CN115653672A - An intelligent reloading system and control method for a parking lot at the bottom of an auxiliary inclined shaft - Google Patents

Abstract

The present invention relates to the field of auxiliary transportation in mines, in particular to an intelligent reloading system and control method for auxiliary inclined shaft bottom yards. Robot, monorail crane robot, track crane, standard container, weighing unit, GPS module, communication module, robot perception control unit. The weighing unit and GPS module transmit the weight and position information of the flatbed to the robot perception control unit, which summarizes various information and controls the movement behavior of each robot. The invention realizes the monitoring of the weight and position information of the flatbed truck, the perception of the surrounding environment of each robot and the control of the robot itself, and can timely and accurately grasp the production and operation status of the auxiliary inclined shaft bottom yard, and realize the auxiliary inclined shaft intelligently and efficiently. The loading process at the bottom of the well is optimized, the reloading process is improved, the reloading efficiency is improved, and higher economic benefits are achieved.

Description

An intelligent reloading system and control method for a parking lot at the bottom of an auxiliary inclined shaft

technical field

The invention relates to the field of auxiliary transportation in mines, in particular to an intelligent reloading system and control method for a parking lot at the bottom of an auxiliary inclined shaft.

Background technique

The transportation systems such as electric locomotives, monorail cranes, and reloading robots in mines are the aorta of mine auxiliary transportation systems and an important guarantee for the safe and efficient operation of transportation systems. At present, the dispatching of transportation systems such as electric locomotives or monorail cranes is mostly manual dispatching, partly relying on the "signal collection and closing" system based on programmable controllers. Underground road condition information, only local dispatching, low transportation efficiency and other issues.

With the improvement of the automation of underground modern mining technology, mining enterprises face the current situation of how to improve work efficiency, improve work safety factor, and improve operation efficiency. The demand for automation and informatization of underground transportation systems is also increasing. For existing transportation systems such as electric locomotives or monorail cranes, how to provide a method that can efficiently realize intelligent reloading and effective control of underground transportation is a technical problem to achieve unmanned and less-humanized.

Contents of the invention

In view of the above-mentioned technical deficiencies, the object of the present invention is to provide an intelligent reloading system and control method for the parking lot at the bottom of the auxiliary inclined shaft. Analysis to realize the intelligent reloading and autonomous operation of the underground yard, and then realize the intelligentization of the auxiliary transportation of the underground yard and improve the efficiency of transportation.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

An intelligent reloading system for a parking lot at the bottom of an auxiliary inclined shaft, including a roadway and reloading transportation equipment. Reloading transportation equipment, including: the first intelligent reloading device, hoist, empty rail reloading robot, second intelligent reloading device and monorail crane robot; among them:

The first intelligent reloading device includes a special hook car for the hoist, a first electric locomotive robot, a first flat car train and a first signal detection unit, and a first perception control unit is integrated on the first electric locomotive robot; The second intelligent reloading device includes a second electric locomotive robot, a second flat train and a second signal detection unit, the second electric locomotive robot is integrated with a second perception control unit; the empty rail reloading robot is integrated with a third perception A control unit; the monorail crane robot is integrated with a fourth perception control unit;

The first signal detection unit is used to detect the position information and weight information of the first flatbed train, and feed back to the first and third perception control units;

The second signal detection unit is used to detect the position information and weight information of the second flatbed train, and feed back to the second and fourth perception control units;

The first perception control unit, according to the received position information and weight information of the first flatbed train, controls the first electric locomotive robot to connect/disconnect with the first flatbed train, controls the first electric locomotive robot to start/stop Stop, control the hoist to connect/disconnect with the first flat car train through the special hook car for the hoist;

The first electric locomotive robot, under the control of the first perception control unit, can be connected with the first flatbed train and drive the first flatbed train to be reloaded in the container loading area of the industrial square of the auxiliary wellhead yard and the ground of the auxiliary wellhead yard. Shuttle between districts;

The hoist described above, under the control of the first perception control unit, can drive the first flat car train to the auxiliary wellhead through the special hook car for the hoist when the first electric locomotive robot and the first flat car train are in a state of dissociation. Round-trip transportation between the ground transfer area of the yard and the empty container transfer area at the bottom of the auxiliary well;

The third perception control unit controls the start/stop of the empty rail reloading robot according to the received position information and weight information of the first flatbed train;

The empty rail reloading robot, under the control of the third perception control unit, can reciprocate between the empty reloading area of the container at the bottom of the auxiliary shaft slope and the berth of the first flat-bed train to be reloaded, and can move the robot at the bottom of the auxiliary shaft The full-loaded standard container on the first flat train in the empty reloading area of the container is hoisted and transferred to the second flat train to be loaded that is parked at the berth of the first unloaded flat train; the first berth of the unloaded flat train is set on the auxiliary ramp On the bottom of the well;

The second perception control unit controls the second electric locomotive robot to connect/disconnect with the second flatbed train according to the received position information and weight information of the second flatbed train;

The second electric locomotive robot, under the control of the second perception control unit, can be connected with the second flat train and drive the second flat train along the berth of the first flat train to be transferred, the avenue, and the second flat train to be transferred. The berths for flatbed trains shuttle back and forth, and the second berth for flatbed trains to be reloaded is set in the upper yard;

The fourth perception control unit controls the start/stop of the monorail crane robot according to the received position information and weight information of the second flatbed train;

The monorail crane robot described above, under the control of the fourth perception control unit, can transfer the fully loaded standard container on the second flatbed wagon row at the idling loading position of the container in the upper yard to the working surface for unloading along the trough, and can unload the container after unloading. The standard container is transported back to the second flat car column.

Preferably, the auxiliary wellhead depot includes the container loading area of the industrial square, the first ground rail line and the first vehicle blocking device; wherein:

The first ground rail line extends from the container loading area of the industrial square to the wellhead of the auxiliary well, and at the wellhead close to the auxiliary well, the ground transfer area of the auxiliary wellhead depot is formed by arranging the first traffic blocking device. A track crane is installed near the container loading area of the industrial square;

The track crane is integrated with a fifth perception control unit;

The position information and weight information of the first flatbed 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 work of the rail crane through the received position information and weight information of the first flat car train;

Under the control of the fifth perception control unit, the rail crane can hoist the full-load standard containers stacked in the container loading area of the industrial plaza to the unloaded first flatbed train in the container loading area of the industrial plaza until the first flatbed train is fully loaded ;

The first electric locomotive robot, under the control of the first perception control unit, drives the first flatbed car train to run back and forth between the container loading area of the industrial square and the ground-ground reloading area of the auxiliary wellhead depot along the first ground rail line .

Preferably, the parking lot at the bottom of the auxiliary inclined shaft includes the slope bottom of the auxiliary shaft, the second ground rail line, the reloading empty rail line and the berth of the first flat-bed train to be reloaded; wherein:

The second ground rail line extends from the bottom of the auxiliary shaft slope to the lower end of the main road, and the second ground rail line forms the bottom of the auxiliary shaft slope by setting a second vehicle stop device at a position close to the bottom of the auxiliary shaft slope Empty reloading area of the container;

The part line of the second ground track line is equipped with the first parallel branch that both ends are connected with the second ground track line; the first parallel branch is provided with the first berth for flat-bed trains to be reloaded; the first parallel branch is in On both sides of the berth of the first platform train to be reloaded, the third and fourth stoppers are correspondingly arranged;

The projection line of the reloading empty rail line on the roadway ground coincides with the first parallel branch road, and one end of the projection line of the reloading empty rail line on the roadway ground can extend to the empty reloading area of the container ground at the bottom of the auxiliary shaft slope, and the other end can extend Arrive at the first berth for flatbed trains to be reloaded;

The empty rail reloading robot can be suspended on the reloading empty rail line and run along the reloading empty rail line;

The second electric locomotive robot, under the control of the second perception control unit, drives the second flatbed train to run along the second ground rail line.

Preferably, the upper parking lot includes a third ground rail line, a downhill track, a berth for the second flatbed train to be reloaded, and a monorail crane empty rail line; wherein:

The third ground rail line extends from the upper end of the alley to the downhill track, and part of the third ground rail line is equipped with a second parallel branch with both ends connected to the third ground rail line; the second parallel The branch road is provided with a second berth for flatbed trains to be reloaded, and the second berth for flatbed trains to be reloaded is formed by arranging the fifth and sixth vehicle blocking devices on the second parallel branch road;

The projection line of the monorail crane empty rail line on the roadway ground coincides with the second parallel branch road, and one end of the projection line of the monorail crane empty rail line on the roadway ground can extend to the berth of the second platform train to be reloaded, and the other end can extend To the working surface along the groove;

The monorail crane robot, under the control of the fourth perception control unit, can be suspended and connected below the empty rail line of the monorail crane and run back and forth between the berth of the second platform train to be reloaded and the trough of the working surface;

The second electric locomotive robot, under the control of the second perception control unit, drives the second flat train to be able to sequentially follow the first berth of the flat train to be reloaded, the main street, and the third ground rail along the second ground rail line. The second berth for flatbed trains to be reloaded on the line runs back and forth.

Preferably, the first and second signal detection units both include a weighing unit and a GPS module;

The weighing unit of the first signal detection unit is used to detect the weight information of the first flat car train, and the GPS module of the first signal detection unit is used to detect the position information of the first flat car train;

The weighing unit of the second signal detection unit is used to detect the weight information of the second flatbed train, and the GPS module of the second signal detection unit is used to detect the position information of the second flatbed train.

Another technical purpose of the present invention is to provide a control method for the above-mentioned intelligent reloading system at the bottom of the auxiliary inclined shaft. By coordinating and controlling the first intelligent reloading device and the hoist, the fully loaded standard container and auxiliary container in the container loading area of the industrial plaza can be realized The reloading dispatch between the empty reloading area of the container ground at the bottom of the well slope; through the coordinated control of the first intelligent reloading device and the empty rail reloading robot, the reloading of the fully loaded first flatbed train that stops at the empty reloading area of the container ground at the bottom of the auxiliary well slope Scheduling: by coordinating and controlling the second intelligent reloading device and the monorail crane reloading robot, the reloading dispatch of the fully loaded second flatbed train that stops at the berth of the second flatbed train to be reloaded in the upper yard is realized.

Preferably, the reloading scheduling between the fully loaded standard container in the container loading area of the industrial plaza and the empty reloading area of the container at the bottom of the auxiliary well slope specifically includes the following steps:

S01: the first signal detection unit sends the position information and the weight information of the first flat car train to the first and fifth perception control units respectively through the communication module; the fifth perception control unit is to the received position information of the first flat car train After processing with the weight information, it indicates that when the first flatbed car train is in the container loading area of the industrial square and is in an empty state, an execution command is issued to the actuator of the rail crane, and the actuator of the rail crane is controlled to hoist the full-load standard container in the stockyard to the on the empty first flatbed train until the empty first flatbed train is fully loaded;

S02: After the first perception control unit processes the received position information and weight information of the first flat car train, it indicates that when the first flat car train is in the container loading area of the industrial square and is in a fully loaded state, it sends a message to the first electric locomotive robot execute instructions;

S03: After the first electric locomotive robot receives the execution command, it will automatically drive to the position of the fully loaded first flatbed train, connect with the fully loaded first flatbed train through the automatic connection device, and then start the first electric locomotive robot to push the fully loaded first flatbed train. The first flatbed car row to the first car stop device in the auxiliary wellhead yard;

S04: After the first electric locomotive robot pushes the fully loaded first flatbed train to the first stop device at the auxiliary wellhead yard, the first electric locomotive robot is automatically disengaged from the fully loaded first flatbed train; special hook for the hoist The car receives the execution instruction and moves towards the fully loaded first flatbed train so that it can be automatically connected with the first flatbed train;

S05: The hoist receives the execution instruction, mounts the special hook car for the hoist and the fully loaded first flat car train and goes down the well to the second car stop device at the bottom of the auxiliary shaft slope;

S06: the full-loaded first flatbed car completes the full-loaded standard container reloading at the bottom of the auxiliary shaft slope;

S07: After the perception control unit integrated in the hoist processes the received position information and weight information of the first flatbed train, it indicates that the first flatbed train is at the bottom of the auxiliary shaft and in an unloaded state, and sends a message to the hoist. Execute the instruction, control the hoist to mount the special hook car for the hoist and the first unloaded flat car train, and recover the upper well;

S08: stop at the first vehicle stop device in the auxiliary wellhead parking lot after going up the well, the unloaded first flat car train and the special hook car for the hoist are automatically separated, and are automatically connected with the first electric locomotive robot;

S09: The first electric locomotive robot pulls the unloaded first flatbed car column back to the container loading area of the industrial square; before this, the track crane hoisted the full-loaded standard container in the stockyard to another group to be loaded under the control of the fifth perception control unit The first flatbed wagon train of another group is loaded on the first flat wagon train to be loaded;

S10: The first electric locomotive robot and the unloaded first flatbed train arrive at the parking area of the container loading area of the industrial plaza and then automatically disengage, and automatically run to another group of fully loaded first flatbed trains, and connect with the fully loaded first flatbed train Connect by automatic connection device;

The first electric locomotive robot pushes the fully loaded first flatbed train to the stop device at the auxiliary wellhead yard for the next round of operations.

Preferably, by coordinating and controlling the empty rail reloading robot and the second intelligent reloading device, the fully loaded first flatbed trolley described in the step S06 is completed at the bottom of the auxiliary shaft to complete the reloading of the container, specifically including the following steps:

S0601: When the hoist special hook car carries the fully loaded first flat car train and is about to arrive at the car stop device at the bottom of the auxiliary shaft slope, send its own weight information and position information to the third sensor integrated on the empty rail reloading robot control unit;

S0602: After the third perception control unit receives the signal, it issues an execution command to control the empty rail reloading robot to go to the fully loaded first flat train to hoist and transfer the fully loaded standard container to the berth of the first flat train to be reloaded. the second flatbed train;

S0603: Send its weight information and position information to the first perception control unit integrated on the second electric locomotive robot after the second flatbed train to be reloaded is full;

S0604: After the first perception control unit receives the signal, it sends out an execution command to control the second electric locomotive robot to drag the fully loaded second flat train train to the second flat train berth to be reloaded in the upper yard through the main street;

S0605: After the fully loaded second flatbed car train arrives at the sixth car stop device in the upper yard, it sends its weight information and position information to the fourth perception control unit integrated on the monorail crane robot; the fourth perception control unit receives the signal Afterwards, an execution instruction is issued to control the monorail crane robot to reload the fully loaded standard container of the second flatbed train;

S0606: After the reloading is completed, the second flat car train sends its weight information and position information to the second electric locomotive robot, and the second electric locomotive robot drags and recovers the unloaded second flat car train to return to the auxiliary inclined shaft At the bottom of the yard, push the unloaded second flatbed train into the empty berth, waiting for the reloading of the empty rail reloading robot;

After completion, the second electric locomotive robot will automatically separate from the second flatbed train, waiting for the start of the next transportation dispatch.

Preferably, in step S0605, the monorail crane robot in the upper yard reloads the fully loaded standard container of the flatbed train, specifically including the following steps:

S060501: Send the weight information and position information to the monorail crane robot after the reloading train stops and enters the blocking position;

S060502: After the monorail crane robot receives the information, it goes to hoisting through the perception control unit;

S060503: The monorail crane robot carries a full load of standard containers and runs autonomously along the empty rail line of the monorail crane to the trough of the working surface;

S060504: After unloading along the trough on the working surface, transport the empty standard container back;

S060505: The monorail crane robot goes back and forth until the flatbed train to be reloaded completes the reloading operation;

The electric locomotive robot will complete the recycling of the reloaded empty container flatbed.

The beneficial effects of the present invention are:

Through information technology, the weight and position information of standard containers or flatbed trains is transmitted to the robot perception control unit through long-distance wireless transmission technology. The robot perception control unit summarizes various information and controls the movement behavior of each robot. The invention realizes the monitoring of the weight and position information of the flatbed truck, the perception of the surrounding environment of each robot, and the control of the robot itself, timely and accurately grasps the production and operation status of the bottom of the auxiliary inclined shaft, and intelligently and efficiently realizes the operation of the auxiliary inclined shaft. The loading process at the bottom of the well can achieve the purpose of optimizing the reloading process, improving the reloading efficiency, and achieving higher economic benefits.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a frame diagram of a plane schematic diagram of a three-zone auxiliary transportation robot system in mining provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of loading, reloading and train scheduling of the ground industrial plaza and auxiliary wellhead yard provided by the embodiment of the present invention;

Fig. 3 is a schematic diagram of container reloading and train scheduling of the electric locomotive robot in the underground yard provided by the embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

For ease of narration, the present invention records the electric locomotive robot and flat car train that shuttle between the auxiliary well head yard and the auxiliary well slope bottom as the first electric locomotive robot and the first flat car train, and shuttles between the auxiliary well bottom parking lot It is correspondingly recorded as the second electric locomotive robot and the second flatbed train with the electric locomotive robot and the flatbed train between the upper yard.

As shown in Fig. 1 to Fig. 3, the intelligent reloading system of auxiliary inclined shaft bottom parking yard according to the present invention includes roadway and reloading transportation equipment, and the roadway includes auxiliary shaft, auxiliary wellhead parking lot, auxiliary inclined shaft bottom parking lot, large Alley and upper yard, the reloading and transportation equipment is intelligent reloading and transportation equipment, including: a first intelligent reloading device, a hoist, an empty rail reloading robot, a second intelligent reloading device and a monorail crane robot; wherein:

The first intelligent reloading device includes a special hook car for the hoist, a first electric locomotive robot, a first flat car train and a first signal detection unit, and a first perception control unit is integrated on the first electric locomotive robot; The second intelligent reloading device includes a second electric locomotive robot, a second flat train and a second signal detection unit, the second electric locomotive robot is integrated with a second perception control unit; the empty rail reloading robot is integrated with a third perception A control unit; the monorail crane robot is integrated with a fourth perception control unit;

The first signal detection unit is used to detect the position information and weight information of the first flatbed train, and feed back to the first and third perception control units;

The second signal detection unit is used to detect the position information and weight information of the second flatbed train, and feed back to the second and fourth perception control units;

The first perception control unit, according to the received position information and weight information of the first flatbed train, controls the first electric locomotive robot to connect/disconnect with the first flatbed train, controls the first electric locomotive robot to start/stop Stop, control the hoist to connect/disconnect with the first flat car train through the special hook car for the hoist;

The first electric locomotive robot, under the control of the first perception control unit, can be connected with the first flatbed train and drive the first flatbed train to be reloaded in the container loading area of the industrial square of the auxiliary wellhead yard and the ground of the auxiliary wellhead yard. Shuttle between districts;

The hoist described above, under the control of the first perception control unit, can drive the first flat car train to the auxiliary wellhead through the special hook car for the hoist when the first electric locomotive robot and the first flat car train are in a state of dissociation. Round-trip transportation between the ground transfer area of the yard and the empty container transfer area at the bottom of the auxiliary well;

The third perception control unit controls the start/stop of the empty rail reloading robot according to the received position information and weight information of the first flatbed train;

The empty rail reloading robot, under the control of the third perception control unit, can reciprocate between the empty reloading area of the container at the bottom of the auxiliary shaft slope and the berth of the first flat-bed train to be reloaded, and can move the robot at the bottom of the auxiliary shaft The full-loaded standard container on the first flat train in the empty reloading area of the container is hoisted and transferred to the second flat train to be loaded that is parked at the berth of the first unloaded flat train; the first berth of the unloaded flat train is set on the auxiliary ramp On the bottom of the well;

The second perception control unit controls the second electric locomotive robot to connect/disconnect with the second flatbed train according to the received position information and weight information of the second flatbed train;

The second electric locomotive robot, under the control of the second perception control unit, can be connected with the second flat train and drive the second flat train along the berth of the first flat train to be transferred, the avenue, and the second flat train to be transferred. The berths for flatbed trains shuttle back and forth, and the second berth for flatbed trains to be reloaded is set in the upper yard;

The fourth perception control unit controls the start/stop of the monorail crane robot according to the received position information and weight information of the second flatbed train;

The monorail crane robot described above, under the control of the fourth perception control unit, can transfer the fully loaded standard container on the second flatbed wagon row at the idling loading position of the container in the upper yard to the working surface for unloading along the trough, and can unload the container after unloading. The standard container is transported back to the second flat car column.

Preferably, the auxiliary wellhead depot includes the container loading area of the industrial square, the first ground rail line and the first vehicle blocking device; wherein:

The first ground rail line extends from the container loading area of the industrial square to the wellhead of the auxiliary well, and at the wellhead close to the auxiliary well, the ground transfer area of the auxiliary wellhead depot is formed by arranging the first traffic blocking device. A track crane is installed near the container loading area of the industrial square;

The track crane is integrated with a fifth perception control unit;

The position information and weight information of the first flatbed 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 work of the rail crane through the received position information and weight information of the first flat car train;

Under the control of the fifth perception control unit, the rail crane can hoist the full-load standard containers stacked in the container loading area of the industrial plaza to the unloaded first flatbed train in the container loading area of the industrial plaza until the first flatbed train is fully loaded ;

The first electric locomotive robot, under the control of the first perception control unit, drives the first flatbed car train to run back and forth between the container loading area of the industrial square and the ground-ground reloading area of the auxiliary wellhead depot along the first ground rail line .

Preferably, the parking lot at the bottom of the auxiliary inclined shaft includes the slope bottom of the auxiliary shaft, the second ground rail line, the reloading empty rail line and the berth of the first flat-bed train to be reloaded; wherein:

The second ground rail line extends from the bottom of the auxiliary shaft slope to the lower end of the main road, and the second ground rail line forms the bottom of the auxiliary shaft slope by setting a second vehicle stop device at a position close to the bottom of the auxiliary shaft slope Empty reloading area of the container;

The part line of the second ground track line is equipped with the first parallel branch that both ends are connected with the second ground track line; the first parallel branch is provided with the first berth for flat-bed trains to be reloaded; the first parallel branch is in On both sides of the berth of the first platform train to be reloaded, the third and fourth stoppers are correspondingly arranged;

The projection line of the reloading empty rail line on the roadway ground coincides with the first parallel branch road, and one end of the projection line of the reloading empty rail line on the roadway ground can extend to the empty reloading area of the container ground at the bottom of the auxiliary shaft slope, and the other end can extend Arrive at the first berth for flatbed trains to be reloaded;

The empty rail reloading robot can be suspended on the reloading empty rail line and run along the reloading empty rail line;

The second electric locomotive robot, under the control of the second perception control unit, drives the second flatbed train to run along the second ground rail line.

Preferably, the upper parking lot includes a third ground rail line, a downhill track, a berth for the second flatbed train to be reloaded, and a monorail crane empty rail line; wherein:

The third ground rail line extends from the upper end of the alley to the downhill track, and part of the third ground rail line is equipped with a second parallel branch with both ends connected to the third ground rail line; the second parallel The branch road is provided with a second berth for flatbed trains to be reloaded, and the second berth for flatbed trains to be reloaded is formed by arranging the fifth and sixth vehicle blocking devices on the second parallel branch road;

The projection line of the monorail crane empty rail line on the roadway ground coincides with the second parallel branch road, and one end of the projection line of the monorail crane empty rail line on the roadway ground can extend to the berth of the second platform train to be reloaded, and the other end can extend To the working surface along the groove;

The monorail crane robot, under the control of the fourth perception control unit, can be suspended and connected below the empty rail line of the monorail crane and run back and forth between the berth of the second platform train to be reloaded and the trough of the working surface;

The second electric locomotive robot, under the control of the second perception control unit, drives the second flat train to be able to sequentially follow the first berth of the flat train to be reloaded, the main street, and the third ground rail along the second ground rail line. The second berth for flatbed trains to be reloaded on the line runs back and forth.

Preferably, the first and second signal detection units both include a weighing unit and a GPS module;

The weighing unit of the first signal detection unit is used to detect the weight information of the first flat car train, and the GPS module of the first signal detection unit is used to detect the position information of the first flat car train;

The weighing unit of the second signal detection unit is used to detect the weight information of the second flatbed train, and the GPS module of the second signal detection unit is used to detect the position information of the second flatbed train.

Based on the above-mentioned intelligent reloading system at the bottom of an auxiliary inclined shaft, the present invention discloses a control method for an intelligent reloading system at the bottom of an auxiliary inclined shaft, including the following steps:

S01: The rail crane perceives the position information and weight information of the standard container in the stockyard through the perception control unit, and automatically controls the rail crane to hoist the full-load standard container in the stockyard to the first flatbed wagon train to be loaded by processing the information and environment perception. The weight of the first flatbed train to be loaded is increased to full load due to carrying standard containers, and becomes the first fully loaded flatbed train (or the loaded first flatbed train);

S02: The fully loaded first flat car column sends its position information and weight information to the first electric locomotive robot through the communication module;

S03: After the first electric locomotive robot receives the information, it automatically drives to the position of the fully loaded first flatbed train through the perception control unit, and connects with the fully loaded first flatbed train through an automatic connection device, and pushes the fully loaded first flatbed train to the At the vehicle blocking device of the auxiliary wellhead depot;

S04: After arriving at the vehicle blocking device at the auxiliary wellhead depot, the first electric locomotive robot is automatically disengaged from the fully loaded first flat car train, and the hook car is automatically connected to the fully loaded first flat car train;

S05: The hoist mounts the hook car and the fully loaded first flat car train and goes down to the car stop device at the bottom of the auxiliary shaft slope;

S06: The first flat car train transfers the standard container on the fully loaded first flat car train to the second flat car train through the empty rail transfer robot at the position at the bottom of the auxiliary well slope to complete the container reloading; in this process, the fully loaded first flat car train The weight of the flatbed train is reduced to the empty state after reloading, and becomes the first unloaded flatbed train, while the weight of the unloaded second flatbed train is increased to full load due to carrying standard containers, and becomes the second full-loaded flatbed train;

S07: the unloaded first flat car train sends its position information and weight information to the hoist through the communication module, and the hoist mounts the hook car and the unloaded first flat car train after receiving the information and reclaims the upper well;

S08: After going into the well, stop at the vehicle stop device in the auxiliary wellhead yard, and the unloaded first flat car train is automatically separated from the hook car, and is automatically connected with the first electric locomotive robot;

S09: The first electric locomotive robot pulls the empty flatbed train to the container loading area of the industrial square. Before that, the rail crane lifts the full-loaded standard container from the stockyard to another group of the first flatbed train to be loaded (empty one) through the perception control unit The first flatbed train) to complete the loading of another group of the first flatbed train to be loaded;

S10: The first electric locomotive robot and the unloaded first flatbed train arrive at the parking area of the container loading area of the industrial plaza and then automatically disengage, and automatically run to another group of fully loaded first flatbed trains, and connect with the fully loaded first flatbed train Connect by automatic connection device;

S11: The first electric locomotive robot pushes the fully loaded first flatbed train to the vehicle blocking device at the auxiliary wellhead yard for the next round of operations.

In the specific implementation process, the step S06 flatbed cart completes the reloading of the container at the bottom of the auxiliary well slope, including the following steps:

S0601: When the hook-head truck carrying the fully loaded first flatbed train is about to arrive at the vehicle stop device at the bottom of the auxiliary shaft slope, send its own weight information and position information to the empty rail reloading robot;

S0602: After receiving the signal, the empty rail reloading robot goes to the fully loaded first flat car train to hoist and transfer the standard container to the second flat car train to be reloaded;

S0603: Send the weight information and position information of oneself to the second electric locomotive robot after the second flat car column to be reloaded is full;

S0604: After the second electric locomotive robot receives the signal, it drags the fully loaded second flatbed car to the main street, and then goes to the upper parking lot;

S0605: After the second flat car train arrives at the vehicle stop device in the upper parking lot, it sends its weight information and position information to the monorail crane robot, and the monorail crane robot reloads the fully loaded standard container of the second flat car train;

S0606: After the reloading is completed, the second flatbed train will send its weight information and position information to the second electric locomotive robot, and the second electric locomotive robot will drag and recover the unloaded second flatbed train to return to the parking lot at the bottom of the auxiliary inclined shaft , push the unloaded second flatbed train into the empty berth, and wait for the reloading of the empty rail reloading robot;

S0607: After completion, the second electric locomotive robot is automatically separated from the second flat car train, waiting for the start of the next transportation dispatch.

In the specific implementation process, step S0605, the monorail crane robot in the upper parking lot reloads the fully loaded standard container of the flatbed train, including the following steps:

S060501: The second flatbed train to be reloaded (that is, the fully loaded second flatbed train) stops and enters the blocking position of the upper parking lot, and then sends weight information and position information to the monorail crane robot;

S060502: After the monorail crane robot receives the information, it goes to the location of the second flat car train through the perception control unit and lifts and transfers the fully loaded standard container on the second flat car train;

S060503: The monorail crane robot carries a full load of standard containers and runs autonomously along the empty rail line of the monorail crane to the trough of the working surface;

S060504: After unloading along the trough on the working surface, transport the empty standard container back;

S060505: The monorail crane robot goes back and forth until the second flatbed train to be reloaded completes the reloading operation;

S060506: The second electric locomotive robot will complete the reclaiming of the second empty container flat car train that has been reloaded.

In the present invention, according to different transfer stages and the weight information and position information of the standard container, the time for the standard container to reach the next destination is further calculated, and then the work of each robot is arranged reasonably and efficiently, so as to realize the parking lot at the bottom of the auxiliary inclined shaft Intelligent reprint and efficient control.

The foregoing are merely examples of the present invention. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (9)

1. The utility model provides a vice inclined shaft bottom car yard intelligence reprint system, includes tunnel and reprint haulage equipment, the tunnel includes vice well, vice well head car yard, vice inclined shaft bottom car yard, big lane and upper portion car yard, a serial communication port, reprint haulage equipment is intelligence reprint haulage equipment, includes: the system comprises a first intelligent transfer device, a lifter, 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 hoist, a first electric locomotive robot, a first flat train 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 plate train and a second signal detection unit, and a second perception control unit is integrated on the second electric locomotive robot; a third perception control unit is integrated on the air rail transfer robot; a fourth sensing control unit is integrated on the monorail crane robot;

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 flat car train and feeding back the position information and the weight information to the second sensing control unit and the fourth sensing control unit;

the first sensing control unit controls the first electric locomotive robot to be connected with or 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 be started or stopped, and controls the hoister to be connected with or disconnected from the first flat car train through a special hook head car for the hoister;

the first electric locomotive robot can be connected with the first flat train and drive the first flat train to shuttle back and forth between an industrial square container loading area of the auxiliary wellhead train yard and a ground transfer area of the auxiliary wellhead train yard under the control of the first sensing control unit;

the lifting machine can drive the first flat car train to transport to and fro between a ground transfer area of an auxiliary wellhead yard and a container ground idle transfer area at the bottom of an auxiliary shaft slope through a special hook head car of the lifting machine under the control of the first sensing control unit when the first electric locomotive robot and the first flat car train are in a dissociated state;

the third perception control unit controls 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 shuttle back and forth between an auxiliary shaft slope bottom container ground idle load area and a first flat train parking position to be transferred under the control of the third sensing control unit, and can hoist and transfer a full-load standard container on the first flat train in the auxiliary shaft slope bottom container ground idle load area to a second flat train to be loaded parked at the first flat train parking position to be transferred; the first flat plate train parking place to be transferred is arranged on a train yard at the bottom of the auxiliary inclined shaft;

the second sensing control unit controls the second electric locomotive robot to be connected with/disconnected from the second flat car train according to the received position information and weight information of the second flat car train;

the second electric locomotive robot can be connected with the second flat train and drive the second flat train to shuttle back and forth along the parking position of the first flat train to be transferred, the main lane and the parking position of the second flat train to be transferred under the control of the second sensing control unit, and the parking position of the second flat train to be transferred is arranged on the upper train yard;

the fourth sensing control unit controls the starting/stopping of the monorail crane robot according to the received position information and weight information of the second flat car train;

the monorail crane robot can transfer the full-load standard containers on the second flat car train at the idle loading position of the upper yard container to the working surface for unloading along the groove under the control of the fourth sensing control unit, and can transport the unloaded standard containers back to the second flat car train.

2. The intelligent transfer system of the auxiliary inclined shaft bottom-hole train yard according to claim 1, wherein the auxiliary wellhead train 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 shaft, and forms a ground transshipment area of the auxiliary shaft wellhead vehicle yard at the position close to the wellhead position of the auxiliary shaft by being provided with a first vehicle stopping device, and a rail crane is arranged at the position close to the industrial square container loading area;

a fifth sensing 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 sensing control unit can control the track crane to work through the received position information and weight information of the first flat car train;

the track crane is controlled by the fifth sensing control unit, and can hoist the full-load standard container stacked in the industrial square container loading area to the no-load first flat car train in the industrial square container loading area until the first flat car train is full;

the first electric locomotive robot drives the first flat train to run back and forth between the industrial square container loading area and the ground transshipment area of the auxiliary shaft yard along the first ground rail line under the control of the first sensing control unit.

3. The intelligent transfer system of the auxiliary inclined shaft yard as claimed in claim 2, wherein the auxiliary inclined shaft yard comprises an auxiliary shaft slope bottom, a second ground rail line, a transfer empty rail line and a first platform train parking position to be transferred; wherein:

the second ground track line extends from the slope bottom of the auxiliary shaft to the lower end of the main roadway, and the second ground track line is provided with a second vehicle stopping device at a position close to the slope bottom of the auxiliary shaft so as to form a container ground idle loading area of the slope bottom of the auxiliary shaft;

part of the second ground rail circuit is provided with a first parallel branch circuit, and two ends of the first parallel branch circuit are connected with the second ground rail circuit; a first flat plate train parking space to be transferred 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 the parking position of the first flat train to be transferred;

the projection line of the transshipment air rail line on the roadway ground is superposed with the first parallel branch, one end of the projection line of the transshipment air rail line on the roadway ground can extend to a container ground idle loading area at the slope bottom of the auxiliary shaft, and the other end of the projection line of the transshipment air rail line on the roadway ground can extend to a first flat plate train to be transshipped to a parking position;

the empty rail transfer robot can be hung on a transfer empty rail line and runs along the transfer empty rail line;

and the second electric locomotive robot drives the second flat train to run along a second ground track road under the control of the second sensing control unit.

4. The intelligent transfer system for the auxiliary inclined shaft yard according to claim 3, wherein the upper yard comprises a third ground rail line, a track descending mountain, a second flat train parking space to be transferred and a monorail overhead rail line; wherein:

the third ground rail line extends from the upper end of the main roadway to the lower mountain of the track, and part of the third ground rail line is provided with a second parallel branch circuit, and two ends of the second parallel branch circuit are connected with the third ground rail line; the second parallel branch road is provided with a second flat train parking place to be transferred, and the second flat train parking place to be transferred is formed by arranging a fifth car stopping device and a sixth car stopping device on the second parallel branch road;

the projection line of the monorail crane empty rail line on the roadway ground is superposed with the second parallel branch, one end of the projection line of the monorail crane empty rail line on the roadway ground can extend to a second to-be-transferred flat-plate train parking space, and the other end of the projection line of the monorail crane empty rail line on the roadway ground can extend to a working surface crossheading;

the monorail crane robot can be connected below the monorail crane empty rail line in a hanging mode and can move back and forth between a second to-be-transferred flat plate train parking position and a working surface crossheading under the control of the fourth sensing control unit;

the second electric locomotive robot drives the second flat train to sequentially run back and forth along the first to-be-transferred flat train parking position of the second ground rail line, the main roadway and the second to-be-transferred flat train parking position of the third ground rail line under the control of the second sensing control unit.

5. The system of claim 1, wherein the first and second signal detection units each 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 car train, and the GPS module of the first signal detection unit is used for detecting position information of the first flat car train;

the weighing unit of the second signal detection unit is used for detecting weight information of the second flat car train, and the GPS module of the second signal detection unit is used for detecting position information of the second flat car train.

6. The control method of the intelligent transfer system of the auxiliary inclined shaft bottom-hole yard is characterized in that transfer scheduling between a full-load standard container in an industrial square container loading area and a container ground idle loading area at the slope bottom of the auxiliary shaft is realized by coordinately controlling a first intelligent transfer device and a hoist; the method comprises the steps that through coordination control of a first intelligent transfer device and an empty rail transfer robot, transfer scheduling of a full-load first flat car train in an empty load area of a container land parked at the slope bottom of an auxiliary well is achieved; and the second intelligent transfer device and the monorail crane transfer robot are coordinately controlled to realize transfer scheduling of a full-load second flat train at the second to-be-transferred flat train parking position which is parked at the upper parking lot.

7. The control method of the intelligent transfer system of the auxiliary inclined shaft bottom-hole yard according to claim 6, wherein the transfer scheduling between the standard container full load area of the container loading area of the industrial square and the container idle load area of the slope bottom of the auxiliary shaft specifically comprises the following steps:

the first signal detection unit sends the position information and the weight information of the first flat car train to the first perception control unit and the fifth perception control unit respectively through the communication module; after the fifth sensing control unit processes the received position information and weight information of the first flat car train and indicates that the first flat car train is in an industrial square container loading area and is in an idle 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 a full-load standard container of the stock yard onto the idle first flat car train until the idle first flat car train is full;

after the received position information and weight information of the first flat car train are processed by the first sensing control unit, when the first flat car train is in an industrial square container loading area and is in a full-load state, an execution instruction is sent to the first electric locomotive robot;

after receiving the execution instruction, the first electric locomotive robot automatically drives to a position where a full-load first flat car train is located, is connected with the full-load first flat car train through an automatic connecting device, and then starts the first electric locomotive robot to push the full-load first flat car train to move to a first car stopping device of an auxiliary shaft yard;

after the first electric locomotive robot pushes the fully loaded first flat train to reach a first car stopping device of the auxiliary wellhead car yard, the first electric locomotive robot and the fully loaded first flat train are automatically separated; the special hook head vehicle for the hoister receives the execution command, and moves towards the fully loaded first flat plate vehicle train so as to be automatically connected with the first flat plate vehicle train;

the elevator receives the execution instruction, and a hook vehicle special for hanging the elevator and a first full-load flat train are put down the shaft to a second car stopping device at the slope bottom of the auxiliary shaft;

the first full-load flatcar train finishes the reloading of the full-load standard container at the slope bottom of the auxiliary shaft;

after processing the received position information and weight information of the first flat car train by an integrated sensing control unit in the elevator, when the first flat car train is in a no-load state at the bottom of the auxiliary shaft, sending an execution instruction to the elevator, controlling the elevator to mount a special hook head car of the elevator and the no-load first flat car train, and recovering the first flat car train to go to the shaft;

stopping at a first car stopping device of an auxiliary wellhead car yard after the car is loaded into the well, automatically separating a first empty-load flat car train from a special hook head car of a hoist, and automatically connecting the first empty-load flat car train with a first electric locomotive robot;

the first electric locomotive robot pulls the unloaded first flat plate train to return to the industrial square container loading area; before that, the track crane hoists the stock yard full-load standard container to another group of first flat car rows to be loaded under the control of the fifth sensing control unit, and the loading of the other group of first flat car rows to be loaded is completed;

the first electric locomotive robot and the first empty flat train automatically separate after arriving at a parking area of an industrial square container loading area, automatically operate to the position of the other set of full-load first flat train and are connected with the full-load first flat train through an automatic connecting device;

the first electric locomotive robot pushes the full-load first flat train to reach the car stopping device of the auxiliary shaft yard for the next round of operation.

8. The control method of the intelligent transfer system of the auxiliary inclined shaft bottom yard according to claim 7, wherein the step S06 is completed by coordinately controlling an empty rail transfer robot and a second intelligent transfer device, and the first flatbed vehicle train with full load completes the transfer of containers at the bottom of the auxiliary shaft slope, which specifically comprises the following steps:

when a hook head vehicle special for the hoister carries a fully-loaded first flat train to arrive at a vehicle stopping device at the slope bottom of an auxiliary shaft, sending own weight information and position information to a third sensing control unit integrated on the empty rail transfer robot;

after receiving the signal, the third sensing control unit sends an execution instruction to control the empty rail transfer robot to move to the first full-load flat car train to hoist and transfer the full-load standard container to the second flat car train to be transferred, which is stopped at the first flat car train to be transferred;

after the second flat car train to be transshipped is full, the weight information and the position information of the second flat car train to be transshipped are sent to a first perception control unit integrated on a second electric locomotive robot;

after receiving the signal, the first sensing control unit sends an execution instruction to control the second electric locomotive robot to drag the fully loaded second flat train to go to a second flat train to be transferred to a parking place of the upper yard through the main roadway;

after the fully loaded second flat train reaches a sixth vehicle stopping device of an upper parking lot, sending the weight information and the position information of the second flat train to a fourth sensing control unit integrated on the monorail crane robot; after receiving the signal, the fourth sensing control unit sends out an execution instruction to control the monorail crane robot to transfer the full-load standard container of the second flatbed train;

after the transfer is finished, the second flat car train sends the weight information and the position information of the second flat car train to a second electric locomotive robot, the second electric locomotive robot drags and recovers the second flat car train with no load to return to enter a shaft bottom yard of the auxiliary inclined shaft, the second flat car train with no load is pushed to enter an empty berth, and the transfer of the empty rail transfer robot is waited;

and after the completion, the second electric locomotive robot is automatically separated from the second flat plate train to wait for the start of next transportation scheduling.

9. The control method of the intelligent transfer system of the auxiliary inclined shaft bottom-hole train yard according to claim 7, wherein in the step S0605, the monorail crane robot of the upper train yard transfers the full-load standard container of the flat train, and the method specifically comprises the following steps:

after the transfer train stops and enters a vehicle stopping position, the weight information and the position information are sent to the monorail crane robot;

after receiving the information, the monorail crane robot goes forward to hoist through the sensing control unit;

the monorail crane robot carries a full-load standard container to autonomously move to a working surface crossheading along a monorail crane empty rail line;

after the working face is unloaded along the groove, the empty load standard container is transported back;

the monorail crane robot returns and returns until the transfer operation of the flatbed train to be transferred is completed;

and the electric locomotive robot recovers the empty container flat car train after the transfer.

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