Tunnel anchor track type intelligent slag discharge system and method

Abstract

The present invention discloses a tunnel anchor track intelligent slag discharge system and method. The system includes a track mechanism, a traction mechanism, and a control mechanism. The track mechanism includes a track laid between the slag discharge tunnel anchor face and the slag truck. The traction mechanism includes a hoist, a first steering wheel, a second steering wheel, a bracket, a traction wire rope, and a slag truck. The bracket and the hoist are both arranged on the slag discharge platform. The first steering wheel is rotatably arranged on the top of the bracket, and the second steering wheel is rotatably arranged on the track. The traction wire rope is pulled by the hoist and the slag truck is pulled along the track via the first and second steering wheels. The control mechanism includes an encoder, a tension sensor, and a control module. The present application provides a method for sensing the slag discharge state of the slag truck through the tension sensor and encoder, and for performing active braking warnings through monitoring data feedback, quickly and accurately weighing the slag truck, and automatically performing statistical analysis on the slag discharge efficiency within a set time period.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge construction, and in particular to a tunnel anchor track type intelligent slag discharge system and method. Background Art

[0002] At present, the vast majority of ground-anchored suspension bridges use gravity anchors or tunnel anchors to anchor the main cables. Tunnel anchors are a type of anchor structure that can better utilize the geological conditions of the anchoring area, has a relatively small engineering volume (only 20% to 25% of that of a gravity anchor), is cost-effective, and has little disturbance to the surrounding environment. They are mostly used for suspension bridges with larger spans in mountainous areas.

[0003] There are two main methods of slag removal in existing tunnel anchor construction: one is to use a conveyor belt to remove slag, which is only suitable for tunnel anchors with a small inclination angle and a small volume. When the inclination angle of the tunnel anchor is large, there is a high risk of slag falling back during the conveying process; the second is to use a rail-type slag removal vehicle for slag removal. The slag is loaded into the slag removal vehicle using an excavator. The slag removal vehicle is towed by a winder arranged on the outside of the tunnel anchor, travels on the track to the outside of the tunnel anchor, and pours the slag into a dump truck to complete the slag removal. Although this method is suitable for tunnel anchor construction with extremely long inclination angles, the slag removal vehicle is prone to slipping and sliding in the anchor hole with a large slope, posing a great safety hazard to the construction personnel and equipment in the tunnel anchor.

[0004] As the span of suspension bridges increases, the length and inclination of tunnel anchors continue to increase, and the amount of excavation also increases. In the construction of long and steep tunnel anchors, rail-mounted slag trucks are more common. Currently, this method has the following disadvantages:

[0005] 1. Significant safety hazards: The operation of the slag car is entirely dependent on the winch's rope reeling and releasing. When the winch fails or the traction wire rope breaks due to excessive wear, it will cause problems such as slipping and sliding. During the operation of the slag car, if there are other obstacles such as fallen rocks on the track, there is a risk of derailment.

[0006] 2. Low level of intelligence: Currently, the braking of the slag truck in its downward movement and other situations mainly relies on manual communication through walkie-talkies, which has high delay and low fault tolerance. When the winch traction wire rope is severely worn or there are obstacles such as fallen rocks in front of the track, the system cannot brake automatically. Due to the differences in the looseness and porosity of the slag material, the slag truck transports different volumes of slag each time. The slag discharge efficiency calculated by manually counting the number of slag discharges by the slag truck is poorly calculated.

[0007] 3. Low slag discharge efficiency: Tunnel anchor excavation requires a huge amount of volume, and the speed of track-type slag discharge is affected by the stability and safety of the system. If machine failures or safety issues occur frequently, the slag discharge efficiency will be greatly reduced, causing the construction progress to lag behind. Summary of the Invention

[0008] The purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology and provide a tunnel anchor track type intelligent slag discharge system.

[0009] In the first aspect, the present application provides a tunnel anchor track type intelligent slag discharge system, including a track mechanism, a traction mechanism and a control mechanism, wherein the track mechanism includes a track, which is laid between the slag discharge tunnel anchor face and the slag truck; the traction mechanism includes a winch, a first steering wheel, a second steering wheel, a bracket, a traction wire rope and a slag discharge truck, the bracket and the winch are both arranged on the slag discharge platform, the first steering wheel is rotatably arranged on the top of the bracket, the second steering wheel is rotatably arranged on the track, the traction wire rope is pulled by the winch and the slag discharge truck is pulled along the first steering wheel and the second steering wheel. Track movement; the control mechanism includes an encoder, a tension sensor and a control module. The encoder is arranged on the output shaft of the winch reducer, and is used to detect the speed and traction time of the winch rope reeling or releasing. The tension sensor is arranged at the connection of the traction wire rope and the slag car, and is used to obtain the tension to which the slag car and the slag material loaded thereon are subjected during operation. The control module is used to obtain the speed and traction time of the winch rope reeling or releasing detected by the encoder to obtain the position of the slag car on the track, and is also used to obtain the slag discharge efficiency of the slag discharge system based on the obtained tension to which the slag car and the slag material loaded thereon are subjected during operation.

[0010] According to the first aspect, in a first possible implementation of the first aspect, the control mechanism further includes a posture sensor, which is communicatively connected to the control module, and the posture sensor is installed at the bottom of the slag car, for detecting the posture of the slag car in real time, and the control module is used to control and adjust the operation of the winch according to the acquired posture of the slag car.

[0011] According to the first aspect, in a second possible implementation of the first aspect, the control mechanism further includes a foreign object detection sensor, which is communicatively connected to the control module, and the foreign object detection sensor is fixed to the rear of the slag discharger, and is used to detect foreign objects on the track surface of the slag discharger's travel track, and the control module is used to control the operation of the winch according to the foreign object conditions on the track surface of the slag discharger's travel track detected by the foreign object detection sensor.

[0012] According to the second possible implementation of the first aspect, in a third possible implementation of the first aspect, the foreign object detection sensor is fixed to the rear of the slag truck by welding through a mounting bracket, and a shock isolation pad is provided between the foreign object detection sensor and the mounting bracket.

[0013] According to the first possible implementation of the first aspect, in the fourth possible implementation of the first aspect, the control mechanism also includes a wire rope wear detection sensor, which is communicatively connected to the control module and installed on the bracket, and is used to detect the wear of the traction wire rope. The control module is used to control the operation of the winch according to the wear of the traction wire rope detected by the wire rope wear detection sensor.

[0014] According to the first possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the control module is an intelligent control software system.

[0015] According to the fifth possible implementation manner of the first aspect, in the sixth possible implementation manner of the first aspect, the control mechanism further includes multiple LoRa base stations, which are respectively arranged on the slag discharge vehicle, the inner wall of the tunnel anchor saddle chamber section, the bracket, and inside the tunnel anchor slag discharge system control host.

[0016] According to the fifth possible implementation manner of the first aspect, in the seventh possible implementation manner of the first aspect, the tunnel anchor slag discharge system control host includes a data acquisition module, a LoRa (Long Range Radio) module and a battery, the data acquisition module is communicatively connected to the control module through the LoRa module, the acquisition module, the LoRa module and the battery are electrically connected, and the data acquisition module is used to obtain the position of the slag discharge vehicle on the track according to the speed and traction time of the winch for reeling in or releasing the rope detected by the encoder, and is also used to obtain the slag discharge efficiency of the slag discharge system based on the obtained tension applied to the slag discharge vehicle and the loaded slag during operation.

[0017] In a second aspect, the present application provides a tunnel anchor track type intelligent slag discharge method, comprising the following steps:

[0018] Detect the speed and traction time of the winch to reel in or release the rope;

[0019] Obtain the pulling force on the slag truck and the slag loaded thereon during operation;

[0020] The position of the slag truck on the track is obtained based on the detected winch rope reeling or releasing speed and traction time;

[0021] The slag discharge efficiency of the slag discharge system is obtained based on the obtained pulling force on the slag discharge vehicle and the slag material loaded thereon during operation.

[0022] According to the second aspect, in a first possible implementation of the second aspect, the step of obtaining the slag discharge efficiency of the slag discharge system based on the obtained pulling force applied to the slag discharge vehicle and the slag material loaded thereon during operation specifically includes the following steps:

[0023] The obtained pulling force on the slag discharge vehicle and the slag material it is loaded with is used to obtain the slag discharge weight m of the slag discharge vehicle according to the following formula:

[0024]

[0025] Where M is the known weight of the slag truck, g is the acceleration of gravity, and α is the inclination angle of the tunnel anchor;

[0026] The slag discharge efficiency of the slag discharge system is obtained based on the obtained slag discharge weight.

[0027] Compared with the prior art, the advantages of the present invention are as follows:

[0028] The tunnel anchor track type intelligent slag discharge system provided in this application realizes the perception of the slag discharge status of the slag discharge vehicle through tension sensors and encoders, and performs active braking warning through monitoring data feedback. It has a high degree of automation and strong reliability, and effectively solves the shortcomings of the existing slag discharge system, such as large safety hazards, low slag discharge efficiency and low intelligence level. It can also quickly and accurately weigh the slag discharge vehicle and automatically perform statistical analysis on the slag discharge efficiency within a set time period. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 2 is a schematic structural diagram of a tunnel anchor track type intelligent slag discharge system according to an embodiment of the present invention;

[0030] Figure 2 2. This is a schematic diagram of an intelligent collection box for a slag truck according to an embodiment of the present invention;

[0031] Figure 3 It is a schematic diagram of the installation of the foreign object detection sensor provided by an embodiment of the present invention.

[0032] In the figure, 1. Foreign object detection sensor; 102. Mounting bracket; 103. Isolation pad; 2. LoRa base station; 3. Posture sensor; 4. Slag truck; 5. Tension sensor; 6. Second steering wheel; 7. Encoder; 8. Track; 9. Traction wire rope; 10. Bracket; 11. Wire rope wear detection sensor; 12. First steering wheel; 13. Slag truck; 14. Winch; 15. Intelligent control software system. DETAILED DESCRIPTION

[0033] Reference will now be made in detail to specific embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that the present invention is not intended to be limited to those embodiments. On the contrary, it is intended to cover variations, modifications, and equivalents within the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of the two.

[0034] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Note: The following example is only a specific example and is not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequence, etc. Those skilled in the art can apply the concepts of the present invention to construct more embodiments not described in this specification by reading this specification.

[0036] There are two main methods of slag removal in existing tunnel anchor construction. One is to use a conveyor belt to remove slag, and the other is to use a track 8 slag vehicle 4 to remove slag. As the span of the suspension bridge increases, the length and inclination of the tunnel anchor continue to increase, and the excavation volume also increases accordingly. The existing track-type slag vehicle 4 slag removal method has the following disadvantages: great safety hazards, low degree of intelligence, and low slag removal efficiency.

[0037] In view of this, an embodiment of the present invention provides a tunnel anchor track type intelligent slag discharge system, which is used to solve the technical problems of existing track type slag discharge systems, such as large safety hazards, low intelligence level and low slag discharge efficiency.

[0038] First, please refer to Figure 1 The present application provides a tunnel anchor track type intelligent slag discharge system, including a track mechanism, a traction mechanism and a control mechanism, wherein the track mechanism includes a track 8, which is laid between the slag discharge tunnel anchor face and the slag truck 13; the traction mechanism includes a hoist 14, a first steering wheel 12, a second steering wheel 6, a bracket 10, a traction wire rope 9 and a slag discharge truck 4, wherein the bracket 10 and the hoist 14 are both arranged on the slag discharge platform, the first steering wheel 12 is rotatably arranged on the top of the bracket 10, and the second steering wheel 6 is rotatably arranged on the track 8, the traction wire rope 9 is pulled by the hoist 14 and the slag discharge truck 4 is pulled by the first steering wheel 12 and the second steering wheel 6. Move along the track 8; the control mechanism includes an encoder 7, a tension sensor 5 and a control module, the encoder 7 is arranged on the output shaft of the winch 14 reducer, and is used to detect the speed and traction time of the winch 14 for retracting or releasing the rope, and the tension sensor 5 is arranged at the connection of the traction wire rope 9 and the slag car 4, and is used to obtain the tension to which the slag car 4 and the slag material loaded thereon are subjected during operation, the control module is used to obtain the speed and traction time of the winch 14 for retracting or releasing the rope detected by the encoder 7 to obtain the position of the slag car 4 on the track 8, and is also used to obtain the slag discharge efficiency of the slag discharge system according to the obtained tension to which the slag car 4 and the slag material loaded thereon are subjected during operation.

[0039] The tunnel anchor track-type intelligent slag discharge system provided by the present application uses a winch 14 in combination with a first steering wheel 12 and a second steering wheel 6 to pull a slag discharge vehicle 4. This system is suitable for tunnel anchor construction with a large inclination angle. In addition, the slag discharge vehicle 4 is less likely to slip or slide in an anchor hole with a large slope, thereby improving the construction safety of the slag discharge system.

[0040] The control mechanism including the encoder 7, the tension sensor 5 and the control module obtains the tension exerted on the slag discharge vehicle 4 and the slag material loaded thereon during operation, as well as the speed and traction time of the winch 14 for retracting and releasing the rope, thereby obtaining the slag discharge efficiency of the slag discharge system and the slag discharge status of the slag discharge vehicle 4, providing an intelligent slag discharge system.

[0041] When the excavation volume of the tunnel anchor is large, the control module is used to control the retraction and release rope of the winch 14, thereby reducing the machine failure rate and safety issues of the slag discharge system, effectively ensuring the operational stability of the slag discharge system, and reducing the probability of situations where the slag discharge efficiency is affected by machine failures and safety accidents.

[0042] In one embodiment, the encoder 7 is arranged on the output shaft of the reducer of the hoist 14 and can detect the rope-reeling or rope-releasing speed of the hoist 14, which can be equivalently understood as the running speed of the slag car 4. The control module is used to obtain the rope-reeling or rope-releasing speed and traction time of the hoist 14 detected by the encoder 7 to obtain the position of the slag car 4 on the track 8, specifically including:

[0043] The output rope L of the hoist 14, i.e. the length of the traction wire rope 9, is monitored by the encoder 7;

[0044] The control module calculates the position of the slag car 4 on the track 8 according to the length of the traction wire rope 9 according to the following formula:

[0045] c=Ll

[0046] In the formula, L is the length of the traction wire rope 9 from the slag car 4 to the rope arranger of the winch 14, that is, the rope output, l is the length of the traction wire rope 9 from the first steering wheel 12 to the rope arranger of the winch 14, and c is the length of the traction wire rope 9 from the slag car 4 to the first steering wheel 12.

[0047] In one embodiment, the control module is also used to send an alarm message to notify the management personnel when the running speed of the slag truck 4 exceeds the normal range (preset speed range) and control the winch 14 to actively brake, so as to avoid safety accidents or machine accidents caused by the overspeed of the slag truck 4, or to realize early maintenance of equipment failure under the condition of low running speed of the slag truck 4, so as to avoid the occurrence of major machine failures affecting the progress of the slag construction project.

[0048] The present application uses the first steering wheel 12 and the second steering wheel 6 to play a traction and guiding role on the traction wire rope 9 between the winch 14 and the slag car 4, effectively ensuring the stable driving of the slag car 4, avoiding the interference of the slag falling from the slag car 4 or the occurrence of pulleys and slips during slag discharge from the anchor hole with a larger slope, and through the intelligent lifting design of the second steering wheel 6, the traction and guidance is achieved without affecting the technical effect of the smooth driving of the slag car 4 along the track 8 with a larger inclination angle and longer length.

[0049] In the transformed embodiment of the present application, the number of the second steering wheels 6 can also be designed to be multiple according to the depth of the tunnel anchor or the length of the track 8, and can be arranged at intervals along the preset driving route of the slag truck 4 on the track 8, and can be raised and lowered in sequence through a lifting design. When the slag truck 4 approaches the second steering wheel 6, space is left to avoid interfering with the slag truck 4 continuing to travel along the track 8 toward the first steering wheel 12.

[0050] In one embodiment, the present application provides a tunnel anchor track type intelligent slag discharge system, including a track mechanism, a traction mechanism and a control mechanism, wherein the track mechanism includes a track 8, which is laid between the slag discharge tunnel anchor face and the slag truck 13; the traction mechanism includes a winch 14, a first steering wheel 12, a second steering wheel 6, a bracket 10, a traction wire rope 9 and a slag discharge truck 4, the bracket 10 and the winch 14 are both arranged on the slag discharge platform, the first steering wheel 12 is rotatably arranged on the top of the bracket 10, and the second steering wheel 6 is rotatably arranged on the track 8, the traction wire rope 9 is pulled by the winch 14 and the slag discharge truck 4 is pulled along the track 8 by the first steering wheel 12 and the second steering wheel 6; the control mechanism includes an encoder 7, a tension sensor 5, a control module and a posture sensor 3, the encoder 7 is arranged on the winch 14 The output shaft of the reducer is communicated with the control module and is used to detect the speed and traction time of the winch 14 for retracting or releasing the rope. The tension sensor 5 is arranged at the connection between the traction wire rope 9 and the slag car 4 and is communicated with the control module to obtain the tension exerted on the slag car 4 and its loaded slag during operation. The control module is used to obtain the speed and traction time of the winch 14 for retracting or releasing the rope detected by the encoder 7 to obtain the position of the slag car 4 on the track 8, and is also used to obtain the slag discharge efficiency of the slag discharge system based on the obtained tension exerted on the slag car 4 and its loaded slag during operation; the posture sensor 3 is communicated with the control module and is installed at the bottom of the slag car 4 for real-time detection of the posture of the slag car 4. The control module is used to control and adjust the operation of the winch 14 according to the obtained posture of the slag car 4.

[0051] In one embodiment, the control module is used to control and adjust the operation of the hoist 14 according to the acquired posture of the slag truck 4, specifically including:

[0052] When the control module obtains the data of abnormal posture of the slag car 4 detected by the posture sensor 3, including tilting, lateral deviation, derailment, etc., the control module controls the winch 14 to actively brake and alarm, reminding the on-site staff. By detecting the posture of the slag car 4 in real time, the braking operation of the winch 14 is controlled in time to ensure the construction safety of the construction site and effectively avoid equipment failure caused by abnormal driving posture of the slag car 4.

[0053] In one embodiment, the present application provides a tunnel anchor track type intelligent slag discharge system, including a track mechanism, a traction mechanism and a control mechanism, wherein the track mechanism includes a track 8, which is laid between the slag discharge tunnel anchor face and the slag truck 13; the traction mechanism includes a winch 14, a first steering wheel 12, a second steering wheel 6, a bracket 10, a traction wire rope 9 and a slag truck 4, the bracket 10 and the winch 14 are both arranged on the slag discharge platform, the first steering wheel 12 is rotatably arranged on the top of the bracket 10, and the second steering wheel 6 is rotatably arranged on the track 8, the traction wire rope 9 is pulled by the winch 14 and the slag truck 4 is pulled along the track 8 by the first steering wheel 12 and the second steering wheel 6; the control mechanism includes a control module and an encoder 7, a tension sensor 5, a control module, a posture sensor 3 and a foreign object detection sensor 1 connected thereto in communication, the encoder 7 is arranged on the output shaft of the reducer of the winch 14, and is connected to the control module in communication with the control module for detecting the speed at which the winch 14 retracts or releases the rope and traction time, the tension sensor 5 is arranged at the connection between the traction wire rope 9 and the slag car 4, and is used to obtain the tension exerted on the slag car 4 and its loaded slag during operation, the control module is used to obtain the position of the slag car 4 on the track 8 according to the speed and traction time of the hoist 14 for reeling in or releasing the rope detected by the encoder 7, and is also used to obtain the slag discharge efficiency of the slag discharge system according to the tension exerted on the slag car 4 and its loaded slag during operation obtained by the tension sensor 5; the posture sensor 3 is communicatively connected to the control module, and the posture sensor 3 is installed at the bottom of the slag car 4, and is used to detect the posture of the slag car 4 in real time, and the control module is used to control and adjust the operation of the hoist 14 according to the obtained posture of the slag car 4. The foreign matter detection sensor 1 is fixed to the rear of the slag car 4, and is used to detect the foreign matter situation on the track surface of the track 8 of the slag car 4, and the control module is used to control the operation of the hoist 14 according to the foreign matter situation on the track surface of the track 8 of the slag car 4 detected by the foreign matter detection sensor 1.

[0054] In one embodiment, the control module is used to control the operation of the hoist 14 according to the foreign matter situation on the track surface of the slag vehicle 4 running track 8 detected by the foreign matter detection sensor 1, specifically including:

[0055] When the control module obtains foreign object data detected by the foreign object detection sensor 1, such as the presence of foreign objects such as fallen rocks or staff standing in front of the slag truck 4, it controls the winch 14 to actively brake and alarm to avoid driving failures of the slag truck 4 or personnel safety accidents caused by foreign objects.

[0056] In one embodiment, the foreign object detection sensor 1 is welded and fixed to the front or rear of the slag truck 4 in the direction of travel through a mounting bracket 10, and is suitable for detecting foreign object conditions on the track surface in front of the slag truck 4 when the slag truck 4 is discharging slag or anchoring in a tunnel.

[0057] In one embodiment, please refer to Figure 2 The foreign object detection sensor 1 is welded and fixed to the rear or front of the slag discharge vehicle 4 through a mounting bracket 10. In order to prevent the slag discharge vehicle 4 from vibrating greatly during driving or unloading, affecting the detection accuracy of the foreign object detection sensor 1 or even damaging the foreign object detection sensor 1, a shock isolation pad 103 is provided between the foreign object detection sensor 1 and the mounting bracket 102 to absorb part of the energy generated by the vibration of the slag discharge vehicle 4 to protect the foreign object detection sensor 1.

[0058] In one embodiment, the present application provides a tunnel anchor track type intelligent slag discharge system, including a track mechanism, a traction mechanism and a control mechanism, wherein the track mechanism includes a track 8, which is laid between the slag discharge tunnel anchor face and the slag truck 13; the traction mechanism includes a winch 14, a first steering wheel 12, a second steering wheel 6, a bracket 10, a traction wire rope 9 and a slag truck 4, the bracket 10 and the winch 14 are both arranged on the slag discharge platform, the first steering wheel 12 is rotatably arranged on the top of the bracket 10, and the second steering wheel 6 is rotatably arranged on the track 8, the traction wire rope 9 is pulled by the winch 14 and the slag truck 4 is pulled along the track 8 by the first steering wheel 12 and the second steering wheel 6; the control mechanism includes a control module and an encoder 7, a tension sensor 5, a control module, a posture sensor 3 and a foreign object detection sensor 1 connected thereto in communication, the encoder 7 is arranged on the output shaft of the reducer of the winch 14, and is connected to the control module in communication with the control module for detecting whether the winch 14 is retracting or releasing the rope. speed and traction time, the tension sensor 5 is arranged at the connection between the traction wire rope 9 and the slag car 4, and is used to obtain the tension exerted on the slag car 4 and its loaded slag during operation. The control module is used to obtain the speed and traction time of the hoist 14 for retracting or releasing the rope detected by the encoder 7 to obtain the position of the slag car 4 on the track 8, and is also used to obtain the slag discharge efficiency of the slag discharge system according to the obtained tension exerted on the slag car 4 and its loaded slag during operation; the posture sensor 3 is communicatively connected to the control module, and the posture sensor 3 is installed at the bottom of the slag car 4 for real-time detection of the posture of the slag car 4. The control module is used to control and adjust the operation of the hoist 14 according to the obtained posture of the slag car 4. The foreign matter detection sensor 1 is fixed to the rear of the slag car 4, and is used to detect foreign matter on the track surface of the track 8 of the slag car 4. The control module is used to control the operation of the hoist 14 according to the foreign matter on the track surface of the track 8 of the slag car 4 detected by the foreign matter detection sensor 1.

[0059] In one embodiment, the present application provides a tunnel anchor track type intelligent slag discharge system, including a track mechanism, a traction mechanism and a control mechanism, wherein the track mechanism includes a track 8, which is laid between the slag discharge tunnel anchor face and the slag truck 13; the traction mechanism includes a winch 14, a first steering wheel 12, a second steering wheel 6, a bracket 10, a traction wire rope 9 and a slag truck 4, the bracket 10 and the winch 14 are both arranged on the slag discharge platform, the first steering wheel 12 is rotatably arranged on the top of the bracket 10, and the second steering wheel 6 is rotatably arranged on the track 8, the traction wire rope 9 is pulled by the winch 14 and the slag truck 4 is pulled along the track 8 by the first steering wheel 12 and the second steering wheel 6; the control mechanism includes a control module and an encoder 7, a tension sensor 5, a control module, a posture sensor 3, a foreign body detection sensor 1 and a wire rope wear detection sensor 11 connected thereto in communication, the encoder 7 is arranged on the output shaft of the reducer of the winch 14, and is connected to the control module in communication for detecting the 14 rope retraction or release speed and traction time, the tension sensor 5 is arranged at the connection between the traction wire rope 9 and the slag car 4, and is used to obtain the tension exerted on the slag car 4 and its loaded slag during operation. The control module is used to obtain the rope retraction or release speed and traction time of the hoist 14 detected by the encoder 7 to obtain the position of the slag car 4 on the track 8, and is also used to obtain the slag discharge efficiency of the slag discharge system based on the obtained tension exerted on the slag car 4 and its loaded slag during operation; the posture sensor 3 is communicatively connected to the control module, and the posture sensor 3 is installed at the bottom of the slag car 4, and is used to detect the posture of the slag car 4 in real time. The control module is used to control and adjust the operation of the hoist 14 according to the obtained posture of the slag car 4. The foreign matter detection sensor 1 is fixed to the rear of the slag car 4, and is used to detect foreign matter on the track surface of the track 8 of the slag car 4. The control module is used to control the operation of the hoist 14 according to the foreign matter on the track surface of the track 8 of the slag car 4 detected by the foreign matter detection sensor 1. The wire rope wear detection sensor 11 is installed on the bracket 10 and close to the first steering wheel 12, and is used to detect the wear of the traction wire rope 9. The control module is used to control the operation of the winch 14 according to the wear of the traction wire rope 9 detected by the wire rope wear detection sensor 11.

[0060] In one embodiment, the control module is used to control the operation of the hoist 14 according to the wear of the traction wire rope 9 detected by the wire rope wear detection sensor 11, specifically including:

[0061] When the wear degree of the traction wire rope 9 exceeds the set threshold, the control module controls the winch 14 to brake and issue an alarm. The system stops working before replacing the new traction wire rope 9, effectively avoiding the wire rope from breaking due to excessive wear, which may cause the slag car 4 to slip or pull.

[0062] In one embodiment, the control module is an intelligent control software system 15, which is embedded in the tunnel anchor slag discharge system control host.

[0063] In one embodiment, the control mechanism also includes multiple LoRa base stations, which are respectively arranged on the slag discharge vehicle 4, the inner wall of the tunnel anchor saddle chamber section, the bracket 10, and the inside of the tunnel anchor slag discharge system control host. The base station arranged on the inner wall of the tunnel anchor saddle chamber section can solve the signal blocking problem caused by the tunnel anchor slope change. The posture sensor 3, tension sensor 5, foreign object detection sensor 1 and wire rope wear detection sensor 11 are all connected to the control module through the LoRa base station 2, and the LoRa base station transmits the slag discharge vehicle posture, tension, foreign object detection signal, and wear detection signal to the control module.

[0064] In one embodiment, please refer to Figure 3 The tunnel anchor slag discharge system control host, i.e., the slag discharge vehicle 4 intelligent collection box, includes a shell, a data acquisition module, a LoRa module and a battery arranged in the shell, and an antenna arranged on the shell. The data acquisition module is communicatively connected to the control module through the LoRa module. The acquisition module, the LoRa module and the battery are electrically connected. The data acquisition module is used to obtain the speed and traction time of the winch 14 for retracting or releasing the rope detected by the encoder 7 to obtain the position of the slag discharge vehicle 4 on the track 8. It is also used to obtain the slag discharge efficiency of the slag discharge system based on the tension obtained by the tension sensor 5 on the slag discharge vehicle 4 and the slag material loaded thereon during operation.

[0065] In a second aspect, the present application provides a tunnel anchor track type intelligent slag discharge method, comprising the following steps:

[0066] Detecting the speed and traction time of the winch 14 for taking up or releasing the rope;

[0067] Obtaining the pulling force on the slag discharge vehicle 4 and the slag material loaded thereon during operation;

[0068] The position of the slag truck 4 on the track 8 is obtained based on the detected rope-reeling or rope-releasing speed and traction time of the hoist 14;

[0069] The slag discharge efficiency of the slag discharge system is obtained based on the obtained pulling force on the slag discharge vehicle 4 and the slag material loaded thereon during operation.

[0070] In one embodiment, the step of obtaining the slag discharge efficiency of the slag discharge system based on the obtained pulling force on the slag discharge vehicle 4 and the slag loaded thereon during operation specifically includes the following steps:

[0071] The obtained pulling force on the slag discharge vehicle 4 and the slag material loaded thereon during operation is used to obtain the slag discharge weight m of the slag discharge vehicle 4 according to the following formula:

[0072]

[0073] Where M is the known weight of the slag truck 4, g is the acceleration of gravity, and α is the inclination angle of the tunnel anchor;

[0074] The slag discharge efficiency of the slag discharge system is obtained based on the obtained slag discharge weight and the shift time or the length of the day, and the intelligent statistical effect of automatically calculating the slag discharge efficiency of the slag discharge system is realized, which is beneficial for the slag discharge system design and development personnel or construction engineering personnel to improve the slag discharge system or control the construction progress.

[0075] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0076] The present invention implements all or part of the process in the above method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0077] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0078] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of a computer device, connecting all parts of the entire computer device using various interfaces and lines.

[0079] The memory can be used to store computer programs and / or modules. The processor implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created based on the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0080] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, servers, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage) containing computer-usable program code.

[0081] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0084] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A tunnel anchor track type intelligent slag discharge system, characterized in that: include: The track structure, including the track, is laid between the anchor face of the slag tunnel and the slag truck; The traction mechanism includes a hoist, a first steering wheel, a second steering wheel, a bracket, a traction wire rope, and a slag discharge vehicle. The bracket and the hoist are both arranged on the slag discharge platform. The first steering wheel is rotatably arranged on the top of the bracket. The second steering wheel is rotatably arranged on the track. The traction wire rope is pulled by the hoist and pulled by the first steering wheel and the second steering wheel to pull the slag discharge vehicle along the track. The control mechanism includes a control module and an encoder and a tension sensor in communication with the control module. The encoder is arranged on the output shaft of the winch reducer and is used to detect the speed and traction time of the winch when the winch is retracted or released. The tension sensor is arranged at the connection between the traction wire rope and the slag discharge car and is used to obtain the tension applied to the slag discharge car and the slag material loaded thereon during operation. The control module is used to obtain the position of the slag discharge car on the track based on the speed and traction time of the winch when the winch is retracted or released detected by the encoder, and is also used to obtain the slag discharge efficiency of the slag discharge system based on the obtained tension applied to the slag discharge car and the slag material loaded thereon during operation. The calculation formula for the position of the slag discharge car on the track is: , where The length of the traction wire rope from the slag truck to the winch rope arranger, that is, the rope output. The length of the traction wire rope from the first steering wheel to the winch rope guide. is the length of the traction wire rope from the slag car to the first steering wheel, and the slag weight of the slag car The calculation formula is: , where F is the pulling force on the slag truck when it is loaded with slag. is the known weight of the slag truck, is the acceleration due to gravity, is the tunnel anchor inclination angle.

2. The tunnel anchor track type intelligent slag discharge system according to claim 1, characterized in that: The control mechanism also includes a posture sensor, which is communicatively connected to the control module. The posture sensor is installed at the bottom of the slag car and is used to detect the posture of the slag car in real time. The control module is used to control and adjust the operation of the winch according to the acquired posture of the slag car.

3. The tunnel anchor track type intelligent slag discharge system according to claim 1, characterized in that: The control mechanism also includes a foreign object detection sensor, which is communicatively connected to the control module. The foreign object detection sensor is fixed to the rear of the slag discharge vehicle and is used to detect foreign objects on the track surface of the slag discharge vehicle. The control module is used to control the operation of the winch according to the foreign object conditions on the track surface of the slag discharge vehicle detected by the foreign object detection sensor.

4. The tunnel anchor track type intelligent slag discharge system according to claim 3, characterized in that: The foreign object detection sensor is fixed to the rear of the slag discharge vehicle by welding through a mounting bracket, and a vibration isolation pad is provided between the foreign object detection sensor and the mounting bracket.

5. The tunnel anchor track type intelligent slag discharge system according to claim 1, characterized in that: The control mechanism also includes a wire rope wear detection sensor, which is communicated with the control module and installed on the bracket, and is used to detect the wear of the traction wire rope. The control module is used to control the operation of the winch according to the wear of the traction wire rope detected by the wire rope wear detection sensor.

6. The tunnel anchor track type intelligent slag discharge system according to claim 1, characterized in that: The control module is an intelligent control software system, which is embedded in the tunnel anchor slag discharge system control host.

7. The tunnel anchor track type intelligent slag discharge system according to claim 6, characterized in that: The control mechanism also includes multiple LoRa base stations, which are respectively arranged on the slag discharge vehicle, the inner wall of the tunnel anchor saddle chamber section, the bracket and the inside of the tunnel anchor slag discharge system control host.

8. The tunnel anchor track type intelligent slag discharge system according to claim 6, characterized in that: The tunnel anchor slag discharge system control host includes a data acquisition module, a LoRa module and a battery. The data acquisition module is communicatively connected to the control module via the LoRa module. The acquisition module, the LoRa module and the battery are electrically connected. The data acquisition module is used to obtain the speed and traction time of the winch for retracting or releasing the rope detected by the encoder to obtain the position of the slag discharge vehicle on the track, and is also used to obtain the slag discharge efficiency of the slag discharge system based on the obtained tension on the slag discharge vehicle and the slag material loaded thereon during operation.

9. A tunnel anchor track type intelligent slag discharge method, characterized in that: The following steps are involved: Detect the speed and traction time of the winch to reel in or release the rope; Obtain the pulling force on the slag truck and the slag loaded thereon during operation; The position of the slag car on the track is obtained based on the detected winch rope retraction or release speed and traction time. The calculation formula for the position of the slag car on the track is: , where The length of the traction wire rope from the slag truck to the winch rope arranger, that is, the rope output. The length of the traction wire rope from the first steering wheel to the winch rope guide. The length of the traction wire rope from the slag truck to the first steering wheel; According to the obtained pulling force on the slag discharge vehicle and the slag material loaded during operation, the slag discharge weight of the slag discharge vehicle is obtained, and according to the obtained slag discharge weight of the slag discharge vehicle, the slag discharge efficiency of the slag discharge system is obtained, wherein the slag discharge weight of the slag discharge vehicle is The calculation formula is: , where F is the pulling force on the slag truck when it is loaded with slag. is the known weight of the slag truck, is the acceleration due to gravity, is the tunnel anchor inclination angle.

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