Mining dump truck safety decision-making system based on fire early warning and control method

Abstract

The invention belongs to the technical field of vehicle intelligent control, and particularly relates to a mining dump truck safety decision-making system based on fire early warning and a control method, and the system mainly comprises a centralized fire extinguishing controller, a vehicle controller, an unmanned controller, a display, an engine controller, a pressure switch and a control relay, the centralized fire extinguishing controller is connected with the vehicle controller through the control relay, the pressure switch is connected with the vehicle controller, the vehicle controller is connected with the engine controller through the control relay, and the vehicle controller is in communication connection with the unmanned controller and the displayer through a CAN bus. The system executes vehicle stopping operation and centralized fire extinguishing starting operation when the vehicle is on fire. According to the mining dump truck, fire early warning and safety decision are integrated, the intelligent safety control level of the mining dump truck is improved, multiple control modes are provided for safety decision software control, the use requirements under different working conditions are met, and the intelligent level of the truck is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent vehicle control, and specifically relates to a safety decision-making system and control method for mining dump trucks based on fire warning. Background Art

[0002] Mining dump trucks are very important transportation equipment in large open-pit mines. Their operating conditions are harsh and they often operate around the clock. Long-term high-load operation, faults in the functional systems of mining dump trucks, and external reasons are likely to cause sudden fires during the operation of the vehicles, which will seriously affect the driving safety of the vehicles. If not handled properly, it will not only cause damage to the mining dump trucks, but also pose a serious threat to the personal safety of the drivers. To deal with sudden fires, some mining dump trucks are equipped with centralized fire extinguishing systems. However, as an independent system, the centralized fire extinguishing system is only used for fire extinguishing and cannot be combined with the safety decision-making of mining dump trucks. When a fire occurs, it still overly relies on the operation of the driver, cannot avoid the risk of personnel operation, and cannot achieve intelligent safety control of mining dump trucks. Summary of the Invention

[0003] In view of the above existing technical problems, the present invention provides a safety decision-making system and control method for mining dump trucks based on fire warning. By appropriately upgrading the existing control platform of the mining dump truck, a safety decision-making system based on fire warning is designed, and a software control method for safety decision-making is proposed, which integrates the fire warning and safety decision-making of mining dump trucks and improves the intelligent safety control level of mining dump trucks.

[0004] To achieve the above object, the present invention adopts the following technical solutions: A safety decision-making system for mining dump trucks based on fire warning mainly consists of a centralized fire extinguishing controller, a vehicle controller, an unmanned driving controller, a display, an engine controller, a pressure switch, and a control relay; the fault signal port and alarm signal port of the centralized fire extinguishing controller are respectively connected to the signal input port of the vehicle controller through the control relay, the pressure switch is connected to the signal input port of the vehicle controller, and the signal output port of the vehicle controller is respectively connected to the emergency stop signal port of the engine controller and the control port of the centralized fire extinguishing controller through the control relay; the vehicle controller communicates with the unmanned driving controller and the display through the CAN bus.

[0005] Further, the fault signal port of the centralized fire extinguishing controller is electrically connected to the coil of the fault relay, and the alarm signal port of the centralized fire extinguishing controller is electrically connected to the coil of the alarm relay. The signal input port DI1 of the vehicle controller is electrically connected to the vehicle power ground through the normally open contact of the switch of the fault relay, and the signal input port DI2 of the vehicle controller is electrically connected to the vehicle power ground through the normally open contact of the switch of the alarm relay. The signal input port DI3 of the vehicle controller is electrically connected to the pressure switch.

[0006] Further, the signal output port D01 of the vehicle controller is electrically connected to the coil of the shutdown relay, and the emergency stop signal port of the engine controller is electrically connected to the vehicle positive power supply through the normally closed contact of the switch of the shutdown relay; the signal output port D02 of the vehicle controller is electrically connected to the coil of the control relay, the control 1 port of the centralized fire extinguishing controller is electrically connected to the common terminal of the switch of the control relay, the control 2 port is electrically connected to the normally open contact of the switch of the control relay, and the control 3 port is electrically connected to the normally closed contact of the switch of the control relay.

[0007] Further, a control method for a safety decision-making system of a mining dump truck based on fire warning. When a fire occurs in the vehicle, the safety decision-making system of the mining dump truck based on fire warning performs vehicle shutdown operation and centralized fire extinguishing start operation: In the driverless mode, the vehicle controller receives the fault and alarm information of the centralized fire extinguishing controller and transmits it to the driverless controller through the CAN bus network; when a fire occurs, the driverless controller analyzes the vehicle running status and timely issues a shutdown instruction to the vehicle controller, and the vehicle controller controls the engine controller to perform the vehicle shutdown operation; at the same time, the driverless controller sends a fire extinguishing instruction to the vehicle controller, and the vehicle controller controls the centralized fire extinguishing controller to perform the centralized fire extinguishing start operation; In the manual driving mode, when a fire occurs, the centralized fire extinguishing controller independently starts the centralized fire extinguishing operation; at the same time, the display will automatically pop up a shutdown control interface. If the pressure switch shutdown mode is selected on the display, the vehicle controller judges whether the pressure switch is closed. If the pressure switch is closed, the vehicle controller controls the engine controller to perform the vehicle shutdown operation; if the pressure switch shutdown mode is not selected on the display, the driver performs the vehicle shutdown operation through the display, and the vehicle controller receives the display instruction and performs the vehicle shutdown operation.

[0008] Further, the vehicle shutdown operation process is specifically as follows: T11: First, judge whether the centralized fire extinguishing system is faulty. If a fault occurs, the process ends; if no fault occurs, then execute process T12; T12: Judge whether a fire occurs. If no fire occurs, the process ends; if a fire occurs, then execute process T13; T13: The alarm circuit of the centralized fire extinguishing controller is turned on; T14: The vehicle controller receives the alarm information from the centralized fire extinguishing controller; T15: Whether the driverless mode is started. If it is started, process T16 is executed; if it is not started and the vehicle is in the manual driving mode, process T21 is executed; T16: The vehicle controller sends the alarm information to the driverless controller through CAN bus communication; T17: The driverless controller decides whether to execute shutdown according to the vehicle operation data and issues a shutdown command in a timely manner; T18: The vehicle controller executes the shutdown command and sends a shutdown signal to the engine controller; T19: The engine controller controls the engine to execute the shutdown command, and the process ends; T21: In the manual driving mode, it is judged whether the display selects the pressure switch shutdown mode. If so, process T22 is executed; if not, process T31 is executed; T22: The vehicle controller judges whether the pressure switch is closed. If it is in the open state, the process ends; if it is in the closed state, processes T18 and T19 are sequentially executed; T31: The driver operates the shutdown control interface, and the display sends the status information to the vehicle controller through CAN bus communication. The vehicle controller receives the immediate shutdown or delayed shutdown command set by the display and sequentially executes processes T18 and T19.

[0009] Furthermore, the specific operation of starting the centralized fire extinguishing is as follows: S1: The driverless controller issues a fire extinguishing command to the vehicle controller through the CAN bus network; S2: The vehicle controller controls the control relay to work; S3: The centralized fire extinguishing controller controls the port signal to switch, and the centralized fire extinguishing controller controls the start of the centralized fire extinguishing system, and the process ends.

[0010] The beneficial effects of the present invention are as follows: 1. Realize the integration of fire situation early warning and safety decision-making, and improve the intelligent safety control level of mining dump trucks.

[0011] 2. Provide multiple control modes in the safety decision-making software control method to meet the usage requirements under different working conditions.

[0012] 3. Design a method for starting the centralized fire extinguishing controlled by the driverless system, which improves the intelligent level of the vehicle.

[0013] 4. The system is based on the existing control platform of mining dump trucks and does not require much modification, which is suitable for batch application and promotion. Description of the Drawings

[0014] Figure 1 : Structural schematic diagram of a safety decision-making system for mining dump trucks based on fire warning.

[0015] Figure 2 : Vehicle shutdown flowchart of a safety decision-making system for mining dump trucks based on fire warning.

[0016] Figure 3 : Unmanned control centralized fire extinguishing startup process of a safety decision-making system for mining dump trucks based on fire warning. Specific implementation manners

[0017] The technical solution of the present invention will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present application and the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. Without conflict, the technical features in the embodiments of the present application and the embodiments can be combined with each other.

[0018] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the front and rear associated objects.

[0019] As Figure 1 shown, a safety decision-making system for mining dump trucks based on fire warning mainly consists of a centralized fire extinguishing controller, a vehicle controller, an unmanned driving controller, a display, an engine controller, a pressure switch, and several control relays.

[0020] The centralized fire extinguishing controller is used to monitor the vehicle fire situation and control the centralized fire extinguishing system. The centralized fire extinguishing controller includes a fault signal port and an alarm signal port, and can transmit the centralized fire extinguishing system fault and fire alarm signals to external devices; the centralized fire extinguishing controller includes a control port. After receiving the control signal, the conduction state of the control port circuit changes to control the startup of the centralized fire extinguishing system. The centralized fire extinguishing controller is electrically connected to the coil terminals of the fault relay and the alarm relay, as well as the normally closed and normally open contact terminals of the control relay. The fault signal port of the centralized fire extinguishing controller is electrically connected to the coil contacts 86 and 85 of the fault relay KA2; the alarm signal port is electrically connected to the coil contacts 86 and 85 of the alarm relay KA3; the control 1 port is electrically connected to the common contact 30 of the control relay KA1 switch, the control 2 port is electrically connected to the normally open contact 87 of the control relay KA1 switch, and the control 3 port is electrically connected to the normally closed contact 87a of the control relay KA1 switch.

[0021] The vehicle controller is configured with multiple digital input ports DI, multiple digital output ports, and a CAN bus interface to monitor the status of system-related devices and implement relevant logic control. The vehicle controller is electrically connected to the switch terminals of the fault relay and the alarm relay, and is electrically connected to the coil terminals of the control relay, the shutdown relay, and the pressure switch. The vehicle controller communicates with the driverless controller and the display via the CAN bus. The signal input port DI1 of the vehicle controller is electrically connected to the common switch contact 30 and the normally open switch contact 87 of the fault relay KA2; the signal input port DI2 is electrically connected to the common switch contact 30 and the normally open switch contact 87 of the alarm relay KA3; the signal input port DI3 is electrically connected to the pressure switch. The signal output port DO1 of the vehicle controller is electrically connected to the coil contact 85 of the shutdown relay KA4; the signal output port DO2 is electrically connected to the coil contact 86 of the control relay KA1. The vehicle controller communicates with the driverless controller and the display via the CAN bus to achieve data interaction.

[0022] The engine controller is provided with an emergency stop signal port, which can immediately stop the engine in an emergency. The engine controller is electrically connected to the normally closed switch contact of the shutdown relay, and the emergency stop signal port of the engine controller is electrically connected to the normally closed switch contact 87a of the shutdown relay KA4. The shutdown relay is controlled by a 24V power supply. The coil contact 86 and the common switch contact 30 of the shutdown relay KA4 are connected to the vehicle's 24V power supply.

[0023] The pressure switch is installed on the injection pipeline of the centralized fire extinguishing system to monitor whether the centralized fire extinguishing system is activated. When the centralized fire extinguishing system is not activated, the pressure switch is in an open state; when the centralized fire extinguishing system is activated, the pressure switch is in a closed state.

[0024] The coil contact 85 of the control relay KA1, the normally open switch contact 87 of the fault relay KA2, the normally open switch contact 87 of the fault relay KA3, and the pressure switch are all connected to the vehicle's power ground.

[0025] When a fault occurs in the fire extinguishing system, the fault + and fault - ports of the centralized fire extinguishing controller form a circuit through the coil contacts 86 and 85 of the fault relay KA2. The fault relay KA2 operates, and its common switch contact 30 and normally open switch contact 87 are closed and conduct. The signal input port DI1 of the vehicle controller receives the fire extinguishing system fault signal.

[0026] When a fire breaks out, the alarm + and alarm - ports of the centralized fire extinguishing controller form a circuit through the coil contacts 86 and 85 of the alarm relay KA3. The alarm relay KA3 operates, and its common switch contact 30 and normally open switch contact 87 are closed and conduct. The signal input port DI2 of the vehicle controller receives the alarm signal.

[0027] When the centralized fire extinguishing system is activated, the pressure switch closes, and the vehicle controller's signal input port DI3 receives the centralized fire extinguishing activation signal.

[0028] When the vehicle needs to make an emergency stop, the vehicle controller's signal output port DO1 outputs a low-level signal. The coil contacts 86 and 85 of the stop relay KA4 form a circuit, and the stop relay KA4 operates. Its switch common contact 30 and switch normally closed contact 87a change from closed to open. The engine controller receives the stop signal and controls the engine to stop.

[0029] When the driverless controller issues a fire extinguishing command, the vehicle controller receives the command signal through the CAN bus, and the control signal output port DO2 outputs a high-level signal. The coil contacts 86 and 85 of the control relay KA1 form a circuit, and the control relay KA1 operates. Its switch common contact 30 and switch normally closed contact 87a change from closed to open, and the switch common contact 30 and switch normally open contact 87 change from open to closed. The centralized fire extinguishing controller changes from the conduction of control port 1 and control port 3 to the conduction of control port 1 and control port 2. The centralized fire extinguishing controller receives the fire extinguishing command and controls the activation of the centralized fire extinguishing system.

[0030] The display is provided with a stop setting interface and function buttons, which will automatically pop up when a fire breaks out. The driver issues relevant stop commands to the vehicle controller through the operation of the display buttons.

[0031] When a fire breaks out in the mining dump truck, the safety decision-making system based on fire warning described in the present invention performs the vehicle stop operation and the activation operation of the centralized fire extinguishing system.

[0032] In the driverless mode, the vehicle controller receives the fault and alarm information of the centralized fire extinguishing controller and transmits it to the driverless controller through the CAN bus network. When a fire breaks out, the driverless controller analyzes the vehicle's operating conditions and timely issues a stop command to the vehicle controller. The vehicle controller controls the engine controller to perform the vehicle stop operation; at the same time, the driverless controller sends a fire extinguishing command to the vehicle controller, and the vehicle controller controls the centralized fire extinguishing controller to perform the activation operation of the centralized fire extinguishing system. The priority of the driverless control command is higher than that of the control command of the centralized fire extinguishing controller.

[0033] In the manual driving mode, when a fire breaks out, the centralized fire extinguishing controller independently starts the centralized fire extinguishing operation; at the same time, the display pops up a stop control interface. If the display selects the pressure switch stop mode, the vehicle controller determines whether the pressure switch is closed. If the pressure switch is closed, the vehicle controller controls the engine controller to perform the vehicle stop operation; if the display does not select the pressure switch stop mode, the driver can perform the vehicle stop operation through the display buttons, and the vehicle controller receives the display command and performs the vehicle stop operation.

[0034] The following is combined with Figure 2 to describe the specific execution process of the vehicle shutdown operation as follows: T11: First, determine whether the centralized fire extinguishing system fails. If the centralized fire extinguishing system fails, the process ends.

[0035] If the centralized fire extinguishing system does not fail, execute process T12; T12: Determine whether a fire breaks out. If no fire breaks out, the process ends. If a fire breaks out, execute process T13; T13: The alarm circuit of the centralized fire extinguishing controller is turned on, and the alarm + and alarm - ports form a loop through the coil contacts 86 and 85 of the alarm relay KA3; T14: The common contact 30 of the switch of the alarm relay KA3 and the normally open contact 87 of the switch are closed and turned on, the signal input DI2 port of the vehicle controller is connected to the vehicle power ground, and the vehicle controller receives the alarm information of the centralized fire extinguishing controller; T15: Whether the driverless mode is started. If the driverless mode is started, execute process T16. If the driverless mode is not started and the vehicle is in the manual driving mode, execute process T21; T16: The vehicle controller sends the alarm information to the driverless controller through CAN bus communication; T17: The driverless controller decides whether to execute shutdown according to the vehicle operation data and issues a shutdown instruction in a timely manner; T18: The vehicle controller executes the shutdown instruction, its signal output port DO1 outputs a low - level signal, and the emergency stop signal port of the engine controller receives the shutdown signal; T19: The engine controller controls the engine to execute the shutdown instruction, and the process ends.

[0036] T21: In the manual driving mode, determine whether the display selects the pressure switch shutdown mode; if the pressure switch shutdown mode is selected, execute T22, if the pressure switch shutdown mode is not selected, execute T31; T22: The vehicle controller judges whether the pressure switch is closed. If the pressure switch is in the open state, the process ends. If the pressure switch is in the closed state, sequentially execute processes T18 and T19.

[0037] T31: The driver operates the shutdown control interface, and the display sends the status information to the vehicle controller through CAN bus communication. The vehicle controller receives the immediate shutdown or delayed shutdown instruction set by the display and sequentially executes processes T18 and T19.

[0038] The following is combined with Figure 3 to describe the centralized fire extinguishing startup process as follows: S1: The driverless controller issues a fire extinguishing instruction to the vehicle controller via the CAN bus network; S2: The vehicle controller controls the signal output port DO2 to output a high-level signal, thereby controlling the coil contacts 86 and 85 of the relay KA1 to form a loop; controlling the relay KA1 to work, and its switch common contact 30 and switch normally closed contact 87a change from closed to open, and the switch common contact 30 and switch normally open contact 87 change from open to closed; S3: The centralized fire extinguishing controller controls the conduction of port 1 and port 2, and disconnects port 1 and port 3; the centralized fire extinguishing controller controls the start of the centralized fire extinguishing system, and the process ends.

[0039] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A safety decision-making system for mining dump trucks based on fire warning, characterized in that: It is mainly composed of a centralized fire extinguishing controller, a vehicle controller, an unmanned driving controller, a display, an engine controller, a pressure switch and a control relay; the fault signal port and the alarm signal port of the centralized fire extinguishing controller are respectively connected to the signal input port of the vehicle controller through the control relay, the pressure switch is connected to the signal input port of the vehicle controller, and the signal output port of the vehicle controller is respectively connected to the emergency stop signal port of the engine controller and the control port of the centralized fire extinguishing controller through the control relay; the vehicle controller and the unmanned driving controller and the display are connected through CAN bus communication.

2. A safety decision-making system for mining dump trucks based on fire warning according to claim 1, characterized in that: The fault signal port of the centralized fire extinguishing controller is electrically connected to the coil of the fault relay, the alarm signal port of the centralized fire extinguishing controller is electrically connected to the coil of the alarm relay, the signal input port DI1 of the vehicle controller is electrically connected to the vehicle power ground through the normally open end of the fault relay switch, the signal input port DI2 of the vehicle controller is electrically connected to the vehicle power ground through the normally open end of the alarm relay switch, and the signal input port DI3 of the vehicle controller is electrically connected to the pressure switch.

3. A safety decision-making system for mining dump trucks based on fire warning according to claim 1, characterized in that: The signal output port D01 of the vehicle controller is electrically connected to the coil of the shutdown relay, and the emergency stop signal port of the engine controller is electrically connected to the vehicle's positive power supply through the normally closed end of the shutdown relay; the signal output port D02 of the vehicle controller is electrically connected to the coil of the control relay, the control 1 port of the centralized fire extinguishing controller is electrically connected to the switch common end of the control relay, the control 2 port is electrically connected to the normally open end of the control relay, and the control 3 port is electrically connected to the normally closed end of the control relay switch.

4. A control method for a safety decision system for a mining dump truck based on fire warning, characterized in that: The safety decision-making system for mining dump trucks based on fire warning according to any one of claims 1 to 3 executes a vehicle shutdown operation and a centralized fire extinguishing start-up operation when a fire occurs in the vehicle: In the unmanned driving mode, the vehicle controller receives the fault and alarm information of the centralized fire extinguishing controller and transmits it to the unmanned driving controller through the CAN bus network; when a fire occurs, the unmanned driving controller analyzes the vehicle operation status and sends a shutdown command to the vehicle controller in a timely manner, and the vehicle controller controls the engine controller to execute the vehicle shutdown operation; at the same time, the unmanned driving controller sends a fire extinguishing command to the vehicle controller, and the vehicle controller controls the centralized fire extinguishing controller to execute the centralized fire extinguishing start operation; In manual driving mode, when a fire occurs, the centralized fire extinguishing controller automatically starts the centralized fire extinguishing operation; at the same time, the display will automatically pop up the shutdown control interface. If the display selects the pressure switch shutdown mode, the vehicle controller determines whether the pressure switch is closed. If the pressure switch is closed, the vehicle controller controls the engine controller to execute the vehicle shutdown operation; If the display does not select the pressure switch shutdown mode, the driver executes the vehicle shutdown operation through the display, and the vehicle controller receives the display instruction to execute the vehicle shutdown operation.

5. The control method of the safety decision system for a mining dump truck based on fire warning according to claim 4 is characterized in that: The vehicle shutdown operation process is as follows: T11: First, determine whether the centralized fire extinguishing system is faulty. If a fault occurs, the process ends; if no fault occurs, process T12 is executed; T12: Determine whether a fire occurs. If no fire occurs, the process ends; if a fire occurs, process T13 is executed; T13: The alarm circuit of the centralized fire extinguishing controller is turned on; T14: The vehicle controller receives the alarm information from the centralized fire extinguishing controller; T15: Whether the unmanned driving mode is activated. If activated, process T16 is executed; if not activated and the vehicle is in manual driving mode, process T21 is executed; T16: The vehicle controller sends alarm information to the unmanned driving controller via CAN bus communication; T17: The unmanned driving controller decides whether to execute the shutdown based on the vehicle operation data and issues the shutdown command at the appropriate time; T18: The vehicle controller executes the shutdown command and sends a shutdown signal to the engine controller; T19: The engine controller controls the engine to execute the shutdown command, and the process ends; T21: In the manual driving mode, determine whether the display selects the pressure switch shutdown mode. If yes, execute process T22; if not, execute process T31; T22: The vehicle controller determines whether the pressure switch is closed. If it is in the open state, the process ends; if it is in the closed state, processes T18 and T19 are executed sequentially; T31: The driver operates the shutdown control interface, and the display sends the status information to the vehicle controller via the CAN bus communication. The vehicle controller receives the immediate shutdown or delayed shutdown command set by the display and executes processes T18 and T19 in sequence.

6. The control method of the safety decision-making system for a mining dump truck based on fire warning according to claim 4 is characterized in that: The centralized fire extinguishing startup operation is specifically as follows: S1: The unmanned driving controller sends a fire extinguishing command to the vehicle controller through the CAN bus network; S2: The vehicle controller controls the control relay to work; S3: The centralized fire extinguishing controller controls the port signal switching, the centralized fire extinguishing controller controls the centralized fire extinguishing system to start, and the process ends.

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