A control method and system for the anti-runaway door of an inclined shaft based on a photoelectric sensor

Abstract

The present invention belongs to the technical field of mine equipment, and discloses a control method and system for the anti-runaway door bar of an inclined shaft based on a photoelectric sensor. The control method for the anti-runaway door bar of the inclined shaft based on a photoelectric sensor includes: a state detection component uses a photoelectric sensor to detect the moment when the mine car passes and the speed when passing, and feeds back a detection signal to the microprocessor; the microprocessor judges whether the mine car is going uphill or downhill according to the detection signal; at the same time, the microprocessor combines the detection signal with the timing result to judge whether the mine car is a normally operating mine car; the microprocessor issues a door bar control instruction based on the judgment result of whether the mine car is going uphill or downhill and the judgment result of whether it is operating normally. The control method for the anti-runaway door bar of the inclined shaft based on a photoelectric sensor of the present invention directly uses the detection component to control the opening and closing of the door bar, has a high repetition accuracy, and the control blind area is within a suitable range.

Description

Technical Field

[0001] The present invention belongs to the technical field of mine equipment, and particularly relates to a control method and system for the anti-runaway door bar of an inclined shaft based on a photoelectric sensor. Background Art

[0002] Currently, the prior art usually uses an encoder to calculate the position of the mine car coupler head, and this encoder is installed on the main shaft of the gearbox. However, this method has the following drawbacks: First, since the encoder will inevitably accumulate errors, it is necessary to frequently perform in-depth calibration to ensure accuracy. Second, the encoder can only calculate the position where the coupler head is located, while the actual length of the mine car will vary depending on the number of mine cars carried, resulting in a change in the distance between the head and tail of the mine car and the door bar. To avoid collisions between the mine car and the door bar, it is necessary to increase an additional lead when opening and closing the door, but this will result in an overly large control blind area. Therefore, the accuracy and practicality of this method have certain limitations. The prior art has an overly large control blind area, low repeat accuracy, and a cumbersome control process.

[0003] This problem may have various impacts on the operation of the mine car. First, due to the cumulative errors of the encoder and the need for frequent in-depth calibration, the position of the mine car may deviate, resulting in unstable or inaccurate operation. Second, because the encoder can only calculate the position where the coupler head is located and cannot consider the distance between the head and tail of the mine car and the door bar, it may be necessary to increase the lead when opening and closing the door, resulting in an overly large control blind area, thereby increasing the risk of collisions between the mine car and the door bar. In addition, if the length of the mine car changes significantly, it may cause a change in the distance between the mine car and the track, thereby affecting the stability and safety of the mine car. Therefore, solving this problem is very important for ensuring the normal operation and safety of the mine car. Summary of the Invention

[0004] Aiming at the problems existing in the prior art, the present invention provides a control method and system for the anti-runaway door bar of an inclined shaft based on a photoelectric sensor.

[0005] The present invention is implemented as follows. A control method for the anti-runaway door bar of an inclined shaft based on a photoelectric sensor, the control method for the anti-runaway door bar of an inclined shaft based on a photoelectric sensor includes:

[0006] The state detection component uses a photoelectric sensor to detect the moment when the mine car passes and the speed when passing, and feeds back the detection signal to the microprocessor;

[0007] The microprocessor judges whether the mine car is going uphill or downhill according to the detection signal; at the same time, the microprocessor combines the detection signal with the timing result to judge whether the mine car is a normally operating mine car;

[0008] The microprocessor issues a door bar control instruction based on the judgment result of whether the mine car is going uphill or downhill and the judgment result of whether it is normally operating.

[0009] Further, the inclined shaft anti-runaway door control method based on photoelectric sensors includes the following steps:

[0010] Step 1: Set two speed measurement points at a certain distance above the car blocking fence along the roadway; when the mine car passes through the speed measurement points, calculate the time T12min for the mine car to pass through the two speed measurement points and the time Tmin for the mine car to pass through the photoelectric sensor at the first speed measurement point respectively according to the maximum allowable speed of the mine car;

[0011] Step 2: When the microprocessor detects a displacement signal at any speed measurement point, determine whether the photoelectric sensors at the remaining speed measurement points are blocked to judge whether the mine car is going up or down; if the mine car is going down, go to Step 3; if the mine car is going up, go to Step 4;

[0012] Step 3: When the mine car is going down, the microprocessor controls the first and second interval timers to time; and according to whether the second interval timer ends when the photoelectric sensor at the first speed measurement point has a displacement, judge whether the mine car causing the displacement signal of the photoelectric sensor is a normally operating mine car, and issue a corresponding door control instruction; when it is determined that it is a mine car running at a normal speed, when it is detected that the head of the first mine car reaches the second speed measurement point sensor, the microprocessor issues an opening instruction.

[0013] Step 4: When the mine car is going up, the microprocessor controls the third and fourth interval timers to time; and according to whether the fourth interval timer ends when the photoelectric sensor at the second speed measurement point has a displacement, judge whether the mine car causing the displacement signal of the photoelectric sensor is a normally operating mine car, and issue a corresponding door control instruction; when it is determined that it is a mine car running at a normal speed, when it is detected that the tail of the last mine car passes through the first speed measurement point sensor, the microprocessor issues a closing instruction.

[0014] Step 5: When the microprocessor issues an order to open or close the car blocking fence, set a time relay at the same time, and do not process the signals of the two speed measurement point sensors within the corresponding time range.

[0015] Further, each speed measurement point is composed of a group of photoelectric sensors; the distance between the two speed measurement points should be less than the shortest length of the mine car; when the mine car is between the two speed measurement points, both photoelectric sensors can be blocked at the same time, and when the mine car passes through the speed measurement point sensor, the blocked length of the speed measurement point sensor is greater than the distance between the two speed measurement points.

[0016] Further, the distance between the two speed measurement points should be greater than the distance between the gaps of two mine cars, so as to facilitate the microprocessor to accurately capture the moment when the tail of the last mine car passes through the photoelectric sensor.

[0017] Further, when the microprocessor determines whether the ore car is going uphill or downhill based on whether the remaining speed measurement point photoelectric sensors are blocked when a displacement signal occurs at any measurement point where the ore car arrives, it includes:

[0018] When a displacement signal occurs at the first group of photoelectric sensors at the first speed measurement point of the ore car and the photoelectric sensors at the second speed measurement point are not blocked, it is determined that the ore car is going downhill, and the microprocessor sets the downhill flag of the ore car.

[0019] When a displacement signal occurs at the second group of photoelectric sensors at the second speed measurement point of the ore car and the photoelectric sensors at the first speed measurement point are not blocked, it is regarded that the ore car is going uphill, and the microprocessor sets the uphill flag of the ore car.

[0020] Further, the microprocessor controls the timing of the first and second interval timers, including: starting the first and second interval timers. The first interval timer stops timing when the tail of the first ore car passes the photoelectric sensors at the first speed measurement point, and the second interval timer stops timing when the head of the first ore car reaches the second speed measurement point and a displacement occurs at the photoelectric sensors at the second speed measurement point.

[0021] The microprocessor controls the timing of the third and fourth interval timers, including: the third interval timer stops timing when the tail of the first ore car passes the photoelectric sensors at the second speed measurement point, and the fourth interval timer stops timing when the head of the first ore car reaches the first speed measurement point and a displacement occurs at the photoelectric sensors at the first speed measurement point.

[0022] Further, when a displacement occurs at the photoelectric sensors at the first speed measurement point, based on whether the second interval timer has ended, it is determined whether the ore car that causes the displacement signal of the photoelectric sensor is a normally running ore car, and a corresponding barrier control command is issued, including:

[0023] When the downhill flag of the ore car = 1, the ore car continues to run. When a displacement occurs at the photoelectric sensors at the first speed measurement point and the second interval timer has not ended, the microprocessor determines that the ore car that causes the displacement signal of the photoelectric sensor is not a normally running ore car, does not process the displacement signal, and resets the relevant flags; when a displacement occurs at the photoelectric sensors at the first speed measurement point and the second interval timer has not ended, it is T1 < Tmin, T1 < T2.

[0024] When the downhill flag of the ore car = 1, when the tail of the first ore car passes the first speed measurement point and a displacement occurs at the photoelectric sensors at the first speed measurement point, and the second interval timer has ended, and T1 >= Tmin, T1 > T2, T2 >= T12min, it is determined that the ore car is running at a speed within the allowable range, and an order to open the blocking barrier is issued.

[0025] Further, when determining whether the fourth interval timer has ended when the optoelectronic sensor at the second speed measurement point changes position, and determining whether the signal causing the optoelectronic sensor to change position is a normally operating mine car and issuing a corresponding door control command includes:

[0026] If the upward mine car flag = 1 and the mine car continues to run, and when the optoelectronic sensor at the second speed measurement point changes position and the fourth interval timer has not ended, the microprocessor determines that the position change signal is generated by an abnormally operating mine car, does not process the position change signal, and resets the relevant flag; when the optoelectronic sensor at the second speed measurement point changes position and the fourth interval timer has not ended, it is T3 < Tmin, T3 < T4;

[0027] If the upward mine car flag = 1, when the tail of the first mine car passes through the second speed measurement point and the optoelectronic sensor at the second speed measurement point changes position, and the fourth interval timer has ended, it is determined that the mine car is running at a speed within the allowable range, and the command to close the car blocking gate can be issued after the tail of the last mine car passes through the first speed measurement point; when the tail of the first mine car passes through the second speed measurement point and the optoelectronic sensor at the second speed measurement point changes position, and the fourth interval timer has ended, it is T3 >= Tmin, T3 > T4, T4 >= T12min.

[0028] The tail of the last mine car passing through the first speed measurement point means that when the optoelectronic sensor at the first speed measurement point changes downward, the optoelectronic sensor at the second speed measurement point is already in the downward position change state.

[0029] Another object of the present invention is to provide an optoelectronic sensor-based inclined shaft anti-runaway door control system for implementing the optoelectronic sensor-based inclined shaft anti-runaway door control method. The optoelectronic sensor-based inclined shaft anti-runaway door control system includes:

[0030] A state detection component, connected to the microprocessor; used to detect the speed and position of the mine car by using two groups of optoelectronic sensors;

[0031] A microprocessor, connected to the state detection component; used to judge whether the mine car is going up or down according to the detection signal; used to combine the detection signal and the timing result to judge whether the mine car is a normally operating mine car; and at the same time used to issue a door control command based on the judgment result of whether the mine car is going up or down and the judgment result of whether it is normally operating;

[0032] The two groups of optoelectronic sensors are arranged at two speed measurement points; the two speed measurement points are arranged at a certain distance above the car blocking gate along the roadway.

[0033] Another object of the present invention is to provide a computer device or a programmable controller. The computer device includes a memory and a processor. When a computer program stored in the memory is executed by the processor, the processor is caused to execute the steps of the inclined shaft anti-runaway door control method based on a photoelectric sensor.

[0034] Another object of the present invention is to provide an information data processing terminal for implementing the inclined shaft anti-runaway door control method based on a photoelectric sensor.

[0035] Combined with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0036] 1. The present invention directly uses a detection component to control the opening and closing of the door, with high repeat accuracy and the control blind area within a suitable range.

[0037] 2. The present invention uses a photoelectric sensor to detect the moments when the mine car passes through two groups of photoelectric sensors, and uses a unique algorithm to accurately detect the head and tail of the mine car. The inclined shaft runaway door opens with the head of the mine car and closes by capturing the tail of the last mine car, solving the problem that the opening and closing distance has nothing to do with the number of mine cars carried, and filling the technical gap in the domestic and international industries.

[0038] 3. The technical solution of the present invention solves the technical problem of too large a control blind area of the inclined shaft runaway protection device, reducing the existing control blind area from 40 - 50 meters to about 20 meters.

[0039] 4. Improve the safety of the mine car passing through the inclined shaft anti-runaway door: By detecting the passing moment and speed of the mine car through the photoelectric sensor, the microprocessor can judge the running situation of the mine car, so as to effectively control the opening and closing of the door, ensuring that only the normally running mine car can pass.

[0040] 5. Improve the production efficiency of the mine: The traditional inclined shaft anti-runaway door control method requires manual operation with low efficiency, while this method based on a photoelectric sensor realizes automatic control and can greatly improve the production efficiency of the mine.

[0041] 6. Reduce the risk of manual operation: The traditional inclined shaft anti-runaway door requires manual operation, which has the risk of human operation errors and dangers, while this method based on a photoelectric sensor can reduce manual operation and reduce the operation risk.

[0042] 7. Can realize real-time monitoring and recording: By detecting the passing moment and speed of the mine car through the photoelectric sensor, the microprocessor can real-time monitor and record the running situation of the mine car, providing a basis for subsequent data analysis and decision-making. Description of the Drawings

[0043] Figure 1 is the flowchart of the inclined shaft anti-runaway door control method based on photoelectric sensors provided by the embodiments of the present invention;

[0044] Figure 2 is the schematic diagram of the mine car opening the door when going downwards provided by the embodiments of the present invention;

[0045] Figure 3 is the schematic diagram of the mine car closing the door when going upwards provided by the embodiments of the present invention;

[0046] Figure 4 is the schematic diagram of the mine car opening the door due to a false signal when going downwards provided by the embodiments of the present invention;

[0047] In the figure: 1. The photoelectric sensor signal of the first speed measurement point; T1. The first interval timer; 2. The photoelectric sensor signal of the second speed measurement point; T2. The second interval timer; T3. The third interval timer; T4. The fourth interval timer; Te. The time relay for shielding the signals of the subsequent mine cars after the first column of mine cars pass the first speed measurement point when going downwards / pass the second speed measurement point when going upwards; M1. The flag bit for the mine car opening the door when going downwards; M2. The flag bit for the mine car closing the door when going upwards; Dw. The flag bit for the mine car going downwards; Up. The flag bit for the mine car going upwards. Specific embodiments

[0048] In order to make the objectives, technical solutions and advantages of the present invention clearer and more 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] As Figure 1 shown, the inclined shaft anti-runaway door control method based on photoelectric sensors provided by the embodiments of the present invention includes the following steps:

[0050] S101. Set two speed measurement points at a certain distance above the car blocking fence along the roadway; when the mine car passes through the speed measurement points, calculate the time T12min for the mine car to pass through the two speed measurement points and the time Tmin for the mine car to pass through the photoelectric sensor of the first speed measurement point respectively according to the maximum allowable speed of the mine car;

[0051] S102. When the microprocessor detects a displacement signal when the mine car reaches any speed measurement point, determine whether the mine car is going upwards or downwards according to whether the photoelectric sensors at the remaining speed measurement points are blocked; if the mine car is going downwards, go to step S103; if the mine car is going upwards, go to step S104;

[0052] S103. When the mine car is going downwards, the microprocessor controls the first and second interval timers to time; and determine whether the mine car causing the displacement signal of the photoelectric sensor is a normally operating mine car according to whether the second interval timer ends when the photoelectric sensor of the first speed measurement point has a displacement, and issue a corresponding door control instruction;

[0053] S104. The ore car travels upward, and the microprocessor controls the third and fourth interval timers to time; and based on whether the fourth interval timer ends when the photoelectric sensor at the second speed measurement point changes position, it determines whether the ore car causing the photoelectric sensor to change position signal is a normally operating ore car, and issues a corresponding barrier control instruction.

[0054] S105. When the microprocessor issues an order to open or close the blocking barrier, a time relay is set at the same time, and the signals of the two photoelectric sensors at the speed measurement points are not processed within the corresponding time range.

[0055] The inclined shaft anti - runaway car barrier control system based on photoelectric sensors provided by the embodiment of the present invention includes:

[0056] A state detection component, connected to the microprocessor; used to detect the speed and position of the ore car by using two groups of photoelectric sensors.

[0057] A microprocessor, connected to the state detection component; used to judge whether the ore car is traveling upward or downward according to the detection signal; used to combine the detection signal and the timing result to judge whether the ore car is a normally operating ore car; and at the same time used to issue a barrier control instruction based on the judgment result of whether the ore car is traveling upward or downward and the judgment result of whether it is operating normally.

[0058] Two groups of photoelectric sensors are arranged at two speed measurement points; the two speed measurement points are arranged along the roadway at a certain distance above the blocking barrier.

[0059] The inclined shaft anti - runaway car barrier control method provided by the embodiment of the present invention includes: The speed and position of the ore car are detected by a state detection component composed of two groups of photoelectric sensors. The state detection component is connected to the microprocessor. The method includes: The state detection component detects the moment when the ore car passes and feeds back the detection signal to the microprocessor; when the microprocessor calculates according to the detection signal and judges that the ore car travels downward at the normal speed to the state detection component, the barrier opens, and when the ore car travels upward to reach the state detection component, the microprocessor issues a command to close the barrier.

[0060] The specific steps are as follows:

[0061] Adopt the installation method of two groups of photoelectric sensors: Set two speed measurement points at a certain distance above the blocking barrier along the roadway. Each speed measurement point is composed of a group of photoelectric sensors. The distance between the two speed measurement points should be less than the shortest length of the ore car. When the ore car is between the two speed measurement points, both photoelectric sensors should be blocked at the same time. When the ore car passes through the speed measurement point sensor, the blocked length of the photoelectric sensor at the speed measurement point should be greater than the distance between the two speed measurement points.

[0062] When the ore car passes through the speed measurement point, calculate the time T12min for the ore car to pass through the two speed measurement points and the time Tmin for the ore car to pass through the photoelectric sensor at the first speed measurement point respectively according to the maximum allowable speed of the ore car.

[0063] When the mine car reaches the first speed measurement point and the first group of photoelectric sensors generate a displacement signal, and the photoelectric sensors at the second speed measurement point are not blocked, it is regarded as the mine car moving downward, and the microprocessor sets the downward movement flag of the mine car;

[0064] When the mine car reaches the second speed measurement point and the second group of photoelectric sensors generate a displacement signal, and the photoelectric sensors at the first speed measurement point are not blocked, it is regarded as the mine car moving upward, and the microprocessor sets the upward movement flag of the mine car;

[0065] When the system detects that the photoelectric sensor corresponding to the first speed measurement point generates a displacement, and the downward movement flag of the mine car = 1, the microprocessor starts two interval timers, the first interval timer stops timing when the tail of the first mine car passes the photoelectric sensor at the first speed measurement point, and the second interval timer stops timing when the head of the first mine car reaches the second speed measurement point and the photoelectric sensor at the second speed measurement point generates a displacement;

[0066] When the downward movement flag of the mine car = 1 and the mine car continues to run, and when the photoelectric sensor at the first speed measurement point generates a displacement and the second interval timer has not ended, that is, when T1 < Tmin and T1 < T2, the microprocessor determines that the mine car causing the displacement signal of this photoelectric sensor is not a normally running mine car, and the system ignores this signal and resets the relevant flags;

[0067] When the downward movement flag of the mine car = 1, the tail of the first mine car passes the first speed measurement point, and the photoelectric sensor at the first speed measurement point generates a displacement, and the second interval timer has ended, and when T1 >= Tmin, T1 > T2, and T2 >= T12min, the system determines that the mine car is running at a speed within the allowable range and issues a command to open the car blocking fence;

[0068] When the system detects that the photoelectric sensor corresponding to the second speed measurement point generates a displacement, and the upward movement flag of the mine car = 1, the microprocessor starts two interval timers, the third interval timer stops timing when the tail of the first mine car passes the photoelectric sensor at the second speed measurement point, and the fourth interval timer stops timing when the head of the first mine car reaches the first speed measurement point and the photoelectric sensor at the first speed measurement point generates a displacement;

[0069] When the upward movement flag of the mine car = 1 and the mine car continues to run, and when the photoelectric sensor at the second speed measurement point generates a displacement and the fourth interval timer has not ended, that is, when T3 < Tmin and T3 < T4, the microprocessor determines that this signal is generated by a non-normally running mine car, and the system ignores this signal and resets the relevant flags;

[0070] When the mine car up sign = 1, the tail of the first mine car passes the second speed measuring point, and the photoelectric sensor of the second speed measuring point changes position, the fourth interval timer has ended, that is, when T3>=Tmin, T3>T4, T4>=T12min, the system determines that the mine car is running at a speed within the allowable range, and when the tail of the last mine car passes the first speed measuring point, the command to close the barrier can be issued;

[0071] When the microprocessor issues a command to open the barrier, a time relay is set at the same time, and the signals of the two speed measuring point sensors 1 and 2 are not processed within the time range.

[0072] The technical solution of the present invention is further described below in conjunction with specific embodiments.

[0073] The length of the mine car is 3100mm, and the distance between the two speed measuring point photoelectric sensors is 2800mm.

[0074] The maximum speed of the mine car is set to 3000mm / S.

[0075] The minimum time for a single mine car to pass through two speed measuring point photoelectric sensors at the highest speed is: T12min = 2800 / 3000 = 0.933S;

[0076] The minimum time for a single mine car to pass each speed measurement point when the mine car is running normally is: Tmin = 3100 / 2800 = 1.107S.

[0077] Example 1: The mine car opens the door when going down, as shown in the attached figure Figure 2 As shown:

[0078] When the photoelectric sensor 1 at the first speed measuring point generates a displacement signal, the photoelectric sensor 2 at the second speed measuring point does not shift, and the microprocessor determines that the mine car is descending, and the downward flag Dw=1, and the mine car downward flag is set to Dw=1; the interval timers T1 and T2 start timing, and when the mine car reaches the second speed measuring point, the interval timer T2 ends timing, and the mine car continues to descend. When the tail of the first mine car passes the first speed measuring point, the interval timer T1 ends timing.

[0079] T1>Tmin, T1>T2, T2>=T12min, the microprocessor determines that the mine car is descending at a normal speed, sets M1=1, and issues a door opening command.

[0080] At the same time, the time relay Te starts timing for 20 seconds, and the signals of the photoelectric sensor 1 and the photoelectric sensor 2 are not processed within 20 seconds.

[0081] Example 2: The mine car goes up and closes the door, as shown in the attached Figure 3 As shown:

[0082] When the displacement signal occurs at the second speed measurement point optoelectronic sensor 2 and no displacement occurs at the first speed measurement point optoelectronic sensor 1, the microprocessor determines that the ore car is going uphill, and the uphill flag Up = 1, and the uphill flag of the ore car is set to Up = 1; the interval timers T3 and T4 start timing. When the head of the ore car reaches the first speed measurement point, the interval timer T4 ends timing. When the tail of the first ore car continues to go uphill and passes the second speed measurement point, the interval timer T3 ends timing.

[0083] When T3 > Tmin, T3 > T4, and T4 >= T12min, the microprocessor determines that the ore car is going uphill at a normal speed. When the tail of the last ore car passes the first speed measurement point, that is, when the signal of the second speed measurement point optoelectronic sensor 2 = 0, M2 = 1 is set, and the door closing instruction is issued.

[0084] At the same time, the time relay Te starts timing for 20 seconds, and the signals of the optoelectronic sensor 1 and the optoelectronic sensor 2 are not processed within 20 seconds.

[0085] Embodiment 3: Example of the false signal opening of the ore car going downhill, as shown in the appendix Figure 4 as follows:

[0086] When the displacement signal occurs at the first speed measurement point optoelectronic sensor 1 and no displacement occurs at the second speed measurement point optoelectronic sensor 2, the microprocessor determines that the ore car is going downhill, and the downhill flag Dw = 1, and the downhill flag of the ore car is set to Dw = 1; the interval timers T1 and T2 start timing. When the optoelectronic sensor 1 has a displacement signal again, the interval timer T2 has not met the end condition.

[0087] When T1 < Tmin and T1 < T2, the microprocessor determines that it is not the ore car but a pedestrian that causes the displacement of the optoelectronic sensor 1, and sets Dw = 0, and the system resumes the standby state.

[0088] In current practice, the common method is to calculate the position of the hook head connected to the ore car through the rotary encoder of the transportation winch to determine the opening and closing distance of the door. Since the number of ore cars carried each time is different, and coupled with the cumulative error caused by the frequent forward and reverse operations of the winch, in order to avoid the occurrence of the phenomenon of hitting the railing, generally the opening and closing distance is set at 40 - 50 meters above the railing. After adopting the scheme of the present invention, the head and tail of the ore car can be accurately captured. The installation position of the optoelectronic sensor is calculated according to the following method. As long as the distance that the ore car runs at the maximum speed within the reserved opening time of the railing is reserved. Taking the maximum allowable speed of the ore car of 3 m / s and the opening time of 4 seconds as an example, as long as the optoelectronic sensor is installed more than 12 meters (amplified to 15 meters for reliability) above the railing, the safe opening and closing of the railing can be realized. In this way, adopting the present invention can shorten the control blind area of the railing from 40 - 50 meters to 15 meters.

[0089] The automation control technology based on photoelectric sensors provided by the embodiments of the present invention can be applied to many other fields, such as industrial automation, transportation, smart home, etc. The following are some application cases:

[0090] Industrial automation: On the factory production line, photoelectric sensors can be used to detect and control materials, parts, etc., improving production efficiency and quality.

[0091] Transportation: In the fields of traffic signal control, highway toll collection, intelligent parking, etc., photoelectric sensors can be used to detect and count vehicles, improving the efficiency and safety of transportation.

[0092] Smart home: In the field of smart home, photoelectric sensors can be used to automatically control home security, lighting, temperature, etc., improving the quality of life and comfort.

[0093] Generally speaking, the automation control technology based on photoelectric sensors has a wide range of application prospects and can provide more efficient, accurate and reliable solutions for the automation control of all walks of life.

[0094] 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 devices and methods can be implemented using computer or single-chip microcomputer executable instructions and / or included in the 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, transistors, etc., or programmable logic devices such as field programmable gate arrays, or can be implemented by software executed by various types of processors, or can be implemented by a combination of the above hardware circuits and software, such as firmware.

[0095] As described above, only the specific embodiments of the present invention are provided, 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 the anti-runaway door bar in an inclined shaft based on an optoelectronic sensor, characterized in that, Including: The status detection component uses a photoelectric sensor to detect the moment when the mine car passes and its speed during passing, and feeds back the detection signal to the microprocessor; The microprocessor determines whether the mine car is going uphill or downhill based on the detection signal; at the same time, the microprocessor combines the detection signal with the timing result to determine whether the mine car is a normally operating mine car; The microprocessor issues a door control instruction based on the determination result of whether the mine car is going uphill or downhill and the determination result of whether it is operating normally; The inclined shaft anti-runaway door control method based on a photoelectric sensor includes the following steps: Step 1: Set two speed measurement points at a certain distance above the retaining fence along the roadway; when the mine car passes through the speed measurement points, calculate the time T12min for the mine car to pass through the two speed measurement points and the time Tmin for the mine car to pass through the photoelectric sensor at the first speed measurement point according to the maximum allowable speed of the mine car; Step 2: When the microprocessor receives a displacement signal when the mine car reaches any speed measurement point, it determines whether the mine car is going uphill or downhill based on whether the photoelectric sensors at the remaining speed measurement points are blocked; if the mine car is going downhill, go to Step 3; if the mine car is going uphill, go to Step 4; Step 3: When the mine car is going downhill, the microprocessor controls the first and second interval timers to time; and based on whether the second interval timer ends when the photoelectric sensor at the first speed measurement point has a displacement, it determines whether the mine car causing the displacement signal of the photoelectric sensor is a normally operating mine car, and issues a corresponding door control instruction; Step 4: When the mine car is going uphill, the microprocessor controls the third and fourth interval timers to time; and based on whether the fourth interval timer ends when the photoelectric sensor at the second speed measurement point has a displacement, it determines whether the mine car causing the displacement signal of the photoelectric sensor is a normally operating mine car, and issues a corresponding door control instruction; Step 5: When the microprocessor issues a command to open or close the retaining fence, a time relay is set at the same time, and the signals of the sensors at the two speed measurement points are not processed within the corresponding time range; Each speed measurement point is composed of a group of photoelectric sensors; the distance between the two speed measurement points should be less than the shortest length of the mine car; When the mine car is between the two speed measurement points, the two photoelectric sensors can be blocked at the same time; when the mine car passes through the photoelectric sensor at the speed measurement point, the blocked length of the photoelectric sensor at the speed measurement point is greater than the distance between the two speed measurement points.

2. The method for controlling the inclined shaft anti-runaway door bar based on a photoelectric sensor according to claim 1, characterized in that, The microprocessor determines whether the mine car is going uphill or downhill based on whether the photoelectric sensors at the remaining speed measurement points are blocked when the mine car reaches any speed measurement point and has a displacement signal, including: When the first group of photoelectric sensors at the first speed measurement point has a displacement signal when the mine car reaches the first speed measurement point, and the photoelectric sensor at the second speed measurement point is not blocked, it is determined that the mine car is going downhill, and the microprocessor sets the mine car downhill flag; When the second group of photoelectric sensors at the second speed measurement point has a displacement signal when the mine car reaches the second speed measurement point, and the photoelectric sensor at the first speed measurement point is not blocked, it is regarded as the mine car going uphill, and the microprocessor sets the mine car uphill flag.

3. The control method of the inclined shaft anti-runaway car door bar based on the photoelectric sensor according to claim 1, characterized in that, The microprocessor controls the first and second interval timers to time, including: starting the first and second interval timers, the first interval timer stops timing when the tail of the first section of the mine car passes through the photoelectric sensor at the first speed measurement point, and the second interval timer stops timing when the head of the first section of the mine car reaches the second speed measurement point and the photoelectric sensor at the second speed measurement point has a displacement; The microprocessor controls the timing of the third and fourth interval timers, which includes: the third interval timer stops timing when the tail of the first tub passes the second speed measurement point optoelectronic sensor, and the fourth interval timer stops timing when the head of the first tub reaches the first speed measurement point and the first speed measurement point optoelectronic sensor changes its position.

4. The inclined shaft anti-runaway car door control method based on a photoelectric sensor according to claim 1, wherein, When the first speed measurement point optoelectronic sensor changes its position, it is determined whether the signal causing the optoelectronic sensor to change its position is a normally operating tub based on whether the second interval timer has ended, and the corresponding door barrier control command is issued, including: When the tub downward flag = 1, the tub continues to run. When the first speed measurement point optoelectronic sensor changes its position and the second interval timer has not ended, the microprocessor determines that the signal causing the optoelectronic sensor to change its position is not a normally operating tub, does not process the position change signal, and resets the relevant flags; when the first speed measurement point optoelectronic sensor changes its position and the second interval timer has not ended, it is T1 < Tmin, T1 < T2. When the tub downward flag = 1, when the tail of the first tub passes the first speed measurement point and the first speed measurement point optoelectronic sensor changes its position, and the second interval timer has ended, and T1 >= Tmin, T1 > T2, T2 >= T12min, it is determined that the tub is running at a speed within the allowable range, and an open car stop barrier command is issued; where T1 is the time when the first speed measurement point optoelectronic sensor is completely blocked, and T2 is the time for the tub to travel from the first speed measurement point optoelectronic sensor signal to the second speed measurement point optoelectronic sensor.

5. The control method of the inclined shaft anti-running car door bar based on the optoelectronic sensor according to claim 1, wherein When the second speed measurement point optoelectronic sensor changes its position, it is determined whether the signal causing the optoelectronic sensor to change its position is a normally operating tub based on whether the fourth interval timer has ended, and the corresponding door barrier control command is issued, including: When the tub upward flag = 1, the tub continues to run. When the second speed measurement point optoelectronic sensor changes its position and the fourth interval timer has not ended, the microprocessor determines that the position change signal is generated by an abnormally operating tub, does not process the position change signal, and resets the relevant flags; when the second speed measurement point optoelectronic sensor changes its position and the fourth interval timer has not ended, it is T3 < Tmin, T3 < T4. When the tub upward flag = 1, when the tail of the first tub passes the second speed measurement point and the second speed measurement point optoelectronic sensor changes its position, and the fourth interval timer has ended, it is determined that the tub is running at a speed within the allowable range, and a close car stop barrier command is issued; when the tail of the first tub passes the second speed measurement point and the second speed measurement point optoelectronic sensor changes its position and the fourth interval timer has ended, it is T3 >= Tmin, T3 > T4, T4 >= T12min; T3 is the time when the second speed measurement point optoelectronic sensor is completely blocked, and T4 is the time for the tub to travel from the second speed measurement point optoelectronic sensor signal to the first speed measurement point optoelectronic sensor signal.

6. An optoelectronic sensor-based inclined shaft anti-runaway door control system for implementing the optoelectronic sensor-based inclined shaft anti-runaway door control method according to any one of claims 1-5, characterized in that, The inclined shaft anti-runaway car door barrier control system based on optoelectronic sensors includes: A state detection component, connected to the microprocessor; used to detect the speed and position of the tub using two groups of optoelectronic sensors; A microprocessor, connected to the status detection component; used to judge whether the mine car is going uphill or downhill according to the detection signal; used to combine the detection signal and the timing result to judge whether the mine car is a normally operating mine car; and at the same time used to issue a door control instruction based on the judgment result of whether the mine car is going uphill or downhill and the judgment result of whether it is operating normally. The two groups of photoelectric sensors are arranged at two speed measurement points; the two speed measurement points are arranged at a certain distance above the car stop along the roadway.

7. 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 inclined shaft anti-runaway car door control method based on photoelectric sensors as described in any one of claims 1-5.

8. An information data processing terminal, characterized in that, The information data processing terminal is used to implement the inclined shaft anti-runaway car door control method based on photoelectric sensors as described in any one of claims 1-5.

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