阅读说明：本技术 一种轮斗挖掘机-卡车协同配合装车对准装置及方法 (Alignment device and method for coordinated loading of wheel excavator and truck ) 是由 辛凤阳 曾祥玉 王忠鑫 宋波 赵明 田凤亮 刘玲 李申岩 于 2021-08-20 设计创作，主要内容包括：一种轮斗挖掘机-卡车协同配合装车对准装置及方法,涉及露天矿领域。该协同配合装车方式,首先利用高精GNSS定位传感器采集轮斗挖掘机和卡车位置信息,由二者的位置判断轮斗挖掘机是否卸料,由卡车物料的高度判断卡车是否装满,该方法不需要轮斗司机和卡车反复沟通,可直接完成轮斗挖掘机和卡车配合装车过程,其效率高,有利于减少环境污染。(A wheel hopper excavator-truck cooperative loading alignment device and method relate to the field of strip mines. According to the cooperative loading mode, the high-precision GNSS positioning sensor is used for collecting the position information of the wheel bucket excavator and the truck, the position of the wheel bucket excavator and the position of the truck are used for judging whether the wheel bucket excavator unloads materials, and the height of the truck materials is used for judging whether the truck is full.)

1. A wheelbarrow-truck coordination loading alignment device, comprising:

the wheel bucket excavator positioning sensors are arranged on the left side and the right side of a discharge port of the wheel bucket excavator, are connected with the field controller through a wireless data transmission station and are used for acquiring position information of the discharge port;

the radar level gauges are respectively arranged on the front side and the rear side of a discharge port below a discharge arm of the wheel bucket excavator, are connected with the field controller through a wireless data transmission radio station and are used for monitoring the current material loading height in real time;

the mining truck positioning sensors are arranged on the left side and the right side of a driver cab of the mining truck, are in wireless communication connection with a dispatching room server through a 4G network of a truck-mounted terminal of the truck, and are used for acquiring the position information of a truck hopper of the truck;

the field controller is arranged in the field electric control cabinet, is connected with the dispatching room server through optical fibers, and is used for receiving the collected signals of the positioning sensor and the radar level gauge of the wheel bucket excavator and transmitting the information to the dispatching room server;

and the dispatching room server is connected with the terminal equipment in the wheel hopper excavator and the terminal equipment in the mining truck through a 4G network, and is used for calculating the position relation between the radar level gauge and the wheel hopper excavator, calculating the height of the material in the carriage of the mining truck, outputting a control signal to control whether the wheel hopper excavator unloads the material, and controlling the terminal in the truck to display the current material loading condition.

2. A method for aligning a coordinated loading of a wheel excavator and a truck is characterized by comprising the following steps:

judging the position relation between the mining truck and the wheel hopper excavator, and drawing a contour top view of the carriage of the mining truck by utilizing the collected position information of the double high-precision GNSS positioning sensors of the mining truck and combining the known length and width of the carriage of the mining truck; drawing a profile top view of the discharge opening of the wheel bucket excavator by utilizing the collected position information of the discharge opening of the wheel bucket excavator; the two outline top views are simultaneously displayed on a display screen of the terminal equipment;

the method comprises the following steps of (1) unloading by the wheel bucket excavator, namely prompting a driver of the wheel bucket excavator to unload materials to a mining truck when the contour of a discharge opening of the wheel bucket excavator is in an internally tangent relation with the contour of a carriage of the truck for the first time;

loading the mining truck, namely monitoring the material level height of the mining truck in real time on line during material loading, and moving the truck to the next loading position by a truck driver to continuously load when the material level reaches the upper boundary of a truck carriage; and repeating the loading steps until the discharge port of the wheel bucket excavator and the contour of the truck carriage are in the internally tangent relation for the second time, prompting a driver of the wheel bucket excavator, controlling the wheel bucket excavator to stop the wheel bucket excavator to discharge, prompting a driver of the mining truck that the truck is full, and completing the loading task.

3. The method of aligning a wheelbarrow-truck cooperative loading according to claim 2, comprising the steps of:

the material level height refers to the distance between the contour line center of the wheel hopper discharge port and the material in the carriage, which is obtained in real time; the distance specifically includes: the distance between the contour line center of the discharging opening of the unloaded front wheel hopper and the bottom of the carriage; and in the discharging process, the distance between the contour line center of the discharging opening of the wheel hopper and the upper surface of the material in the carriage is calculated by utilizing the natural repose angle of the material.

Technical Field

The invention relates to the field of strip mines, in particular to a device and a method for aligning wheel hopper excavators and trucks in cooperative loading.

Background

With the development of strip mines towards the direction of intellectualization, the strip mine single-bucket-truck discontinuous process is highlighted by a series of problems of small equipment capacity, large quantity, high personnel and equipment density, poor production operation safety, large environmental pollution and the like, the application of a wheel bucket excavator in strip mines gradually conforms to the trend of times of the era, but the prior wheel bucket-front loader-truck semi-continuous process has the problems that raw coal directly falls to the ground in the mining process, the front loader loads the trucks, the process directly causes low process production efficiency, the height difference between the discharging arms of the wheel bucket and the ground is large, the lifting difference of the front loader causes secondary dust, serious pollution is caused to the mine environment and the like, and the requirements of safe, green, intelligent and efficient mining of strip mines cannot be met.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a coordinated loading alignment device of a wheel excavator and a truck.

The technical scheme adopted by the invention is as follows: the utility model provides a wheel hopper excavator-truck cooperates loading aligning device, its technical essential is, includes:

the wheel bucket excavator positioning sensors are arranged on the left side and the right side of a discharge port of the wheel bucket excavator, are connected with the field controller through a wireless data transmission station and are used for acquiring position information of the discharge port;

the radar level gauges are respectively arranged on the front side and the rear side of a discharge port below a discharge arm of the wheel bucket excavator, are connected with the field controller through a wireless data transmission radio station and are used for monitoring the current material loading height in real time;

the mining truck positioning sensors are arranged on the left side and the right side of a driver cab of the mining truck, are in wireless communication connection with a dispatching room server through a 4G network of a truck-mounted terminal of the truck, and are used for acquiring the position information of a truck hopper of the truck;

the field controller is arranged in the field electric control cabinet, is connected with the dispatching room server through optical fibers, and is used for receiving the collected signals of the positioning sensor and the radar level gauge of the wheel bucket excavator and transmitting the information to the dispatching room server;

and the dispatching room server is connected with the terminal equipment in the wheel hopper excavator and the terminal equipment in the mining truck through a 4G network, and is used for calculating the position relation between the radar level gauge and the wheel hopper excavator, calculating the height of the material in the carriage of the mining truck, outputting a control signal to control whether the wheel hopper excavator unloads the material, and controlling the terminal in the truck to display the current material loading condition.

The technical key points of the method for aligning the coordinated loading of the wheel excavator and the truck are that the method comprises the following steps:

judging the position relation between the mining truck and the wheel bucket excavator, and drawing a contour top view of the carriage of the mining truck by utilizing the collected carriage position information of the mining truck and combining the known carriage length and width information of the mining truck; drawing a profile top view of the discharge opening of the wheel bucket excavator by utilizing the collected position information of the discharge opening of the wheel bucket excavator; the two outline top views are simultaneously displayed on a display screen of the terminal equipment;

when the contour of the discharge port of the wheel bucket excavator and the contour of the carriage of the truck show an internally tangent relation for the first time, prompting a driver of the wheel bucket excavator to control the discharge port of the wheel bucket excavator to begin to discharge to the mining truck;

loading the mining truck, namely monitoring the material level height of the mining truck in real time on line during material loading, and moving the truck to the next loading position by a truck driver to continuously load when the material level reaches the upper boundary of a truck carriage; and repeating the loading steps until the discharge port of the wheel bucket excavator and the contour of the truck carriage are in the internally tangent relation for the second time, prompting a driver of the wheel bucket excavator, controlling the wheel bucket excavator to stop the wheel bucket excavator to discharge, prompting a driver of the mining truck that the material is full, and completing the loading task.

In the scheme, the material level height refers to the distance between the contour line center of the wheel hopper discharge port and the carriage material which are obtained in real time; the distance specifically includes: the distance between the contour line center of the discharging opening of the unloaded front wheel hopper and the bottom of the carriage; and in the discharging process, the distance between the contour line center of the discharging opening of the wheel hopper and the upper surface of the material in the carriage is calculated by utilizing the natural repose angle of the material.

The invention has the beneficial effects that: the wheel bucket excavator-truck cooperative loading alignment device and method are characterized in that a high-precision GNSS positioning sensor is used for acquiring position information of the wheel bucket excavator and a mining truck, whether the wheel bucket excavator unloads materials is judged according to the positions of the wheel bucket excavator and the mining truck, the height of the truck materials is monitored by a radar level gauge in real time on line to judge whether the truck is full, repeated communication between a wheel bucket driver and the truck is not needed, the matching loading process of the wheel bucket excavator and the truck can be directly completed, the efficiency is high, and environmental pollution is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is an elevation view of a wheel hopper excavator-mining truck cooperative loading alignment apparatus in an embodiment of the present disclosure in an installed state;

FIG. 2 is a side view of a wheel hopper excavator-mining truck cooperative loading alignment apparatus in an embodiment of the present disclosure in an installed state;

FIG. 3 is a top view of a discharge gate-mining truck position co-operating with a truck alignment device in an embodiment of the present disclosure in an installed state;

FIG. 4 is a schematic illustration of a typical position of a discharge outlet-mining truck position in an embodiment of the present invention;

FIG. 5 is a first inset schematic view of a discharge outlet-mining truck position in an embodiment of the present invention;

FIG. 6 is a second schematic inscribed view of a discharge outlet-mining truck position in an embodiment of the present invention;

FIG. 7 is a schematic view of a principle of measuring a level of a material in a compartment of a mining truck in an initial state according to an embodiment of the invention;

FIG. 8 is a schematic diagram illustrating a principle of measuring a level of a front end of a mining truck compartment in an initial state according to an embodiment of the invention;

FIG. 9 is a schematic diagram illustrating a principle of measuring a material level at the rear end of a compartment of a mining truck in an initial state according to an embodiment of the invention;

the numbers in the figure illustrate the following: the high-precision GNSS position sensor comprises a first high-precision GNSS position sensor 1, a first radar charge level indicator 2, a second radar charge level indicator 3, a second high-precision GNSS position sensor 4, a third high-precision GNSS position sensor 5 and a fourth high-precision GNSS position sensor 6.

Detailed Description

The above objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention with reference to the accompanying drawings, which are illustrated in fig. 1 to 9.

The wheel hopper excavator-truck cooperative loading alignment device adopted by the embodiment comprises four high-precision GNSS positioning sensors, the precision of the four high-precision GNSS positioning sensors is at least centimeter level, two of the high-precision GNSS positioning sensors are used as wheel hopper excavator discharge port positioning sensors, and the other two high-precision GNSS positioning sensors are used as mining truck positioning sensors. A first high-precision GNSS positioning sensor 1 and a second high-precision GNSS positioning sensor 4 are respectively arranged on two longitudinal sides above the end part of a discharge opening of the wheel bucket excavator. A horizontal safety distance delta g is reserved between the first high-precision GNSS positioning sensor 1 (or the second high-precision GNSS positioning sensor 4) and the discharge opening of the wheel hopper excavator. First radar charge level indicator 2 and second radar charge level indicator 3 are installed respectively to the horizontal both sides in wheel hopper excavator discharge mouth end portion below to this embodiment. A horizontal safety distance delta d is reserved between the first radar level gauge 2 (or the second radar level gauge 3) and the discharge hole of the bucket excavator. And a third high-precision GNSS positioning sensor 5 and a fourth high-precision GNSS positioning sensor 6 are respectively installed on the longitudinal two sides of the driver cab of the mining truck. A safety distance ac is reserved between the third high-precision GNSS sensor 5 (or the fourth high-precision GNSS positioning sensor 6) and the boundary of the mining truck compartment. The reserved delta g, delta d and delta c are distances set for meeting the error allowable range of the high-precision GNSS sensor, the use safety of the wheel hopper excavator-truck cooperated loading alignment loading and the allowable accurate value of monitoring data are improved, and the phenomenon of material scattering in the loading process caused by inaccurate monitoring values of the sensor is avoided.

The wheel bucket excavator positioning sensor and the radar level gauge are communicated with a field Siemens PLC controller arranged in a field control cabinet through a wireless data transmission station respectively, position information and the level height are transmitted to the field Siemens PLC controller in real time, and then transmitted to a dispatching room service end through optical fibers, and real-time acquisition of the position and the level height of the wheel bucket excavator is achieved.

The mining truck positioning sensor is connected through vehicle-mounted terminal equipment arranged in a vehicle, positioning information is transmitted to a dispatching room server side through a mining truck-mounted terminal and a TCP/IP mode by using a 4G signal network, and data acquisition work of real-time positions of the mining truck is completed.

In this embodiment, the method for aligning the loading by using the cooperation of the wheel hopper excavator and the truck includes the following steps:

step 1, judging the position relation between a wheel bucket excavator and a mining truck.

The method comprises the steps of acquiring position coordinates of discharge openings of a mining truck and a wheel hopper excavator in real time, acquiring the position coordinates of the discharge openings of the wheel hopper excavator in real time by utilizing a first high-precision GNSS sensor 1 and a second high-precision GNSS sensor 4, drawing a top view of the contour of the discharge opening of the wheel hopper excavator in combination with known diameter data of the discharge openings, acquiring the position coordinates of the mining truck in real time by utilizing a third high-precision GNSS sensor 5 and a fourth high-precision GNSS sensor 6, drawing the contour of a carriage of the mining truck in combination with known length and width of the carriage of the mining truck, and displaying the top view of the contour of the carriage on respective system terminal interfaces of the mining truck and the wheel hopper excavator. The user can clearly see the position relation of the mining truck and the discharge port of the wheel hopper excavator through the display interface, so that the problem that a truck driver needs to stop for multiple times to determine the material loading position in the existing mode is solved. As can be seen in fig. 5, the readiness of the mining truck is indicated only when the circle representing the discharge opening of the wheel excavator is inscribed in the rectangle representing the contour of the bed of the mining truck.

And 2, starting unloading by the wheel bucket excavator.

Step 2.1: when the position of the mining truck is close to the wheel hopper excavator, the vehicle-mounted terminal interface is displayed as shown in fig. 4, and when the mining truck and the discharge port of the wheel hopper excavator are far away from each other or are gradually intersected but do not form an internally tangent relation, a driver of the mining truck drives the vehicle to move, and the discharge port of the wheel hopper excavator does not discharge materials.

Step 2.2: when the contour of the discharge opening of the wheel hopper excavator forms an internally tangent relation with the mining truck for the first time, the driver of the wheel hopper excavator is prompted to operate the wheel hopper excavator to carry out the unloading operation, as shown in fig. 5. When the contour line of a discharge port of the bucket excavator is positioned within the contour line of the mining truck wheel, the bucket excavator performs unloading operation, but along with the loading of materials, a truck needs to be moved to continue loading the rear part of the carriage after the carriage is fully filled in front of the carriage, so that the height of the materials in the carriage of the truck at the moment needs to be judged on line in real time, and the specific method comprises the following steps:

(1) in the initial state, the height of the material in the truck compartment is 0, and the distance between the contour line center of the discharge opening of the front wheel hopper and the bottom of the compartment is monitored by the radar level gauge.

(2) When the position relation between the carriage of the mining truck and the radar level gauge at the discharge port is shown in fig. 8, the heights of the first radar level gauge and the second radar level gauge which are monitored in real time on line are respectively L1 and L2, and because the positions of the two radar level gauges are in an axisymmetric position relation based on the central position of the discharge port, the blanking height at the center of the discharge port can be accurately obtained according to the natural repose angle alpha of the material. As shown in fig. 8, the angle BAC = α, according to the record in the mining handbook, the natural repose angle value of the material of the open pit coal mine can be 33 °, and can be obtained according to the formula:

first radar charge level indicator obtains the blanking height and intersects A with the material, and the height of bin outlet center blanking is C with the material intersection point, does the straight line AD that parallels with first radar charge level indicator, second radar charge level indicator place connecting line along A point, through the mid point and the C point connection of first radar charge level indicator and second radar charge level indicator place straight line, and the extension line is B with AD's intersect, utilizes BC can be accurate learn the plateau L of bin outlet center blanking, and then the suggestion truck carriage is not full, should continue to feed. The method can realize the maximum loading efficiency of the mining truck.

(3) When the position relation between the carriage of the mining truck and the radar level gauge at the discharge hole is shown in fig. 9, and when the monitoring height of the second radar level gauge exceeds the carriage limit of the mining truck, a driver of the wheel hopper excavator is prompted to stop a wheel hopper running signal in time. And thus, completing one loading task, moving the position of the mining truck by a driver of the mining truck, loading the rear part of the carriage, and repeatedly executing the step 2.2.

And step 3: when the profile of the discharge port of the wheel hopper excavator forms an inscribed relation with the mining truck for the second time, a wheel hopper driver is prompted to stop the wheel hopper to operate and unload materials, the mining truck driver is prompted to complete loading operation, and the mining truck driver can go to the next place to complete work, as shown in fig. 9.

Above-mentioned process makes mining truck driver and wheel bucket excavator driver can carry out oneself work independently, need not communicate repeatedly each other and confirm the interior material height of carriage and when need the truck to drive away when filling material to truck carriage rear, when judging that the truck is filled with and leaves, these circumstances are all accomplished through visual system, have improved holistic working process for whole process is changed into automated processing's mode by original artifical communication mode of each other, has improved the efficiency of work greatly.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.