An intelligent control system and method for metal mine air door based on piezoelectric detection

Abstract

The patent of the present invention provides an intelligent control system for metal mine dampers based on piezoelectric detection, which controls the opening and closing of electric dampers through a controller; a piezoelectric sensing device is set on each side of the electric damper, and the signal processing center is connected to the piezoelectric sensing device and the controller in communication; when a vehicle passes through the piezoelectric sensing device, the piezoelectric sensing device transmits a piezoelectric signal; the signal processing center receives and analyzes the piezoelectric signal to obtain the vehicle's driving speed, wheelbase and wheelbase, and obtains the vehicle width based on the wheelbase to control the opening width of the electric damper; obtains the time point when the head of the vehicle enters the electric damper based on the wheelbase and driving speed, and controls the opening time point of the electric damper; obtains the time point when the tail of the vehicle leaves the electric damper based on the wheelbase and driving speed, and controls the closing time point of the electric damper. In this way, the electric damper can be opened and closed on demand to ensure the ventilation safety of metal mines, and make up for the problems of high air leakage rate and low traffic efficiency of electric dampers in metal mines in the past.

Description

Technical Field

[0001] The invention relates to the technical field of coal mining, and in particular to an intelligent control system and method for a metal mine air door based on piezoelectric detection. Background Art

[0002] Electric dampers are one of the main structures to ensure mine ventilation safety, ensuring the continuous supply of fresh air and achieving airflow regulation in the tunnel. They also ensure vehicle transportation and efficient passage, thereby improving mine production efficiency.

[0003] The damper blocks the airflow, controls its direction and flow, reduces ineffective air leakage, ensures the normal breathing of underground workers and the discharge of toxic substances, thereby ensuring the safety of the mine.

[0004] Therefore, when vehicles or pedestrians pass through the damper, reducing the damper opening time and reducing the damper opening angle can effectively reduce ineffective air leakage and ensure the stability of the mine ventilation system.

[0005] Traditional electric damper control is generally controlled manually or by a servo motor. When a vehicle or engineering personnel needs to pass through the electric damper, an instruction to open the electric damper is given to the dedicated personnel in charge of management, and the electric damper is opened; when the vehicle and engineering personnel leave, the instruction to close the electric damper is started again, and the electric damper is closed.

[0006] In actual application, the transmission and execution of instructions require a period of time. Either the vehicle stops and waits for the electric damper to open after it arrives, or the damper is opened in advance before the vehicle arrives with a large safety distance.

[0007] Regardless of the method used, manual judgment, feedback and execution are required. During the execution process, there are large time gaps that cause the electric damper to be in an invalid open state (that is, before the vehicle reaches a safe position and when the vehicle has left, it is still in the open state), and it is basically fully opened to ensure the safe passage of the vehicle. In practice, it is required that less wind pass through the electric damper when the vehicle passes through it. Summary of the invention

[0008] The purpose of the present invention is to provide an intelligent control system and method for metal mine dampers based on piezoelectric detection. Through piezoelectric elements, the pressure during vehicle driving is converted into electrical signals, and then the opening and closing of the electric dampers are controlled to solve the technical problems existing in the prior art.

[0009] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0010] An intelligent control system for metal mine air doors based on piezoelectric detection, comprising:

[0011] An electric damper having a controller, wherein the controller is used to control the opening and closing of the electric damper;

[0012] A piezoelectric sensing device, one piezoelectric sensing device is provided on each side of the electric damper, and the arrangement of the piezoelectric sensing devices enables all wheels of the vehicle to be simultaneously located in the pressure sensing area of ​​the piezoelectric sensing device when the vehicle passes through any of the piezoelectric sensing devices; the piezoelectric sensing device is used to collect multiple piezoelectric signals generated by the vehicle in different time periods when the vehicle passes through the pressure sensing area before entering the electric damper;

[0013] A signal processing center is communicatively connected to the piezoelectric sensing devices on both sides of the electric damper; the signal processing center is communicatively connected to the controller; the signal processing center is used to receive and analyze the piezoelectric signal to obtain the driving speed, wheelbase and wheelbase of the vehicle, and the signal processing center analyzes the width of the vehicle according to the wheelbase to obtain the edge position information of the vehicle, and then controls the opening width of the electric damper through the controller;

[0014] The signal processing center analyzes the length of the vehicle according to the wheelbase to obtain the relative position between the head of the vehicle and the safe driving position of the electric damper, and calculates the driving time point when the head of the vehicle reaches the safe driving position in combination with the driving speed, so as to control the opening time point of the electric damper through the controller;

[0015] The signal processing center calculates the time point when the rear end of the vehicle leaves the safe position of the electric damper according to the length and driving speed of the vehicle, so as to control the closing time point of the electric damper through the controller.

[0016] Furthermore, the piezoelectric sensing devices on both sides of the electric damper include multiple piezoelectric sensing modules, and each of the piezoelectric sensing modules can independently detect the piezoelectric signal generated when a vehicle passes by; the piezoelectric sensing modules are fitted together and laid on the path where the vehicle enters and exits the electric damper.

[0017] Furthermore, the plurality of piezoelectric sensing modules are evenly distributed, and the distance between each piezoelectric sensing module is a known fixed value; the signal processing center also determines the position of the vehicle in the pressure sensing area based on the detected piezoelectric signal, and determines the deviation data of the vehicle from the center line of the electric throttle in the driving direction, so as to regulate and correct the opening width of the electric throttle.

[0018] Furthermore, the piezoelectric sensing device located on the side where the vehicle leaves the electric damper is also used to detect the driving speed of the vehicle during the process of leaving. The signal processing center compares and analyzes the deviation data of the driving speed of the vehicle before entering the electric damper and when leaving the electric damper, and corrects and adjusts the closing time point of the electric damper.

[0019] Furthermore, the surface is sunken downward to form a recessed portion, and the piezoelectric elements are distributed on the side walls of the recessed portion. When the pressure cap moves downward under the action of an external force, the outer wall of the convex portion squeezes the piezoelectric elements. A spring assembly is provided between the pressure cap and the base, and the spring assembly is used to relieve part of the pressure on the pressure cap to reduce the pressure received by the piezoelectric element. The piezoelectric element is communicatively connected to the signal processing center.

[0020] Furthermore, a slider capable of freely sliding horizontally along the bottom surface of the recessed portion is arranged between the protrusion and the piezoelectric element; the slider has a contact inclined surface with the same inclination as the outer wall of the protrusion, and when the pressure cap moves downward under the action of an external force, the outer wall of the protrusion abuts against the contact inclined surface to push the slider to move horizontally and squeeze the piezoelectric element, so as to convert the downward force into the downward displacement of the protrusion, and then into the horizontal displacement of the slider.

[0021] Furthermore, one end of the spring assembly is arranged at the center of the convex portion, and the other end is arranged at the center of the concave portion, and the piezoelectric elements are symmetrically distributed around the center of the spring assembly; the spring assembly includes a central guide shaft and a first spring; one end of the central guide shaft is fixed to the center of the concave portion, and the other end is arranged through the center of the convex portion, and the convex portion can slide freely in the vertical direction relative to the central guide shaft; the first spring is sleeved on the part of the central guide shaft located between the convex portion and the concave portion.

[0022] Furthermore, a second spring is provided between the sliding block and the side wall of the recess in the horizontal direction; and a plurality of third springs are evenly distributed between the top cap and the edge side of the base.

[0023] Furthermore, a downwardly recessed mounting groove is provided at the center of the recess, one end of the spring assembly is fixedly provided at the bottom of the mounting groove, and the protrusion can enter the mounting groove.

[0024] Furthermore, the electric damper is provided with a sensor and an airflow sensor, and both the sensor and the airflow sensor are communicatively connected to the signal processing center; the sensor is used to detect vehicle data of a vehicle passing through the electric damper, so as to assist in verifying that the signal processing center obtains the piezoelectric signal collected by the piezoelectric sensing module; the airflow sensor is used to detect the airflow data at the electric damper, and the signal processing center determines the abnormality of the electric damper based on the airflow data and in combination with the vehicle data.

[0025] In order to solve the above technical problems, the present invention further provides the following technical solutions:

[0026] A metal mine air door control method based on piezoelectric detection comprises the following steps:

[0027] Step 100: multiple piezoelectric sensing modules are arranged on both sides of the electric damper to form a vehicle detection area that can cover the vehicle path, and the coordinates of each piezoelectric sensing module relative to the electric damper are known data;

[0028] Step 200, when a vehicle passes through the vehicle detection area before entering the electric damper from any side, each of the piezoelectric sensing modules squeezed by the wheels collects a piezoelectric signal;

[0029] Step 300, calculating and obtaining the vehicle travel speed according to the plurality of piezoelectric signals at different time points on the vehicle travel path;

[0030] Based on multiple piezoelectric signals on the driving path at the same time point, the wheelbase of the vehicle is calculated to determine the width of the vehicle, thereby obtaining the real-time position of the edge of the vehicle;

[0031] According to multiple piezoelectric signals in the vehicle width direction at the same time point, the wheelbase of the vehicle is calculated to determine the length of the vehicle, thereby obtaining the real-time position of the head and the tail of the vehicle;

[0032] Step 400, calculating the time point when the head of the vehicle reaches the safe driving position for opening the electric damper according to the real-time position of the head of the vehicle and the driving speed of the vehicle, so as to control the optimal opening time point of the electric damper;

[0033] According to the real-time position of the edge of the vehicle, the degree of opening of the electric damper is controlled, that is, the width of the passage or the position of the edge after opening, so that the electric damper can be opened to the minimum degree while ensuring the passage of the vehicle;

[0034] Step 500: When the vehicle enters the electric damper, the time point at which the rear end of the vehicle leaves the safe position of the electric damper is calculated based on the real-time position of the rear end of the vehicle and the vehicle speed, thereby controlling the closing time of the electric damper.

[0035] Furthermore, in step 500, when the vehicle passes through the vehicle detection area on this side when leaving the electric damper, each piezoelectric sensing module squeezed by the wheel collects a piezoelectric signal and calculates the vehicle's driving speed for comparison and analysis with the vehicle's driving speed calculated before the vehicle enters the electric damper, so as to correct the vehicle's driving speed when leaving the electric damper, and then correct the time point for controlling the closing of the electric damper.

[0036] The metal mine damper intelligent control system provided by the present invention mainly obtains the vehicle's driving speed, wheelbase and wheelbase by collecting the piezoelectric signal of the vehicle passing by through the piezoelectric sensing module before the vehicle enters the electric damper, so as to accurately judge the length of the vehicle, and accurately obtain the time point when the vehicle head reaches the electric damper (to be precise, the safe position before entering) and leaves the electric damper (safe position) in combination with the driving speed, so as to accurately control the opening and closing time point of the electric damper, and can also control the opening degree of the electric damper according to the width of the vehicle, thereby reducing excessive wind passing through the electric damper when the vehicle passes, and realizing intelligent and precise control of the electric damper to adjust the wind flow and realize efficient and rapid passage of vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0038] Figure 1 It is a result schematic diagram of an intelligent control system for metal mine air doors based on piezoelectric detection according to the present invention;

[0039] Figure 2 This is a schematic diagram of the results of the piezoelectric sensing module under normal conditions;

[0040] Figure 3 for Figure 2 Schematic diagram of the result after the piezoelectric sensing module is pressed down.

[0041] The numbers in the figure represent the following:

[0042] 1-electric damper, 2-piezoelectric sensing device, 3-controller, 4-signal processing center, 5-first sensor, 6-second sensor, 7-pedestrian passage door;

[0043] 10-piezoelectric sensing module, 11-concave base, 111-cylindrical groove, 112-mounting groove, 12-convex pressure block, 121-conical protrusion, 13-piezoelectric element, 14-guide shaft, 15-first spring, 17-slider, 171-contact slope, 18-second spring, 19-third spring, 20-insulating material. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Combination Figure 1-Figure 3 The present invention provides an intelligent control system for metal mine dampers based on piezoelectric detection, which is mainly used to realize automatic and precise control of electric dampers when vehicles pass through mine tunnels, so as to reduce the opening time of the electric dampers as much as possible, and at the same time ensure that the width of the channel after the electric dampers are opened is just enough for vehicles to pass through, thereby reducing the amount of air passing through the electric dampers when vehicles pass through.

[0046] The intelligent control system for metal mine dampers mainly includes: a controller 3 (for controlling the opening and closing of an electric damper 1), a piezoelectric sensing device 2 and a signal processing center 4. The signal processing center 4 is communicatively connected to the piezoelectric sensing devices 2 on both sides of the electric damper 1 and the controller 3. The piezoelectric sensing device 2 collects signals of passing vehicles and transmits them to the signal processing center 4 for analysis and processing, thereby realizing automatic control of the electric damper 1 through the controller 3.

[0047] Specifically, to achieve precise control of the electric damper 1, in the ideal state: when the vehicle just enters the electric damper 1, the electric damper 1 is just opened to allow the vehicle to pass, and when the vehicle leaves the electric damper 1 after entering the electric damper 1, the electric damper 1 is controlled to close when the vehicle just leaves the electric damper 1. In the whole process, the opening and closing of the electric damper 1 is required not to affect the driving of the vehicle, and the opening and closing of the electric damper and the vehicle entering / leaving are closely connected. Of course, in practice, only a state close to the ideal can be achieved.

[0048] Since vehicles enter and exit the mine through the electric damper 1, and the vehicles travel in one direction relative to the electric damper 1, there is a process of entering and leaving the electric damper 1. Therefore, a piezoelectric sensing device 2 is provided on both sides of the electric damper 1, and the piezoelectric sensing device 2 is required to be arranged so that when the vehicle passes through the piezoelectric sensing device 2, all wheels of the vehicle can be simultaneously located in the pressure sensing area of ​​the piezoelectric sensing device 2, so as to be able to fully detect the data of the vehicle passing.

[0049] The piezoelectric sensing device 2 at least collects piezoelectric signals of the vehicle at at least two time points when the vehicle passes through the pressure sensing area before entering the electric damper 1 , that is, the piezoelectric sensing device 2 has multiple signal detection points.

[0050] The piezoelectric signal collected by the piezoelectric sensing device 2 and the processing scheme of the signal processing center 4 are as follows:

[0051] The piezoelectric sensing device 2 is pre-installed, and the positional relationship between each signal detection point thereon, as well as the position relative to the electric damper 1 are all known data, that is, when the bearing point of the vehicle passes through the piezoelectric sensing area of ​​the piezoelectric sensing device 2, each collected signal includes at least the position information (coordinate information) relative to the electric damper, based on which the coordinate information of the vehicle bearing point (each wheel) when passing through can be obtained.

[0052] The signal processing center 4 can analyze and obtain the wheelbase and track width of the vehicle based on the piezoelectric signals of each wheel at the same time point, and then analyze and determine the length and width of the vehicle (because the wheelbase and track width of the vehicle are generally in correspondence with the size and model of the vehicle).

[0053] The signal processing center 4 can accurately calculate the vehicle's running speed based on the piezoelectric signals of the same wheel at multiple different time points.

[0054] The signal processing center 4 analyzes the width of the vehicle according to the wheelbase of the vehicle to obtain the edge position information of the vehicle, and then controls the opening width of the electric damper 1 through the controller 3 .

[0055] When the vehicle is driving, the most ideal state is that the vehicle is driving directly towards the center of the electric throttle. However, in reality, it is difficult to ensure the optimal position, which causes the vehicle to deviate to one side. This makes it impossible to determine the size of the electric throttle opening according to the ideal vehicle position.

[0056] Therefore, the signal processing center 4 also determines the position of the vehicle in the pressure sensing area based on the detected piezoelectric signal to determine the deviation data of the vehicle from the center line of the electric damper 1 in the driving direction, so as to adjust and correct the opening degree of the electric damper 1 to ensure that the vehicle can pass through the electric damper smoothly.

[0057] The signal processing center 4 can calculate the real-time coordinates of the vehicle head based on the vehicle's wheelbase, the real-time coordinates of the wheels, and the driving speed, thereby calculating the time point when the vehicle head reaches the electric damper 1, thereby accurately controlling the time point when the electric damper opens, so that the entry of the vehicle and the opening of the electric damper are perfectly connected without affecting each other.

[0058] Similarly, the same is true for the control of the opening and closing of the electric damper when the vehicle leaves the electric damper 1.

[0059] In this embodiment, since the mine car has a relatively stable and slow travel speed and a large weight, the wind flow has little effect on its speed after the electric damper 1 is opened, and the change in speed is generally not considered. Therefore, when the vehicle is traveling in one direction, it only needs to enter the front side for data collection.

[0060] In actual situations, the electric damper 1 is generally a double-opening door, and the electric damper 1 generally opens to one side. At this time, the opening and closing time points of the electric damper 1 are related to the opening direction of the electric damper 1, but in the present embodiment, the timing of controlling the opening and closing is taken into consideration, and it is not limited to calculating the time point of reaching the electric damper 1. The relative position with the electric damper 1 is only a reference data, and the time point when the two can be safely connected is reasonably judged based on this data.

[0061] In other words, there is a safety position limit between the vehicle and the electric damper 1, and the safety position is at least related to the opening direction of the electric damper 1. It is preferably possible to ensure that the electric damper 1 is opened to the extent that the vehicle can pass normally, and the vehicle can just pass through.

[0062] Moreover, during the opening and closing process of the electric damper, the movement trajectory of the single-side damper will form a fan-shaped area. It is necessary to ensure that the electric damper will not scratch the car body during the opening and closing process. Therefore, the safety position of this application is actually set or calculated based on actual conditions and will not be elaborated here.

[0063] In order to improve the accuracy of the piezoelectric signal collected by the piezoelectric sensing device, the present invention provides a specific embodiment of the piezoelectric sensing device, the piezoelectric sensing device 2 includes a plurality of piezoelectric sensing modules 10, each of the piezoelectric sensing modules 10 can independently detect the piezoelectric signal generated when a vehicle passes by; the piezoelectric sensing modules 10 are fitted together and laid on the path for the vehicle to enter and exit the electric damper 1, and the plurality of piezoelectric sensing modules 10 are evenly distributed, and the distance between the piezoelectric sensing modules 10 is a known fixed value.

[0064] The piezoelectric sensing module 10 can independently receive pressure from the wheel to collect piezoelectric signals, thereby obtaining multiple piezoelectric signals during vehicle travel. Since the piezoelectric sensing module 10 is arranged, its positional relationship relative to the electric damper and the positional relationship between each other are pre-set known data, so that the vehicle travel speed and the positional relationship of its edge, head and tail relative to the electric damper can be accurately calculated. In this embodiment, in principle, there is no restriction on the composition of the piezoelectric sensing module 10, that is, it can be pressurized to independently detect signals during vehicle travel.

[0065] In the above embodiment, when the vehicle moves in or out of the mine in one direction, the vehicle is relatively slow in speed and is less affected by the wind flow after the electric damper is opened. Therefore, generally, only the speed of the vehicle before entering the electric damper is needed to determine the closing time of the electric damper when the rear end of the vehicle leaves the electric damper and leaves the safe position. Therefore, when the vehicle passes through the electric damper, only the piezoelectric sensing device before entering the electric damper needs to collect the piezoelectric signal.

[0066] However, in order to improve the control accuracy, the piezoelectric sensing device located on the side where the vehicle leaves the electric damper 1 can also be used to detect the driving speed of the vehicle during the driving away process. The signal processing center 4 compares and analyzes the deviation data of the driving speed of the vehicle before it enters the electric damper 1 and when it leaves the electric damper 1, and corrects and adjusts the closing time point of the electric damper 1.

[0067] In actual use, the weight of the vehicle is large, far exceeding the bearing capacity or force detection range of general piezoelectric elements. Therefore, the existing piezoelectric elements cannot be directly applied. To achieve piezoelectric detection, it is necessary to convert the large gravity of the vehicle into the measurement range of the piezoelectric element according to certain rules or relationships, thereby extending the service life of the piezoelectric element.

[0068] In this regard, the present invention provides a specific embodiment of a piezoelectric sensing module, which includes a base 11, a top cap 12 and a plurality of piezoelectric elements 13; a convex portion 121 that tapers from top to bottom is formed at the bottom of the top cap 12, and the base 11 is recessed downward on the surface facing the top cap 12 to form a recess 111, and the piezoelectric elements 13 are distributed on the side walls of the recess 111. When the top cap 12 moves downward under the action of an external force, the outer wall of the protrusion 121 squeezes the piezoelectric element 13; a spring assembly is provided between the top cap 12 and the base 11, and the piezoelectric element 13 is communicatively connected to the signal processing center 4.

[0069] In this embodiment, part of the pressure on the cap is removed by the spring assembly to reduce the pressure on the piezoelectric element; at the same time, the force direction of the piezoelectric element is changed so that the greater gravity of the vehicle ultimately acts on the piezoelectric element as only a smaller pressure.

[0070] The first stage: the gravity is converted into the elastic modulus of the spring assembly, which shares most of the gravity and is then converted into the downward vertical movement displacement of the pressing cap 12 .

[0071] The second stage: the piezoelectric element is squeezed on the side of the pressure cap 12, that is, the downward vertical movement displacement is converted into lateral movement displacement through the design of the inclined surface.

[0072] The two-stage unloading conversion enables the gravity of the vehicle to be converted into the range that the piezoelectric element can detect through a specific physical relationship.

[0073] Among them, the lateral movement displacement can be the convex part directly acting on the piezoelectric element. The most ideal setting is to be able to convert it into horizontal movement displacement, so that the piezoelectric element can be squeezed horizontally and stably, and the best conversion effect can be achieved.

[0074] In this regard, this embodiment further provides the following preferred embodiments:

[0075] A slider 17 capable of freely sliding horizontally along the bottom surface of the recess 111 is arranged between the protrusion 121 and the piezoelectric element 13, and a pulley is arranged at the bottom of the slider 17; the slider 17 has a contact inclined surface 171 with the same inclination as the outer wall of the protrusion 121. When the top cap 12 moves downward under the action of external force, the outer wall of the protrusion 121 abuts against the contact inclined surface 171 to push the slider 17 to move horizontally to squeeze the piezoelectric element 13, so as to convert the downward force into the downward displacement of the protrusion 121, and then into the horizontal displacement of the slider 17.

[0076] If the convex portion acts directly on the piezoelectric element, since the contact surface between the convex portion and the piezoelectric element is an inclined surface, during the downward movement of the convex portion, it will not only squeeze and apply pressure to the piezoelectric element, but also apply surface friction, which will cause wear to the piezoelectric element; therefore, the piezoelectric element is squeezed by the slider and a horizontal force is applied to the piezoelectric element, thereby avoiding wear of the piezoelectric element during the force process and extending its service life.

[0077] In this embodiment, the surfaces of the slider 17 and the recess 111 that are in contact with the piezoelectric element 13 are covered with insulating material 20 to ensure safety.

[0078] In this embodiment, one end of the spring assembly is arranged at the center of the convex portion 121, and the other end is arranged at the center of the concave portion 111, and the piezoelectric elements 13 are symmetrically distributed around the center of the spring assembly; when the top cap is subjected to downward pressure, pressure is applied to multiple piezoelectric elements through conversion by the slider, and the values ​​of the piezoelectric elements are stable and close. When the piezoelectric signals collected by multiple piezoelectric elements in a single piezoelectric sensing module are consistent or similar, the signal processing center determines that the piezoelectric signal collected by the piezoelectric sensing module is a valid piezoelectric signal.

[0079] Since the spring assembly is a single spring, it is unstable when subjected to force. In order to maintain the stability of the piezoelectric sensing device, the spring assembly is configured as follows: it includes a central guide shaft 14 and a first spring 15; one end of the central guide shaft 14 is fixed to the center of the recess 111, and the other end is passed through the center of the convex portion 121, and the convex portion 121 can slide freely in the vertical direction relative to the central guide shaft 14; the first spring 15 is sleeved on the portion of the central guide shaft 14 located between the convex portion 121 and the recess 111; the convex portion slides freely along the central guide shaft to ensure that the top cap will not deviate during the downward movement under force, to ensure that each piezoelectric element can receive pressure at the same time, and to ensure that the piezoelectric sensing module can collect effective piezoelectric signals.

[0080] In this embodiment, the piezoelectric sensing module 10 is a regular hexagonal prism structure as a whole, and the recess 111 is a corresponding regular hexagonal prism structure. The piezoelectric element 13 is provided with 6 groups, which are respectively arranged on the 6 side walls of the recess 111. When the top cap receives pressure and moves downward, the convex part contacts with the 6 groups of sliders at the same time, pushing the 6 groups of sliders to move horizontally to squeeze the piezoelectric element. At the same time, the piezoelectric sensing module is a regular hexagonal prism, so that it is easy to fit during laying, and it is regularly distributed, which is convenient for entering the coordinate information corresponding to each piezoelectric sensing module in advance.

[0081] In this embodiment, a second spring 18 is provided in the horizontal direction between the slider 17 and the side wall of the recess 111. The second spring 18 is fixedly connected to the slider 17 and the side wall of the recess 111, respectively. Under normal circumstances, the slider 17 is attracted by the action of the second spring 18, and the slider 17 and the piezoelectric element 13 are separated. When the slider is squeezed by an external force on the piezoelectric element 13, the second spring can apply a buffering force to prevent the slider from colliding with the piezoelectric element. At the same time, when the pressure on the top cap disappears, the top cap moves upward under the action of the first spring, and the slider is quickly separated from the piezoelectric element under the action of the second spring to avoid the problem of piezoelectric signal delay.

[0082] A plurality of third springs 19 are evenly distributed between the top cap 12 and the edge side of the base 11. The top cap 12 and the edge side of the base 11 are connected as a whole through the plurality of springs, which can not only enhance the conversion effect of the first stage force, but also enhance the stability of the entire piezoelectric sensing device when subjected to force.

[0083] In this embodiment, a downwardly recessed mounting groove 112 is provided at the center of the recess 111, one end of the spring assembly is fixedly provided at the bottom of the mounting groove 112, and the protrusion 121 can enter the mounting groove 112, so that in a normal state and a state under pressure, the protrusion is in contact with the entire surface of the slider to maintain the stability of the force.

[0084] In this embodiment, in order to ensure the stability of the piezoelectric signal and avoid errors in the piezoelectric signal, the present invention further provides a sensor 5 and an air flow sensor 6 at the electric damper 1 , and both the sensor 5 and the air flow sensor 6 are communicatively connected to the signal processing center 4 .

[0085] The sensor 5 includes an infrared module and / or a camera module, which is used to detect vehicle data of vehicles passing through the electric damper 1, including whether the vehicle is moving, the driving speed and other information, and is used to assist in verifying whether the signal processing center 4 can output a signal to the controller 3 based on the piezoelectric signal collected by the piezoelectric sensing module 10, thereby effectively controlling the opening and closing of the electric damper 1.

[0086] The wind flow sensor 6 is used to detect the real-time wind flow data at the electric damper 1, and record the wind changes before and after the damper passes for monitoring; and when the damper control fails and the damper cannot be closed, the wind flow data is monitored in real time to find abnormalities and issue a warning. A pedestrian passage door 7 is provided on the wall where the electric damper 2 is located, and pedestrians can enter and exit through this door.

[0087] The present invention also provides a metal mine air door control method based on piezoelectric detection, comprising the following steps:

[0088] Step 100: multiple piezoelectric sensing modules are arranged on both sides of the electric damper to form a vehicle detection area that can cover the vehicle path, and the coordinates of each piezoelectric sensing module relative to the electric damper are known data;

[0089] Step 200: When the vehicle passes through the vehicle detection area before entering the electric damper from any side, each piezoelectric sensing module squeezed by the wheel collects a piezoelectric signal;

[0090] Step 300: Based on multiple piezoelectric signals at different time points on the vehicle's driving path, the signal processing center calculates and obtains the vehicle's driving speed;

[0091] Based on multiple piezoelectric signals on the driving path at the same time point, the signal processing center calculates the wheelbase of the vehicle to determine the width of the vehicle, thereby obtaining the real-time position of the edge of the vehicle;

[0092] Based on multiple piezoelectric signals in the vehicle width direction at the same time point, the signal processing center calculates the vehicle's wheelbase to determine the vehicle's length, thereby obtaining the real-time position of the vehicle's head and tail;

[0093] Step 400: Based on the real-time position of the vehicle head and the vehicle speed, the signal processing center calculates the time point when the vehicle head reaches the safe position for opening the electric damper, so as to control the optimal opening time point of the electric damper;

[0094] According to the real-time position of the edge of the vehicle, the degree of opening of the electric damper is controlled, that is, the width of the passage or the position of the edge after opening, so that the electric damper can be opened to the minimum degree while ensuring the passage of the vehicle;

[0095] Step 500: When the vehicle enters the electric damper, the time point at which the rear end of the vehicle leaves the safe position of the electric damper is calculated based on the real-time position of the rear end of the vehicle and the vehicle speed, thereby controlling the closing time of the electric damper.

[0096] In this embodiment, in order to improve the control accuracy of the closing of the electric damper, after the vehicle leaves the electric damper and passes through the vehicle detection area, the signal processing center can receive the piezoelectric signal collected by the vehicle detection area, and calculate the vehicle's driving speed for comparison and analysis with the vehicle's driving speed calculated before the vehicle enters the electric damper, so as to correct the vehicle's driving speed when it leaves the electric damper, and then correct the time point for controlling the closing of the electric damper.

[0097] In this embodiment, the vehicle detection areas on both sides of the electric damper play different roles according to the different driving directions of the vehicle entering and leaving the mine. When the vehicle detection area is far away from the electric damper and the pressure signal is collected first, then the vehicle detection area is the vehicle detection area before entering the electric damper. When the vehicle detection area is close to the electric damper and the pressure signal is collected first, then it is the vehicle detection area after leaving the electric damper. The specific status of the two vehicle detection areas is identified by the signal processing center, and the received piezoelectric signal is processed according to the specific status of the vehicle detection area, and the electric damper is controlled accordingly.

[0098] During the entire control process of the metal mine damper, the sensor 5 and the wind flow sensor 6 at the electric damper 1 are always kept in working state, and the data collected by the sensor 5 and the wind flow sensor 6 are transmitted to the signal processing center 4.

[0099] The sensor 5 detects vehicle data of vehicles passing by the electric damper 1, including whether the vehicle is moving, the driving speed and other information, which is used to assist in verifying whether the signal processing center 4 can send a control signal to the controller 3 based on the piezoelectric signal collected by the piezoelectric sensing module 10, so as to effectively control the opening and closing of the electric damper 1; if the signal processing center 4 does not send a control signal to the controller 3, the signal processing center 4 will quickly open the electric damper 1 according to the vehicle driving speed collected by the sensor 5. The control accuracy of this mode is not as high as the control accuracy of the signal processing center based on the piezoelectric signal, and it is only used as an emergency backup control mode.

[0100] The wind flow sensor 6 is used to detect the real-time wind flow data at the electric damper 1, and record the wind changes before and after the damper passes for monitoring; and when the damper control fails and the damper cannot be closed, the abnormality is detected by real-time monitoring of the wind flow data and an alarm is issued.

[0101] This enables the electric damper to open and close intelligently and quickly, adjust the airflow, and ensure efficient and fast passage of vehicles. Signal transmission is achieved through pre-buried wired transmission signals, which, compared with wireless transmission signals, ensures signal stability, shorter signal delay, low failure rate, easy maintenance and rapid recovery.

[0102] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. An intelligent control system for metal mine air doors based on piezoelectric detection, characterized in that: include: An electric damper (1) is provided with a controller (3), wherein the controller (3) is used to control the opening and closing of the electric damper (1); A piezoelectric sensing device (2), wherein one piezoelectric sensing device (2) is disposed on each side of the electric damper (1), and the piezoelectric sensing devices (2) are arranged so that when a vehicle passes through any of the piezoelectric sensing devices (2), all wheels of the vehicle can be located simultaneously within a pressure sensing area of ​​the piezoelectric sensing device (2); The piezoelectric sensing device (2) is used to collect piezoelectric signals at at least a plurality of time points during the process of the vehicle passing through the pressure sensing area before entering the electric damper; A signal processing center (4) is communicatively connected to the piezoelectric sensing devices (2) on both sides of the electric damper (1), and the signal processing center (4) is communicatively connected to the controller (3); The signal processing center (4) is used to receive and analyze the piezoelectric signal to obtain the vehicle's running speed, wheelbase and wheelbase; The signal processing center (4) analyzes the width of the vehicle according to the wheelbase to obtain vehicle edge position information, and then controls the opening width of the electric damper (1) through the controller (3); The signal processing center (4) analyzes the length of the vehicle according to the wheelbase to obtain the relative position between the head of the vehicle and the safe driving position of the electric damper (1), and calculates the driving time point when the head of the vehicle reaches the safe driving position in combination with the driving speed, so as to control the opening time point of the electric damper (1) through the controller (3); The signal processing center (4) calculates the time point at which the rear end of the vehicle leaves the electric damper (1) and leaves the safe position based on the length and driving speed of the vehicle, so as to control the closing time point of the electric damper (1) through the controller (3).

2. The metal mine damper intelligent control system based on piezoelectric detection according to claim 1 is characterized in that: The piezoelectric sensing devices (2) on both sides of the electric damper (1) each include a plurality of piezoelectric sensing modules (10), and each of the piezoelectric sensing modules (10) is capable of independently detecting a piezoelectric signal generated when a vehicle passes by; The piezoelectric sensing modules (10) are fitted together and laid on a path for a vehicle to enter the electric damper (1) and exit the electric damper (1).

3. According to the piezoelectric detection-based intelligent control system for metal mine dampers in claim 2, it is characterized in that: The plurality of piezoelectric sensing modules (10) are evenly distributed, and the distance between the piezoelectric sensing modules (10) is a known fixed value; The signal processing center (4) also determines the position of the vehicle in the pressure sensing area based on the detected piezoelectric signal, and determines the deviation data of the vehicle from the center line of the electric damper (1) in the driving direction, so as to adjust and correct the opening width of the electric damper (1).

4. According to the piezoelectric detection-based intelligent control system for metal mine dampers in claim 2, it is characterized in that: The piezoelectric sensing device located on the side of the vehicle leaving the electric damper (1) is also used to detect the driving speed of the vehicle during the process of leaving. The signal processing center (4) compares and analyzes the deviation data of the driving speed of the vehicle before entering the electric damper (1) and when leaving the electric damper (1), and corrects and adjusts the closing time point of the electric damper (1).

5. The metal mine damper intelligent control system based on piezoelectric detection according to claim 2 is characterized in that: The piezoelectric sensing module (10) comprises a base (11), a pressure cap (12), and a plurality of piezoelectric elements (13); A convex portion (121) which tapers from top to bottom is formed at the bottom of the pressure cap (12); the surface of the base (11) facing the pressure cap (12) is recessed downward to form a concave portion (111); the piezoelectric element (13) is distributed on the side wall of the concave portion (111); when the pressure cap (12) moves downward under the action of an external force, the outer wall of the convex portion (121) squeezes the piezoelectric element (13); A spring assembly is provided between the pressure cap (12) and the base (11), and the spring assembly is used to relieve part of the pressure on the pressure cap (12) to reduce the pressure on the piezoelectric element (13); The piezoelectric element (13) is communicatively connected to the signal processing center (4).

6. The metal mine air door intelligent control system based on piezoelectric detection according to claim 5 is characterized in that: A sliding block (17) capable of freely sliding horizontally along the bottom surface of the recessed portion (111) is provided between the protruding portion (121) and the piezoelectric element (13); The slider (17) has a contact inclined surface (171) having the same inclination as the outer wall of the convex portion (121); when the pressure cap (12) moves downward under the action of an external force, the outer wall of the convex portion (121) abuts against the contact inclined surface (171) to push the slider (17) to move horizontally and squeeze the piezoelectric element (13), so as to convert the downward force into a downward displacement of the convex portion (121), and then into a horizontal displacement of the slider (17).

7. The metal mine damper intelligent control system based on piezoelectric detection according to claim 5 or 6, characterized in that: One end of the spring assembly is arranged at the center of the convex portion (121), and the other end is arranged at the center of the concave portion (111), and the piezoelectric elements (13) are symmetrically distributed around the center of the spring assembly; The spring assembly comprises a central guide shaft (14) and a first spring (15); One end of the central guide shaft (14) is fixed to the center of the recessed portion (111), and the other end is arranged through the center of the convex portion (121), and the convex portion (121) can slide freely in the vertical direction relative to the central guide shaft (14); the first spring (15) is sleeved on the portion of the central guide shaft (14) located between the convex portion (121) and the recessed portion (111).

8. The metal mine air door intelligent control system based on piezoelectric detection according to claim 7 is characterized in that: A second spring (18) is provided between the slider (17) and the side wall of the recess (111) along a horizontal direction; A plurality of third springs (19) are evenly distributed between the top pressing cap (12) and the edge side of the base (11).

9. The metal mine air door intelligent control system based on piezoelectric detection according to claim 8 is characterized in that: The electric damper (1) is provided with a sensor (5) and a wind flow sensor (6), and the sensor (5) and the wind flow sensor (6) are both communicatively connected to the signal processing center (4); The sensor (5) is used to detect vehicle data of a vehicle passing through the electric damper (1) to assist in verifying that the signal processing center (4) obtains the piezoelectric signal collected by the piezoelectric sensing module (10); The wind flow sensor (6) is used to detect wind flow data at the electric damper (1), and the signal processing center (4) determines an abnormal condition of the electric damper (1) based on the wind flow data and in combination with the vehicle data.

10. A metal mine air door control method based on piezoelectric detection, characterized in that: The following steps are involved: Step 100: multiple piezoelectric sensing modules are arranged on both sides of the electric damper to form a vehicle detection area that can cover the vehicle path, and the coordinates of each piezoelectric sensing module relative to the electric damper are known data; Step 200, when a vehicle passes through the vehicle detection area before entering the electric damper from any side, each of the piezoelectric sensing modules squeezed by the wheels collects a piezoelectric signal; Step 300, calculating and obtaining the vehicle travel speed according to the plurality of piezoelectric signals at different time points on the vehicle travel path; Based on multiple piezoelectric signals on the driving path at the same time point, the wheelbase of the vehicle is calculated to determine the width of the vehicle, thereby obtaining the real-time position of the edge of the vehicle; According to multiple piezoelectric signals in the vehicle width direction at the same time point, the wheelbase of the vehicle is calculated to determine the length of the vehicle, thereby obtaining the real-time position of the head and the tail of the vehicle; Step 400, calculating the time point when the head of the vehicle reaches the safe driving position for opening the electric damper according to the real-time position of the head of the vehicle and the driving speed of the vehicle, so as to control the optimal opening time point of the electric damper; According to the real-time position of the edge of the vehicle, the degree of opening of the electric damper is controlled, that is, the width of the passage or the position of the edge after opening, so that the electric damper can be opened to the minimum degree while ensuring the passage of the vehicle; Step 500: When the vehicle enters the electric damper, the time point at which the rear end of the vehicle leaves the safe position of the electric damper is calculated based on the real-time position of the rear end of the vehicle and the vehicle speed, thereby controlling the closing time of the electric damper.

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