AU2021201711A1

AU2021201711A1 - Video recognition-based mine underground monorail crane transport system

Info

Publication number: AU2021201711A1
Application number: AU2021201711A
Authority: AU
Inventors: Huawei JIN; Ziming KOU; Guorong Wang; Juan Wu; Xuanxuan Yan
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-03-18
Filing date: 2021-03-18
Publication date: 2022-10-13

Abstract

The present invention discloses a video recognition-based mine underground monorail crane transport system, and relates to the technical field of mine underground transport devices. The present invention comprises a switch, a video recognition device, a control module, a support beam, multiple chains, a movable I-beam and a drive mechanism, wherein the switch is connected with a main switch, an M-direction branch switch and an N-direction branch switch, and the main switch is connected with an inclined roadway. The top of the main switch is fixedly connected with a first fixed I-beam, and the top of the M-direction branch switch is fixedly connected with a second fixed I-beam. In the present invention, by means of video recognition, the automatic hoisting of an inclined roadway baffle and the intelligent shifting of a switch are realized, different feature modules carried by a monorail crane transport vehicle are recognized, retrieved, analyzed and calculated by video sensors, different functions are required to be intelligently processed, a control command is output by a CAN and transmitted to an actuating mechanism, thereby intelligently intercepting the monorail crane transport vehicle by the inclined roadway baffle. 1 Drawings of Description rrrrrrrrr rrrrrr F ' ' FFFF~rr F Fr Fr rr r rrr r rr C r rr r or rrrrrrr Fig r rr r1

Description

Drawings of Description

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Description VIDEO RECOGNITION-BASED MINE UNDERGROUND MONORAIL CRANE TRANSPORT SYSTEM

Technical Field The present invention belongs to the technical field of underground transport equipment, and particularly relates to a video recognition-based mine underground monorail crane transport system.

Background As a common mine machine for transporting mine materials and mechanical equipment, a monorail crane transport vehicle occupies an important proportion in a mine transport system. For a traditional monorail crane transport system, whether there is a need to intercept and adjust the baffle position accordingly is manually judged when switching from the end of an inclined roadway to a main haulage roadway and a switch, which is low in efficiency and waste in labor, is also easy to cause accidents because of untimely operation and has great potential safety hazard. Meanwhile, because of numerous underground transport vehicles and narrow underground space, there is a lack of information exchange between traditional monorail crane vehicles and between vehicles and a central control system. Once any safety accident occurs in front, because of the relative lag of artificial information transmission, rear vehicles cannot be decelerated, intercepted and diverted in time, it is easy to cause a chain collision accident, thereby greatly increasing the risk coefficients of a mine and not meeting the requirements of mine production. In the traditional monorail crane transport, a vehicle often needs to stop to manually adjust the swinging direction of an I-beam when encountering a switch, which is complicated in operation, consumed in time and labor, and is easy to cause accidents due to improper operation. Therefore, it is urgent to solve the problem of monorail crane transport. In an unloading assembly of the existing transport vehicle, a pull rope of a bottom plate cannot slide down due to the accumulation of goods, and then the bottom plate cannot be opened, thus being unable to unload goods.

Summary The purpose of the present invention is to provide a video recognition-based mine underground monorail crane transport system. By means of video recognition, the automatic hoisting of an inclined roadway baffle and the intelligent shifting of a switch are realized, different feature modules carried by a monorail crane transport vehicle are recognized, retrieved, analyzed and calculated by video sensors, different functions are required to be intelligently processed, a control command is output by a CAN and transmitted to an actuating mechanism, thereby intelligently intercepting the monorail crane transport vehicle by the inclined roadway baffle. By means of reverse thinking and by means of reverse application of the crank slider mechanism, a swingable I-beam at the switch is shifted, the problems of rail change and direction change of the monorail crane transport vehicle are solved, the whole device is processed based on a computer system, automation control is realized, costs are greatly reduced, the reliability of operation is improved, thereby being

Description efficient, safe, time-saving and labor-saving and solving the problems existing in the prior art. To achieve the above purpose, the present invention is realized by the following technical solution: A video recognition-based mine underground monorail crane transport system, comprising a switch, a video recognition device, a control module, a support beam, multiple chains, a movable I-beam and a drive mechanism, wherein the switch is connected with a main switch, an M-direction branch switch and an N-direction branch switch, and the main switch is connected with an inclined roadway; the top of the main switch is fixedly connected with a first fixed I-beam, the top of the M-direction branch switch is fixedly connected with a second fixed I-beam, the top of the N-direction branch switch is fixedly connected with a third fixed I-beam, the top of the inclined roadway is fixedly connected with a fourth fixed I-beam, the top of the switch isfixedly connected with a shifting fork device, an automatic baffle device is provided between the main switch and the inclined roadway, and a transport vehicle is slidably fitted below the fourth fixed I-beam. The first fixed I-beam, the second fixed I-beam, the third fixed I-beam, the fourth fixed I-beam and the support beam are all connected to the top of respective switches where they are located by the multiple chains. The support beam is an arc-shaped support beam, the support beam is provided with a slideway, the support beam is provided with two sliding chutes at the top, and the two sliding chutes are located at two opposite sides of the slideway. One end of the movable I-beam is rotationally connected to the end of the first fixed I-beam, the movable I-beam is provided with a sliding part, the movable I-beam is suspended on the support beam by the sliding part, the sliding part is slidably fitted in the slideway, the sliding part is provided with convex parts corresponding to the sliding chutes, and the convex parts are slidably fitted in the sliding chutes. A barrel body is installed in the transport vehicle, the barrel body is slidably fitted below the fourth fixed I-beam, multiple connecting rods are installed between the circumference side of the barrel body and the upper end of the transport vehicle, a third motor is arranged in the barrel body, the third motor is a servo motor, the third motor is provided with a rod body at the output end, the circumference side of the rod body is sheathed with a cylinder, the circumference side of the cylinder is provided with a slot channel assembly, the slot channel assembly includes two first slot channels symmetrically provided at the inner side of the cylinder, and the first slot channels are in communication with each other at the two ends; each of the first slot channels is in a half-circle spiral shape, the circumference side of the rod body is provided with first convex blocks, and the first convex blocks are slidably fitted in the first slot channels; an inner wall of the barrel body is provided with a second slot channel, the outer side of the cylinder is provided with a convex strip, and the convex strip is slidably fitted in the second slot channel; the transport vehicle comprises a frame, the bottom end of the frame is rotationally fitted with four bottom plates, the bottom end of the barrel body is attached to the upper end of each bottom plate, and a pull rope is arranged between the bottom plate and the bottom end of the cylinder. Optionally, the sliding part is welded at the top of the movable I-beam, the drive mechanism comprises a first motor, a telescopic mechanism, a sliding rail, a slider and a connecting rod; the first motor is fixed to a side wall of the main switch, the telescopic

Description mechanism comprises a rotating shaft in transmission connection with the first motor, the rotating shaft is provided with a threaded hole, and a screw rod is in threaded connection in the threaded hole; and one end of the screw rod is in transmission connection with the slider, the slider is slidably connected to the sliding rail, one end of the connecting rod is rotationally connected to the slider, and the other end of the connecting rod is rotationally connected to the movable I-beam. Optionally, a pin is arranged at one end of the movable I-beam, and the end of the movable I-beam is rotationally connected to the end of the first fixed I-beam by the pin. Optionally, the automatic baffle device comprises a baffle rotationally connected at the top of a junction between the main switch and the inclined roadway, hinges, and a steel cable, wherein the baffle is rotationally connected at the top of the junction between the main switch and the inclined roadway by the hinges; the top of the junction between the main switch and the inclined roadway is fixedly connected with a second motor, and the second motor is in transmission connection with a curtain rolling machine; and the curtain rolling machine is in transmission connected with the baffle by the steel cable, and the baffle is provided with a gap. Optionally, the video recognition device comprises multiple video sensors respectively arranged at the junctions of the switch, the main switch and the inclined roadway. Optionally, the transport vehicle is connected with a spring, the end of the spring is connected to a buffer block, and the buffer block isfixedly connected with a feature module. Embodiments of the present invention have the following beneficial effects: According to an embodiment of the present invention, by means of video recognition, the automatic hoisting of an inclined roadway baffle and the intelligent shifting of a switch are realized, different feature modules carried by a monorail crane transport vehicle are recognized, retrieved, analyzed and calculated by video sensors, different functions are required to be intelligently processed, a control command is output by a CAN and transmitted to an actuating mechanism, thereby intelligently intercepting the monorail crane transport vehicle by the inclined roadway baffle. By means of reverse thinking and by means of reverse application of the crank slider mechanism, a swingable I-beam at the switch is shifted, the problems of rail change and direction change of the monorail crane transport vehicle are solved, the whole device is processed based on a computer system, automation control is realized, costs are greatly reduced, the reliability of operation is improved, thereby being efficient, safe, time-saving and labor-saving. The barrel body is arranged in the transport vehicle, and the bottom end of the barrel body is attached to the upper end of each bottom plate, so the probability that the pull rope cannot slide down because goods in the transport vehicle are accumulated towards the center is reduced, meanwhile, the influence of the goods in the transport vehicle on the pull rope is insulated, and the probability that the pull rope cannot slide down because the goods in the transport vehicle squeeze the pull rope and then the bottom plates cannot be opened is reduced. The third motor is set as a servo motor, the circumference side of the cylinder is provided with a slot channel assembly, the slot channel assembly includes two first slot channels symmetrically provided at the inner side of the cylinder, the first slot channels are in communication with each other at the two ends, each of the first slot channels is in a half-circle spiral shape, the circumference side of the rod body is provided with first convex blocks, being convenient to send a command of rotating for half a

Description circle to the third motor to drive the rod body to rotate and drive the bottom plates to open and close, and thus quickly unloading goods. Of course, it is not necessary to achieve all the advantages mentioned above at the same time when implementing any product of the present invention.

Description of Drawings Drawings of the Description forming a part of the present application are used for providing further understanding of the present invention. Exemplary embodiments of the present invention and the description are used for explaining the present invention, but do not constitute a limitation to the present invention. In the drawings: Fig. 1 is a structural schematic diagram of an embodiment of the present invention; Fig. 2 is a top view of a structural schematic diagram of a shifting fork device of an embodiment of the present invention; Fig. 3 is a structural diagram of a sliding part of an embodiment of the present invention; Fig. 4 is a structural schematic diagram of a support beam of an embodiment of the present invention; Fig. 5 is a structural schematic diagram of a movable I-beam of an embodiment of the present invention; Fig. 6 is a structural schematic diagram of a baffle of an embodiment of the present invention; Fig. 7 is a structural schematic diagram of a transport vehicle of an embodiment of the present invention; and Fig. 8 is a sectional view of a transport vehicle of an embodiment of the present invention. The figures include the following reference numerals: Main switch 1; M-direction branch switch 11; N-direction branch switch 12; first fixed I-beam 2; second fixed I-beam 21, third fixed I-beam 22; movable I-beam 3; sliding part 31; convex part 32; pin 33; support beam 4; slideway 41; sliding chute 42; ball 43; first motor 5; rotating shaft 51; screw rod 52; slider 53; sliding rail 54; connecting rod 55; chain 6; inclined roadway 7; fourth fixed I-beam 71; transport vehicle 8; spring 81; buffer block 82; barrel body 83; connecting rod 84; third motor 85; rod body 86; cylinder 87; first slot channel 88; first convex block 89; second slot channel 810; convex strip 811; frame 812; bottom plate 813; pull rope 814; baffle 9; second motor 91; curtain rolling machine 92; steel cable 93; gap 94; hinge 95.

Detailed Description The technical solution in the embodiment of the present invention will be described clearly and completely below in combination with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way serves as any limitation to the invention and its application or use. In order to keep the following description of embodiments of the present invention clear and concise, detailed descriptions of known functions and known components are omitted.

Description Referring to Figs. 1-8, this embodiment provides a video recognition-based mine underground monorail crane transport system, comprising a switch, a video recognition device, a control module, a support beam 4, multiple chains 6, a movable I-beam 3 and a drive mechanism, wherein the switch is connected with a main switch 1, an M-direction branch switch 11 and an N-direction branch switch 12, and the main switch 1 is connected with an inclined roadway 7; the top of the main switch 1 isfixedly connected with a first fixed I-beam 2, the top of the M-direction branch switch 11 is fixedly connected with a second fixed I-beam 21, the top of the N-direction branch switch 12 is fixedly connected with a third fixed I-beam 22, the top of the inclined roadway 7 isfixedly connected with a fourth fixed I-beam 71, the top of the switch is fixedly connected with a shifting fork device, an automatic baffle device is provided between the main switch 1 and the inclined roadway 7, and a transport vehicle 8 is slidably fitted below the fourth fixed I-beam 71. The first fixed I-beam 2, the second fixed I-beam 21, the third fixed I-beam 22, the fourth fixed I-beam 71 and the support beam 4 are all connected to the top of respective switches where they are located by the multiple chains 6. The support beam 4 is an arc-shaped support beam, the support beam 4 is provided with a slideway 41, the support beam 4 is provided with two sliding chutes 42 at the top, and the two sliding chutes 42 are located at two opposite sides of the slideway 41. One end of the movable I-beam 3 is rotationally connected to the end of the first fixed I-beam 2, the movable I-beam 3 is provided with a sliding part 31, the movable I-beam 3 is suspended on the support beam 4 by the sliding part 31, the sliding part 31 is slidably fitted in the slideway 41, the sliding part 31 is provided with convex parts 32 corresponding to the sliding chutes 42, and the convex parts 32 are slidably fitted in the sliding chutes 42. A barrel body 83 is installed in the transport vehicle 8, the barrel body 83 is slidably fitted below the fourth fixed I-beam 71, multiple connecting rods 84 are installed between the circumference side of the barrel body 83 and the upper end of the transport vehicle 8, a third motor 85 is arranged in the barrel body 83, the third motor 85 is a servo motor, the third motor is provided with a rod body 86 at the output end, the circumference side of the rod body 86 is sheathed with a cylinder 87, the circumference side of the cylinder 87 is provided with a slot channel assembly, the slot channel assembly includes two first slot channels 88 symmetrically provided at the inner side of the cylinder 87, and the first slot channels 88 are in communication with each other at the two ends; each of the first slot channels 88 is in a half-circle spiral shape, the circumference side of the rod body 86 is provided with first convex blocks 89, and the first convex blocks 89 are slidably fitted in the first slot channels 88; an inner wall of the barrel body 83 is provided with a second slot channel 810, the outer side of the cylinder 87 is provided with a convex strip 811, and the convex strip 811 is slidably fitted in the second slot channel 810; the transport vehicle 8 comprises a frame 812, the bottom end of the frame 812 is rotationally fitted with four bottom plates 813, the bottom end of the barrel body 83 is attached to the upper end of each bottom plate 813, and a pull rope 814 is arranged between the bottom plate 813 and the bottom end of the cylinder 87. The monorail crane transport system is installed in a mine tunnel which includes a switch. In order to reduce friction force, the sliding chutes 42 are internally provided with balls 33 for reducing the friction force between the sliding chutes 42 and the convex parts 32, and the sliding chutes 42 are internally provided with lubricating oil. Each of the fixed I-beams and

Description the support beam 4 is equipped with four or more chains 6. The third motor 85 drives the rod body 86 to rotate, and because the slot channel assembly is a symmetrical half-circle spiral slot channel, when the rod body 86 rotates, the first convex blocks 89 slide in the slot channel assembly to drive the cylinder 87 to move up half-circle and down half-circle. When the cylinder 87 is moved downward, the pull rope 814 is moved downward, and the bottom plates 813 are opened, so the goods automatically flow out of the frame 812. When the cylinder 87 is moved upward, the pull rope 814 is moved upward to pull the bottom plates 813 to be closed and block the frame 812. By means of video recognition, the automatic hoisting of an inclined roadway baffle and the intelligent shifting of a switch are realized, different feature modules carried by a monorail crane transport vehicle are recognized, retrieved, analyzed and calculated by video sensors, different functions are required to be intelligently processed, a control command is output by a CAN and transmitted to an actuating mechanism, thereby intelligently intercepting the monorail crane transport vehicle by the inclined roadway baffle. By means of reverse thinking and by means of reverse application of the crank slider mechanism, a swingable I-beam at the switch is shifted, the problems of rail change and direction change of the monorail crane transport vehicle are solved, the whole device is processed based on a computer system, automation control is realized, costs are greatly reduced, the reliability of operation is improved, thereby being efficient, safe, time-saving and labor-saving. The barrel body 83 is arranged in the transport vehicle 8, and the bottom end of the barrel body 83 is attached to the upper end of each bottom plate 813, so the probability that the pull rope cannot slide down because goods in the transport vehicle 8 are accumulated towards the center is reduced, meanwhile, the influence of the goods in the transport vehicle 8 on the pull rope 814 is insulated, and the probability that the pull rope 814 cannot slide down because the goods in the transport vehicle 8 squeeze the pull rope 814 and then the bottom plates 813 cannot be opened is reduced. The third motor 85 is set as a servo motor, the circumference side of the cylinder 87 is provided with a slot channel assembly, the slot channel assembly includes two first slot channels 88 symmetrically provided at the inner side of the cylinder 87, the first slot channels 88 are in communication with each other at the two ends, each of the first slot channels 88 is in a half-circle spiral shape, the circumference side of the rod body 86 is provided with first convex blocks 89, being convenient to send a command of rotating for half a circle to the third motor 85 to drive the rod body 86 to rotate and drive the bottom plates 813 to open and close, and thus quickly unloading goods. The sliding part 31 of this embodiment is welded at the top of the movable I-beam 3, the drive mechanism comprises a first motor 5, a telescopic mechanism, a sliding rail 54, a slider 53 and a connecting rod 55; the first motor 5 is fixed to a side wall of the main switch 1, the telescopic mechanism comprises a rotating shaft 51 in transmission connection with the first motor 5, the rotating shaft 51 is provided with a threaded hole, and a screw rod 52 is in threaded connection in the threaded hole; and one end of the screw rod 52 is in transmission connection with the slider 53, the slider 53 is slidably connected to the sliding rail 54, one end of the connecting rod 55 is rotationally connected to the slider 53, and the other end of the connecting rod 55 is rotationally connected to the movable I-beam 3. A pin 33 is arranged at one end of the movable I-beam 3 of this embodiment, and the end of the movable I-beam 3 is rotationally connected to the end of the first fixed I-beam 2 by the

Description pin 33. Matched bayonets are provided at the rear end of the movable I-beam 3 and the ends of the fixed I-beams of the branch switches. The automatic baffle device of this embodiment comprises a baffle 9 rotationally connected to the top of a junction between the main switch 1 and the inclined roadway 7, hinges 95 and a steel cable 93, wherein the baffle 9 is rotationally connected to the top of the junction between the main switch 1 and the inclined roadway 7 by the hinges 95; the top of the junction between the main switch 1 and the inclined roadway 7 is fixedly connected with a second motor 91, and the second motor 91 is in transmission connection with a curtain rolling machine 92; and the curtain rolling machine 92 is in transmission connected with the baffle 9 by the steel cable 93, and the baffle 9 is provided with a gap 94. The baffle 9 has a hoisting unblocking mode and a descending blocking mode when rotating, so that the baffle 9 can be hoisted in the direction of the inclined roadway 7 or descended in the direction of the main switch by the joint action of the second motor 91, the curtain rolling machine 92 and the steel cable 93, and the gap 94 plays a role of facilitating the fixed I-beams to pass through. The video recognition device of this embodiment comprises multiple video sensors respectively arranged at the junctions of the switch, the main switch 1 and the inclined roadway 7. The transport vehicle 8 of this embodiment is connected with a spring 81, and the end of the spring 81 is connected to a buffer block 82, so that when the transport vehicle needs to be blocked, the baffle is in the descending blocking mode, the buffer block 82 abuts against the baffle 9; the buffer block 82 is fixedly connected with a feature module, the video sensors are used to recognize information on the feature module, and the control module receives the video sensors and controls the operation of the shifting fork device and the automatic baffle device. The slideway 41 is provided at both ends with locking clips for limiting the movable I-beam 3. To prevent dust and other impurities from entering the sliding chutes 42, the support beam 4 is provided with an explosion-proof dust cover; to prevent dust and other impurities from entering the drive mechanism, the drive mechanism is provided with an explosion-proof dust cover; and the second motor 91 is provided with an explosion-proof dust cover. While in use, when the transport vehicle 8 runs to the switch along the first fixed I-beam 2, the data information of the feature modules on the transport vehicle 8 collected by the video sensors is compressed and then transmitted to a nearby working base station, the feature modules are recognized, analyzed and processed by a central data processing system of the base station, and information obtained is compared with that of a database system. If it is detected that the transport vehicle 8 shall go through the switch and bear up to the M-direction branch switch 11, a signal of a control command D is output by the base station through the CAN, the first motor 5 is operated to drive the screw rod 52 to move forward, the slider 53 is driven to move forward on the sliding rail 54 by the screw rod 52, and the movable I-beam 3 is driven to rotate along the slideway 41 by the slider 53 through the connecting rod 55. By reversely applying the principle of the crank slider 53, the linear motion of the slider 53 can be transformed into the rotation of the movable I-beam 3 around the arc-shaped sliding chutes 42 with the pin 33 as a center. When the slider 53 moves to a certain position, the sliding part 31 on the movable I-beam 3 just arrives at the locking clip, and the first fixed I-beam 2 and the second fixed I-beam 21are connected by the movable I-beam 3; at this point, the movable

Description I-beam 3 can be restricted to prevent sliding thereof and influence on safety performance of a vehicle when steering. If it is detected by information processing and analysis of the feature modules that the transport vehicle shall bear up to the N-direction branch switch 12, the base station outputs a signal of a control command D10 through the CAN, the first motor 5 operates reversely, so the screw rod 52 moves backward and the slider 53 moves backward along the sliding rail 54 to drive the movable I-beam 3 to swing in the direction of the N-direction branch switch 12 by the connecting rod 55. When the slider moves to a certain position, the sliding part 31 arrives at the locking clip. The first fixed I-beam 2 and the third fixed I-beam 22 are connected by the movable I-beam 3 so as to make the transport vehicle 8 smoothly turn to the N-direction branch switch 12. This command can greatly improve the rail change efficiency of the switch. The video sensors are used for recognition in advance, which ensures the passing speed of the vehicle and reduces labor costs and possible adverse influences of manual operation. For the automatic baffle 9 device, when the transport vehicle 8 runs downward from the inclined roadway 7 along the fourth fixed I-beam 71, when being close to the baffle 9 of the inclined roadway 7, a video sensor scans a feature module above the buffer block 82 in front of the transport vehicle 8. The video information data scanned by the video sensor is compressed using the H.264 compression technology and then is transmitted to a nearby work base station, a signal is analyzed and processed by a central software control system of the base station through database technology, and then a control command is transmitted to an actuating mechanism by the CAN through a data exchanger. a. If the video sensor recognizes that the running speed of the transport vehicle 8 exceeds the safe limit speed, the base station outputs a signal of a control command C Ithrough the CAN, the second motor 91 rotates positively, the output power is transferred to the curtain rolling machine 92 through the speed reducer, the curtain rolling machine 92 rotates positively so the steel cable 93 is elongated, the baffle 9 is descended to be in the descending blocking mode, and thus the baffle 9 can collide with the buffer block 82 in front of the transport vehicle 8 to reduce the speed of the transport vehicle 8. If the running speed of the transport vehicle 8 is within the safe limit speed, the CAN outputs a signal of a control command C1O, the second motor 91 rotates reversely to drive the curtain rolling machine 92 to rotate reversely so the steel cable 93 is retracted, the baffle 9 is hoisted to be in the hoisting unblocking mode, and thus the transport vehicle 8 can pass without barrier. This command can greatly improve the efficiency of underground vehicle transport. b. If a traffic accident occurs in front of the roadway, a pedestrian breaks into a vehicle track, a mine disaster occurs or other conditions affecting the normal operation of a mine occur, a feature module in front of the transport vehicle 8 is scanned by the video sensor, the data collected by the sensor is transferred to a database for comparison, a remote computer controls to output a signal of a control command C21, under the control of such command, the second motor 91 is made to rotate positively even if the running speed of the transport vehicle 8 is within the safe limit speed, the steel cable 93 is elongated, the baffle 9 is descended to block the transport vehicle 8. If none of the above special conditions occurs, a signal of a control command C20 is output, which has no effect on the second motor 91. This command can greatly improve the safety performance of underground transport, avoid accidents such as

Description multi-vehicle collision and human-vehicle collision, and reduce secondary injury and loss to a maximum extent even if a mine disaster occurs. c. When the transport vehicle 8 is involved in a derailing accident or incorrect departure, the feature module of the mis-derailing can be input in a computer terminal database system, if the video sensor monitors the feature module on the transport vehicle 8, the base station compares the video signal transmitted by the sensor with that of the feature module of the mis-derailing, if the signals are consistent, the CAN outputs a signal of a control command C31 and transmits signal information to the second motor 91, the second motor 91 rotates positively so the output torque is transferred to the curtain rolling machine 92 through the speed reducer, the curtain rolling machine 92 rotates positively so the steel cable 93 is elongated to block a mis-derailing vehicle or mis-departing vehicle, and if the signals are inconsistent, the base station outputs a signal of a control command C30 through the CAN, which has no effect on the second motor 91. This command can reduce adverse effects on underground production work due to misoperation, and reduce influence of human factors on mine safety production. The third motor 85 drives the rod body 86 to rotate, and because the slot channel assembly is a symmetrical half-circle spiral channel, when the rod body 86 rotates, the first convex blocks 89 slide in the slot channel assembly to drive the cylinder 87 to move up half-circle and down half-circle. When the cylinder 87 is moved downward, the pull rope 814 is moves downward, and the bottom plates 813 are opened, so the goods automatically flow out of the frame 812. When the cylinder 87 is moved upward, the pull rope 814 is moved upward to pull the bottom plates 813 to be closed and block the frame 812. According to the analysis of several typical cases described above, the present invention can greatly promote the improvement of unmanned technology of an underground monorail crane auxiliary transport system. When the transport vehicle 8 runs along the fourth fixed I-beam 71, the transport vehicle 8 can be monitored at all times and all places by the video sensors, an underground work base station can carry out intelligent control and remote control according to the information of the video sensors, and different commands are set for different underground transport situations, so as to achieve a state of operating easily in an unmanned condition, and even reduce the safety risks caused by human driving with the help of hi-tech means such as database technology and a computer intelligent processing system. The improvement of unmanned technology can greatly reduce the costs of human resources and can minimize the damage when a mine accident occurs, which promotes the innovation of underground transport technology and demonstrates a great progress in a monorail crane auxiliary transport expert system. The above-mentioned embodiments can be combined with each other. It should be noted that the terms such as "first", "second", and the like in the Description and Claims as well as Drawings in the present application are used for distinguishing the analogous objects rather than used for describing special order or precedence order. It shall be understood that such data may be exchanged under appropriate circumstances so that the embodiments of the present application described herein, for example, may be implemented in the order other than those illustrated or described herein. It should be understood in the description of the present invention that nouns of locality such as "front", "rear", "upper", "lower", "left", "right", "transverse", "vertical",

Description "perpendicular", "horizontal", "top" and "bottom" indicate direction or position relationships shown based on the drawings, and are only intended to facilitate the description of the present invention and the simplification of the description rather than to indicate or imply that the indicated device or element must have a specific direction or constructed and operated in a specific direction unless otherwise stated, and therefore, shall not be understood as a limitation to the protection scope of the present invention. The nouns of locality such as "inner and outer" refer to the inner and outer parts relative to the contour of each component.

Claims

Claims 1. A video recognition-based mine underground monorail crane transport system, comprising: a switch, a video recognition device, a control module, a support beam (4), multiple chains (6), a movable I-beam (3) and a drive mechanism, wherein the switch is connected with a main switch (1), an M-direction branch switch (11) and an N-direction branch switch (12), and the main switch (1) is connected with an inclined roadway (7); the top of the main switch (1) is fixedly connected with a first fixed I-beam (2), the top of the M-direction branch switch (11) is fixedly connected with a second fixed I-beam (21), the top of the N-direction branch switch (12 ) is fixedly connected with a third fixed I-beam (22), the top of the inclined roadway (7) is fixedly connected with a fourth fixed I-beam (71), the top of the switch is fixedly connected with a shifting fork device, an automatic baffle device is provided between the main switch (1) and the inclined roadway (7), and a transport vehicle (8) is slidably fitted below the fourth fixed I-beam (71); the first fixed I-beam (2), the second fixed I-beam (21), the third fixed I-beam (22), the fourth fixed I-beam (71) and the support beam (4) are all connected to the top of respective switches where they are located by the multiple chains (6); the support beam (4) is an arc-shaped support beam, the support beam (4) is provided with a slideway (41), the support beam (4) is provided with two sliding chutes (42) at the top, and the two sliding chutes (42) are located at two opposite sides of the slideway (41); one end of the movable I-beam (3) is rotationally connected to the end of the first fixed I-beam (2), the movable I-beam (3) is provided with a sliding part (31), the movable I-beam (3) is suspended on the support beam (4) by the sliding part (31), the sliding part (31) is slidably fitted in the slideway (41), the sliding part (31) is provided with convex parts (32) corresponding to the sliding chutes (42), and the convex parts (32) are slidably fitted in the sliding chutes (42); a barrel body (83) is installed in the transport vehicle (8), the barrel body (83) is slidably fitted below the fourth fixed I-beam (71), multiple connecting rods (84) are installed between the circumference side of the barrel body (83) and the upper end of the transport vehicle (8), a third motor (85) is arranged in the barrel body (83), the third motor (85) is a servo motor, the third motor (85) is provided with a rod body (86) at the output end, the circumference side of the rod body (86) is sheathed with a cylinder (87), the circumference side of the cylinder (87) is provided with a slot channel assembly, the slot channel assembly includes two first slot channels (88) symmetrically provided at the inner side of the cylinder (87), and the first slot channels (88) are in communication with each other at the two ends; each of the first slot channels (88) is in a half-circle spiral shape, the circumference side of the rod body (86) is provided with first convex blocks (89), and the first convex blocks (89) are slidably fitted in the first slot channels (88); an inner wall of the barrel body (83) is provided with a second slot channel (810), the outer side of the cylinder (87) is provided with a convex strip (811), and the convex strip (811) is slidably fitted in the second slot channel (810); the transport vehicle (8) comprises a frame (812), the bottom end of the frame (812) is rotationally fitted with four bottom plates (813), the bottom end of the barrel body (83) is attached to the upper end of each bottom plate (813), and a pull rope (814) is arranged between the bottom plate (813) and the bottom end of the cylinder (87).
2. The video recognition-based mine underground monorail crane transport system of

Claims claim 1, wherein the sliding part (31) is welded at the top of the movable I-beam (3), the drive mechanism comprises a first motor (5), a telescopic mechanism, a sliding rail (54), a slider (53) and a connecting rod (55); and the first motor (5) is fixed to a side wall of the main switch (1), the telescopic mechanism comprises a rotating shaft (51) in transmission connection with the first motor (5), the rotating shaft (51) is provided with a threaded hole, and a screw rod (52) is in threaded connection in the threaded hole.
3. The video recognition-based mine underground monorail crane transport system of claim 2, wherein one end of the screw rod (52) is in transmission connection with the slider (53), the slider (53) is slidably connected to the sliding rail (54), one end of the connecting rod (55) is rotationally connected to the slider (53), and the other end of the connecting rod (55) is rotationally connected to the movable I-beam (3).
4. The video recognition-based mine underground monorail crane transport system of claim 3, wherein a pin (33) is arranged at one end of the movable I-beam (3), and the end of the movable I-beam (3) is rotationally connected to the end of the first fixed I-beam (2) by the pin (33).
5. The video recognition-based mine underground monorail crane transport system of claim 4, wherein the automatic baffle device comprises a baffle (9) rotationally connected at the top of a junction between the main switch (1) and the inclined roadway (7), hinges (95), and a steel cable (93), wherein the baffle (9) is rotationally connected at the top of the junction between the main switch (1) and the inclined roadway (7) by the hinges (95).
6. The video recognition-based mine underground monorail crane transport system of claim 5, wherein the top of the junction between the main switch (1) and the inclined roadway (7) is fixedly connected with a second motor (91), and the second motor (91) is in transmission connection with a curtain rolling machine (92).
7. The video recognition-based mine underground monorail crane transport system of claim 6, wherein the curtain rolling machine (92) is in transmission connected with the baffle (9) by the steel cable (93), and the baffle (9) is provided with a gap (94).
8. The video recognition-based mine underground monorail crane transport system of claim 7, wherein the video recognition device comprises multiple video sensors respectively arranged at the junctions of the switch, the main switch (1) and the inclined roadway (7).
9. The video recognition-based mine underground monorail crane transport system of claim 8, wherein the transport vehicle (8) is connected with a spring (81), and the end of the spring (81) is connected to a buffer block (82).
10. The video recognition-based mine underground monorail crane transport system of claim 9, wherein the buffer block (82) is fixedly connected with a feature module.