Intelligent mine car safety protection system

Abstract

The application discloses an intelligent mine vehicle safety protection system and belongs to the technical field of mine equipment. The system comprises a visual monitoring module, a speed monitoring module, a central processing module, an alarm module and a protection response module. The visual monitoring module identifies vehicles and generates vehicle information. The speed monitoring module measures vehicle speed in real time and generates real-time vehicle speed. The central processing module calculates and analyzes vehicle information and real-time vehicle speed and outputs an execution instruction. The alarm module and the protection response module execute a protection action according to the execution instruction, thereby effectively intercepting overspeed or out-of-control vehicles.

Description

Technical Field

[0001] This invention belongs to the field of mining equipment technology, specifically relating to an intelligent mine crane safety protection system. Background Technology

[0002] Coal, as one of the world's energy pillars, holds a pivotal position globally. my country is a major coal producer, with its coal resources accounting for approximately 11.1% of the world's total, ranking first globally. A complete coal production system should include both a coal mining system and a coal transportation system. The coal transportation system is a crucial link connecting surface and underground mining, and its safe and stable operation is a vital guarantee for coal production efficiency.

[0003] The underground coal production environment is harsh and complex, and frequent underground safety accidents seriously affect the safety of underground workers and the efficiency of coal mine production. In order to prevent and solve the problem of frequent underground train safety accidents, it is necessary to provide an intelligent train safety protection system.

[0004] Currently, transportation for workers in mines mainly relies on trackless rubber-tired vehicles. However, underground mines are characterized by dim lighting, narrow visibility, bumpy roads, and complex road conditions, leading to a high incidence of transportation accidents. Traditional protective devices are simply installed on accident-prone walls and along the sides of mine tunnels, mitigating damage through vehicle collisions, but they do not possess active protective capabilities. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide an intelligent mine crane safety protection system to solve the problem of active protection performance that existing protection devices do not have.

[0006] To achieve the above objectives, the present invention employs the following technical solution:

[0007] This invention discloses an intelligent mine crane safety protection system, including a visual monitoring module, a speed monitoring module, a central processing module, an alarm module, and a protection response module;

[0008] The visual monitoring module identifies vehicles and generates vehicle information;

[0009] The speed monitoring module measures the vehicle speed in real time and generates the real-time vehicle speed.

[0010] The central processing module calculates and analyzes vehicle information and real-time vehicle speed, and then outputs execution instructions.

[0011] The alarm module and the protection response module perform protective actions according to the execution instructions.

[0012] Furthermore, the vehicle information includes vehicle model, vehicle load capacity, vehicle driving direction and distance information; the protection response module includes a buffer device and a vehicle speed adjustment device.

[0013] Furthermore, the buffer device is an NEA intelligent vehicle stop, an NEA intelligent anti-collision pad, or an NEA intelligent curve guardrail; the protection response module is installed in a chamber within the mine tunnel.

[0014] Furthermore, the central processing module calculates and analyzes vehicle information and real-time vehicle speed, and then outputs execution instructions, including the following steps:

[0015] When the real-time vehicle speed is less than V1, the central processing module does not output execution instructions;

[0016] When the real-time vehicle speed is greater than V1 but less than V2, and the duration of the real-time vehicle speed being greater than V1 is less than t, the central processing module outputs an execution command to remind the driver to decelerate and / or to automatically control the vehicle to decelerate.

[0017] Furthermore, the central processing module calculates and analyzes vehicle information and real-time vehicle speed, and then outputs execution instructions, including the following steps:

[0018] When the real-time vehicle speed is greater than V1 and less than V2, and the real-time vehicle speed is greater than V1 for a duration greater than t; or when the real-time vehicle speed is greater than V2, the alarm module issues an alarm, and the central processing module predicts the real-time vehicle speed at which the vehicle will reach the nearest buffer device that meets the opening requirements based on the vehicle information and the real-time vehicle speed.

[0019] The central processing module evaluates and generates a stopping index a based on the real-time vehicle speed when the vehicle reaches the nearest buffer device that meets the opening requirements and the buffer parameters of the nearest buffer device, and outputs an execution command to the buffer device based on the stopping index a.

[0020] Furthermore, the step of outputting the execution instruction to the buffer device based on the interception index 'a' includes the following steps:

[0021] If the cutoff index a is less than the preset index, then the execution instruction to open the nearest and adjacent buffer device that meets the opening requirements is output.

[0022] If the stopping index a is greater than the preset index, then the execution command to activate several adjacent buffer devices that meet the requirements is output, and the stopping index a is re-evaluated based on the real-time vehicle speed after the collision between the vehicle and the buffer device that collided first, as well as the buffer parameters of the next buffer device.

[0023] Furthermore, after the vehicle comes to a stop, the excess subsequent buffer devices are retracted; the preset index is the stopping index at which the buffer devices achieve a safe stop for the vehicle.

[0024] Furthermore, the stop index a includes a first stop index a1 and a second stop index a2;

[0025] When the nearest buffer device is an NEA intelligent vehicle stopper and an NEA intelligent anti-collision pad, it has a first stopping index a1; the decision formula for the first stopping index a1 is:

[0026] When the nearest buffer device is the NEA intelligent curve guardrail, it has a second stopping index a2; the decision formula for the second stopping index a2 is:

[0027] In the formula, τ1, τ2, and τ3 are constants, v is the real-time vehicle speed, m is the vehicle's load mass, w is the design impact energy of the nearest buffer device, L is the initial buffer stroke of the vehicle from the nearest buffer device, and θ is the angle between the vehicle's travel direction and the NEA intelligent curve guardrail, where the angle is less than 0.5%. N represents the number of times the buffer device has been impacted recently, t d The design life of the most recent buffer device is given, t0 is the lifespan of the most recent buffer device, and dv / dt is the increase in velocity per unit time.

[0028] In the formula, the unit of time is s, the unit of speed is m / s, the unit of mass is T, and the unit of distance is m.

[0029] Furthermore, the method for determining whether the nearest buffer device meets the opening requirements is as follows:

[0030] First, calculate the time T required for the vehicle to reach the nearest buffer device, using the following formula:

[0031]

[0032] Where L is the initial buffer stroke of the vehicle distance buffer device, and V is the real-time vehicle speed. This represents the increase in vehicle speed per unit time.

[0033] Then, an analysis is performed based on the opening time t0 of the buffer device and the time T required for the vehicle to reach the nearest buffer device:

[0034] If t0 is greater than or equal to T, the current buffer device does not meet the opening requirements, and the time required for the vehicle to reach the next buffer device is recalculated.

[0035] When t0 is less than T, the current buffer device is the nearest buffer device that meets the opening requirement;

[0036] In the above formula, the unit of time is s, the unit of speed is m / s, and the unit of distance is m.

[0037] Furthermore, the steps for determining the number of subsequent stage buffer devices that meet the output requirements are as follows:

[0038] The preset indices for each buffer device are set as the first preset index, the second preset index, the third preset index, and the fourth preset index;

[0039] When the cutoff index 'a' is greater than the first preset index and less than the second preset index, then n consecutive buffer devices to be activated will be opened.

[0040] When the cutoff index 'a' is greater than the second preset index and less than the third preset index, then n+1 consecutive buffer devices to be activated are opened.

[0041] When the cutoff index 'a' is greater than the third preset index but less than the fourth preset index, then n+2 consecutive buffer devices to be activated will be opened.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] This invention discloses an intelligent mine vehicle safety protection system. A visual monitoring module identifies vehicles and generates vehicle information, while a speed monitoring module measures and generates real-time vehicle speed. A central processing module calculates and analyzes the vehicle information and real-time speed, then outputs execution commands. Subsequently, an alarm module and a protection response module implement protective actions based on the execution commands, thus protecting the vehicle. When signals from the visual monitoring module and speed monitoring module are received, the alarm modules around the mine tunnel sound an alarm, and simultaneously, the protection response module activates, extending from the chamber to intercept speeding or out-of-control vehicles. If the vehicle speed is too high, causing the nearest protection response module to not fully extend before the vehicle leaves the protection range, the central processing module sends signals to other nearby protection response modules to prepare for interception in advance. This system can control out-of-control vehicles in the shortest possible time, minimizing property damage in the mine.

[0044] Furthermore, the protection response module is usually placed in a chamber inside the mine tunnel, so as not to affect normal transportation underground. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating the working principle of the intelligent mine crane safety protection system of the present invention. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0048] It should be noted that in the formula used in this invention, the time unit is seconds, the speed unit is meters per second, the mass unit is tons, the distance unit is meters, the service life unit is preferably months, and the unit of the impact energy w is kJ. In this embodiment, the service life is preferably calculated as one month when it is 30 days or more. If the number of days is less than 30 days, it is not included in the calculation of the service life. Based on the actual situation, the unit of service life can also be selected as days, quarters or years.

[0049] like Figure 1 As shown, this invention discloses an intelligent mine crane safety protection system, including a visual monitoring module, a speed monitoring module, a central processing module, an alarm module, and a protection response module. The visual monitoring module identifies the vehicle and generates vehicle information; the speed monitoring module measures the vehicle speed in real time and generates a real-time vehicle speed; the central processing module calculates and analyzes the vehicle information and real-time vehicle speed, and then outputs an execution command; the alarm module and the protection response module implement protective actions according to the execution command.

[0050] Furthermore, real-time measurement of vehicle speed is to obtain the vehicle's current acceleration, thereby enabling more accurate acquisition of real-time vehicle speed.

[0051] It should be noted that, to avoid disrupting normal transportation underground, the protection response module is typically installed in a chamber within the mine tunnel. Once a signal is received, or if the visual monitoring module and speed monitoring module detect a speeding vehicle, the alarm modules around the mine tunnel will sound an alarm, and the protection response module will activate, extending from the chamber to intercept the speeding or out-of-control vehicle. If the vehicle is traveling too fast, causing the nearest protection response module to not fully extend before it has moved out of its protected area, the central processing module will signal other nearby protection response modules to prepare for interception, bringing the out-of-control vehicle under control in the shortest possible time and minimizing property damage underground.

[0052] In one embodiment of the present invention, the protection response module includes a buffer device and a vehicle speed adjustment device. The buffer device includes an NEA (Nano Energy Absorbing, i.e., an energy-absorbing material made by mixing non-wetting liquid with molecular sieve) intelligent vehicle blocking device, an NEA intelligent buffer device, or an NEA intelligent anti-collision device. All of the above devices are products made of NEA material through encapsulation. The vehicle information includes vehicle model, vehicle load capacity, and vehicle driving direction.

[0053] It should be noted that the vehicle model can be determined based on the vehicle models currently in use stored in the central processing module.

[0054] The method for determining the vehicle's load capacity can be as follows: First, the total load capacity of the vehicle model when fully loaded is entered into the central processing module. Then, the visual inspection module obtains the ratio of the vehicle's current device volume to its total volume, and the central processing module estimates the vehicle's load capacity. Alternatively, before the vehicle starts moving, the vehicle model must be entered into the central processing module, and the vehicle's load capacity must be fed back to the central processing module after passing the weighbridge before the vehicle is allowed to proceed.

[0055] In one embodiment of the present invention, the central processing module calculates and analyzes the vehicle information and real-time vehicle speed, and then outputs an execution command, including:

[0056] When the real-time vehicle speed is less than V1, the central processing module does not issue an execution command;

[0057] When the real-time vehicle speed is greater than V1 and less than V2, and the vehicle speed is greater than V1 for a duration of less than t, the central processing module issues a command to remind the driver to decelerate and / or automatically control the vehicle to decelerate.

[0058] When the real-time vehicle speed is greater than V1 but less than V2, and the vehicle speed is greater than V1 for a duration greater than t, or when the vehicle speed is greater than V2, the alarm module issues an alarm. The central processing module collects vehicle information and predicts the real-time vehicle speed when the vehicle reaches the nearest buffer device.

[0059] In this embodiment, when the real-time vehicle speed is greater than V1 but less than V2 and the vehicle speed is greater than V1 for less than t, the central processing module issues a command and the alarm module issues an alarm. The alarm module can issue a prompt through voice broadcast or by flashing the traffic lights in front of the vehicle in the mine roadway to alert the driver. Furthermore, the voice broadcast can be broadcast through the radio installed in the mine roadway or by the vehicle's audio system.

[0060] Furthermore, the central processing module can also issue instructions for the speed regulation device to automatically decelerate the vehicle. It should be noted that since the vehicle speed is not very high at this time, the automatic deceleration of the vehicle by the speed regulation device will not cause the vehicle to lose control. The speed regulation device can be any of the existing technologies, and its working principle is already known to the public, so it will not be elaborated on further.

[0061] It should be noted that in this embodiment, the preset value of V1 is 25km / h; the preset value of V2 is 30km / h, and the preset time t is 60s.

[0062] Furthermore, the central processing module collects vehicle information and real-time vehicle speed, and predicts the real-time vehicle speed at which the vehicle will reach the nearest buffer device that meets the opening requirements. The step of determining whether the buffer device to be opened meets the requirements includes:

[0063] According to the formula Calculate the time T required for the vehicle to reach the nearest buffer device.

[0064] In the formula, L is the initial buffer stroke of the vehicle distance buffer device, and V is the real-time speed of the vehicle. This represents the increase in speed per unit time.

[0065] The analysis is based on the opening time t0 of the buffer device and the time T required for the vehicle to reach the nearest buffer device.

[0066] If t0 is greater than or equal to T, the current buffer device does not meet the opening requirements, and the time required for the vehicle to reach the next buffer device is recalculated.

[0067] When t0 is less than T, the current buffer device is the nearest buffer device that meets the opening requirements.

[0068] When the buffer device is the NEA intelligent anti-collision device, t0 is 0; when the buffer device is both the NEA intelligent buffer device and the NEA intelligent vehicle blocking device, the preset value of t0 is 60s.

[0069] By comparing the real-time vehicle speed with the preset speed, the kinetic energy of the vehicle and the momentum when it collides with the protection response module can be estimated, thereby making a reasonable prediction of the collision consequences when the vehicle stops.

[0070] In one embodiment of the present invention, the central processing module evaluates and generates a stopping index a based on the real-time vehicle speed when the vehicle arrives at the nearest buffer device and the buffer parameters of the next buffer device, and issues an execution command to the buffer device based on the stopping index a.

[0071] In one embodiment of the present invention, the central processing module issues an execution instruction to the buffer device based on the interception index a, including:

[0072] If the stopping index 'a' is less than the preset index, an instruction is issued to activate the nearest buffer device that meets the opening requirements, and after the vehicle stops, the excess subsequent buffer devices are retracted.

[0073] If the stopping index a is greater than the preset index, then n subsequent buffer devices that meet the requirements are activated, and the stopping index a is re-evaluated based on the real-time vehicle speed after the collision and the buffer parameters of the next buffer device.

[0074] By evaluating the stopping index 'a', the central processing module can make the correct instructions to ensure that speeding and / or stalled vehicles are effectively stopped and losses are minimized.

[0075] Furthermore, multiple preset indices can be set, including the first preset index, the second preset index, the third preset index, the fourth preset index, etc. It should be noted that this invention is only illustrated by example and cannot be exhaustive.

[0076] Furthermore, the steps for determining the number of buffer devices to be activated are as follows: if the cutoff index a is greater than the first preset index and less than the second preset index, then n consecutive buffer devices to be activated are activated; if the cutoff index a is greater than the second preset index and less than the third preset index, then n+1 consecutive buffer devices to be activated are activated; if the cutoff index a is greater than the third preset index and less than the fourth preset index, then n+2 consecutive buffer devices to be activated are activated.

[0077] Furthermore, the range of the cutoff index a is [0,1); in one embodiment of the present invention, the first preset index is 0.05, the second preset index is 0.2, the third preset index is 0.4, the fourth preset index is 0.7, and the value of n is 4.

[0078] Therefore, this invention can comprehensively evaluate the system parameters during the vehicle interception process and perform multi-level vehicle interception processing, thereby minimizing losses.

[0079] It should be noted that, in this embodiment, the specific grading of the number of activated buffer devices can be further refined according to the above scheme, so as to ensure that n consecutive subsequent buffer devices can stop the vehicle within a reasonable loss range. Furthermore, in this embodiment, the value of n is 4.

[0080] In one embodiment of the present invention, the stoppage index a includes:

[0081] When the buffer device is an NEA intelligent vehicle blocking device and an NEA intelligent buffer device, it has a first stopping index a1; the decision formula for the first stopping index a1 is:

[0082] In the formula, τ1 and τ2 are constants, v is the real-time speed of the vehicle, m is the mass of the vehicle, w is the design impact energy of the buffer device, L is the initial buffer stroke of the vehicle from the buffer device, and N is the number of impacts. d The design service life is t0, and the service life is t0.

[0083] It should be noted that τ1 and τ2 are constants, and the value range of τ1 is 1.2-2.6; the value range of τ2 is 4.5-4.8. The impact energy w used in the design of the buffer device is 12KJ, and N is the sum of the historical collisions of the most recent buffer device.

[0084] When the buffer device is an NEA intelligent anti-collision device, it has a second stopping index a2, and the decision formula for the second stopping index a2 is:

[0085] In the formula, τ1 and τ3 are constants, v is the real-time speed of the vehicle, m is the mass of the vehicle, w is the design impact energy of the buffer device, L is the initial buffer stroke of the vehicle from the buffer device, and θ is the angle between the vehicle's direction of travel and the intelligent curved guardrail, where the angle is less than 0.5%. N represents the number of collisions. t d The design service life is t0, and the service life is t0.

[0086] It should be noted that τ1 and τ3 are constants, and the value range of τ1 is 1.2-2.6; the value range of τ3 is 4.3-6. The impact energy w used in the design of the buffer device is 12KJ, and N is the sum of the historical collisions of the most recent buffer device.

[0087] By judging the opening requirements of the buffer device, it is ensured that the buffer device is in standby mode before the vehicle arrives, thereby ensuring effective stopping of the vehicle.

[0088] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. An intelligent mine crane safety protection system, characterized in that, It includes a visual monitoring module, a speed monitoring module, a central processing module, an alarm module, and a protection response module; The visual monitoring module identifies vehicles and generates vehicle information; The speed monitoring module measures the vehicle speed in real time and generates the real-time vehicle speed. The central processing module calculates and analyzes vehicle information and real-time vehicle speed, and then outputs execution instructions. The alarm module and the protection response module perform protective actions according to the execution instructions; The vehicle information includes vehicle model, vehicle load capacity, vehicle direction of travel, and distance information; the protection response module includes a buffer device and a vehicle speed regulation device. The buffer device is an NEA intelligent vehicle stop, an NEA intelligent anti-collision pad, or an NEA intelligent curve guardrail; the protection response module is installed in a chamber inside the mine tunnel; The central processing module calculates and analyzes vehicle information and real-time vehicle speed, and then outputs execution instructions, including the following steps: When the real-time vehicle speed is less than V1, the central processing module does not output execution instructions; When the real-time vehicle speed is greater than V1 and less than V2, and the duration of the real-time vehicle speed being greater than V1 is less than t, the central processing module outputs an execution command to remind the driver to decelerate and / or to automatically control the vehicle to decelerate. The central processing module calculates and analyzes vehicle information and real-time vehicle speed, and then outputs execution instructions, including the following steps: When the real-time vehicle speed is greater than V1 and less than V2, and the real-time vehicle speed is greater than V1 for a duration greater than t; or when the real-time vehicle speed is greater than V2, the alarm module issues an alarm, and the central processing module predicts the real-time vehicle speed at which the vehicle will reach the nearest buffer device that meets the opening requirements based on the vehicle information and the real-time vehicle speed. The central processing module evaluates and generates a stopping index a based on the real-time vehicle speed when the vehicle reaches the nearest buffer device that meets the opening requirements and the buffer parameters of the nearest buffer device, and outputs an execution command to the buffer device based on the stopping index a. The step of outputting the execution instruction to the buffer device based on the interception index 'a' includes the following steps: If the cutoff index a is less than the preset index, then the execution instruction to open the nearest and adjacent buffer device that meets the opening requirements is output. If the stopping index a is greater than the preset index, then the execution command to activate several adjacent buffer devices that meet the requirements is output, and the stopping index a is re-evaluated based on the real-time vehicle speed after the collision between the vehicle and the buffer device that collided first, as well as the buffer parameters of the next buffer device.

2. The intelligent mine crane safety protection system according to claim 1, characterized in that, After the vehicle comes to a stop, the excess subsequent buffer devices are retracted; the preset index is the stopping index at which the buffer devices achieve a safe stop for the vehicle.

3. The intelligent mine crane safety protection system according to claim 2, characterized in that, The stoppage index a includes a first stoppage index a1 and a second stoppage index a2; When the nearest buffer device is an NEA intelligent vehicle stopper and an NEA intelligent anti-collision pad, it has a first stopping index a1; the decision formula for the first stopping index a1 is: ; When the nearest buffer device is the NEA intelligent curve guardrail, it has a second stopping index a2; the decision formula for the second stopping index a2 is: ; In the formula, , , Let v be a constant, m be the vehicle's real-time speed, w be the vehicle's load mass, w be the design impact energy of the nearest buffer device, L be the initial buffer stroke of the vehicle from the nearest buffer device, and θ be the angle between the vehicle's direction of travel and the NEA intelligent curve guardrail, where the angle is less than 0.5%. N represents the number of times the buffer device has been impacted recently. Design lifespan for the most recent buffer device. The most recent buffer has reached the end of its service life; dv / dt is the increase in velocity per unit time. In the formula, the unit of time is s, the unit of speed is m / s, the unit of mass is T, and the unit of distance is m.

4. The intelligent mine crane safety protection system according to claim 3, characterized in that, The method for determining whether the nearest buffer device meets the opening requirements is as follows: First, calculate the time T required for the vehicle to reach the nearest buffer device, using the following formula: ； Where L is the initial buffer stroke of the vehicle distance buffer device, and V is the real-time vehicle speed. This represents the increase in vehicle speed per unit time. Then, based on the opening time of the buffer device Analyze the time T required for the vehicle to reach the nearest buffer device: when If the time is greater than or equal to T, the current buffer device does not meet the opening requirements, and the time required for the vehicle to reach the next buffer device is recalculated. when If the value is less than T, then the current buffer device is the nearest buffer device that meets the opening requirement; In the above formula, the unit of time is s, the unit of speed is m / s, and the unit of distance is m.

5. The intelligent mine crane safety protection system according to claim 4, characterized in that, The steps for determining the number of subsequent buffer stages that meet the output requirements are as follows: The preset indices for each buffer device are set as the first preset index, the second preset index, the third preset index, and the fourth preset index; When the cutoff index 'a' is greater than the first preset index and less than the second preset index, then n consecutive buffer devices to be activated will be opened. When the cutoff index 'a' is greater than the second preset index and less than the third preset index, then n+1 consecutive buffer devices to be activated are opened. When the cutoff index 'a' is greater than the third preset index but less than the fourth preset index, then n+2 consecutive buffer devices to be activated will be opened.

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