CN101885336B - Intelligent electric locomotive collision-prevention system - Google Patents
Intelligent electric locomotive collision-prevention system Download PDFInfo
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- CN101885336B CN101885336B CN 201010224190 CN201010224190A CN101885336B CN 101885336 B CN101885336 B CN 101885336B CN 201010224190 CN201010224190 CN 201010224190 CN 201010224190 A CN201010224190 A CN 201010224190A CN 101885336 B CN101885336 B CN 101885336B
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Abstract
The invention discloses an intelligent electric locomotive collision-prevention system, which consists of an infrared emission unit, an infrared receiving unit, a master control unit, an execution unit, a sound and light alarming unit and a hydraulic brake unit, wherein the master control unit mainly comprises a singlechip IC (AT89C2051); the infrared receiving unit is connected with the input end of the singlechip; and one path of the output end of the singlechip is connected with the sound and light alarming unit and a hydraulic oil pump, while the other path controls the opening of a proportional electromagnetic valve. The intelligent electric locomotive collision-prevention system has a simple structure and rational design, and can automatically realize fast and stable stop before the occurrence of collision risks, completely avoid electric locomotive collision accidents in the underground rail haulage process of a coal mine, greatly reduce economic loss and social impact caused by the accidents and improve the security coefficient and production efficiency of the coal mine.
Description
Technical field
The present invention relates to a kind of safety device for motor vehicle, particularly relate to the electric locomotive collision-prevention system in a kind of mine down-hole level large lane.
Technical background
Along with the develop rapidly of coal undertaking, coal market lasting surging, also more and more heavier with the down-hole main road haulage that the raw coal production in colliery is closely related, usually take to increase transport vehicle and train number, perhaps improve the measures such as the speed of a motor vehicle and adapt to.But, therefore many unfavorable factors and potential safety hazard have also been brought, particularly because the electric locomotive driver attention is concentrated, slow in reacting, observe and decide error or fatigue doze, irresponsibility and track switch dislocation, mistake are beaten the reasons such as incisor path trouble, large lane rail transport electric locomotive headon collision and rear-end collision happen occasionally, particularly headon collision accident, due to great power and inertia, the consequence that causes is very serious, and the equipment that may damage track, roadbed, vehicle and transport even can cause fall, fire gas accident.If it is even more serious to transport personnel's vehicle collision consequence, will cause a large amount of injuries to personnel.And the at present braking of electric locomotive is all generally two kinds of manual operation rheostatic brake and braking by hand brake, and during brake, easy generation is acutely shaken or brakes too quickly and cause human accident.In case locomotive collision accident Occurrence is huge, consequence is heavy, has greatly affected the normal orderly safety in production of coal mining enterprise.
At present mostly the anticollision device of electric locomotive cushions passively to alleviate with the absorption portion collision energy by elastic buffer head and clashes into harm, but its crashproof effect is inappreciable when the locomotive collision really occurs.Introducing on market or on the technology type publication has many products about on-highway motor vehicle collision-proof alarm or brake gear and article, but actual the use seldom.At first, their common ground is all that the signal that utilizes the producers such as infrared ray, super sonic, laser, radio to send is reflected back, and receptor judges processing to the received signal, then reports to the police or utilizes motor brake.But special due to the colliery subsurface environment, the tunnel is narrow, rail level is moist, and the turnout bend is more, 1 meter of the maximum less than of lane span track.Electric locomotive drives to bend and trouble during the lane, is arranged on electromagnetic wave that the projector of electric locomotive self sends or light and is easy to by the tunnel wall or faces the vehicular traffic reflection and cause the misoperation of brake gear flase alarm.Secondly, the braking of the mechanical mechanisms such as brake gear armrest lock, motor lever, speed of response is slow or anxious, brakes not steadily, equally easily causes vehicle to slide down or device damage, even causes injury to personnel.So this type of brake gear is not suitable under coal mine, also may stay potential safety hazard.
Summary of the invention
The objective of the invention is to solve and prevent and do not concentrate because of the electric locomotive driver attention under coal mine, slow in reacting, observe and decide error or fatigue doze, irresponsibility and track switch dislocation, mistake are beaten former resulting large lane rail transport electric locomotive headon collision and the rear-end collisions such as incisor path trouble, particularly headon collision accident, provide a kind of intelligent electric locomotive collision-prevention system, thoroughly to stop the generation of this type of accident, for Mine Safety in Production escorts.
Intelligent electric locomotive collision-prevention system of the present invention is comprised of infrared emission unit, infrared receiver, main control unit, performance element, acousto-optic warning unit and hydraulic brake unit.
Wherein, infrared emission unit is comprised of coding demodulator 1, carrier oscillator 2, electronic switch 3, amplifier power valve 4 and collector lens 40, independently is arranged on the rear and front end of electric locomotive, is used for the infrared wave of emission different coding continuously; Infrared receiver is infrared remote receiver 5, is arranged on the two ends of electric locomotive, is used for accepting preceding vehicle and penetrates the infrared wave that comes, and offer micro controller system and carry out Treatment Analysis.
Main control unit is comprised of micro controller system IC (AT89C2051), clock circuit 7, reset circuit 8, hand brake button 9, constant voltage power suspply 21 and hall speed sensor 6, performance element is comprised of the first photoisolator 10, the second photoisolator 18, D/A converter 14, analogue amplifier 15, the input end P3.1 of infrared remote receiver 5 access micro controller system IC; Hall speed sensor 6 is connected with the input end P3.2 of micro controller system IC, is used for the present speed of Real-Time Monitoring electric locomotive, input end X1, the X2 of clock circuit 7 access micro controller system IC; Output control terminal P1.0, the P1.1 of micro controller system IC is connected with the sound and light signal amplifier 11 of acousto-optic warning unit and the hydraulic oil pump 12 of hydraulic brake unit respectively after the first photoisolator 10 isolation, mouth P1.2 connects the proportion magnetic valve 16 of hydraulic brake unit after D/A converter 14, analogue amplifier 15 amplify, the open amount of control ratio electromagnetic valve 16, mouth P1.3 is connected with the electric locomotive controller 19 of hydraulic brake unit after the second photoisolator 18 isolation, in order in time cut off the power supply of electric locomotive; Reset circuit 8 is connected output control terminal RST and the P3.0 that connects respectively micro controller system IC with the hand brake button; The power supply of constant voltage power suspply 21 is taken from electric locomotive and is controlled power supply, and output+5v and+24v, be connected with the power end VCC of micro controller system and the power end of each functional circuit respectively, so that the failure-free constant voltage power suspply to be provided after voltage stabilizing.
Acousto-optic warning unit is made of sound and light signal amplifier 11 and annunciator 13.
Hydraulic brake unit is comprised of fuel tank 21, hydraulic oil pump 12, proportion magnetic valve 16, by pass valve 24, hydraulic ram 27, check valve 25, pressure-relief valve 28, filter 22, under the driving of the control of micro controller system IC and hydraulic oil pump 12, pressure oil in fuel tank 21 arrives proportion magnetic valve 16 through filter 22, check valve 25, inject brake cylinder 27 with certain flow after proportional control, thereby damper brake is braked by default pressure, and compression indicator 26 indicates current system pressure simultaneously.After pressing reset button 8, micro controller system IC makes hydraulic oil pump 12 stalls, and pressure-relief valve 28 is opened, and the pressure oil in oil cylinder 27 flows back to fuel tank 21 through pressure-relief valve 28, and system declutches and resets.Hydraulic oil pump 12 starts and not yet before braking, under the prerequisite that guarantees enough brake-pressures, pressure oil flows back to fuel tank 21 by by pass valve 24.
Intelligent electric locomotive collision-prevention system of the present invention is comprised of cell mesh such as infrared distance measurement, Single-chip Controlling, sound and light alarm, hydraulic brakings, simple in structure, reasonable in design, install easy to connect with new old model electric locomotive, before occuring, collision danger can automatically realize stopping rapidly and reposefully, thoroughly avoid the motor train colliding accident that occurs in the underground rails of coal mine transportation, the economic loss that greatly reduces so cause and social influence have improved safety factor and the production efficiency in colliery.
Intelligent electric locomotive collision-prevention system of the present invention adopts infrared ray as the distance measurement light source, antijamming capability is strong, reliability is high, be not subjected to electric locomotive headlight, tunnel illumination, workman's mine lamp and other electromagnetic interference, with infrared transmitter and receptor partial installation, can be because of vehicle or the misoperation of tunnel wall reflection signal.
Intelligent electric locomotive collision-prevention system of the present invention uses micro controller system IC (AT89C2051) as master controller, utilize its superpower data operation and information processing capability, automatically calculate required Braking system pressure and braking distance according to present speed and the relative distance of electric locomotive, really realized the purpose of intelligent and automation, greatly improved reliability, stability and the intelligent level of system, made the electric locomotive operation obtain safer assurance.
In the time of in electric locomotive sails the ultrared different ranges in the place ahead into, native system can rely on micro controller system that the current running velocity of electric locomotive and relative distance are carried out computing and compare judgement with setting value automatically, send the sound and light alarm signal, start in case of necessity the throttling of retrosequence control ratio electromagnetic valve, realize soft braking before making dangerous generation of colliding, brake not only rapidly but also steady, guaranteed the safety of personnel and vehicle arrangement, be unlikely to because of sharp impacts and brake too quickly the cause unnecessary personnel of secondary and equipment loss.
Description of drawings
Fig. 1 is the structured flowchart of intelligent electric locomotive collision-prevention system of the present invention;
Fig. 2 is the constructional drawing of hydraulic brake unit in Fig. 1.
Specific implementation method
The present invention is described in further detail below in conjunction with accompanying drawing.
At first, " safety regulations in coal mine " regulation: " 2 locomotives or 2 trains must keep being no less than the distance of 100 meters when same track travels in the same way.When transporting personnel, the stopping distance of train must not be over 20 meters ".Secondly, bend general minimum profile curvature radius in large lane, down-hole is 25 meters left and right.Therefore, native system travels to calculate and the initialization system parameter by the most dangerous same track in opposite directions.In infrared emission unit, the transmitting range of three amplifier power valves is adjusted into respectively 80 meters of alarm distances, 50 meters of general stopping distances, 7 meters three kinds of emergency stopping distances.
Consider humid environment under coal mine, particularly summer, the orbital plane adhesion factor is lower, be easy to skid, so the stopping distance of electric locomotive is set as warning, 20 meters, 2 meters three kinds, still leaves so certain buffer distance after train braking, preventing from skidding affects the braking effect of locomotive.According to the trigonometric function formula
(wherein α is the largest beam radius, b is that the light beam range is maximum launch range) calculate the infrared tube emission angle be respectively 44 ', 68 ' and 8 °, when the maximum range that is each power valve is 80 meters, 50 meters, 7 meters, the largest beam diameter is 1 meter (width of electric locomotive), light beam has just in time covered the electric locomotive end face, do not have influence on again other vehicle, guaranteed sensitivity and reliability.
Each can only process the characteristics of one road signal constantly according to micro controller system, with the Duty ratio control of the high frequency modulated pulse of each power valve below 1/3, it is taken turns to operate successively, both reduced working current, reduced power consumption, do not make again the mutual interference of signal phase, cause mistake to survey, improve the reliability of system.
According to the regulation of " safety regulations in coal mine " down-hole Maximum speed limit craspedodrome road 5m/s, bend 2m/s, require when program parameter is set: when electric locomotive entered the stopping distance of setting, micro controller system is a=-v by formula
2/ 2L calculates brake acceleration/accel (wherein v is current vehicle speed, and L is maximum stopping distance), and namely the micro controller system acceleration/accel that will brake is controlled at 0.6～4m/s automatically
2Between, and send braking instruction, regulate the proportional solenoid valve control brake-pressure, make train stopping-down reposefully in the regulation displacement.
Three kinds of different coding signals of the coding demodulator 1 of infrared emission unit are modulated the carrier signal of 38Khz, the modulation signal that produces three kinds of different frequencies is delivered to amplifier power valve 4, launches the infrared ray of three kinds of different codings to drive three infrared transmitting tubes.Each constantly can only process the characteristics of one road signal according to micro controller system, and No. three amplifiers are controlled its conductings successively by electronic switch 3, guarantees that each only has constantly that riches all the way and penetrates the plumber to do, so both reduced working current, reduce power consumption, avoided again the mutual interference of signal phase, caused receptor 5 mistakes to survey.
Power valve type selecting and adjustment amplifier emissive power by to amplifier power valve 4d make transmitting range be respectively S1=80m, S2=50m, S3=7m; By adjusting the focal length of collector lens 40 separately, make the light beam firing angle be respectively α
1=44 ', α
2=68 ', α
3=8 °, making the critical place beam diameter of each transmitting range is 1 meter, just in time covers the end face of electric locomotive, has both guaranteed reception, has prevented again the interference to the adjacent lane vehicle.Infrared emission unit is arranged on the place ahead lighting headlight below of electric locomotive and the appropriate location below the taillight of back, due to underground orbit electric haulage locomotive two way regardless of end to end, so locomotive two ends all are separately installed with infrared emission unit and infrared receiver.Infrared receiver be arranged on electric locomotive with infrared emission unit over against the position.
Amplifier power valve 4 is forwards being launched the infrared wave of three kinds of different range different codings incessantly successively, receives and judges in order to micro controller system and electric locomotive current residing position then send corresponding warning or braking instruction.
When electric locomotive enters the alarm distance S1 (80m) of front vehicles at same rail running for a certain reason, infrared remote receiver 5 is sent to rapidly micro controller system IC with the infrared signal that the place ahead electric locomotive that receives sends, carrying out data by micro controller system processes, after analyzing judgement, through the two-way output in 10 minutes of the first photoisolator, one the tunnel connects the electric locomotive acousto-optic warning unit, annunciator 13 sends sound and light alarm, to remind Ben Che driver and opposite electric locomotive driver, note slowing down and go slowly, maintain safe distance; One road rapid primer fluid pressure oil pump 12 is for brake is prepared.If car retardation, after withdrawing from alarm distance, system automatically terminates alarm, disconnects hydraulic oil pump 12 power supplys.
If electric locomotive does not slow down, still move on, when entering general stopping distance S2 (50m), infrared remote receiver 5 sends the infrared signal that receives to micro controller system IC, after micro controller system IC recognizes and is speed-slackening signal, send immediately instruction, command signal is cut off electric locomotive controller 19 through the second photoisolator 18, main motor outage makes electric locomotive be in sliding state.Carry out computing with the current vehicle speed of hall speed sensor 6 feedbacks immediately simultaneously, comparative analysis, then send braking instruction according to default braking acceleration, control electric current and regulate the open amount of proportion magnetic valve 16 after D/A converter 14, analogue amplifier 15 amplify, automatically adjust the lock torque of brake cylinder 27, the delivery pressure of brake cylinder 27 is progressively increased, realize steadily stopping in 20m.
If electric locomotive has entered emergency stopping distance S3 (7 meters) in the situation that bend or remote sight line are blocked when finding front vehicles, namely two cars apart
Rice left and right (wherein R is the orbital curve radius), after this moment, infrared remote receiver 5 received the emergency brake signal that the other side sends, micro controller system IC sends immediately the emergency braking instruction and cuts off electric locomotive controller 19 power supplys, open with steeper braking acceleration control ratio electromagnetic valve 16, larger lock torque makes electric locomotive brake rapidly within 2 meters.Simultaneously can prevent from again causing the dead phenomenon of damper brake bag because of emergency brake.
After electric locomotive brake, need press reset button 8 and just can make system send the brake off instruction, pressure-relief valve 28 is opened, damper brake unclamps under the effect of retracing spring and resets, and withdraws from braking mode.
In native system, manually control to adopt and interrupt mode, make manual control have precedence over automatic control.Press hand brake button 9 and just can generally brake at any time, save the troublesome operation of rotating the brake handwheel, convenient and swift.
Claims (1)
1. intelligent electric locomotive collision-prevention system, is characterized in that being comprised of infrared emission unit, infrared receiver, main control unit, performance element, acousto-optic warning unit and hydraulic brake unit, wherein,
Infrared emission unit is comprised of coding demodulator (1), carrier oscillator (2), electronic switch (3), amplifier power valve (4) and collector lens (40), independently be arranged on the rear and front end of electric locomotive, be used for the infrared wave of emission different coding continuously; Infrared receiver is infrared remote receiver (5), is arranged on the two ends of electric locomotive, is used for accepting preceding vehicle and penetrates the infrared wave that comes, and offer micro controller system and carry out Treatment Analysis;
Main control unit is comprised of micro controller system IC, clock circuit (7), reset circuit button (8), hand brake button (9), constant voltage power suspply (21) and the hall speed sensor (6) of model AT89C2051, performance element is comprised of the first photoisolator (10), the second photoisolator (18), D/A converter (14), analogue amplifier (15), the input end P3.1 of infrared remote receiver (5) access micro controller system IC; Hall speed sensor (6) is connected with the input end P3.2 of micro controller system IC, input end X1, the X2 of clock circuit (7) access micro controller system IC; Output control terminal P1.0, the P1.1 of micro controller system IC is connected with the sound and light signal amplifier (11) of acousto-optic warning unit and the hydraulic oil pump (12) of hydraulic brake unit respectively after the first photoisolator (10) isolation, connect the proportion magnetic valve (16) of hydraulic brake unit after D/A converter (14), the analogue amplifier (15) of mouth P1.2 in performance element amplifies, mouth P1.3 is connected with the electric locomotive controller (19) of hydraulic brake unit after the second photoisolator (18) isolation; Reset circuit button (8) is connected 9 with the hand brake button) connect respectively output control terminal RST and the P3.0 of micro controller system IC; The power supply of constant voltage power suspply (21) is taken from electric locomotive and is controlled power supply, and output+5v and+24v, be connected with the power end VCC of micro controller system and the power end of each functional circuit respectively after voltage stabilizing;
Acousto-optic warning unit is made of sound and light signal amplifier (11) and annunciator (13);
hydraulic brake unit is by electric locomotive controller (19), fuel tank (21), hydraulic oil pump (12), proportion magnetic valve (16), by pass valve (24), hydraulic ram (27), check valve (25), pressure-relief valve (28), filter (22) forms, under micro controller system IC control and hydraulic oil pump (12) driving, pressure oil in fuel tank (21) is through filter (22), check valve (25) arrives proportion magnetic valve (16), after proportional control with certain flow injection liquid compressing cylinder (27), make damper brake by default press-brake, compression indicator (26) indication current system pressure, press reset circuit button (8), micro controller system IC makes hydraulic oil pump (12) stall, and pressure-relief valve (28) is opened, and the pressure oil in hydraulic ram (27) flows back to fuel tank (21) through pressure-relief valve (28), and system declutches and resets, hydraulic oil pump (12) starts and not yet before braking, pressure oil flows back to fuel tank (21) by by pass valve (24).
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| CN 201010224190 CN101885336B (en) | 2010-07-08 | 2010-07-08 | Intelligent electric locomotive collision-prevention system |
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| CN101885336B true CN101885336B (en) | 2013-06-26 |
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| CN102139674A (en) * | 2011-02-23 | 2011-08-03 | 电子科技大学 | System for preventing automobile end collision foggy day |
| CN102336204A (en) * | 2011-07-31 | 2012-02-01 | 宁波市镇海西门专利技术开发有限公司 | Anti-collision system for trains |
| CN102358332A (en) * | 2011-07-31 | 2012-02-22 | 宁波市镇海西门专利技术开发有限公司 | Rear-end collision prevention remote sensing device for trains |
| CN102700573B (en) * | 2012-05-29 | 2015-09-30 | 东南大学 | A kind of active railway vehicle collision avoidance system and collision-proof method thereof |
| CN102756748A (en) * | 2012-07-31 | 2012-10-31 | 上海中科高等研究院 | Train anticollision system on basis of sound wave communication and anticollision method thereof |
| CN103264716B (en) * | 2013-05-09 | 2015-09-09 | 桂林市哲云电子科技有限公司 | Infrared ray ladder encoding and decoding collision avoidance system |
| CN103465887A (en) * | 2013-09-23 | 2013-12-25 | 孙宏水 | Vehicle rear-end collision preventing device and control method thereof |
| IT201700058879A1 (en) * | 2017-05-30 | 2018-11-30 | Faiveley Transport Italia Spa | System and acoustic procedure for traction / braking control of a railway train. |
| CN113353735B (en) * | 2021-05-26 | 2022-10-28 | 首钢水城钢铁（集团）有限责任公司 | Automatic length measuring and positioning and circulating automatic coil unloading method for high-speed wire coil unloading |
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| CN201895654U (en) * | 2010-07-08 | 2011-07-13 | 王晓红 | Intelligent anticollision system for electric locomotives |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20090058621A1 (en) * | 2007-09-05 | 2009-03-05 | San-Lin Yen | Multifunction crash-protecting alerting system |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4306419A1 (en) * | 1993-03-02 | 1994-09-08 | Guenter Dipl Ing Schliebs | Optoelectronic distance sensor for motor vehicles, in particular passenger cars and utility vehicles with vision-impairing bodies |
| CN1134896A (en) * | 1995-02-09 | 1996-11-06 | 大宇电子株式会社 | Method for avoiding collision of vehicle and apparatus for performing the same |
| CN201895654U (en) * | 2010-07-08 | 2011-07-13 | 王晓红 | Intelligent anticollision system for electric locomotives |
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