Monorail crane comprehensive centralized control system based on multi-source analysis

Abstract

The invention relates to the field of monorail crane centralized control, in particular to a monorail crane comprehensive centralized control system based on multi-source analysis, and aims to solve the problem that potential safety hazards exist in equipment control due to line crossing, equipment failure or visual field loss of remote operators during monorail crane remote control. Comprising an input judgment unit, a manual control unit, a remote control unit, an intelligent decision-making unit, an automatic control unit and an automatic acquisition unit, according to the method, the reasonability of the control instruction is judged, various unreasonable instructions are intercepted, potential safety hazards caused by the fact that the abnormal control instruction is sent to the monorail crane during operation of the monorail crane are avoided, the operation parameters of the monorail crane are collected and intelligently judged, the current operation environment of the monorail crane is analyzed, and the safety of the monorail crane is improved. When the control instruction is received, a comprehensive decision is made, whether the operation environment has conditions to execute the control instruction or not is judged, and the safety of the monorail crane is ensured.

Description

Technical Field

[0001] The present invention relates to the field of monorail crane centralized control, and in particular to a monorail crane integrated centralized control system based on multi-source analysis. Background Art

[0002] Monorail crane locomotive is an auxiliary transportation equipment that runs on a suspended monorail system with strong maneuverability, fast running speed, large load capacity and reliability. It is mainly used for installation and withdrawal of coal mine comprehensive mining working faces. It is an important mode of auxiliary transportation in coal mines. At present, there are mainly explosion-proof battery monorail crane locomotives and diesel engine monorail crane locomotives in domestic coal mine auxiliary transportation. Monorail crane remote driving technology refers to the use of on-board monitoring devices to send underground tunnel environment images and locomotive status information to the remote driving terminal on the well through network transmission. The remote driving terminal issues remote control commands for the monorail crane locomotive. Remote control commands include: emergency stop, forward, backward, acceleration, deceleration, whistle, etc. As coal mining gradually develops towards informatization and intelligence, monorail crane remote driving technology plays a role in reducing staff and increasing efficiency and improving safe operations in coal mine auxiliary transportation.

[0003] The existing patent CN106094767B discloses a technical solution, which realizes remote and even voice command control of the monorail crane through components such as electric control, wireless controller, and radio frequency card, thereby improving the convenience and intelligence of the monorail crane operation. However, in actual use, due to the interference of the voice recognition environment and the limitation of the field of vision of the remote control scene to the actual scene of the monorail crane, the monorail crane may not be able to conform to the actual operating conditions on site during operation, resulting in control accidents, causing equipment damage or casualties. At the same time, in the scenario of multiple monorail cranes, the streaming phenomenon of remote control or voice control will also cause abnormal control of the monorail crane.

[0004] In view of the above technical problems, this application proposes a solution. Summary of the invention

[0005] The present invention judges the rationality of the control instructions themselves and intercepts various unreasonable instructions to avoid abnormal control instructions being sent to the monorail crane, which may cause safety hazards in the operation of the monorail crane. By collecting the operating parameters of the monorail crane and performing intelligent judgment, the current operating environment of the monorail crane can be analyzed. When receiving the control instructions, a comprehensive decision can be made to judge whether the operating environment has the conditions to execute the control instructions. This solves the problem that when the monorail crane is remotely controlled, there is a safety hazard in the control of the equipment due to cross-wiring, equipment failure or lack of vision of the remote operator. A monorail crane integrated control system based on multi-source analysis is proposed.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] The integrated control system of the monorail crane based on multi-source analysis includes an input judgment unit, a manual control unit, a remote control unit, an intelligent decision-making unit, an automatic control unit and an automatic acquisition unit;

[0008] The input judgment unit can judge the information input by the manual control unit and the remote control unit, and return a normal input signal or an abnormal input signal according to the judgment result;

[0009] The remote control unit is capable of generating a remote control instruction, sending the remote control instruction to the input judgment unit for judgment, and sending the remote control instruction to the intelligent decision-making unit;

[0010] The manual control unit can generate a field control instruction, send the field control instruction to the input judgment unit for judgment, and send it to the intelligent decision-making unit at the same time;

[0011] The automatic acquisition unit can collect the operating parameters of the monorail crane, analyze them according to the operating parameters, and obtain pre-processed analysis parameters;

[0012] After acquiring the analysis parameters, the automatic control unit analyzes the analysis parameters and generates operation risk parameters according to the analysis results;

[0013] After acquiring the operational risk parameters, remote control instructions and on-site control instructions, the intelligent decision-making unit makes a comprehensive judgment, obtains execution instructions and interception instructions, and sends the execution instructions to the monorail crane for execution.

[0014] As a preferred embodiment of the present invention, the input judgment unit records the acquired information as a control instruction, wherein the control instruction includes a remote control instruction and an on-site control instruction;

[0015] The input judgment unit divides the control instructions into items, specifically, divides the control instructions into instruction frequency, instruction intensity and instruction span;

[0016] The input judgment unit compares the command frequency with a set frequency threshold, and generates a normal frequency signal or an abnormal frequency signal according to the comparison result;

[0017] The input judgment unit compares the instruction strength with the set strength threshold range, and generates a normal strength signal or an abnormal strength signal according to the comparison result;

[0018] The input judgment unit compares the instruction span with a set span threshold, and generates a normal span signal or an abnormal span signal according to the comparison result.

[0019] As a preferred embodiment of the present invention, the method for the input judgment unit to obtain the instruction frequency is:

[0020] Each time the input judgment unit obtains a control instruction, the time of obtaining the control instruction is recorded as the instruction timing. The input judgment unit calculates the difference between two consecutive instruction timings to obtain the time difference, and uses the reciprocal of the time difference as the instruction frequency.

[0021] As a preferred embodiment of the present invention, the method for the input judgment unit to obtain the instruction strength is:

[0022] When the input judgment unit obtains the control instruction, the duration of the control instruction is recorded, and the duration of the control instruction is used as the real-time instruction strength of the control instruction.

[0023] As a preferred embodiment of the present invention, the method for the input judgment unit to obtain the instruction span is:

[0024] When the input judgment unit obtains at least two groups of control instructions, it compares the two consecutive groups of control instructions. If the two consecutive groups of control instructions are control instructions for different parts, the default control span is 0. If the two consecutive groups of control instructions are control instructions for the same part, the difference between the vectors contained in the two groups of control instructions is calculated, and the vector difference is used as the instruction span.

[0025] As a preferred embodiment of the present invention, the input judgment unit feeds back the normal frequency signal, the normal span signal and the normal intensity signal to the manual control unit and the remote control unit, and after obtaining the feedback, the manual control unit and the remote control unit send the control instructions to the intelligent decision-making unit.

[0026] As a preferred embodiment of the present invention, the operating parameters collected by the automatic collection unit include mechanical stability parameters and load allowable parameters;

[0027] The automatic acquisition unit calculates the ratio of the mechanical stability parameter to the approved stability parameter threshold to obtain a stability ratio. The automatic acquisition unit continuously obtains the stability ratio at a fixed frequency when the monorail crane is running, and sends the obtained stability ratio to the automatic control unit;

[0028] The automatic acquisition unit compares the load allowable parameter with the set load upper limit, records it as a load ratio, and sends the load ratio to the automatic control unit.

[0029] As a preferred embodiment of the present invention, after the automatic control unit obtains the stable ratio, it calculates the arithmetic mean and variance of the stable ratio to obtain the average stable ratio and the standard deviation of the stable ratio. The automatic control unit calculates the difference between the average stable ratio and the standard deviation of the stable ratio and records it as the lower limit ratio.

[0030] The automatic control unit uses the load ratio and the lower limit ratio as operation risk parameters.

[0031] As a preferred embodiment of the present invention, the intelligent decision-making unit compares the lower limit ratio with a set stability threshold, and generates a stable signal or a high-risk signal according to the comparison result;

[0032] The intelligent decision-making unit compares the load ratio with a set upper limit of the ratio, and generates a high load signal or a low load signal according to the comparison result;

[0033] When the intelligent decision unit generates only one of the high-load signal and the high-risk signal, the remote control instruction is intercepted and the on-site control instruction is executed. When the intelligent decision unit generates the high-load signal and the high-risk signal at the same time, the all control instructions are intercepted. When the intelligent decision unit generates the stable signal and the low-load signal at the same time, the all control instructions are executed.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. In the present invention, all generated control instructions are judged by inputting a judgment unit, thereby judging the rationality of the control instructions themselves, and intercepting unreasonable instructions such as command confusion caused by intelligent equipment failure or high-frequency repetition of instructions caused by equipment failure, thereby avoiding abnormal control instructions from being sent to the monorail crane, causing safety hazards in the operation of the monorail crane.

[0036] 2. In the present invention, the operating parameters of the monorail crane are collected to make intelligent judgments based on the hardware self-test results and load conditions of the monorail crane. The current operating environment of the monorail crane is analyzed based on the judgment results. When receiving control instructions, especially remote control instructions, the control instructions and the current operating environment of the monorail crane are comprehensively decided to determine whether the operating environment has the conditions to execute the control instructions, thereby ensuring the operating safety of the monorail crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0038] Figure 1 is a system block diagram of the present invention;

[0039] Figure 2 It is a system flow chart of the present invention. DETAILED DESCRIPTION

[0040] The technical scheme of the present invention will be described clearly and completely in conjunction with the embodiments below. 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.

[0041] Embodiment 1:

[0042] See also Figure 1 - Figure 2 As shown, the integrated centralized control system of the monorail crane based on multi-source analysis includes an input judgment unit, a manual control unit, a remote control unit, an intelligent decision unit, an automatic control unit and an automatic acquisition unit. The remote control unit can generate a remote control instruction, send the remote control instruction to the input judgment unit for judgment, and send the remote control instruction to the intelligent decision unit;

[0043] The manual control unit can generate a field control instruction, send the field control instruction to the input judgment unit for judgment, and send it to the intelligent decision-making unit at the same time;

[0044] The input judgment unit can obtain input information through the manual control unit and the remote control unit, and record the obtained information as control instructions, wherein the control instructions include remote control instructions and on-site control instructions. The input judgment unit divides the control instructions into instruction frequency, instruction intensity and instruction span. Specifically:

[0045] 1. Each time the input judgment unit obtains a control instruction, the time of obtaining the control instruction is recorded as the instruction timing. The input judgment unit calculates the difference between two consecutive instruction timings to obtain the time difference, and uses the reciprocal of the time difference as the instruction frequency;

[0046] 2. When the input judgment unit obtains the control instruction, the duration of the control instruction is recorded, and the duration of the control instruction is used as the real-time instruction strength of the control instruction;

[0047] 3. When the input judgment unit obtains at least two groups of control instructions, the obtained two consecutive groups of control instructions are compared. If the two consecutive groups of control instructions are control instructions for different parts, the default control span is 0. If the two consecutive groups of control instructions are control instructions for the same part, the difference between the vectors contained in the two groups of control instructions is calculated, and the vector difference is used as the instruction span. The vector difference is obtained by including but not limited to a variety of vector operation rules such as the parallelogram rule and the orthogonal decomposition method.

[0048] The input judgment unit compares the command frequency with the set frequency threshold, and generates a normal frequency signal if the command frequency is greater than the set frequency threshold, and generates an abnormal frequency signal if the command frequency is not greater than the set frequency threshold;

[0049] The input judgment unit compares the instruction strength with the set intensity threshold range, and generates a normal intensity signal if the instruction strength is within the set intensity threshold range, and generates an abnormal intensity signal if the instruction strength is not within the set intensity threshold range;

[0050] The input judgment unit compares the instruction span with the set span threshold, and generates a normal span signal if the instruction span is not greater than the set span threshold, and generates an abnormal span signal if the instruction span is greater than the set span threshold;

[0051] Among them, the normal frequency signal, normal span signal and normal intensity signal belong to the normal input signal, and the abnormal frequency signal, abnormal span signal and abnormal intensity signal belong to the abnormal input signal. The input judgment unit feeds back the normal input signal or the abnormal input signal to the sender of the control instruction, including the remote control unit or the on-site control unit. After obtaining the normal input signal, the sender of the control instruction sends the control instruction to the intelligent decision-making unit. After obtaining the abnormal input signal, the sender of the control instruction intercepts the control instruction and generates an alarm reminder.

[0052] Embodiment 2:

[0053] See also Figure 1 - Figure 2 As shown, the automatic acquisition unit can collect the operating parameters of the monorail crane, and the collected operating parameters include mechanical stability parameters and load allowable parameters;

[0054] The automatic acquisition unit calculates the ratio of the mechanical stability parameter to the approved stability parameter threshold to obtain the stability ratio. The automatic acquisition unit continuously obtains the stability ratio at a fixed frequency when the monorail crane is running, and sends the obtained stability ratio to the automatic control unit;

[0055] The automatic acquisition unit compares the load allowable parameter with the set load upper limit, records it as the load ratio, and sends the load ratio to the automatic control unit;

[0056] After the automatic control unit obtains the stable ratio, it calculates the arithmetic mean and variance of the stable ratio to obtain the average stable ratio X and the standard deviation Y of the stable ratio. Stable ratio standard deviation Among them, Wi is a stable ratio, and i is a natural number;

[0057] The automatic control unit calculates the difference between the average stable ratio and the standard deviation of the stable ratio and records it as the lower limit ratio;

[0058] The automatic control unit uses the load ratio and the lower limit ratio as the operating risk parameters;

[0059] The intelligent decision-making unit compares the lower limit ratio with the set stability threshold. If the lower limit ratio is greater than the set stability threshold, a stable signal is generated. If the lower limit ratio is not greater than the set stability threshold, a high-risk signal is generated.

[0060] The intelligent decision-making unit compares the load ratio with the set upper limit of the ratio. If the load ratio is greater than the set upper limit of the ratio, a high load signal is generated. If the load ratio is not greater than the set upper limit of the ratio, a low load signal is generated.

[0061] When the intelligent decision unit generates only one of the high-load signal or the high-risk signal, the remote control instructions are intercepted and the on-site control instructions are executed. When the intelligent decision unit generates the high-load signal or the high-risk signal at the same time, the remote control instructions are intercepted. When the intelligent decision unit generates the stable signal and the low-load signal at the same time, the intelligent decision unit executes all control instructions, thereby realizing the selective execution and intelligent interception of the control instructions of the monorail crane.

[0062] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. The integrated control system of monorail crane based on multi-source analysis is characterized by: It includes an input judgment unit, a manual control unit, a remote control unit, an intelligent decision-making unit, an automatic control unit and an automatic acquisition unit; The input judgment unit can judge the information input by the manual control unit and the remote control unit, and return a normal input signal or an abnormal input signal according to the judgment result; The remote control unit is capable of generating a remote control instruction, sending the remote control instruction to the input judgment unit for judgment, and sending the remote control instruction to the intelligent decision-making unit; The manual control unit can generate a field control instruction, send the field control instruction to the input judgment unit for judgment, and send it to the intelligent decision-making unit at the same time; The automatic acquisition unit can collect the operating parameters of the monorail crane, analyze them according to the operating parameters, and obtain pre-processed analysis parameters; After acquiring the analysis parameters, the automatic control unit analyzes the analysis parameters and generates operation risk parameters according to the analysis results; After acquiring the operational risk parameters, remote control instructions and on-site control instructions, the intelligent decision-making unit makes a comprehensive judgment, obtains execution instructions and interception instructions, and sends the execution instructions to the monorail crane for execution.

2. The monorail crane integrated control system based on multi-source analysis according to claim 1 is characterized in that: The input judgment unit records the acquired information as control instructions, wherein the control instructions include remote control instructions and on-site control instructions; The input judgment unit divides the control instructions into items, specifically, divides the control instructions into instruction frequency, instruction intensity and instruction span; The input judgment unit compares the command frequency with a set frequency threshold, and generates a normal frequency signal or an abnormal frequency signal according to the comparison result; The input judgment unit compares the instruction strength with the set strength threshold range, and generates a normal strength signal or an abnormal strength signal according to the comparison result; The input judgment unit compares the instruction span with a set span threshold, and generates a normal span signal or an abnormal span signal according to the comparison result.

3. The monorail crane integrated control system based on multi-source analysis according to claim 2 is characterized in that: The method for the input judgment unit to obtain the instruction frequency is: Each time the input judgment unit obtains a control instruction, the time of obtaining the control instruction is recorded as the instruction timing. The input judgment unit calculates the difference between two consecutive instruction timings to obtain the time difference, and uses the reciprocal of the time difference as the instruction frequency.

4. The monorail crane integrated control system based on multi-source analysis according to claim 2 is characterized in that: The method for the input judgment unit to obtain the instruction strength is: When the input judgment unit obtains the control instruction, the duration of the control instruction is recorded, and the duration of the control instruction is used as the real-time instruction strength of the control instruction.

5. The monorail crane integrated control system based on multi-source analysis according to claim 2 is characterized in that: The method for the input judgment unit to obtain the instruction span is: When the input judgment unit obtains at least two groups of control instructions, it compares the two consecutive groups of control instructions. If the two consecutive groups of control instructions are control instructions for different parts, the default control span is 0. If the two consecutive groups of control instructions are control instructions for the same part, the difference between the vectors contained in the two groups of control instructions is calculated, and the vector difference is used as the instruction span.

6. The monorail crane integrated control system based on multi-source analysis according to claim 2 is characterized in that: The input judgment unit feeds back the normal frequency signal, the normal span signal and the normal intensity signal to the manual control unit and the remote control unit. After obtaining the feedback, the manual control unit and the remote control unit send the control instruction to the intelligent decision-making unit.

7. The monorail crane integrated control system based on multi-source analysis according to claim 2 is characterized in that: The operating parameters collected by the automatic collection unit include mechanical stability parameters and load allowable parameters; The automatic acquisition unit calculates the ratio of the mechanical stability parameter to the approved stability parameter threshold to obtain a stability ratio. The automatic acquisition unit continuously obtains the stability ratio at a fixed frequency when the monorail crane is running, and sends the obtained stability ratio to the automatic control unit; The automatic acquisition unit compares the load allowable parameter with the set load upper limit, records it as a load ratio, and sends the load ratio to the automatic control unit.

8. The monorail crane integrated control system based on multi-source analysis according to claim 2 is characterized in that: After the automatic control unit obtains the stable ratio, it calculates the arithmetic mean and variance of the stable ratio to obtain the average stable ratio and the standard deviation of the stable ratio. The automatic control unit calculates the difference between the average stable ratio and the standard deviation of the stable ratio and records it as the lower limit ratio. The automatic control unit uses the load ratio and the lower limit ratio as operation risk parameters.

9. The monorail crane integrated control system based on multi-source analysis according to claim 2 is characterized in that: The intelligent decision-making unit compares the lower limit ratio with the set stability threshold, and generates a stable signal or a high-risk signal according to the comparison result; The intelligent decision-making unit compares the load ratio with a set upper limit of the ratio, and generates a high load signal or a low load signal according to the comparison result; When the intelligent decision unit generates only one of the high-load signal and the high-risk signal, the remote control instruction is intercepted and the on-site control instruction is executed. When the intelligent decision unit generates the high-load signal and the high-risk signal at the same time, the all control instructions are intercepted. When the intelligent decision unit generates the stable signal and the low-load signal at the same time, the all control instructions are executed.

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