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CN-224225045-U - Mining explosion-proof trackless rubber-tyred car buffer stop

CN224225045UCN 224225045 UCN224225045 UCN 224225045UCN-224225045-U

Abstract

The utility model discloses an anti-collision device of a mining anti-explosion trackless rubber-tyred vehicle, which comprises a dual radar detection system, an electronic fence system and an intelligent brake controller. The double radar dislocation layout realizes 0-50 m obstacle scanning and data fusion, the electronic fence constructs a protection boundary through the transmitter and the receiver, and the intelligent brake controller executes four-level brake logic according to detection signals. The device also has the functions of a three-dimensional adjustable bracket, a double-loop hydraulic braking system, self-adaptive anti-interference and the like, and an explosion-proof protection and redundancy power supply module. The device effectively solves the problem of vehicle collision under the complex mine environment, improves transportation safety and reliability, and is suitable for various mine scenes.

Inventors

  • YAN MING
  • SUN WENPING
  • LI WENPENG
  • CHENG ZHIXING
  • YAN HAI

Assignees

  • 山东鑫弘锦智能装备有限公司

Dates

Publication Date
20260512
Application Date
20250623

Claims (10)

  1. 1. An anti-collision device for a mining anti-explosion trackless rubber-tyred vehicle, which is characterized by comprising: The dual radar detection system comprises a millimeter wave radar and an ultrasonic radar which are arranged in front of a vehicle head and are used for scanning obstacles in the range of 0-50 meters in front in real time; The electronic fence system comprises a plurality of low-frequency signal transmitters arranged in a roadway key area and vehicle-mounted receivers arranged around a vehicle body, wherein the detection precision of the receivers is less than or equal to 0.1 meter, and the receivers are judged to enter the fence area when signals of more than or equal to 3 transmitters are received; the intelligent braking controller is electrically connected with the vehicle power system and the braking system, and triggers the hierarchical braking logic when receiving collision early warning signals of millimeter wave radar and ultrasonic radar or fence touch signals of the vehicle-mounted receiver, wherein the hierarchical braking logic is as follows: First-level early warning, namely triggering audible and visual alarm when the distance between the barrier and the vehicle is 15-30 m, and limiting the speed to 20km/h; the secondary speed reduction is that when the distance between the barrier and the vehicle is 5-15 m, 50% braking force is automatically applied, and the speed is limited to 10km/h; Three-stage braking, namely full braking when the distance between the barrier and the vehicle is 1-5 m, and cutting off the power supply of unnecessary equipment; and four-stage flameout, namely when the distance between the barriers is less than 1 meter, forcing the engine to extinguish and locking the wheels.
  2. 2. The mining explosion-proof trackless rubber-tyred vehicle anti-collision device according to claim 1, wherein the millimeter wave radar and the ultrasonic radar are in up-down dislocation layout, the millimeter wave radar detection distance is 30-50 meters, the ultrasonic radar detection distance is 0-30 meters, the two data fusion algorithm is operated for more than or equal to 100 times per second, and the obstacle position, the speed and the collision probability are output.
  3. 3. The mining explosion-proof trackless rubber-tyred car buffer stop of claim 1, wherein the millimeter wave radar and the ultrasonic radar are installed through a three-dimensional adjustable bracket, the bracket has the functions of +/-45 degrees of horizontal rotation and +/-15 degrees of vertical pitching adjustment, the fine adjustment precision is +/-0.5 degrees, and a rubber damping shock pad is integrated.
  4. 4. The mining explosion-proof trackless rubber-tyred vehicle anti-collision device according to claim 1, further comprising a hydraulic braking system, wherein the hydraulic braking system adopts a double-loop independent oil supply design, a main loop and a standby loop are monitored in real time through a pressure sensor, and the braking force retention rate is more than or equal to 70% when a single loop fails, so that the redundancy safety of the braking system is ensured.
  5. 5. The mining explosion-proof trackless rubber-tyred vehicle anti-collision device according to claim 1, wherein the vehicle-mounted receiver is internally provided with a self-adaptive anti-interference algorithm, a roadway metal structure reflection signal is filtered through dynamic threshold adjustment, the false alarm rate is controlled below 0.1 times/hour, and the effective distance of the signal penetrating through a rock wall is more than or equal to 50 meters.
  6. 6. The mining explosion-proof trackless rubber-tyred vehicle anti-collision device according to claim 1, further comprising an intelligent braking control module, wherein the intelligent braking control module supports a multi-vehicle cooperative early warning function and is connected with a roadway base station through a 4G/5G wireless communication module.
  7. 7. The mining explosion-proof trackless rubber-tyred vehicle anti-collision device according to claim 1, further comprising a man-machine interaction display, wherein the man-machine interaction display can display an obstacle three-dimensional model, an electronic fence boundary and braking logic in real time.
  8. 8. The mining explosion-proof trackless rubber-tyred vehicle anti-collision device according to claim 1, wherein the transmitter adopts a magnetic mounting base to support quick assembly and disassembly, deployment density is encrypted to 15 m intervals in a curve area, and no dead angle is ensured for signal coverage.
  9. 9. The mining explosion-proof trackless rubber-tyred vehicle anti-collision device according to claim 1, wherein the dual radar detection system has a self-calibration function, and the vehicle pitching/rolling angle is compensated in real time through the vehicle-mounted inertial navigation system.
  10. 10. The mining explosion-proof trackless rubber-tyred vehicle collision avoidance device according to claim 1, further comprising: The explosion-proof protection system comprises a cast aluminum alloy car body shell, wherein the electrostatic spraying thickness of the surface of the car body shell is more than or equal to 80 mu m, and a 50 mu m three-proofing paint is coated on a circuit board in the car body; the redundant power supply module comprises a standby battery pack and an energy management module, wherein the standby battery pack can continuously supply power for more than or equal to 30 minutes after a main power supply of the vehicle body is powered off.

Description

Mining explosion-proof trackless rubber-tyred car buffer stop Technical Field The utility model belongs to the technical field of mine transportation safety equipment, and particularly relates to an anti-collision device of a mining anti-explosion trackless rubber-tyred vehicle. Background In underground mining operations such as coal mines and metal mines, a trackless rubber-tyred vehicle is used as a core transport tool to bear the transport weight of personnel, materials and equipment. However, mine roadways present a number of complications such as narrow space (typically only 4-6 meters wide), dense curves (radius of curvature typically 15 meters or less), obstructed line of sight (illumination range typically 30 meters or less), and a variety of obstacles including protruding rock walls, temporary stacking equipment, work pedestrians, etc. These factors lead to frequent collision accidents of vehicles, and seriously threaten personnel safety and production efficiency. The traditional anti-collision device mostly adopts a single sensor, such as an ultrasonic radar or a camera, under the high dust (the concentration is more than 100mg/m < 3 >) environment of a mine, the detection distance of the ultrasonic radar is greatly shortened, the imaging of the camera is fuzzy, the obstacle is difficult to accurately identify, the early warning effect is poor, meanwhile, an effective active protection means is lacking in key areas such as a roadway bend, an intersection and the like, the vehicle is easy to generate a welt collision, in addition, the braking logic of a braking system is simple, the braking force cannot be flexibly adjusted according to the dangerous degree, the emergency braking distance is overlong, and the requirement of roadway safety braking is exceeded. Therefore, a collision avoidance device which can adapt to the complex environment of a mine and realize accurate detection and intelligent braking is needed. Disclosure of utility model Aiming at the problems and the defects existing in the prior art, the utility model provides an anti-collision device for a mining anti-explosion trackless rubber-tyred vehicle, which effectively solves the problem of vehicle collision in a complex mine environment, improves the transportation safety and reliability, and is suitable for various mine scenes. The utility model is realized by the following technical scheme: an anti-collision device for a mining anti-explosion trackless rubber-tyred vehicle, comprising: The dual radar detection system comprises a millimeter wave radar and an ultrasonic radar which are arranged in front of a vehicle head and are used for scanning obstacles in the range of 0-50 meters in front in real time; the electronic fence system comprises a plurality of low-frequency signal transmitters arranged in a roadway key area and vehicle-mounted receivers arranged around a vehicle body, wherein the detection precision of the receivers is less than or equal to 0.1 meter, and the signals of the transmitters more than or equal to 3 transmitters are received to judge that the signals enter the fence area; The intelligent braking controller is electrically connected with the vehicle power system and the braking system, and when receiving collision early warning signals of the millimeter wave radar and the ultrasonic radar or fence touch signals of the vehicle-mounted receiver, the intelligent braking controller triggers a hierarchical braking logic, wherein the hierarchical braking logic is as follows: First-level early warning, namely triggering audible and visual alarm when the distance between the barrier and the vehicle is 15-30 m, and limiting the speed to 20km/h; the secondary speed reduction is that when the distance between the barrier and the vehicle is 5-15 m, 50% braking force is automatically applied, and the speed is limited to 10km/h; Three-stage braking, namely full braking when the distance between the barrier and the vehicle is 1-5 m, and cutting off the power supply of unnecessary equipment; and four-stage flameout, namely when the distance between the barriers is less than 1 meter, forcing the engine to extinguish and locking the wheels. The intelligent anti-collision protection system is constructed, long-distance and short-distance comprehensive detection is realized by the double radar, the electronic fence is used for actively controlling the key area, the intelligent braking controller is used for executing graded braking according to different dangerous degrees, the occurrence rate of collision accidents can be effectively reduced, and the driving safety of the vehicle is improved. Further, the millimeter wave radar and the ultrasonic radar are in vertical dislocation layout, the detection distance of the millimeter wave radar is 30-50 meters, the detection distance of the ultrasonic radar is 0-30 meters, the operation of the two data fusion algorithms is more than or equal to 100 times per second, and the position