat car train from a hook head car and automatically connecting the empty first flat car train with a first electric locomotive robot;
s09, a first electric locomotive robot pulls an empty pallet truck train to a container loading area of an industrial square, and before that, the track crane lifts a stock yard full-load standard container to another group of first pallet truck trains to be loaded (empty first pallet truck trains) through a sensing control unit, so that loading of the other group of first pallet truck trains to be loaded is completed;
S10, automatically separating the first electric locomotive robot from an empty first flat train after the first electric locomotive robot and the empty first flat train reach a parking area of an industrial square container loading area, automatically running to the position of another group of full first flat trains, and connecting the first flat trains with the full first flat trains through an automatic connecting device;
and S11, the first electric locomotive robot pushes the fully loaded first flat car train to reach the car stopping device of the auxiliary wellhead car yard, and next round of operation is carried out.
In the specific implementation process, the step S06 flatbed train completes the container transfer at the slope bottom of the auxiliary well, and comprises the following steps:
s0601, when a hooked vehicle carries a first full flatbed train to reach a vehicle stopping device at the bottom of a secondary well slope, sending own weight information and position information to an empty rail transfer robot;
s0602, after receiving signals, the empty rail transfer robot is moved to a first full-load flat train to hoist and transfer the standard containers to a second flat train to be transferred;
s0603, after the second pallet truck column to be reloaded is full, sending own weight information and position information to a second electric locomotive robot;
s0604, after receiving the signal, the second electric locomotive robot drags the fully loaded second flat train to the main roadway and then goes to the upper train yard;
S0605, after the second flat train reaches a car stopping device of an upper parking lot, sending own weight information and position information to a monorail crane robot, and carrying out transshipment on a full-load standard container of the second flat train by the monorail crane robot;
s0606, after the transfer is completed, the second flat-bed train sends own weight information and position information to the second electric locomotive robot, and the second electric locomotive robot drags the second flat-bed train which is recovered to empty to return to enter a bottom yard of the auxiliary inclined shaft, pushes the second flat-bed train which is empty to enter an empty berth, and waits for the transfer of the empty rail transfer robot;
and S0607, after the completion, the second electric locomotive robot is automatically separated from the second pallet truck array, and the next transportation scheduling is waited for.
In the specific implementation process, the monorail crane robot of the yard at the upper part of the step S0605 is used for transferring the full-load standard containers of the flat car train, and the method comprises the following steps of:
s060501, after a second flat-car train to be transferred (namely, a full-load second flat-car train) is parked to enter a car stopping position of an upper car yard, weight information and position information are sent to a monorail crane robot;
s060502, after receiving the information, the monorail crane robot goes to the position of the second pallet truck column through the perception control unit and lifts and transfers the full-load standard container on the second pallet truck column;
S060503, enabling the monorail crane robot to carry full-load standard containers to automatically run to a working face gateway along a monorail crane empty track line;
s060504, after unloading the working face gateway, transporting the empty standard container back;
s060505, the monorail crane robot reciprocates until the second pallet truck train to be reloaded finishes the reloading operation;
and S060506, recycling the second empty container flat car train which is completely transferred by the second electric locomotive robot.
According to the invention, the time for the standard container to reach the next destination is further calculated according to the weight information and the position information of the standard container in different transfer stages, so that the work of each robot is reasonably and efficiently arranged, and the intelligent transfer and the efficient control of the auxiliary inclined shaft bottom yard are realized.
The foregoing is merely an embodiment of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. The utility model provides an vice inclined shaft bottom yard intelligence transfer system, includes tunnel and transfer transportation equipment, the tunnel includes auxiliary shaft, auxiliary shaft head yard, vice inclined shaft bottom yard, major road and upper portion yard, its characterized in that, transfer transportation equipment is intelligent transfer transportation equipment, includes: the system comprises a first intelligent transfer device, a lifting machine, an empty rail transfer robot, a second intelligent transfer device and a monorail crane robot; wherein: the first intelligent transfer device comprises a special hook head vehicle for a hoisting machine, a first electric locomotive robot, a first flat car row and a first signal detection unit, wherein a first perception control unit is integrated on the first electric locomotive robot; the second intelligent transfer device comprises a second electric locomotive robot, a second flat pallet truck array and a second signal detection unit, and a second perception control unit is integrated on the second electric locomotive robot; the empty rail transfer robot is integrated with a third sensing control unit; the monorail crane robot is integrated with a fourth perception control unit;
The first signal detection unit is used for detecting the position information and the weight information of the first flat car train and feeding back the position information and the weight information to the first sensing control unit and the third sensing control unit;
the second signal detection unit is used for detecting the position information and the weight information of the second pallet truck array and feeding back the position information and the weight information to the second sensing control unit and the fourth sensing control unit;
the first perception control unit controls the first electric locomotive robot to be connected with/disconnected from the first flat car train according to the received position information and weight information of the first flat car train, controls the first electric locomotive robot to start/stop, and controls the elevator to be connected with/disconnected from the first flat car train through a special hook head car of the elevator;
the first electric locomotive robot can be connected with the first flat car train and drives the first flat car train to shuttle between an industrial square container loading area of the auxiliary wellhead yard and a ground transfer area of the auxiliary wellhead yard under the control of the first perception control unit;
the hoisting machine can drive the first flat car train to reciprocate in a ground transfer area of the auxiliary wellhead car yard and a container ground idling load area of the auxiliary well slope bottom through a special hook car of the hoisting machine under the control of the first perception control unit in a state that the first electric locomotive robot and the first flat car train are dissociated;
The third perception control unit is used for controlling the starting/stopping of the empty rail transfer robot according to the received position information and weight information of the first flat car train;
the empty rail transfer robot can reciprocate between an empty transfer area of a container at the bottom of the auxiliary well and a parking position of a first flat train to be transferred under the control of a third perception control unit, and can hoist and transfer full-load standard containers on the first flat train in the empty transfer area of the container at the bottom of the auxiliary well to a second flat train to be loaded, which is parked at the parking position of the first flat train to be transferred; the parking position of the first flat train to be transferred is arranged on a bottom yard of the auxiliary inclined shaft;
the second perception control unit is used for controlling the connection/disconnection of the second electric locomotive robot and the second plate train according to the received position information and weight information of the second plate train;
the second electric locomotive robot can be connected with the second flat train and drives the second flat train to shuttle along the first flat train parking position to be transferred, a main roadway and the second flat train parking position to be transferred under the control of the second perception control unit, and the second flat train parking position to be transferred is arranged at the upper yard;
The fourth perception control unit is used for controlling the starting/stopping of the monorail crane robot according to the received position information and weight information of the second pallet truck array;
the monorail crane robot can transfer full-load standard containers on the second pallet truck at the upper station container idle load position to a working face gateway for unloading under the control of the fourth perception control unit, and can transport the unloaded standard containers back to the second pallet truck.
2. The auxiliary inclined shaft bottom yard intelligent transfer system of claim 1, wherein the auxiliary wellhead yard comprises an industrial plaza container loading area, a first ground rail line and a first car stopping device; wherein: the first ground rail line extends from the industrial square container loading area to the wellhead position of the auxiliary well, forms a ground transfer area of the auxiliary wellhead yard at the wellhead position close to the auxiliary well by arranging a first car blocking device, and is provided with a rail crane at the position close to the industrial square container loading area;
a fifth perception control unit is integrated on the track crane;
the position information and the weight information of the first flat car train detected by the first signal detection unit can be fed back to the fifth perception control unit;
The fifth perception control unit can control the track crane to work through the received position information and weight information of the first flat car train;
under the control of a fifth perception control unit, the track crane can hoist full-load standard containers piled in the industrial square container loading area onto an empty first flat car in the industrial square container loading area until the first flat car is full;
the first electric locomotive robot drives the first flatbed train to move back and forth between the industrial square container loading area and the ground transferring area of the auxiliary wellhead yard along a first ground track line under the control of the first perception control unit.
3. The intelligent transfer system of the auxiliary inclined shaft bottom yard according to claim 2, wherein the auxiliary inclined shaft bottom yard comprises an auxiliary shaft bottom, a second ground rail line, a transfer empty rail line and a first flat train parking place to be transferred; wherein: a second ground track line extends from the secondary well slope bottom to the lower end of the main roadway, and the second ground track line forms the container ground idling load zone of the secondary well slope bottom by arranging a second car stop device at a position close to the secondary well slope bottom;
a part of the second ground track circuit is provided with a first parallel branch circuit, both ends of which are connected with the second ground track circuit; a first to-be-transferred flat train berth is arranged on the first parallel branch; the first parallel branch is respectively and correspondingly provided with a third car stopping device and a fourth car stopping device at two sides of a parking position of the first flat train to be transferred;
The projection line of the transfer empty rail line on the roadway ground is overlapped with the first parallel branch, one end of the projection line of the transfer empty rail line on the roadway ground can extend to a container ground idling carrying area at the bottom of a secondary well slope, and the other end of the projection line can extend to a first to-be-transferred flat train parking position;
the empty rail transfer robot can be hung on a transfer empty rail line and run along the transfer empty rail line;
and the second electric locomotive robot drives the second scooter line to run along a second ground track line under the control of the second perception control unit.
4. The intelligent transfer system of the auxiliary inclined shaft bottom yard according to claim 3, wherein the upper yard comprises a third rail line, a track down hill, a second flat train parking place to be transferred and a monorail crane empty rail line; wherein: the third ground rail line extends from the upper end of the main roadway to the track downhill, and a part of the third ground rail line is provided with a second parallel branch with both ends connected with the third ground rail line; the second parallel branch is provided with a second parking position of the flat train to be transferred, and the second parking position of the flat train to be transferred is formed by arranging a fifth car stopping device and a sixth car stopping device on the second parallel branch;
The projection line of the overhead monorail line on the ground of the roadway is overlapped with the second parallel branch, one end of the projection line of the overhead monorail line on the ground of the roadway can extend to a second flat-bed train parking position to be transferred, and the other end of the projection line of the overhead monorail line can extend to a working face crossheading;
the monorail crane robot can be suspended below a monorail crane empty rail line under the control of a fourth perception control unit and can reciprocate between berths and working face slots of a second flat-bed train to be transferred;
the second electric locomotive robot drives the second flat train to sequentially move back and forth along the first to-be-transferred flat train berth of the second ground track line, the main roadway and the second to-be-transferred flat train berth of the third ground track line under the control of the second sensing control unit.
5. The intelligent transfer system of the auxiliary inclined shaft bottom yard according to claim 1, wherein the first signal detection unit and the second signal detection unit comprise a weighing unit and a GPS module;
the weighing unit of the first signal detection unit is used for detecting weight information of the first flat train, and the GPS module of the first signal detection unit is used for detecting position information of the first flat train;
The weighing unit of the second signal detection unit is used for detecting weight information of the second scooter column, and the GPS module of the second signal detection unit is used for detecting position information of the second scooter column.
6. A control method of an intelligent transfer system of a bottom yard of a secondary inclined shaft as claimed in claim 1, wherein transfer scheduling between a fully loaded standard container of a container loading area of an industrial square and an idling container area of a container ground of a slope bottom of the secondary shaft is realized by cooperatively controlling a first intelligent transfer device and a lifting machine; the first intelligent transfer device and the empty rail transfer robot are cooperatively controlled to realize transfer scheduling of a full-load first flat train of the container land idle load area parked at the slope bottom of the auxiliary well; and the transfer scheduling of the full-load second flat train at the parking position of the second flat train to be transferred, which is parked at the upper train yard, is realized by cooperatively controlling the second intelligent transfer device and the monorail crane transfer robot.
7. The method for controlling an intelligent transfer system for a bottom yard of a secondary inclined shaft according to claim 6, wherein the transfer schedule between the full standard container of the container loading area of the industrial square and the idling loading area of the container at the bottom of the secondary inclined shaft comprises the following steps:
Step S01, a first signal detection unit sends position information and weight information of a first flat car train to a first perception control unit and a fifth perception control unit respectively through a communication module; the fifth perception control unit processes the received position information and weight information of the first flat car train, and when the first flat car train is in an industrial square container loading area and is in an empty state, an execution instruction is sent to an execution mechanism of the track crane, and the execution mechanism of the track crane is controlled to hoist the full-load standard container of the stock yard onto the empty first flat car train until the empty first flat car train is fully loaded;
step S02, after processing the received position information and weight information of the first flat car train, the first perception control unit sends an execution instruction to the first electric locomotive robot when the first flat car train is in an industrial square container loading area and is in a full-load state;
step S03, after receiving an execution instruction, the first electric locomotive robot automatically runs to the position of the full first flat car train, is connected with the full first flat car train through an automatic connecting device, and then starts the first electric locomotive robot to push the full first flat car train to run to a first car stopping device of a subsidiary wellhead yard;
Step S04, after a first electric locomotive robot pushes a full-loaded first flat car train to reach a first car stopping device of a secondary wellhead car park, the first electric locomotive robot and the full-loaded first flat car train are automatically separated; the special hook head vehicle of the hoister receives an execution instruction and moves towards the fully loaded first flat car train so as to be automatically connected with the first flat car train;
s05, receiving an execution instruction by the hoisting machine, and mounting a special hook head vehicle for the hoisting machine and a fully loaded first flat car train to a second car stopping device at the slope bottom of the auxiliary well;
step S06, carrying out full-load standard container transfer on the slope bottom of the auxiliary well by using the full-load first flatbed train;
s07, after the integrated perception control unit in the elevator processes the received position information and weight information of the first flat car train, when the first flat car train is at the slope bottom of the auxiliary well and is in an idle state, an execution instruction is sent to the elevator, and the elevator is controlled to mount a special hook head car of the elevator and the idle first flat car train and recycle the hook head car to the well;
step S08, stopping at a first car stopping device of the auxiliary wellhead car yard after the auxiliary wellhead car yard is put into the well, and automatically separating an empty first flat car train from a special hook head car of the elevator and automatically connecting the empty first flat car train with a first electric locomotive robot;
Step S09, the first electric locomotive robot pulls the empty first flatbed train to return to the industrial square container loading area; before that, the track crane lifts the full-load standard container of the stock yard to the first pallet truck row to be loaded in the other group under the control of the fifth perception control unit, and loading of the first pallet truck row to be loaded in the other group is completed;
step S10, a first electric locomotive robot and an empty first flat train automatically break away after reaching a parking area of an industrial square container loading area, automatically move to the position of another group of full first flat trains, and are connected with the full first flat trains through an automatic connecting device;
the first electric locomotive robot pushes the fully loaded first flat car train to arrive at the car stopping device of the auxiliary wellhead car yard to perform next round of operation.
8. The method for controlling the intelligent transfer system of the auxiliary inclined shaft bottom yard according to claim 7, wherein the step S06 of completing the transfer of the containers by the fully loaded first flatbed train at the auxiliary inclined shaft bottom is completed by cooperatively controlling the empty rail transfer robot and the second intelligent transfer device, specifically comprises the following steps:
step S0601: when the special hook head vehicle of the hoister carries a fully loaded first flat train to reach a car stopping device at the slope bottom of the auxiliary well, sending own weight information and position information to a third sensing control unit integrated on the empty rail transfer robot;
Step S0602: after receiving the signal, the third perception control unit sends out an execution instruction to control the empty rail transfer robot to go to the first full-load flat train to hoist and transfer the full-load standard container to the second to-be-transferred flat train parked at the parking position of the first to-be-transferred flat train;
step S0603: after the second pallet truck column to be reloaded is full, the weight information and the position information of the second pallet truck column are sent to a first sensing control unit integrated on a second electric locomotive robot;
step S0604: after receiving the signal, the first perception control unit sends out an execution instruction to control the second electric locomotive robot to drag the full-load second flat-bed train to go to a second to-be-transferred flat-bed train parking position of an upper train yard through a main roadway;
step S0605: after the full-loaded second flat train reaches a sixth car stopping device of the upper car yard, the weight information and the position information of the full-loaded second flat train are sent to a fourth perception control unit integrated on the monorail crane robot; after receiving the signal, the fourth perception control unit sends out an execution instruction to control the monorail crane robot to reload the full-load standard containers of the second flat train;
step S0606: after transfer is completed, the second flat-bed train transmits own weight information and position information to a second electric locomotive robot, and the second electric locomotive robot drags the second flat-bed train which is recovered to be empty to return to enter a bottom yard of the auxiliary inclined shaft, so as to push the second flat-bed train which is empty to enter an empty berth and wait for transfer of the empty rail transfer robot;
After the completion, the second electric locomotive robot is automatically separated from the second pallet truck array, and the next transportation scheduling is waited for.
9. The control method of the auxiliary inclined shaft bottom yard intelligent transfer system according to claim 7, wherein in step S0605, the monorail crane robot of the upper yard transfers the full-load standard containers of the flat train, specifically comprising the following steps:
step S060501, weight information and position information are sent to the monorail crane robot after the train to be transferred is parked to enter a car stopping position;
s060502, after receiving information, the monorail crane robot goes to hoisting through a perception control unit;
step S060503, the monorail crane robot carries a full-load standard container to automatically run to a working face gateway along a monorail crane empty track line;
step S060504, after unloading the working face gateway, transporting the empty standard container back;
s060505, enabling the monorail crane robot to go back and forth until the transfer operation of the platform truck train to be transferred is completed;
and step S060506, recycling the empty container flat car train which is completely reloaded by the electric locomotive robot.
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| CN203488206U (en) * | 2013-09-30 | 2014-03-19 | 煤炭工业济南设计研究院有限公司 | Novel trackless shaft station |
| CN109139098A (en) * | 2018-11-17 | 2019-01-04 | 山东省田庄煤矿有限公司 | A kind of endless rope traction single track crane system |
| CN110039998A (en) * | 2019-04-19 | 2019-07-23 | 中国煤炭科工集团太原研究院有限公司 | A kind of electrically independent driving rubber-tired cart intelligence Stady On The Auxiliary Transportation Systems of underground coal mine bavin |
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| CN212837943U (en) * | 2020-04-19 | 2021-03-30 | 中铁二院工程集团有限责任公司 | Double-hole separately-repaired tunnel construction production vertical shaft bottom trackless transport vehicle yard structure |
| CN213838671U (en) * | 2020-10-16 | 2021-07-30 | 内蒙古玉龙矿业股份有限公司 | Blind inclined shaft lifting system based on reverse train dump |
| CN214063039U (en) * | 2020-12-22 | 2021-08-27 | 山西马堡煤业有限公司 | Intelligent monitoring device for mining auxiliary transportation system |
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