Underground rack rail trapped rail vehicle transportation automation control system based on explosion-proof lithium battery
By adopting explosion-proof lithium batteries and automated control systems in the underground transportation system, the safety hazards of traditional underground transportation methods in flammable and explosive environments are solved, and efficient and safe transportation results are achieved.
Patent Information
- Application Number
- CN202510229862.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-28
- Publication Date
- 2025-05-13
AI Technical Summary
Traditional underground transportation methods have safety hazards, especially in flammable and explosive environments, which are difficult to meet the efficient and safety needs of modern mines.
The downhole gear rail truck transportation automation control system based on explosion-proof lithium batteries is adopted, including a power monitoring module, a track detection and positioning module, an inclination detection module and an automatic control module. Through the coordinated work of these modules, real-time monitoring and control of the vehicle's power status, track position and slope are achieved.
It effectively reduces the safety risks of underground transportation, improves transportation efficiency and reliability, and ensures the smooth operation of vehicles in complex environments.
Smart Images
Figure CN119975100A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of data processing, and more specifically to an underground rack rail car transportation automation control system based on explosion-proof lithium batteries. Background Art
[0002] As the mine operating environment becomes more complex, the safety and efficiency requirements of mine production are gradually increasing, especially in the transportation link. The traditional underground transportation method can no longer meet the high efficiency and safety requirements of modern mines. Mine transportation usually relies on rail cars for material transportation, but traditional rail cars are mostly driven by diesel engines or electric motors, which poses certain safety hazards, especially in flammable and explosive environments such as coal dust and gas, where the risk of explosion accidents is high.
[0003] As a new type of energy, explosion-proof lithium batteries have the characteristics of high energy density, light weight and strong safety. They can effectively improve the performance of underground vehicles while ensuring the safety of the working environment. By applying explosion-proof lithium batteries, the underground transportation system can be explosion-proof during charging while reducing the impact on the environment. The underground rack rail car transportation automation control system based on explosion-proof lithium batteries combines the advantages of automation control technology and explosion-proof lithium batteries, which can effectively reduce safety hazards in underground transportation while improving transportation efficiency. Summary of the invention
[0004] In order to overcome the above-mentioned defects of the prior art, the embodiments of the present invention provide an underground rack rail car transportation automation control system based on explosion-proof lithium batteries to solve the problems raised in the above-mentioned background technology.
[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: an underground rack rail car transportation automation control system based on explosion-proof lithium batteries, comprising a power monitoring module, a track detection and positioning module, a tilt detection module, and an automatic control module; The power monitoring module is used to monitor the health status of the explosion-proof lithium battery. It collects the power, temperature and voltage parameters of the explosion-proof lithium battery to evaluate the health status. When it detects that the battery health status has declined, it sends an alarm to the automatic control module to adjust the vehicle's driving speed and mode to ensure safety. The track detection and positioning module monitors the position of the vehicle and the track status through sensors, obtains the deviation data of the vehicle relative to the track, and combines with the automatic control module to perform correction operations when the vehicle deviates from the track to keep the vehicle running on the correct track; The tilt detection module detects the slope of the locomotive using a dynamic tilt sensor, calculates the required starting traction force based on the slope information to achieve a smooth start, and feeds back the slope data to the automatic control module; The automatic control module comprehensively controls the vehicle's driving path, speed and driving status based on the track information, vehicle status and battery health information provided by the power monitoring module to complete the automatic driving task, and makes adjustments based on the information sent by the track detection and positioning module to optimize the driving trajectory.
[0006] In a preferred embodiment, the power monitoring module is used to monitor the health status of the explosion-proof lithium battery. By collecting the power, temperature, and voltage parameters of the explosion-proof lithium battery, the health status is evaluated. When the battery health status is detected to be deteriorating, an alarm is sent to the automatic control module to adjust the vehicle's driving speed and mode to ensure safety. The specific steps are as follows: Step A1, battery health status assessment: using a power meter, a temperature sensor and a voltage sensor to collect the remaining power of the battery, temperature data and battery voltage, and calculate the current power status, and by weighting the three parameters of battery power, temperature and voltage, obtain a comprehensive health status index, further including the following steps: Step A101, power evaluation: Use a power meter to monitor the remaining power of the battery, and determine whether the battery is sufficient by calculating the current power status. The specific calculation formula is: ,in, is the current remaining battery power, is the charge when the battery is fully charged. It is the current battery power. When the SOC is lower than 20%, an alarm will sound to indicate whether the battery is sufficient. Step A102, temperature and voltage evaluation: set the temperature range of 0℃-45℃ as the safe operating range of the battery, collect the temperature data T of the battery through the temperature sensor, and compare it with the safe operating range of the battery; use the voltage sensor to monitor the voltage V of each battery cell in real time, and set the upper and lower limits of the battery cell voltage as and ; Step A103, comprehensive health status evaluation: by weighted evaluation of the three parameters of battery power, temperature and voltage, a comprehensive health status index is obtained, and the weights of each parameter are set as , , , so that the sum of the weights is 1, the comprehensive health status index formula is: , where H is the comprehensive health status index, is the current battery level, is the temperature state, when , ;when , : Indicates that the temperature is 1 when it is within the safe range and 0 when it exceeds the range; is the voltage state, when , ,when , , : Indicates that the battery voltage is 1 when it is within the safe range and 0 when it exceeds the range; Step A2: Setting health status warning thresholds , evaluate the health status of explosion-proof lithium batteries, when the comprehensive health status index is lower than After that, an alarm is triggered, indicating that the health status has deteriorated, and the battery health information is fed back to the automatic control module.
[0007] In a preferred embodiment, the track detection and positioning module monitors the position of the vehicle and the track status through sensors, obtains the deviation data of the vehicle relative to the track, and when the vehicle deviates from the track, it combines with the automatic control module to perform correction operations to keep the vehicle running on the correct track. The specific steps are as follows: Step B1: Position data collection: Use positioning sensors and track sensors to collect the current actual position of the vehicle and ideal location for tracks , where n represents the total number of points on the track and i represents the i-th reference point in the track; Step B2, deviation judgment: By calculating the distance between the current position of the vehicle and the ideal position of the track, the deviation of the vehicle relative to the track is obtained, and the maximum track deviation is set as , when the offset exceeds , indicating that the vehicle has deviated from the track and a correction operation is performed. The calculation formula for the offset is: ,in, is the offset; is the current coordinate of the vehicle, are the ideal position coordinates of the track; Step B3, offset correction: adjust the vehicle's driving trajectory through the PID controller, and calculate the PID control output as , the PID output Used to adjust the direction and speed of the vehicle. The adjustment formula of the direction angle is: , the speed adjustment formula is ,in, , , are proportional, integral and derivative gains respectively, is the integral of the offset, reflecting the accumulated error, is the rate of change of the offset, reflecting the error change trend. is the offset, is the actual direction angle after adjustment, is the target direction angle, is the actual speed after adjustment, is the target speed, It is the speed adjustment strategy related to the corrected output.
[0008] In a preferred embodiment, the tilt detection module detects the slope of the locomotive using a dynamic tilt sensor, calculates the required starting traction force based on the slope information to achieve a smooth start, and feeds back the slope data to the automatic control module. The specific steps are as follows: Step C1, slope data collection: A dynamic tilt sensor is installed on the locomotive to detect the tilt angle of the locomotive relative to the horizontal plane, which is recorded as , and use the accelerometer and gyroscope to obtain the vehicle pitch angle data, recorded as ; Step C2: Calculate the starting traction force: Based on the pitch angle obtained and slope angle , calculate the traction required when the vehicle starts on a slope. When the vehicle moves uphill, the required starting traction is When the vehicle moves downhill, the required starting traction is , where m is the mass of the locomotive, g is the acceleration due to gravity, It is the uphill starting traction. It is the downhill starting traction. is the traction required to overcome the vehicle’s inertia; Step C3: Feedback the slope data and the calculated starting traction force to the automatic control module to adjust the motor output power.
[0009] In a preferred embodiment, the automatic control module comprehensively controls the vehicle's driving path, speed and driving status according to the track information, vehicle status and battery health information provided by the power monitoring module to complete the automatic driving task, and makes adjustments according to the information sent by the track detection and positioning module to optimize the driving trajectory. The specific steps are as follows: Step D1, speed adjustment: receiving feedback information from the power monitoring module, track detection and positioning module, and tilt detection module, including battery health information, vehicle adjustment direction and speed information, and slope information, and adjusting the vehicle target speed. The specific calculation formula is as follows:
[0010] in, is the target speed, is the base target speed of the vehicle, is the weight coefficient of battery health for speed adjustment, H is the comprehensive health status index, is the current slope angle, is the vehicle pitch angle, and are the influence coefficients of slope increase and decrease on target speed, is the offset, is the maximum orbital deviation, is the coefficient of the orbit correction to adjust the target speed; Step D2: Motor output power adjustment: based on required traction, battery health information and target speed , adjust the motor power output and perform power limitation to prevent the motor from overloading. The specific calculation formula is as follows: ;
[0011] in, is the adjusted motor power, is the basic motor power, is the weight coefficient of battery health on power adjustment, is the starting traction force, H is the comprehensive health status index, is the target speed, is the actual adjusted motor power, is the maximum power output of the motor.
[0012] The beneficial effects of the present invention are as follows: the health status of the explosion-proof lithium battery is monitored through the power monitoring module. When it is detected that the battery health status has declined, an alarm is sent to the automatic control module, the vehicle's driving speed and mode are adjusted, and the vehicle's position and track status are monitored. When the vehicle deviates from the track, it is combined with the automatic control module to perform correction operations, and the dynamic inclination sensor is used to detect the slope of the locomotive, and the required starting traction force is calculated to achieve a smooth start, and the slope data is fed back to the automatic control module. The automatic control module comprehensively controls the vehicle's driving path, speed and driving status to complete the automatic driving task. This application improves the safety, efficiency, reliability and stability of underground rack rail car transportation by integrating the power monitoring module, track detection and positioning module, inclination detection module and automatic control module. The coordinated work of each module can ensure the smooth operation of the vehicle in a complex environment. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a system flow chart of the present invention. DETAILED DESCRIPTION
[0014] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.
[0015] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.
[0016] In the description of the present application, the term "for example" is used to mean "used as an example, illustration or description". Any embodiment described as "for example" in the present application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid unnecessary details to obscure the description of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.
[0017] Example 1 This embodiment provides Figure 1 The underground rack rail car transportation automation control system based on explosion-proof lithium batteries shown in the figure specifically includes a power monitoring module, a track detection and positioning module, a tilt detection module, and an automatic control module; The power monitoring module is used to monitor the health status of the explosion-proof lithium battery. It collects the power, temperature and voltage parameters of the explosion-proof lithium battery to evaluate the health status. When it detects that the battery health status has declined, it sends an alarm to the automatic control module to adjust the vehicle's driving speed and mode to ensure safety. The track detection and positioning module monitors the position of the vehicle and the track status through sensors, obtains the deviation data of the vehicle relative to the track, and combines with the automatic control module to perform correction operations when the vehicle deviates from the track to keep the vehicle running on the correct track; The tilt detection module detects the slope of the locomotive using a dynamic tilt sensor, calculates the required starting traction force based on the slope information to achieve a smooth start, and feeds back the slope data to the automatic control module; The automatic control module comprehensively controls the vehicle's driving path, speed and driving status based on the track information, vehicle status and battery health information provided by the power monitoring module to complete the automatic driving task, and makes adjustments based on the information sent by the track detection and positioning module to optimize the driving trajectory.
[0018] In this embodiment, the power monitoring module specifically needs to be explained. The power monitoring module is used to monitor the health status of the explosion-proof lithium battery. By collecting the power, temperature, and voltage parameters of the explosion-proof lithium battery, the health status is evaluated. When the battery health status is detected to be deteriorating, an alarm is sent to the automatic control module to adjust the vehicle's driving speed and mode to ensure safety and reduce the safety hazards caused by battery failure. The specific steps are as follows: Step A1, battery health status assessment: using a power meter, a temperature sensor and a voltage sensor to collect the remaining power of the battery, temperature data and battery voltage, and calculate the current power status, and by weighting the three parameters of battery power, temperature and voltage, obtain a comprehensive health status index, further including the following steps: Step A101, power evaluation: Use a power meter to monitor the remaining power of the battery, and determine whether the battery is sufficient by calculating the current power status. The specific calculation formula is: ,in, is the current remaining battery power, is the charge when the battery is fully charged. It is the current battery power. When the SOC is lower than 20%, an alarm will sound to indicate whether the battery is sufficient. Step A102, temperature and voltage assessment: Set the temperature range of 0℃-45℃ as the safe operating range of the battery, collect the temperature data T of the battery through the temperature sensor, and compare it with the safe operating range of the battery; use the voltage sensor to monitor the voltage V of each battery cell in real time to ensure that each cell of the battery pack is within the safe voltage range, and set the upper and lower limits of the battery cell voltage as and ; Step A103, comprehensive health status evaluation: by weighted evaluation of the three parameters of battery power, temperature and voltage, a comprehensive health status index is obtained, and the weights of each parameter are set as , , , so that the sum of the weights is 1, the comprehensive health status index formula is: ,in, It is a comprehensive health status index ranging from 0 to 1. is the current battery level, is the temperature state, when , ;when , : Indicates that the temperature is 1 when it is within the safe range and 0 when it exceeds the range; is the voltage state, when , ,when , , : Indicates that the battery voltage is 1 when it is within the safe range and 0 when it exceeds the range; Step A2: Setting health status warning thresholds , evaluate the health status of explosion-proof lithium batteries, when the comprehensive health status index is lower than After that, an alarm is triggered, indicating that the health status has deteriorated, and the battery health information is fed back to the automatic control module.
[0019] In this embodiment, the track detection and positioning module specifically needs to be explained. The track detection and positioning module monitors the position of the vehicle and the track state through sensors, obtains the deviation data of the vehicle relative to the track, and when the vehicle deviates from the track, it combines with the automatic control module to perform correction operations to keep the vehicle running on the correct track. The specific steps are as follows: Step B1: Position data collection: Use positioning sensors and track sensors to collect the current actual position of the vehicle and ideal location for tracks , where n represents the total number of points on the track and i represents the i-th reference point in the track; Step B2, deviation judgment: By calculating the distance between the current position of the vehicle and the ideal position of the track, the deviation of the vehicle relative to the track is obtained, and the maximum track deviation is set as , when the offset exceeds , indicating that the vehicle has deviated from the track and a correction operation is performed. The calculation formula for the offset is: ,in, is the offset; is the current coordinate of the vehicle, are the ideal position coordinates of the track; Step B3, offset correction: adjust the vehicle's driving trajectory through the PID controller, and calculate the PID control output as , the PID output Used to adjust the direction and speed of the vehicle. The adjustment formula of the direction angle is: , the speed adjustment formula is ,in, , , are proportional, integral and derivative gains respectively, is the integral of the offset, reflecting the accumulated error, is the rate of change of the offset, reflecting the error change trend. is the offset, is the actual direction angle after adjustment, is the target direction angle, is the actual speed after adjustment, is the target speed, It is the speed adjustment strategy related to the corrected output.
[0020] In this embodiment, the tilt detection module specifically needs to be explained. The tilt detection module uses a dynamic tilt sensor to detect the slope of the locomotive, and calculates the required starting traction based on the slope information to achieve smooth starting, and feeds back the slope data to the automatic control module, so as to adjust the motor output according to the real-time slope information during starting and driving to ensure stable operation of the vehicle. The specific steps are as follows: Step C1, slope data collection: A dynamic tilt sensor is installed on the locomotive to detect the tilt angle of the locomotive relative to the horizontal plane, which is recorded as , and use the accelerometer and gyroscope to obtain the vehicle pitch angle data, recorded as ; Step C2: Calculate the starting traction force: Based on the pitch angle obtained and slope angle , calculate the traction required when the vehicle starts on a slope. When the vehicle moves uphill, the required starting traction is When the vehicle moves downhill, the required starting traction is , where m is the mass of the locomotive, g is the acceleration due to gravity, It is the uphill starting traction. It is the downhill starting traction. is the traction required to overcome the vehicle’s inertia; Step C3: Feedback the slope data and the calculated starting traction force to the automatic control module to adjust the motor output power, thereby avoiding severe braking during the starting process, reducing mechanical wear, and improving transportation stability.
[0021] In this embodiment, the automatic control module specifically needs to be explained. The automatic control module comprehensively controls the vehicle's driving path, speed and driving status according to the track information, vehicle status and battery health information provided by the power monitoring module to complete the automatic driving task, and adjusts according to the information sent by the track detection and positioning module to optimize the driving trajectory, thereby reducing manual intervention and improving transportation efficiency. The specific steps are as follows: Step D1, speed adjustment: receiving feedback information from the power monitoring module, track detection and positioning module, and tilt detection module, including battery health information, vehicle adjustment direction and speed information, and slope information, adjusting the vehicle target speed, ensuring vehicle operation safety, and reducing the risk caused by battery failure. The specific calculation formula is as follows:
[0022] in, is the target speed, is the base target speed of the vehicle, is the weight coefficient of battery health for speed adjustment, is a comprehensive health status index. is the current slope angle, is the vehicle pitch angle, and are the influence coefficients of slope increase and decrease on target speed, is the offset, is the maximum orbital deviation, It is the coefficient of the track correction to the target speed. By adjusting the target speed of the vehicle, it ensures that the vehicle always maintains the best operating state and avoids unstable transportation caused by unstable speed. Step D2: Motor output power adjustment: based on required traction, battery health information and target speed , adjust the motor power output and perform power limitation to prevent the motor from overloading. The specific calculation formula is as follows: ;
[0023] in, is the adjusted motor power, is the basic motor power, is the weight coefficient of battery health on power adjustment, It is the starting traction. is a comprehensive health status index. is the target speed, is the actual adjusted motor power, is the maximum power output of the motor.
[0024] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0025] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0026] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0027] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0028] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0029] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.
[0030] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.
Claims
1. An underground rack rail car transportation automation control system based on explosion-proof lithium batteries, characterized by: It includes power monitoring module, track detection and positioning module, tilt detection module, and automatic control module; The power monitoring module is used to monitor the health status of the explosion-proof lithium battery. It collects the power, temperature and voltage parameters of the explosion-proof lithium battery to evaluate the health status. When it detects that the battery health status has declined, it sends an alarm to the automatic control module to adjust the vehicle's driving speed and mode to ensure safety. The track detection and positioning module monitors the position of the vehicle and the track status through sensors, obtains the deviation data of the vehicle relative to the track, and combines with the automatic control module to perform correction operations when the vehicle deviates from the track to keep the vehicle running on the correct track; The tilt detection module detects the slope of the locomotive using a dynamic tilt sensor, calculates the required starting traction force based on the slope information to achieve a smooth start, and feeds back the slope data to the automatic control module; The automatic control module comprehensively controls the vehicle's driving path, speed and driving status based on the track information, vehicle status and battery health information provided by the power monitoring module to complete the automatic driving task, and makes adjustments based on the information sent by the track detection and positioning module to optimize the driving trajectory.
2. The underground rack rail car transportation automation control system based on explosion-proof lithium batteries according to claim 1 is characterized by: The power monitoring module is used to monitor the health status of the explosion-proof lithium battery. It collects the power, temperature, and voltage parameters of the explosion-proof lithium battery to evaluate the health status. When the battery health status is detected to be deteriorating, an alarm is sent to the automatic control module to adjust the vehicle's driving speed and mode to ensure safety. The specific steps are as follows: Step A1, battery health status assessment: use a power meter, a temperature sensor and a voltage sensor to collect the remaining power, temperature data and battery voltage of the battery, and calculate the current power status, and obtain a comprehensive health status index by weighting the three parameters of battery power, temperature and voltage; Step A2: Setting health status warning thresholds , evaluate the health status of explosion-proof lithium batteries, when the comprehensive health status index is lower than After that, an alarm is triggered, indicating that the health status has deteriorated, and the battery health information is fed back to the automatic control module.
3. The underground rack rail car transportation automation control system based on explosion-proof lithium batteries according to claim 2 is characterized by: In the battery health status assessment of step A1, a power meter, a temperature sensor and a voltage sensor are used to collect the remaining power, temperature data and battery voltage of the battery, and the current power status is calculated. By weighting the three parameters of battery power, temperature and voltage, a comprehensive health status index is obtained, which further includes the following steps: Step A101, power evaluation: Use a power meter to monitor the remaining power of the battery, and determine whether the battery is sufficient by calculating the current power status. The specific calculation formula is: ,in, is the current remaining battery power, is the charge when the battery is fully charged. It is the current battery power. When the SOC is lower than 20%, an alarm will sound to indicate whether the battery is sufficient. Step A102, temperature and voltage evaluation: Set the temperature range of 0℃-45℃ as the safe operating range of the battery, collect the temperature data T of the battery through the temperature sensor, and compare it with the safe operating range of the battery; use the voltage sensor to monitor the voltage V of each battery cell, and set the upper and lower limits of the battery cell voltage as and ; Step A103, comprehensive health status evaluation: by weighted evaluation of the three parameters of battery power, temperature and voltage, a comprehensive health status index is obtained, and the weights of each parameter are set as , , , so that the sum of the weights is 1, the comprehensive health status index formula is: , where H is the comprehensive health status index, is the current battery level, is the temperature state, It is the voltage state.
4. The underground rack rail car transportation automation control system based on explosion-proof lithium batteries according to claim 1 is characterized by: The track detection and positioning module monitors the position and track status of the vehicle through sensors, obtains the deviation data of the vehicle relative to the track, and combines with the automatic control module to perform correction operations when the vehicle deviates from the track to keep the vehicle running on the correct track. The specific steps are as follows: Step B1: Position data collection: Use positioning sensors and track sensors to collect the current actual position of the vehicle and ideal location for tracks , where n represents the total number of points on the track and i represents the i-th reference point in the track; Step B2, deviation judgment: By calculating the distance between the current position of the vehicle and the ideal position of the track, the deviation of the vehicle relative to the track is obtained, and the vehicle is judged whether it deviates from the track, and the maximum track deviation is set as , when the offset exceeds , indicating that the vehicle has deviated from the track and performs correction operations; Step B3, offset correction: adjust the vehicle's driving trajectory through the PID controller, and calculate the PID control output as , the PID output Used to adjust the direction and speed of the vehicle. The adjustment formula of the direction angle is: , the speed adjustment formula is ,in, , , are proportional, integral and derivative gains respectively, is the integral of the offset, reflecting the accumulated error, is the rate of change of the offset, reflecting the error change trend. is the offset, is the actual direction angle after adjustment, is the target direction angle, is the actual speed after adjustment, is the target speed, It is the speed adjustment strategy related to the corrected output.
5. The underground rack rail car transportation automation control system based on explosion-proof lithium batteries according to claim 4 is characterized by: In the step B2, the offset judgment is performed by calculating the distance between the current position of the vehicle and the ideal position of the track to obtain the offset of the vehicle relative to the track. The calculation formula of the offset is: ,in, is the offset; is the current coordinate of the vehicle, are the ideal position coordinates of the track.
6. The underground rack rail car transportation automation control system based on explosion-proof lithium batteries according to claim 1 is characterized by: The tilt detection module detects the slope of the locomotive using a dynamic tilt sensor, calculates the required starting traction based on the slope information to achieve a smooth start, and feeds back the slope data to the automatic control module. The specific steps are as follows: Step C1, slope data collection: A dynamic tilt sensor is installed on the locomotive to detect the tilt angle of the locomotive relative to the horizontal plane, which is recorded as , and use the accelerometer and gyroscope to obtain the vehicle pitch angle data, recorded as ; Step C2: Calculate the starting traction force: Based on the pitch angle obtained and slope angle , calculate the traction required when the vehicle starts on a slope. When the vehicle moves uphill, the required starting traction is When the vehicle moves downhill, the required starting traction is , where m is the mass of the locomotive, g is the acceleration due to gravity, It is the uphill starting traction. It is the downhill starting traction. is the traction required to overcome the vehicle’s inertia; Step C3: Feedback the slope data and the calculated starting traction force to the automatic control module to adjust the motor output power.
7. The underground rack rail car transportation automation control system based on explosion-proof lithium batteries according to claim 1 is characterized by: The automatic control module comprehensively controls the vehicle's driving path, speed and driving status based on the track information, vehicle status and battery health information provided by the power monitoring module to complete the automatic driving task, and makes adjustments based on the information sent by the track detection and positioning module to optimize the driving trajectory. The specific steps are as follows: Step D1, speed adjustment: receiving feedback information from the power monitoring module, track detection and positioning module, and tilt detection module, including battery health information, vehicle adjustment direction and speed information, and slope information, and adjusting the vehicle target speed. The specific calculation formula is as follows: ； in, is the target speed, is the base target speed of the vehicle, is the weight coefficient of battery health for speed adjustment, H is the comprehensive health status index, is the current slope angle, is the vehicle pitch angle, and are the influence coefficients of slope increase and decrease on target speed, is the offset, is the maximum orbital deviation, is the coefficient of the orbit correction to the target velocity adjustment; Step D2: Motor output power adjustment: based on required traction, battery health information and target speed , adjust the motor power output and perform power limitation to prevent the motor from overloading. The specific calculation formula is as follows: ; ； in, is the adjusted motor power, is the basic motor power, is the weight coefficient of battery health on power adjustment, is the starting traction force, H is the comprehensive health status index, is the target speed, is the actual adjusted motor power, is the maximum power output of the motor.
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