Inclined shaft rail transit uncoupling unloading control system and control method

Abstract

The invention relates to the technical field of mining, in particular to an inclined shaft rail transit uncoupling unloading control system and control method.The gear of a switch device can be accurately judged through a first sensor and a second sensor, and it is guaranteed that a controller can accurately determine the on-off state of a rail of a switch device uncoupling bifurcation roadway and a rail of an inclined shaft; an accurate action basis is provided for follow-up control of actions of the winch equipment, and the failure rate is reduced. Whether a mine car travels on a track of an inclined shaft and a track in the uncoupling forking roadway or not is judged according to the descending length, detected by the third sensor, of a steel wire rope on the winding equipment and a detection signal detected by the fourth sensor, so that the controller can conveniently and accurately judge and control the action of the winding equipment, and misoperation is avoided. The inclined shaft rail transit uncoupling unloading control system is simple in control principle, the number of electronic components is small, later maintenance work is facilitated, and the use cost of the whole system is low.

Description

Technical Field

[0001] The present invention relates to the field of mining technology, and in particular to a control system and a control method for inclined shaft rail transit car unloading. Background Art

[0002] At present, the basic means of transportation for underground mining is generally mine cars, which are generally self-powered and self-propelled. However, due to the weight of the mine car itself and the minerals it carries, the weight of the entire fully loaded mine car is at least ten tons. Therefore, under this weight, the power of the mine car can only drive the mine car to travel in a lane with a very small slope. In the actual mining process, due to the different depths of different mining sites and the fact that they are basically connected through inclined shafts, the inclined shaft connecting tracks between mining sites at different heights have a large slope. It is difficult to freely transport and travel between mining sites at different heights simply relying on the power required by the mine car itself. For this reason, winches are generally used to provide traction power between mining sites at different heights. Although a winch can provide power for the mine car to travel up and down the inclined shaft, the traction wire rope on the winch can only pull the mine car along a single track and cannot change the track to unload the car. For this reason, the staff needs to switch the switches between the unloading track and the inclined shaft track in time, and use the slope of the inclined shaft to allow the mine car running to the top of the inclined shaft to use gravity to automatically move to the track in the unloading tunnel for unloading.

[0003] During the use of the winch, the traditional driving method of the turnout is manual operation of the turnout, which is inefficient and has huge safety hazards. With the development of technology, very few people use remote control methods to operate the turnout, and basically rely on sensors to determine the different connectivity states of the turnout. However, the complex geomagnetic environment and the long-term high heat and high humidity environment in the tunnel make the sensor errors and sensitivity lead to actual malfunctions. Moreover, the sensor can only simply determine the different connectivity states of the turnout, and cannot determine whether there are mine cars on the tracks in the inclined shaft and the tracks in the car-spinning tunnel. This will cause uninformed staff to be unable to accurately judge the normal operation of the entire winch, which may easily lead to misoperation and cause collisions, failure to change tracks normally and car throwing, and cause major production safety accidents. In response to such a situation, a more conventional method is to set up multiple sensors on the tracks in the inclined shaft and the car-shunting lane. These sensors are used to detect whether there are mine cars on the tracks in the inclined shaft and the car-shunting lane. However, the cost of using this method is very high. The main reason is that the length of the inclined shaft is at least 100m, and the car-shunting lane is even 500m. The length of a traditional mine car is 1.2-1.5m, and the length of each mine car is generally between 8-15m. Therefore, if you want to design multiple sensors on the tracks of the inclined shaft and the car-shunting lane to detect whether there are mine cars on the tracks, the maximum installation distance between two adjacent sensors must be less than the length of each mine car. This is the only way to ensure that the existence of mine cars can be accurately detected in the entire car-shunting yard.

[0004] In response to the above situation, the patent with publication number CN114523997A discloses a new control method for inclined shaft switches and anti-runaway door barriers. The patent uses visual technology to analyze and determine the position, which improves accuracy while also avoiding problems caused by sensor failure; the execution of the switch is remotely controlled through a video system, eliminating the on-site operation process of personnel and reducing safety risks; the entire process of the mine car operation is effectively monitored through the video system, and the mobile comprehensive measurement function of the camera is used for real-time push, simplifying and intuitive the entire monitoring system. Although such a design solves the problem of determining the connectivity of the switch and confirming whether there is a mine car or obstacle ahead of the mine car, it is impossible to use only one mine car for transportation during normal inclined shaft transportation. There may be at least several mine cars transporting on the same track at the same time. If this system is adopted, it is necessary to install the system on each mine car, which will result in high installation costs for the entire track monitoring system. At the same time, each mine car can only view the situation ahead of itself, and manual confirmation of the traffic conditions of the track ahead and the track connected to the switch is required. Overall, it is inconvenient to use, and there is still a risk of collision and oncoming vehicles. The monitoring and traffic accuracy of the entire system is not high. Summary of the invention

[0005] In order to overcome one of the deficiencies of the prior art, the purpose of the present invention is to provide a control system and control method for inclined shaft rail transit car throwing and unloading, which can effectively solve the problem of safe driving and passage of inclined shaft tracks and car throwing tracks.

[0006] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0007] A control system for unloading a car in an inclined shaft rail transit is applied to an inclined shaft bifurcated car unloading yard, wherein the inclined shaft bifurcated car unloading yard comprises an inclined shaft, a car unloading bifurcated roadway, a hoisting device and a mine car, wherein tracks are arranged in the inclined shaft and the car unloading bifurcated roadway, the mine car travels on the tracks, the tracks of the inclined shaft and the car unloading bifurcated roadway are connected through a turnout, the turnout is connected to a switch, comprising a driving mechanism, a first sensor, a second sensor, a third sensor, a fourth sensor and a controller, the output end of the driving mechanism is connected to the driving end of the switch; the first sensor is installed in the first sensor of the switch The first gear is used to detect whether the operating end of the switchman is in the first gear; the second sensor is installed on the second gear of the switchman, and is used to detect whether the operating end of the switchman is in the second gear; the third sensor is used to detect the length of the wire rope retracted and released by the hoisting device; the fourth sensor is installed on the end of the track of the abandoning car branch lane close to the switch, and is used to detect whether there is a wire rope on the abandoning car branch lane; the controller is used to control the action of the hoisting device and the driving mechanism according to the detection results of the first sensor, the second sensor, the third sensor and the fourth sensor.

[0008] Furthermore, a waiting area and an exit area are respectively provided at the lower end of the track of the inclined shaft, and tracks are provided in the waiting area and the exit area. The tracks in the waiting area and the exit area are connected to the track of the inclined shaft through switches, and the ends of the tracks in the waiting area and the exit area away from the inclined shaft are also connected through switches, and all the switches are electrically connected to the controller.

[0009] Furthermore, a car barrier is provided between the track of the waiting area and the track of the inclined shaft, and the car barrier is electrically connected to a controller, and the controller can control the opening and closing of the car barrier.

[0010] Furthermore, photoelectric sensors are arranged on the tracks of the waiting area and the exit area, and all the photoelectric sensors are electrically connected to the controller.

[0011] A method for controlling the unloading of inclined rail transit vehicles by throwing away vehicles comprises the following steps:

[0012] Step S100: Detect whether there is a mine car in the waiting area at the bottom of the inclined shaft within a preset detection cycle. If not, continue to detect in the next detection cycle; if yes, proceed to the next step;

[0013] Step S200: The controller determines whether there are mine cars running on the track of the inclined shaft and the track in the forked laneway according to the lowering length of the wire rope on the hoisting device detected by the third sensor in this detection cycle and the detection signal detected by the fourth sensor. If yes, the mine car in the waiting area continues to wait; if no, proceed to the next step;

[0014] Step S300: the vehicle barrier is opened, and the controller determines the gear position of the switchman operating end according to the detection signals of the first sensor and the second sensor received in the previous detection cycle or in the current detection cycle. If the gear position is incorrect, the control driving mechanism adjusts the gear position so that the track of the inclined shaft and the track in the car-shunting bifurcating laneway are separated; if the gear position is correct, the control driving mechanism drives the switchman to connect the track in the waiting area with the track of the inclined shaft, controls the hoisting device to lower the wire rope and connect the mine car in the waiting area, and then controls the hoisting device to pull the mine car in the waiting area to the top of the inclined shaft, and closes the vehicle barrier at the same time;

[0015] Step S400: After the winch pulls the mine car in the waiting area to the top of the track in the inclined shaft, the controller controls the driving mechanism to switch gears so that the track in the branch lane of the abandoned car is connected with the track in the inclined shaft; the controller controls the winch to lower the wire rope, and the mine car automatically slides to the track in the branch lane of the abandoned car due to gravity for unloading;

[0016] Step S500: After the unloading is completed, the controller controls the hoisting equipment to pull the mine car to the top of the track in the inclined shaft again, and then controls the driving mechanism to switch gears so that the track in the branch tunnel of the car is separated from the track in the inclined shaft and the track in the exit area is connected with the track in the inclined shaft, and controls the hoisting equipment to lower the wire rope. The mine car automatically slides onto the track in the exit area under its own weight, and the wire rope is unhooked and separated from the mine car in the exit area by manual or mechanical equipment.

[0017] Furthermore, in step S200, the specific method for determining whether a mine car is running on the track in the inclined shaft and the car-spinning bifurcated laneway is as follows:

[0018] Step S210: The controller determines whether there is a steel wire rope on the track in the vehicle-throwing bifurcating lane according to the detection signal detected by the fourth sensor;

[0019] Step S220: If there is a wire rope in the branch tunnel for the abandoning car, there will be only mine cars running on the track of the branch tunnel for the abandoning car; if there is no wire rope in the branch tunnel for the abandoning car, the controller will compare the lowering length of the wire rope on the hoisting device detected by the third sensor in this detection cycle with the internal preset threshold; if the lowering length of the wire rope is greater than the internal preset threshold, there will be only mine cars running on the track of the inclined shaft; if the lowering length of the wire rope is less than or equal to the internal preset threshold, there will be no mine cars running on the track of the inclined shaft.

[0020] Step S230: If there is a mine car running on either the track of the forked laneway or the track of the inclined shaft, the mine car in the waiting area continues to wait; if not, proceed to the next step.

[0021] Furthermore, in the above step S220, the internal preset threshold is calculated as follows:

[0022] N=-s-α

[0023] Among them, N is the internal preset threshold; L is the distance from the top of the inclined shaft track to the upper end of the turnout; D is the length of the entire turnout in the track direction of the inclined shaft; s is the length of the mine car; α is the safety reserved length value.

[0024] Further, if there is a new mine car on the track in the waiting area during steps S300-S500, the new mine car is executed according to step S100.

[0025] Furthermore, the detection cycle is a manually preset detection time period, and the detection cycle is 3-100s.

[0026] Furthermore, if the duration of the mining vehicle executing steps S300-S500 exceeds a preset duration, the controller controls the buzzer to sound an alarm, and the controller controls the hoisting device and the driving mechanism to stop.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The control system and control method for the inclined shaft rail transit unloading of the present invention can accurately determine the gear position of the switchman by using the first sensor and the second sensor, ensuring that the controller can accurately determine the on / off status of the track of the switchman's unloading branch lane and the track of the inclined shaft, providing a basis for accurate action for the subsequent control of the action of the hoisting device and reducing the failure rate. The lowering length of the wire rope on the hoisting device detected by the third sensor and the detection signal detected by the fourth sensor are used to judge whether there are mine cars running on the track of the inclined shaft and the track in the unloading branch lane, which makes it easy for the controller to accurately judge and control the action of the hoisting device to avoid misoperation. The control principle of the inclined shaft rail transit unloading control system is simple, installation is convenient, the number of electronic components is small, and it is convenient for later maintenance work. The use cost of the entire system is low; the control method for the inclined shaft rail transit unloading control is simple to operate and is suitable for use in unloading yards of different depths.

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0031] Figure 2 is a plan view of the upper stope in an embodiment of the present invention;

[0032] Figure 3 is a plan view of the lower stope in an embodiment of the present invention;

[0033] Figure 4 is a control principle block diagram of an embodiment of the present invention;

[0034] Figure 5 It is a control flow chart of an embodiment of the present invention.

[0035] Description of Figure Numbers:

[0036] Inclined shaft 1, car-dropping branch tunnel 2, hoisting equipment 3, mine car 4, track 5, turnout 6, switch 7, driving mechanism 8, first sensor 9, second sensor 10, third sensor 11, fourth sensor 13 and controller 14, waiting area 15, exit area 16, car barrier 17, photoelectric sensor 18. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and 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.

[0038] See also Figures 1 to 4The present application provides a control system for unloading a car in an inclined shaft rail transit, which is applied to an inclined shaft bifurcated car unloading yard, wherein the inclined shaft bifurcated car unloading yard comprises an inclined shaft 1, a car unloading bifurcated laneway 2, a hoisting device 3 and a mine car 4, wherein both the inclined shaft 1 and the car unloading bifurcated laneway 2 are provided with tracks 5, wherein the mine car 4 travels on the tracks 5, wherein the tracks 5 of the inclined shaft 1 and the car unloading bifurcated laneway 2 are connected via a switch 6, wherein the switch 6 is connected to a switch 7, wherein the control system comprises a driving mechanism 8, a first sensor 9, a second sensor 10, a third sensor 11, a fourth sensor 13 and a controller 14, wherein the output end of the driving mechanism 8 is connected to the driving end of the switch 7; wherein the first sensor 9 is installed in the The first gear position of the switchman 7 is used to detect whether the operating end of the switchman 7 is in the first gear position; the second sensor 10 is installed in the second gear position of the switchman 7, and is used to detect whether the operating end of the switchman 7 is in the second gear position; the third sensor 11 is used to detect the length of the wire rope 12 retracted and released by the hoisting device 3; the fourth sensor 13 is installed on the end of the track 5 of the abandoning car branch lane 2 close to the switch 6, and is used to detect whether there is a wire rope 12 on the abandoning car branch lane 2; the controller 14 is used to control the action of the hoisting device 3 and the driving mechanism 8 according to the detection results of the first sensor 9, the second sensor 10, the third sensor 11 and the fourth sensor 13.

[0039] Among them, in the present application, the inclined shaft 1 is a connecting passage connecting different mining fields, and the slope of the main part is generally about 20°-30°, and the top of the inclined shaft 1 needs to extend to the upper part of the upper mining field to which it is connected. Its main purpose is to use the slope to realize that the mine car 4 traveling to the area can automatically slide onto the track 5 of the dumping branch lane 2 by gravity, so that the mine car 4 can automatically travel on the track 5 of the dumping branch lane 2 without power. In addition, in the present application, the controller 14 can be a conventional editable controller, and the first sensor 9, the second sensor 10 and the fourth sensor 13 are conventional photoelectric sensors, ultrasonic sensors, infrared sensors or proximity sensors, etc., and their main purpose is to check whether there is a detected object in the corresponding area. The third sensor 11 is used to detect the length of the wire rope 12 of the hoisting device 3, and for this purpose, the third sensor 11 can be directly measured by a length measuring sensor. Of course, in some embodiments, it is also possible to perform indirect measurement by measuring the number of rotations of the hoisting device 3, or by measuring the number of rotations of the roller structure when other roller structures are in contact with the wire rope 12.

[0040] It should be noted that, in order to facilitate the slipping of the mine car 4, the length from the top of the track 5 in the inclined shaft 1 to the switch 6 needs to be greater than the length of the mine car 4, so as to ensure that the mine car 4 can enter the track 5 of the car-slipping branch lane 2. In this application, the switch 6 and the switch 7 are both conventional track equipment, which will not be described in detail in this application. Please refer to patents CN102259655B-Electric switch, CN102943419A-A structure in a mine shaft crossing combined switch.

[0041] See also Figures 1 to 3 In order to facilitate control and ensure that the mine car 4 can run safely in the inclined shaft branching and dumping yard, the lower end of the track 5 of the inclined shaft 1 is respectively provided with a waiting area 15 and a driving-out area 16, and the waiting area 15 and the driving-out area 16 are both provided with tracks 5. The tracks 5 in the waiting area 15 and the driving-out area 16 are connected to the tracks 5 of the inclined shaft 1 through a turnout 6, and the ends of the tracks 5 in the waiting area 15 and the driving-out area 16 away from the inclined shaft 1 are also connected through a turnout 6, and all the turnouts 6 are electrically connected to the controller 14. The main purpose of setting the waiting area 15 and the driving-out area 16 is to facilitate the control system to control the mine car 4 to load and empty the lower ore, avoid collisions between the ascending mine car 4 and the descending mine car 4, and facilitate meeting.

[0042] It should be noted that in actual use, after the entire mine car 4 enters the inclined shaft branching and unloading yard, the track 5 in the inclined shaft 1 has a large slope and a long driving area. In order to ensure the safety of the driving personnel, the winch equipment 3 is basically used for unmanned traction drive. The driver on the mine car 4 needs to get off after entering the waiting area 15.

[0043] Furthermore, in the present application, since there is generally only one track 5 in the inclined shaft 1, in the normal process of hauling the mine car 4, only one mine car 4 can be hauled at a time for unloading operations. In order to prevent the new or future mine cars 4 from not entering the track 5 of the inclined shaft 1, thereby preventing the empty mine cars 4 from traveling downward, in one embodiment of the present application, a barrier 17 is provided between the track 5 of the waiting area 15 and the track 5 of the inclined shaft 1. The barrier 17 is electrically connected to the controller 14, and the controller 14 can control the opening and closing of the barrier 17. When there are mine cars 4 operating in the entire inclined shaft branching and dumping yard, closing the barrier 17 can prevent the staff from driving the mine car 4 into the track 5 of the inclined shaft 1, thereby ensuring the safety of the mine cars 4 in the inclined shaft branching and dumping yard when they are descending after unloading.

[0044] Further, in order to facilitate the entire system to clearly understand whether there are mine cars 4 in the waiting area 15 and the exit area 16 to avoid safety accidents, in this application, after driving the mine car 4 into the waiting area 15, the driver can actively give feedback to the controller 14, that is, send instructions to the controller 14 through a button. This method is simple and reliable, but the driver needs to actively report the instructions, so there is a situation of underreporting, and there is still a safety risk. For this reason, in an improved embodiment of the present application, photoelectric sensors 18 are provided on the tracks 5 of the waiting area 15 and the exit area 16, and all the photoelectric sensors 18 are electrically connected to the controller 14. Among them, the photoelectric sensors 18 are provided with multiple groups, and only one to two groups are used normally under normal conditions, and the remaining photoelectric sensors 18 are in standby state. Only when the photoelectric sensors 18 in the normal use state fail, the remaining photoelectric sensors 18 will be enabled. The purpose of such a setting is to ensure the safe operation of the entire system.

[0045] See also Figure 5 The present invention also provides a method for controlling the unloading of inclined rail transit vehicles, comprising the following steps:

[0046] Step S100: Detect whether there is a mine car 4 in the waiting area 15 at the bottom of the inclined shaft 1 within a preset detection cycle. If not, continue to detect in the next detection cycle; if yes, proceed to the next step;

[0047] Step S200: the controller 14 determines whether there is a mine car 4 running on the track 5 of the inclined shaft 1 and the track 5 in the car-throwing bifurcating lane 2 according to the lowering length of the wire rope 12 on the hoisting device 3 detected by the third sensor 11 in this detection cycle and the detection signal detected by the fourth sensor 13. If yes, the mine car 4 in the waiting area 15 continues to wait; if no, proceed to the next step;

[0048] Step S300: Open the car barrier 17, the controller 14 determines the gear position of the operating end of the track switch 7 according to the detection signals of the first sensor 9 and the second sensor 10 received in the previous detection cycle or in the current detection cycle. If the gear position is incorrect, the control driving mechanism 8 adjusts the gear position so that the track 5 of the inclined shaft 1 and the track 5 in the car-shunting branch tunnel 2 are separated; if the gear position is correct, the control driving mechanism 8 drives the track switch 7 to connect the track 5 in the waiting area 15 with the track 5 of the inclined shaft 1, controls the hoisting device 3 to lower the wire rope 12 and connect the mine car 4 in the waiting area 15, and then controls the hoisting device 3 to pull the mine car 4 in the waiting area 15 to the top of the inclined shaft 1, and closes the car barrier 17 at the same time;

[0049] Step S400: After the hoisting device 3 pulls the mine car 4 in the waiting area 15 to the top of the track 5 in the inclined shaft 1, the controller 14 controls the driving mechanism 8 to switch gears so that the track 5 in the abandoned car branch tunnel 2 is connected with the track 5 in the inclined shaft 1; the controller 14 controls the hoisting device 3 to lower the wire rope 12, and the mine car 4 automatically slides to the track 5 in the abandoned car branch tunnel 2 due to gravity for unloading;

[0050] Step S500: After the unloading is completed, the controller 14 controls the hoisting device 3 to pull the mine car 4 to the top of the track 5 in the inclined shaft 1 again, and then controls the driving mechanism 8 to switch gears so that the track 5 in the abandoning branch tunnel 2 is separated from the track 5 in the inclined shaft 1 and the track 5 in the exit area 16 is connected to the track 5 in the inclined shaft 1, and controls the hoisting device 3 to lower the wire rope 12. The mine car 4 automatically slides onto the track 5 in the exit area 16 under its own weight, and the wire rope 12 is unhooked and separated from the mine car 4 in the exit area 16 by manual or mechanical equipment.

[0051] In the above-mentioned embodiment, since there is only one track 5 in the inclined shaft 1, in order to ensure safety, only one mine car 4 can be present at a time to unload ore in the inclined shaft bifurcated dumping yard. If there are multiple tracks 5 and correspondingly adapted hoisting devices 3 in both the inclined shaft 1 and the dumping dumping dumping laneway 2, then for ease of control, the tracks 5 adapted on each inclined shaft 1 and the dumping dumping dumping laneway 2 all adopt corresponding control systems, which can greatly reduce the complexity of the entire control system. Of course, in some improved embodiments of the present application, the same control system can simultaneously control multiple groups of hoisting devices 3 to pull different mine cars 4 on different tracks 5, respectively, so that the overall control method is more complicated, and the present application will not be described in detail here.

[0052] In one embodiment of the present application, the specific method for determining whether a mine car 4 is running on the track 5 in the inclined shaft 1 and the vehicle-throwing bifurcated laneway 2 in step S200 is as follows:

[0053] Step S210: The controller 14 determines whether there is a steel wire rope 12 on the track 5 in the vehicle-throwing bifurcating lane 2 according to the detection signal detected by the fourth sensor 13;

[0054] Step S220: If there is a wire rope 12 in the abandoning car branch tunnel 2, only the mine car 4 is running on the track 5 of the abandoning car branch tunnel 2; if there is no wire rope 12 in the abandoning car branch tunnel 2, the controller 14 compares the lowering length of the wire rope 12 on the hoisting device 3 detected by the third sensor 11 within this detection cycle with the internal preset threshold; if the lowering length of the wire rope 12 is greater than the internal preset threshold, only the mine car 4 is running on the track 5 of the inclined shaft 1; if the lowering length of the wire rope 12 is less than or equal to the internal preset threshold, there is no mine car 4 running on the track 5 of the inclined shaft 1.

[0055] Step S230: If there is a mine car 4 running on either the track 5 of the forked laneway 2 or the track 5 of the inclined shaft 1, the mine car 4 in the waiting area 15 continues to wait; if not, proceed to the next step.

[0056] In this embodiment, the track 5 of the inclined shaft 1 and the track 5 of the abandoning car branch tunnel 2 can be monitored separately by two sensing devices, the third sensor 11 and the fourth sensor 13. Compared with the traditional method of evenly arranging multiple sensors on the two tracks 5, the overall equipment cost is greatly reduced, the complexity of the system is also greatly reduced, and the use cost and equipment cost will not be affected by the depth of the inclined shaft 1 and / or the length of the abandoning car branch tunnel 2, which is conducive to adapting to the selection of mining sites with different layer depths.

[0057] In the above improved embodiment, the internal preset threshold is a manually designed value, and its main purpose is to facilitate the controller 14 to judge the retracted and released length of the wire rope 12. Therefore, in the actual setting process, the staff needs to design it according to the actual situation. The basic requirement of the design is to ensure that when the mine car 4 runs to the top of the track 5 of the inclined shaft 1, the tail of the mine car 4 is not in the working area of ​​the switch 6, so that the mine car 4 can subsequently pass through the switch 6 and enter the track 5 of the car-throwing branch lane 2. Specifically, in the above step S220, the calculation of the internal preset threshold is as follows:

[0058] N=L+Ds-α

[0059] Among them, N is the internal preset threshold; L is the distance from the top of the track 5 of the inclined shaft 1 to the upper end of the switch 6; D is the length of the entire switch 6 in the direction of the track 5 of the inclined shaft 1; s is the length of the mine car 4; α is the safety reserved length value.

[0060] It should be noted that in the above-mentioned embodiment, the safety reserve length value α is mainly taken into consideration that in the actual use process, due to the long-term use of the wire rope 12, it will be continuously stretched and lengthened. Since the safety reserve length value α is set to cope with this situation, its specific value setting can be obtained by looking up the table, that is, the deformation change of the wire rope under the long-term pulling action, and the deformation change can be obtained through experiments.

[0061] Furthermore, in order to cope with the situation where multiple mine cars 4 are unloading at the same time, in one embodiment of the present application, if there is a new mine car 4 on the track 5 in the waiting area 15 during steps S300-S500, the new mine car 4 is executed according to step S100, that is, the new mine car 4 needs to be re-identified and waited according to the present control method, thereby ensuring the safety of the mine car 4 that is unloading and reducing the complexity of the control system.

[0062] In some embodiments, in order to facilitate identification and take into account the reasons for manual operation to remove the hook, the detection cycle is a manually preset detection time period, and the detection cycle is 3-100s. This can reduce the frequency of detection by the controller 14 and reduce the requirements for hardware.

[0063] In some embodiments, in order to reduce safety accidents and ensure production efficiency, if the duration of the mining vehicle 4 executing steps S300-S500 exceeds the preset duration, the controller 14 controls the buzzer to sound an alarm, and the controller 14 controls the hoisting device 3 and the driving mechanism 8 to stop. Since the unloading process is unmanned, the purpose of this design is mainly to facilitate the staff to understand the situation in time, avoid accidents, and respond to emergencies as soon as possible.

[0064] The control system and control method of the inclined shaft rail transit car throwing and unloading can accurately determine the gear position of the switch 7 by using the first sensor 9 and the second sensor 10, ensuring that the controller 14 can accurately determine the on-off state of the track 5 of the car throwing and branching lane 2 and the track 5 of the inclined shaft 1, providing a basis for accurate action for the subsequent control of the action of the hoisting device 3, and reducing the failure rate. The lowering length of the wire rope 12 on the hoisting device 3 detected by the third sensor 11 and the detection signal detected by the fourth sensor 13 are used to judge whether there are mine cars 4 on the track 5 of the inclined shaft 1 and the track 5 in the car throwing and branching lane 2, so that it is convenient for the controller 14 to accurately judge and control the action of the hoisting device 3 to avoid misoperation. The control principle of the inclined shaft rail transit car throwing and unloading control system is simple, the installation is convenient, the number of electronic components is small, it is convenient for the later maintenance work, and the use cost of the whole system is low; the control method of the inclined shaft rail transit car throwing and unloading control is simple to operate and is suitable for use in car throwing and unloading yards of different depths.

[0065] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A control system for unloading a car in an inclined shaft rail transit, which is applied to an inclined shaft bifurcated car unloading yard, wherein the inclined shaft bifurcated car unloading yard comprises an inclined shaft, a car unloading bifurcated roadway, a hoisting device and a mine car, wherein tracks are arranged in the inclined shaft and the car unloading bifurcated roadway, and the mine car travels on the tracks, and the tracks of the inclined shaft and the car unloading bifurcated roadway are connected through a turnout, and the turnout is connected to a switch, wherein the turnout is characterized in that: include A driving mechanism, the output end of which is connected to the driving end of the switchman; A first sensor, installed at the first gear position of the switchman, for detecting whether the operating end of the switchman is at the first gear position; A second sensor is installed at the second gear position of the switchman and is used to detect whether the operating end of the switchman is at the second gear position; The third sensor is used to detect the length of the wire rope retracted and released by the hoisting device; A fourth sensor is installed on one end of the track of the vehicle-throwing bifurcating laneway close to the turnout, and is used to detect whether there is a wire rope on the vehicle-throwing bifurcating laneway; The controller is used to control the actions of the hoisting device and the driving mechanism according to the detection results of the first sensor, the second sensor, the third sensor and the fourth sensor.

2. According to claim 1, a control system for unloading materials in inclined shaft rail transit, characterized in that: A waiting area and an exit area are respectively provided at the lower end of the track of the inclined shaft, and tracks are provided in the waiting area and the exit area. The tracks in the waiting area and the exit area are connected to the track of the inclined shaft through switches, and the ends of the tracks in the waiting area and the exit area away from the inclined shaft are also connected through switches, and all the switches are electrically connected to the controller.

3. The inclined shaft rail transit unloading control system according to claim 2 is characterized by: A car barrier is arranged between the track of the waiting area and the track of the inclined shaft, and the car barrier is electrically connected to a controller, and the controller can control the opening and closing of the car barrier.

4. The inclined shaft rail transit unloading control system according to claim 2 is characterized in that: Photoelectric sensors are arranged on the tracks of the waiting area and the exiting area, and all the photoelectric sensors are electrically connected to the controller.

5. A method for controlling the unloading of inclined rail transit vehicles, characterized in that: The following steps are involved: Step S100: Detect whether there is a mine car in the waiting area at the bottom of the inclined shaft within a preset detection cycle. If not, continue to detect in the next detection cycle; If yes, go to the next step; Step S200: The controller determines whether there are mine cars running on the track in the inclined shaft and the track in the car-spinning bifurcating laneway according to the lowering length of the wire rope on the hoisting device detected by the third sensor in this detection cycle and the detection signal detected by the fourth sensor. If yes, the mine car in the waiting area continues to wait; If not, proceed to the next step; Step S300: the vehicle barrier is opened, and the controller determines the gear position of the switchman operating end according to the detection signals of the first sensor and the second sensor received in the previous detection cycle or in the current detection cycle. If the gear position is incorrect, the control driving mechanism adjusts the gear position so that the track of the inclined shaft and the track in the car-shunting bifurcating laneway are separated; if the gear position is correct, the control driving mechanism drives the switchman to connect the track in the waiting area with the track of the inclined shaft, controls the hoisting device to lower the wire rope and connect the mine car in the waiting area, and then controls the hoisting device to pull the mine car in the waiting area to the top of the inclined shaft, and closes the vehicle barrier at the same time; Step S400: After the winch pulls the mine car in the waiting area to the top of the track in the inclined shaft, the controller controls the driving mechanism to switch gears so that the track in the branch lane of the abandoned car is connected with the track in the inclined shaft; the controller controls the winch to lower the wire rope, and the mine car automatically slides to the track in the branch lane of the abandoned car due to gravity for unloading; Step S500: After the unloading is completed, the controller controls the hoisting equipment to pull the mine car to the top of the track in the inclined shaft again, and then controls the driving mechanism to switch gears so that the track in the branch tunnel of the car is separated from the track in the inclined shaft and the track in the exit area is connected with the track in the inclined shaft, and controls the hoisting equipment to lower the wire rope. The mine car automatically slides onto the track in the exit area under its own weight, and the wire rope is unhooked and separated from the mine car in the exit area by manual or mechanical equipment.

6. A method for controlling the unloading of inclined rail transit vehicles according to claim 5, characterized in that: The specific method for determining whether a mine car is running on the track in the inclined shaft and the car-spinning bifurcated laneway in step S200 is as follows: Step S210: The controller determines whether there is a steel wire rope on the track in the vehicle-throwing bifurcating lane according to the detection signal detected by the fourth sensor; Step S220: If there is a steel wire rope in the forked laneway, only the mine car is running on the track of the forked laneway; if there is no steel wire rope in the forked laneway, the controller compares the lowering length of the steel wire rope on the hoisting device detected by the third sensor in this detection cycle with the internal preset threshold; if the lowering length of the steel wire rope is greater than the internal preset threshold, only the mine car is running on the track of the inclined shaft; if the lowering length of the steel wire rope is less than or equal to the internal preset threshold, no mine car is running on the track of the inclined shaft; Step S230: If there is a mine car running on either the track of the forked laneway or the track of the inclined shaft, the mine car in the waiting area continues to wait; if not, proceed to the next step.

7. A method for controlling the unloading of inclined rail transit vehicles according to claim 6, characterized in that: In the above step S220, the internal preset threshold is calculated as follows: N=-s-α Among them, N is the internal preset threshold; L is the distance from the top of the inclined shaft track to the upper end of the turnout; D is the length of the entire turnout in the track direction of the inclined shaft; s is the length of the mine car; α is the safety reserved length value.

8. The method for controlling the unloading of inclined rail transit vehicles according to claim 5 is characterized in that: If there is a new mine car on the track in the waiting area during steps S300-S500, the new mine car will be executed according to step S100.

9. The method for controlling the unloading of inclined rail transit vehicles according to claim 5, characterized in that: The detection period is a manually preset detection time period, and the detection period is 3-100s.

10. The method for controlling the unloading of inclined rail transit vehicles according to claim 5, characterized in that: If the duration of the mining vehicle executing steps S300-S500 exceeds a preset duration, the controller controls the buzzer to sound an alarm, and the controller controls the hoisting device and the driving mechanism to stop.

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