Control method, system, device and terminal for anti - run - away car blocking device in inclined shaft

Abstract

The present invention belongs to the technical field of mine equipment control, and discloses a control method, system, device and terminal for an anti-runaway car blocking device in an inclined shaft. Determine the parking line, and use an image acquisition device to collect the parking position image of the mine car at a specific position; when the mine car reaches the front (rear) setting area of the car blocking fence, send an opening position detection command; obtain the position image of the mine car; compare the position image with the opening detection model. If the comparison fails, re-obtain the position image of the mine car; if the comparison is successful, send a car blocking fence opening instruction; after receiving the signal that the door fence is opened in place, send a closing position detection command; obtain the real-time position image of the mine car; compare the position image with the closing detection model. If the comparison fails, re-obtain the position image of the mine car; if the comparison is successful, send a car blocking fence closing instruction. The present invention realizes the precise control of the car blocking device of the runaway protection device, greatly shortens the control blind area distance of the runaway protection device, and improves the overall performance of the runaway protection device.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine equipment control, and particularly relates to a control method, system, device and terminal for an anti-runaway car blocking device in an inclined shaft. Background Art

[0002] At present, the inclined shaft runaway protection device is an indispensable device in the inclined shaft roadway transportation of mines. Article 387 of the "Coal Mine Safety Regulations" (2016 Edition): "When using string cars for hoisting in an inclined shaft roadway, the following regulations must be observed: An anti-runaway car blocking device capable of stopping the cars that break the rope or unhook during operation must be installed in the inclined shaft roadway. The above-mentioned car blocking device must be kept closed at all times and only opened when releasing the cars.

[0003] When the car blocking device is open, it cannot stop the cars that break the rope or unhook during operation. When the car blocking device is open, the distance between the mine car and the car blocking device is called the control blind area. When a runaway accident occurs in the control blind area, this car blocking device cannot complete the protection function, and the car blocking function must be completed by the lower car blocking device.

[0004] Since the advent of the runaway protection device, the car blocking device has always been controlled by the position of the hook head of the winch wire rope, and the hook head position is calculated through the encoder on the main shaft of the hoist gearbox, which brings the following problems:

[0005] First, the frequent commutation of the winch and the jitter of the wire rope will cause cumulative errors in the rotary encoder, resulting in the inconsistency between the calculated wire rope hook head position and the actual position. In order to prevent the cumulative error from being too large, depth correction must be carried out frequently.

[0006] On the other hand, in the actual transportation process of inclined shaft mine cars, the number of mine cars each time is uncertain. The change in the total length of the mine cars due to the different number of mine cars at the minimum and maximum times will exceed 20 meters. That is to say, when controlling the car blocking device by the hook head position, the control blind area must be calculated according to the maximum number of mine cars to avoid the mine cars hitting the car blocking device.

[0007] Considering these factors, in order to avoid the occurrence of artificial railing collisions, it is necessary to increase the opening and closing distance. The opening and closing distance set by the hook head position is generally set at 40 - 50 meters.

[0008] The problems and defects of the existing technology mainly include the following aspects:

[0009] 1) Coarse control: Currently, controlling the car blocking device by the position of the winch wire rope hook head is complex in operation and low in repeated precision. The control of the current runaway protection device has been staying in the stage of coarse control;

[0010] 2) Excessive control blind area: The existing winch wire rope hook position control of the car blocking device makes the control blind area of the car runaway protection device too large, thus affecting the effective protection distance of the car runaway protection device. Summary of the Invention

[0011] In view of the problems existing in the prior art, the present invention provides a control method, system, device and terminal for an inclined shaft anti-runaway car blocking device, and particularly relates to a control method, system, device and terminal for an inclined shaft anti-runaway car blocking device based on image recognition.

[0012] The present invention is implemented as follows. A control method for an inclined shaft anti-runaway car blocking device includes: installing an image acquisition device and determining the parking lines at each specific position of the car blocking fence; using the image acquisition device to collect the parking images of the mine car at each specific position to form a detection model database; when the mine car reaches the front or rear setting area of the car blocking fence, sending an opening position detection command; the image acquisition device takes a photo to obtain the mine car position image; comparing the position image with the opening detection model. If the comparison fails, the mine car position image is obtained again; if the comparison is successful, it conforms to the detection model, and a car blocking fence opening instruction is sent; after receiving the signal that the door fence has opened in place, sending a closing position detection command; the image acquisition device takes a photo to obtain the mine car position image; comparing the position image with the closing detection model. If the comparison fails, the mine car position image is obtained again; if the comparison is successful, it conforms to the closing detection model, and a car blocking fence closing instruction is sent.

[0013] Further, the control method for the inclined shaft anti-runaway car blocking device includes the following steps:

[0014] Step 1, install and fix the image acquisition device, take pictures and calibrate the parking lines;

[0015] Step 2, establish an image database, take reference images and construct an image detection model;

[0016] Step 3, determine the starting depth of the downward opening position detection / the starting depth of the upward opening position detection;

[0017] Step 4, use the control center to perform position detection and control during the downward / upward movement of the mine car.

[0018] Further, in Step 1, install the image acquisition device at the top of the roadway along the roadway direction above the car blocking device, adjust the focal length so that the image acquisition device monitors the track and the car blocking device within the critical range, and fix the image acquisition device; use the image acquisition device to take pictures, and respectively calibrate the downward opening parking line, the downward closing parking line, the upward opening parking line and the upward closing parking line in the image along the vertical track direction of the roadway depth position.

[0019] Furthermore, the establishment of the image database in step 2 and the shooting of reference images include: shooting images of the mine car when it reaches the corresponding parking line for the downward open door parking line, the downward closed door parking line, the upward open door parking line and the upward closed door parking line. The image of the open door parking line is shot when the head of the mine car reaches the parking line, and the image of the closed door parking line is shot when the tail of the mine car passes through the parking line; multiple images are shot continuously when the mine car passes through each parking line, or mine cars with different shapes are shot at the same position.

[0020] Furthermore, the construction of the image detection model in step 2 includes: if the image area in front of the parking space line in the direction of the mine car's movement is larger than a certain range, it means that the comparison is successful. Each command corresponds to a pre-taken image, and any image that meets the requirements means that the comparison is successful.

[0021] Furthermore, determining the starting depth of the downward door opening position detection / the starting depth of the upward door opening position detection in step three includes: the control center calculates the position of the mine car hook head based on the rotary encoder, and starts issuing a photo-taking command when the mine car enters the effective monitoring range of the image acquisition device from the upper and lower directions.

[0022] Furthermore, the position detection control of the mine car when it is moving downward / upward by the control center in step 4 includes:

[0023] When the mine car descends and enters the down-door opening position detection starting point before the car blocking device, the control center sends a down-door opening position detection instruction to the image acquisition device, and the image acquisition device takes pictures according to the set cycle; after receiving the image, the control center compares it with the down-door opening position image stored in the database. If the comparison is successful, the control center issues a door opening instruction; if the comparison is unsuccessful, the control center continues to issue a photo instruction. If the comparison fails N times in a row, the control center issues an alarm instruction;

[0024] After the control center receives the signal that the car blocking device is in place, it starts to issue a door closing and taking pictures command, and the image acquisition device starts to take pictures continuously; after the control center receives the image taken by the image acquisition device, it compares and confirms that the mine car has reached the door closing position, and the system issues a door closing command; after the system issues the door closing and taking pictures command, if the photographic images received for N consecutive times do not match the door closing position in the database, the system will issue a door closing detection failure alarm signal.

[0025] Each car blocking device is equipped with multiple image acquisition devices to capture the position of the mine car from multiple angles.

[0026] Another object of the present invention is to provide a system using the control method of the inclined shaft anti-runaway vehicle blocking device, the control system of the inclined shaft anti-runaway vehicle blocking device comprising:

[0027] An image acquisition module is used to install and fix an image acquisition device on the top of the roadway above the vehicle blocking device, and to capture images using the image acquisition device after adjusting the focal length;

[0028] The parking line calibration module is used to calibrate the downward opening parking line, the downward closing parking line, the upward opening parking line, and the upward closing parking line in the image along the depth position of the roadway and perpendicular to the track direction.

[0029] The detection model construction module is used to establish an image database and capture images when the mine car reaches the parking line; construct an image detection model, and use the control center to compare the position images with the image detection model.

[0030] The position detection module is used to determine the starting depth of the downward opening position detection / the starting depth of the upward opening position detection, and use the control center to perform position detection and control when the mine car is moving downward / upward.

[0031] Another object of the present invention is to provide a computer device, which includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the control method of the slope shaft anti - running - away and car - blocking device.

[0032] Another object of the present invention is to provide an information data processing terminal, which is used to implement the control system of the slope shaft anti - running - away and car - blocking device.

[0033] Combined with the above - mentioned technical solutions and the solved technical problems, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0034] First, the control method of the slope shaft anti - running - away and car - blocking device based on image recognition provided by the present invention includes an image acquisition device installed in the roadway for opening (closing), an image acquisition device for collecting images, and a control center for comparing the images with those in the database. The blind area is the distance between the depth of the mine car hook and the car - blocking device when the car - blocking device is in a non - closed state, effectively improving the effective protection distance of the car - blocking device in the roadway.

[0035] Second, the control method of the slope shaft anti - running - away and car - blocking device provided by the present invention uses the image acquisition device to accurately obtain the positions of the head and tail of the mine car, realizing precise control of the car - blocking device of the anti - running - away device, greatly shortening the control blind - area distance of the anti - running - away device, and improving the overall performance of the anti - running - away device.

[0036] By adopting the technical solution of the present invention, the positions of the head and tail of the mine car in the roadway can be accurately obtained, solving the problems of the uncertainty of the mine car length in inclined roadway transportation and the too large blind area of the car - blocking device's opening and closing caused by the cumulative error of the traditional rotary encoder. After adopting this technical solution, the control blind area of the car - blocking device is shortened from the original 40 - 50 meters to 5 - 10 meters.

[0037] Thirdly, as the auxiliary evidence of the inventiveness of the claims of the present invention, it is also reflected in the following important aspects:

[0038] (1) The technical solution of the present invention fills the technical gaps at home and abroad in the industry:

[0039] In the field of inclined roadway transportation in coal mines, no technical solution similar to the present invention has been found. The control blind area of the existing inclined roadway anti-runaway protection device is 5 to 10 times that of the control blind area of this technical solution.

[0040] (2) Whether the technical solution of the present invention solves the technical problems that people have been eager to solve but have never succeeded in:

[0041] Since the inclined roadway anti-runaway protection device was put into use, the car blocking device has always been controlled at the position of the winch wire rope hook head. This technical solution subverts the existing inherent mode of controlling the car blocking device by using the position of the winch wire rope hook head. By adopting the technical solution based on image recognition of the present invention, accurate detection of the head and tail of the ore car in the inclined roadway transportation can be realized. The technical solution of the present invention enables the inclined roadway anti-runaway protection device to enter the stage of precise control from extensive control. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments of the present invention. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 is the flowchart of the control method of the inclined shaft anti-runaway car blocking device provided by the embodiment of the present invention;

[0044] Figure 2 is the schematic diagram of the principle of the control method of the inclined shaft anti-runaway car blocking device provided by the embodiment of the present invention;

[0045] Figure 3 is the schematic structural diagram of the inclined shaft anti-runaway car blocking device provided by the embodiment of the present invention;

[0046] Figure 4 is the information interaction diagram of the inclined shaft anti-runaway car blocking device provided by the embodiment of the present invention;

[0047] In the figure: 1. Image acquisition device; 2. Detection starting point of the position of the downward-opening ore car; 3. Downward-opening car position line; 4. Upward-closing car position line; 5. Position of the car blocking device; 6. Downward-closing car position line; 7. Upward-opening car position line; 8. Detection starting point of the position of the upward-opening ore car. DETAILED DESCRIPTION OF THE INVENTION

[0048] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] In view of the problems existing in the prior art, the present invention provides a control method, system, device and terminal for an anti-runaway car blocking device in an inclined shaft. The present invention will be described in detail below with reference to the accompanying drawings.

[0050] As Figure 1 shown, the control method for the anti-runaway car blocking device in the inclined shaft provided by the embodiment of the present invention includes the following steps:

[0051] S101, install an image acquisition device, and determine the parking line at each specific position of the car blocking fence; use the image acquisition device to collect the parking images of the mine car at each specific position to form a detection model database;

[0052] S102, when the mine car reaches the area in front of or behind the car blocking fence, send an opening position detection command; the image acquisition device takes a picture to obtain the mine car position image; the control center compares the position image with the opening detection model. If the comparison fails, the mine car position image is obtained again;

[0053] S103, if the comparison is successful, that is, it conforms to the detection model, send a car blocking fence opening instruction; after receiving the signal that the door fence has opened in place, send a closing position detection command; the image acquisition device obtains the mine car position image;

[0054] S104, compare the position image with the closing detection model. If the comparison fails, the mine car position image is obtained again; if the comparison is successful, that is, it conforms to the closing detection model, send a car blocking fence closing instruction.

[0055] As a preferred embodiment, as Figure 2 shown, the control method for the anti-runaway car blocking device in the inclined shaft provided by the embodiment of the present invention specifically includes the following steps:

[0056] 1) Install an image acquisition device at the top along the roadway direction above the car blocking device, adjust the focal length so that the image acquisition device can monitor the track and the car blocking device within the critical range, and then fix the image acquisition device;

[0057] 2) Calibrate the parking line: use the image acquisition device to take a picture, and respectively calibrate the downward opening parking line, the downward closing parking line, the upward opening parking line and the upward closing parking line in the picture along the vertical direction of the track in the roadway depth position;

[0058] 3) Establish an image database and take reference pictures: Take pictures of the mine car when it reaches the corresponding parking lines for the above four lines. The picture of the opening parking line is taken when the head of the mine car reaches this parking line, and the picture of the closing parking line is taken when the tail of the mine car passes through this parking line. When the mine car crosses each parking line, take multiple pictures continuously, or take pictures of mine cars with different shapes at the same position.

[0059] 4) Establish an image detection model: When the area of the picture in front of the parking line in the running direction of the mine car is greater than a certain range, it represents a successful comparison. Each command corresponds to several pre-taken pictures, and if any picture meets the requirements, it represents a successful comparison.

[0060] 5) Determine the starting depth of the downward opening position detection / the starting depth of the upward opening position detection: The control center calculates the position of the mine car hook according to the rotary encoder, and starts to send a photographing command when the mine car enters the effective monitoring range of the image acquisition device from the upper and lower directions.

[0061] 6) When the mine car travels downward and reaches a set distance (starting point of the downward opening position detection) before entering the car stop device, the control center sends a downward opening position detection instruction to the image acquisition device. The image acquisition device then takes pictures at a set period. After receiving the taken pictures, the control center compares them with the downward opening position images stored in the database. If the comparison is successful, it sends an opening instruction; if the comparison is unsuccessful, it continues to send a photographing instruction. If the comparison fails N consecutive times, the control center sends an alarm instruction.

[0062] 7) After the control center receives the signal that the car stop device is opened in place, it starts to send a closing photographing instruction, and the image acquisition device starts to take pictures continuously. When the control center receives the pictures taken by the image acquisition device and confirms that the mine car has reached the closing position after comparison, the system sends a closing instruction. After the system sends a closing photographing instruction, if the taken pictures received N consecutive times do not match the closing position in the database, the system sends a closing detection failure warning signal.

[0063] 8) To increase reliability, multiple image acquisition devices can be installed on each car stop device to collect the position of the mine car from multiple angles. Or an additional image acquisition device can be installed at the top of the roadway below the downward opening position line, and this image acquisition device is used to detect the opening position of the mine car when it travels downward.

[0064] Such as Figure 3As shown in the figure, when the mine car is moving downward, the control center detects through the rotary encoder that the mine car reaches the area 2 above the car stopper device during its downward movement, and issues an opening position detection command. The image acquisition device 1 starts taking pictures and transmits the taken mine car position images back to the control center. The control center compares the received images with the pictures of the downward opening car position line 3 in the model detection database. If the comparison is unsuccessful, it means that the mine car has not yet reached the downward opening car position line, and continues to take pictures until the comparison is successful. Then, the control center issues a car stopper opening command. After the opening is in place, the control center issues a downward car stopper closing detection command. The image acquisition device starts taking pictures and transmits the taken photos back to the control center. The control center compares this picture with the downward closing car position line picture in the database. If the comparison is unsuccessful, it means that the mine car has not yet reached the downward closing position, and continues to take pictures. After the comparison is successful, it means that the tail of the mine car has passed the downward closing car position line 6, and the control center issues a car stopper closing command.

[0065] As Figure 4 shown, the control method and system of the inclined shaft anti - running - away car stopper device provided by the embodiment of the present invention include:

[0066] An image acquisition module, which is used to install and fix an image acquisition device at the top along the roadway direction above the car stopper device, and take pictures using the image acquisition device after adjusting the focal length;

[0067] A car position line calibration module, which is used to respectively calibrate the downward opening car position line, the downward closing car position line, the upward opening car position line, and the upward closing car position line in the image along the direction perpendicular to the track at the roadway depth position;

[0068] A detection model construction module, which is used to establish an image database and take pictures of the mine car when it reaches the corresponding car position line; construct an image detection model and compare the position image with the image detection model;

[0069] A position detection module, which is used to determine the starting depth of the downward opening position detection / the starting depth of the upward opening position detection, and use the control center to perform position detection and control during the downward / upward movement of the mine car.

[0070] As an optimized solution of the present invention, the control method and system of the inclined shaft anti - running - away car stopper device adopt image recognition technology, mainly including the following modules:

[0071] 1) Image acquisition module: Install and fix an image acquisition device at the top along the roadway direction above the car stopper device, and take pictures using the image acquisition device after adjusting the focal length.

[0072] 2) Parking line calibration module: In the image, the downward opening parking line, the downward closing parking line, the upward opening parking line, and the upward closing parking line are respectively calibrated along the depth position of the roadway in the direction perpendicular to the track. In this way, the position of the mine car can be automatically identified and located through image recognition technology.

[0073] 3) Detection model construction module: Used to establish an image database and take images of the mine car when it reaches the corresponding parking line. By constructing an image detection model, the position image is compared with the image detection model, so as to realize the detection and recognition of the position of the mine car.

[0074] 4) Position detection module: Used to determine the starting depth of the downward opening position detection / the starting depth of the upward opening position detection, and use the control center to detect and control the position of the mine car during its downward / upward movement. By detecting and recognizing the position of the mine car, the depth when the mine car reaches the opening position is determined, so as to realize the automatic control of the car blocking device.

[0075] This system mainly solves the problems existing in the prior art, such as too large control blind area, insufficient safety guarantee, and low automation degree. Specifically, by adopting image recognition technology, the automatic recognition and control of the position of the mine car can be realized, which not only reduces the intervention of manual operation, but also greatly improves the safety and automation degree. At the same time, this system can also be improved and optimized according to the actual production needs to adapt to different types of transportation equipment and working scenarios.

[0076] The technical effects of this system are mainly reflected in the following aspects:

[0077] 1) Improve safety: By adopting image recognition technology, the automatic recognition and control of the position of the mine car can be realized, thus effectively avoiding problems such as too large control blind area and insufficient safety guarantee, and greatly improving the safety of the equipment.

[0078] 2) Improve the automation degree: By adopting image recognition technology, the automatic recognition and control of the position of the mine car can be realized, which not only reduces the intervention of manual operation, but also greatly improves the automation degree of the equipment.

[0079] 3) Improve precision and accuracy: By adopting image recognition technology, the precise recognition and control of the position of the mine car can be realized, avoiding errors and deviations that may occur in manual operation, and improving the precision and accuracy of the equipment.

[0080] 4) Reduce maintenance costs: By adopting image recognition technology, the automatic control and detection of the equipment can be realized, reducing the workload of manual maintenance and lowering the maintenance costs.

[0081] 5) Improve adaptability: The system adopts image recognition technology and can be improved and optimized according to actual production needs to adapt to different types of transportation equipment and working scenarios, thus enhancing the adaptability of the equipment.

[0082] The present invention has been verified in multiple slope roadway runaway prevention devices. The verification results of the actual control blind area under different operating states are shown in the following table:

[0083]

[0084]

[0085] It can be seen from the above table that after adopting the technical solution of the present invention, the control blind area of the runaway prevention device is 5 - 15m, and compared with the prior art, the control blind area is reduced by 35 - 45m.

[0086] It should be noted that the embodiments of the present invention can be implemented through hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated designed hardware. Those of ordinary skill in the art can understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code is provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and their modules of the present invention can be implemented by hardware circuits of programmable hardware devices such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips and transistors, or field programmable gate arrays and programmable logic devices, can also be implemented by software executed by various types of processors, or can be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0087] The above is only the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention by those skilled in the art within the technical scope disclosed by the present invention shall be covered by the protection scope of the present invention.

Claims

1. A control method for a anti - running - away car blocking device in an inclined shaft, characterized in that, Including: Install an image acquisition device and determine the parking lines at each specific position of the car blocking bar; use the image acquisition device to collect the parking images of the mine car at each specific position to form a detection model database; when the mine car reaches the area in front of or behind the car blocking bar, send an opening position detection command; the image acquisition device takes a photo to obtain the position image of the mine car; compare the position image with the opening detection model. If the comparison fails, re-obtain the position image of the mine car; if the comparison is successful, it conforms to the detection model and send a car blocking bar opening instruction; when receiving the signal that the door bar is fully opened, send a closing position detection command; the image acquisition device takes a photo to obtain the position image of the mine car; compare the position image with the closing detection model. If the comparison fails, re-obtain the position image of the mine car; If the comparison is successful, it conforms to the closing detection model and send a car blocking bar closing instruction; The control method of the inclined shaft anti-runaway car blocking device includes the following steps: Step 1, install and fix the image acquisition device, take pictures and calibrate the parking lines; Step 2, establish an image database, take reference images and construct an image detection model; Step 3, determine the starting depth of the downward opening position detection / the starting depth of the upward opening position detection; Step 4, use the control center to detect and control the position of the mine car during downward / upward movement; In Step 1, install the image acquisition device at the top along the roadway direction above the car blocking device, adjust the focal length so that the image acquisition device monitors the track and the car blocking device within the critical range, and fix the image acquisition device; use the image acquisition device to take pictures, and respectively calibrate the downward opening parking line, downward closing parking line, upward opening parking line and upward closing parking line in the image along the vertical track direction of the roadway depth position.

2. The control method of the anti - run - away car blocking device for inclined shafts according to claim 1, characterized in that, The establishment of the image database and taking reference images in Step 2 includes: for the downward opening parking line, downward closing parking line, upward opening parking line and upward closing parking line, take pictures of the mine car when it reaches the corresponding parking line. The opening parking line image is taken when the head of the mine car reaches the parking line, and the closing parking line image is taken when the tail of the mine car passes the parking line; continuously take multiple pictures when the mine car crosses each parking line or take pictures of mine cars with different shapes at the same position; The construction of the picture detection model includes: if the image area in front of the parking line in the running direction of the mine car is larger than a certain range, it represents a successful comparison. Each command corresponds to a pre-taken image, and if any image meets the requirements, it represents a successful comparison.

3. The control method of the anti-runaway car blocking device for inclined shafts according to claim 1, characterized in that, The determination of the starting depth of the downward opening position detection / the starting depth of the upward opening position detection in Step 3 includes: the control center calculates the position of the mine car hook according to the rotary encoder and starts to send a photo-taking command when the mine car enters the effective monitoring range of the image acquisition device from both the upper and lower directions.

4. The control method of the anti-runaway car blocking device for inclined shafts according to claim 1, characterized in that, The position detection and control of the mine car during downward / upward movement using the control center in Step 4 includes: When the mine car travels downward and enters the starting point of the downward opening position detection before the car blocking device, the control center sends a downward opening position detection instruction to the image acquisition device, and the image acquisition device takes pictures at a set period; after receiving the image, the control center compares it with the downward opening position image stored in the database. If the comparison is successful, an opening instruction is sent; if the comparison is unsuccessful, a photographing instruction is continuously sent. If the comparison fails N times in a row, the control center sends an alarm instruction. After the control center receives the signal that the car blocking device is opened in place, it starts to send a closing and photographing instruction, and the image acquisition device starts continuous photographing; after the control center receives the images taken by the image acquisition device, when it is confirmed through comparison that the mine car has reached the closing position, the system sends a closing instruction; after the system sends the closing and photographing instruction, if the photographed images received N times in a row do not match the closing position in the database, the system sends a closing detection failure warning signal. Multiple image acquisition devices are installed on each car blocking device to collect the position of the mine car from multiple angles.

5. A control system for a slope shaft anti - runaway car arrester device applying the control method of the slope shaft anti - runaway car arrester device as described in any one of claims 1 to 4, characterized in that, The control system of the inclined shaft anti - running - away car blocking device includes: An image acquisition module, which is used to install and fix an image acquisition device at the top along the roadway direction above the car blocking device, adjust the focal length, and then use the image acquisition device to take pictures. A parking line calibration module, which is used to calibrate the downward opening parking line, downward closing parking line, upward opening parking line, and upward closing parking line respectively in the image along the vertical direction of the track at the depth position of the roadway. A detection model construction module, which is used to establish an image database and take pictures when the mine car reaches the parking line; construct an image detection model, and use the control center to compare the position image with the image detection model. A position detection module, which is used to determine the starting depth of the downward opening position detection / the starting depth of the upward opening position detection, and use the control center to detect and control the position of the mine car during its downward / upward travel.

6. A computer device, characterized in that, The computer device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the control method of the inclined shaft anti - running - away car blocking device as described in any one of claims 1 - 4.

7. An information data processing terminal, characterized in that, The information data processing terminal is used to implement the control system of the inclined shaft anti - running - away car blocking device as described in claim 5.

Images