CN101885336A - Intelligent electric locomotive collision-prevention system - Google Patents
Intelligent electric locomotive collision-prevention system Download PDFInfo
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- CN101885336A CN101885336A CN 201010224190 CN201010224190A CN101885336A CN 101885336 A CN101885336 A CN 101885336A CN 201010224190 CN201010224190 CN 201010224190 CN 201010224190 A CN201010224190 A CN 201010224190A CN 101885336 A CN101885336 A CN 101885336A
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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 self-propelled vehicle safety device, particularly relate to the electric locomotive collision-prevention system in the big lane of down-hole horizontal, a kind of mine.
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, take to increase transport vehicle and train number usually, perhaps improve 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 error in judgement or fatigue doze, irresponsibility and track switch dislocation, mistake are beaten reasons such as incisor path trouble, big lane rail transport electric locomotive headon collision and rear-end collision happen occasionally, particularly headon collision accident, because great power and inertia, the consequence that causes is very serious, the equipment that may damage track, roadbed, vehicle and transport, even can cause roof fall landslide, 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 braking of electric locomotive at present generally all is two kinds of manual operation rheostatic brake and braking by hand brake, and easy generation is acutely shaken or braked too quickly and cause human accident during brake.Locomotive collision accident is in case generation harm is huge, and the consequence heaviness has greatly influenced the normal orderly safety in production of coal mining enterprise.
At present mostly the anticollision device of electric locomotive alleviates bump and endangers by meet and discuss passively buffering and absorption portion collision energy of elasticity, but its crashproof effect is inappreciable when the locomotive collision really takes place.Introducing on the market or on the technology type publication has many product and articles about on-highway motor vehicle collision-proof alarm or brake gear, but actual the use seldom.At first, their common ground all is that the signal that utilizes producers such as infrared ray, super sonic, laser, radio to send is reflected, and receptor carries out judgment processing to the received signal, reports to the police then or utilizes motor brake.But because the colliery subsurface environment is special, the tunnel is narrow, the rail level humidity, 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 installed in 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 mechanical mechanisms such as brake gear armrest lock, motor lever, speed of response is slow or anxious, brakes not steadily, causes vehicle to slide down or device damage equally easily, even causes injury to personnel.So this type of brake gear is not suitable under the 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 the coal mine, slow in reacting, observe error in judgement or fatigue doze, irresponsibility and track switch dislocation, mistake are beaten former resulting big lane rail transport electric locomotive headon collision and 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 made up of infrared emission unit, infrared receiver, main control unit, performance element, acousto-optic warning unit and hydraulic brake unit.
Wherein, infrared emission unit is made up of coding demodulator 1, carrier oscillator 2, electronic switch 3, amplifier power valve 4 and collector lens 40, independently is installed in the rear and front end of electric locomotive, is used for launching continuously the infrared wave of different coding; Infrared receiver is an infrared remote receiver 5, is installed in the two ends of electric locomotive, is used to accept preceding vehicle and penetrates the infrared wave that comes, and offer micro controller system and carry out Treatment Analysis.
Main control unit is made up 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 made up of first photoisolator 10, second photoisolator 18, D/A converter 14, analogue amplifier 15, and infrared remote receiver 5 inserts the input end P3.1 of micro controller system IC; Hall speed sensor 6 links to each other with the input end P3.2 of micro controller system IC, is used for monitoring in real time the present speed of electric locomotive, and clock circuit 7 inserts input end X1, the X2 of micro controller system IC; Output control terminal P1.0, the P1.1 of micro controller system IC links to each other 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 first photoisolator 10 is isolated, 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 links to each other with the electric locomotive controller 19 of hydraulic brake unit after second photoisolator 18 is isolated, so that in time cut off the power supply of electric locomotive; Reset circuit 8 and hand brake button 9 are connected output control terminal RST and the P3.0 of micro controller system IC respectively; The power supply of constant voltage power suspply 21 is taken from electric locomotive control power supply, and output+5v and+24v link to each other 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 made up 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 the fuel tank 21 arrives proportion magnetic valve 16 through filter 22, check valve 25, after proportional control, inject brake cylinder 27 with certain flow, thereby damper brake is braked by default pressure, and compression indicator 26 indicates current system pressure simultaneously.After pushing 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 the 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 as yet before the 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 made up 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 taking place, collision danger can realize automatically stopping rapidly and reposefully, thoroughly avoid the motor train colliding accident that takes place in the coal mine lower railway transportation, economic loss that greatly reduces so cause and social influence have improved the safety factor and the production efficiency in colliery.
Intelligent electric locomotive collision-prevention system of the present invention adopts infrared ray as the range sensing light source, antijamming capability is strong, the reliability height, 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 utilization micro controller system IC of the present invention (AT89C2051) is as master controller, utilize its superpower data operation and information processing capability, present speed and relative distance according to electric locomotive calculate required system brake-pressure and braking distance automatically, 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 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 the throttling of retrosequence control ratio electromagnetic valve in case of necessity, 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 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 among 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 100 meters distance when same track travels in the same way.The stopping distance of train must not be above 20 meters when transporting personnel ".Secondly, bend general minimum profile curvature radius in big lane, down-hole is about 25 meters.Therefore, native system travels in opposite directions by the most dangerous same track and calculates and the initialization system parameter.In the infrared emission unit, the transmitting range of three amplifier power valves is adjusted into 80 meters of alarm distances, 50 meters of general stopping distances, 7 meters three kinds of emergency stopping distances respectively.
Consider humid environment under the coal mine, particularly summer, the orbital plane adhesion factor is lower, be easy to skid, so the stopping distance of electric locomotive is set at warning, 20 meters, 2 meters three kinds, still leaves certain buffer distance like this behind the train braking, preventing to skid influences the braking effect of locomotive.According to the trigonometric function formula
(wherein α is the largest beam radius, b is a maximum launch range for the light beam 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 other vehicle again, guaranteed sensitivity and reliability.
Each can only handle the characteristics of one road signal constantly according to micro controller system, the high frequency modulated duty of ratio of each power valve is controlled at below 1/3, it is taken turns to operate successively, both reduced working current, reduced power consumption, do not make the mutual interference of signal phase again, 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 a current vehicle speed, and L is maximum stopping distance), and promptly micro controller system will brake the acceleration/accel automatic guidance at 0.6～4m/s
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 handle the characteristics of one road signal according to micro controller system, and No. three amplifiers are by electronic switch 3 its conductings successively of control, guarantees that each has only constantly that riches all the way and penetrates the plumber to do, so both reduced working current, reduce power consumption, avoided the mutual interference of signal phase again, caused receptor 5 mistakes to survey.
Power valve type selecting and adjustment amplifier emissive power by pair 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 all is 1 meter, just in time covers the end face of electric locomotive, has both guaranteed reception, has prevented the interference to the adjacent lane vehicle again.Infrared emission unit is installed in the lighting headlight below, the place ahead of electric locomotive and the appropriate location of back taillight below, owing to underground orbit electric haulage locomotive two way is regardless of end to end, so the locomotive two ends all are separately installed with infrared emission unit and infrared receiver.Infrared receiver be installed on the 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 judgement electric locomotive present located position in order to micro controller system, sends corresponding warning or braking instruction then.
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 micro controller system IC rapidly with the infrared signal that the place ahead electric locomotive that receives sends, carry out data handing by micro controller system, after the analysis and judgement, through the two-way output in 10 fens of first photoisolator, the one 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, withdraw from alarm distance after, 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 instruction immediately, command signal is cut off electric locomotive controller 19 through 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, send braking instruction according to default braking acceleration then, control current is regulated the open amount of proportion magnetic valve 16 after D/A converter 14, analogue amplifier 15 amplify, the lock torque of automatic compensation brake cylinder 27, the delivery pressure of brake cylinder 27 is progressively increased, in 20m, realize steadily stopping.
If when electric locomotive is found front vehicles at bend or under the situation that sight line is blocked at a distance, entered emergency stopping distance S3 (7 meters), promptly two cars apart
About rice (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 the emergency braking instruction immediately and cuts off electric locomotive controller 19 power supplys, open with steeper braking acceleration control ratio electromagnetic valve 16, bigger lock torque makes electric locomotive brake rapidly within 2 meters.Simultaneously can prevent from again to cause the dead phenomenon of damper brake bag because of emergency brake.
After the electric locomotive braking, need push 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 the native system, manually the interrupt control mode is adopted in control, makes manual control have precedence over automatic guidance.Push 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 made up of infrared emission unit, infrared receiver, main control unit, performance element, acousto-optic warning unit and hydraulic brake unit, wherein,
Infrared emission unit is made up of coding demodulator 1, carrier oscillator 2, electronic switch 3, amplifier power valve 4 and collector lens 40, independently is installed in the rear and front end of electric locomotive, is used for launching continuously the infrared wave of different coding; Infrared receiver is an infrared remote receiver 5, is installed in the two ends of electric locomotive, is used to accept preceding vehicle and penetrates the infrared wave that comes, and offer micro controller system and carry out Treatment Analysis;
Main control unit is made up of micro controller system IC, clock circuit 7, reset circuit 8, hand brake button 9, constant voltage power suspply 21 and the hall speed sensor 6 of model AT89C2051, performance element is made up of first photoisolator 10, second photoisolator 18, D/A converter 14, analogue amplifier 15, and infrared remote receiver 5 inserts the input end P3.1 of micro controller system IC; Hall speed sensor 6 links to each other with the input end P3.2 of micro controller system IC, and clock circuit 7 inserts input end X1, the X2 of micro controller system IC; Output control terminal P1.0, the P1.1 of micro controller system IC links to each other 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 first photoisolator 10 is isolated, mouth P1.2 connects the proportion magnetic valve 16 of hydraulic brake unit after D/A converter 14, analogue amplifier 15 amplify, mouth P1.3 links to each other with the electric locomotive controller 19 of hydraulic brake unit after second photoisolator 18 is isolated; Reset circuit 8 and hand brake button 9 are connected output control terminal RST and the P3.0 of micro controller system IC respectively; The power supply of constant voltage power suspply 21 is taken from electric locomotive control power supply, and output+5v and+24v link to each other 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 made up 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 circulations.
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| CN 201010224190 CN101885336B (en) | 2010-07-08 | 2010-07-08 | Intelligent electric locomotive collision-prevention system |
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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 CN101885336B (en) | 2013-06-26 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102700573A (en) * | 2012-05-29 | 2012-10-03 | 东南大学 | Anti-collision system of active railway vehicle and anti-collision 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 |
| CN103264716A (en) * | 2013-05-09 | 2013-08-28 | 桂林市哲云电子科技有限公司 | Infrared step coding and decoding anti-collision system |
| CN103465887A (en) * | 2013-09-23 | 2013-12-25 | 孙宏水 | Vehicle rear-end collision preventing device and control method thereof |
| CN110785332A (en) * | 2017-05-30 | 2020-02-11 | 法伊韦利传送器意大利有限公司 | Acoustic system and method for traction/braking control of a train |
| CN113353735A (en) * | 2021-05-26 | 2021-09-07 | 首钢水城钢铁（集团）有限责任公司 | Automatic length measuring and positioning and circulating automatic coil discharging method for high-speed wire coil discharging |
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| 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 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102700573A (en) * | 2012-05-29 | 2012-10-03 | 东南大学 | Anti-collision system of active railway vehicle and anti-collision 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 |
| CN103264716A (en) * | 2013-05-09 | 2013-08-28 | 桂林市哲云电子科技有限公司 | Infrared step coding and decoding anti-collision system |
| 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 |
| CN110785332A (en) * | 2017-05-30 | 2020-02-11 | 法伊韦利传送器意大利有限公司 | Acoustic system and method for traction/braking control of a train |
| CN110785332B (en) * | 2017-05-30 | 2022-01-14 | 法伊韦利传送器意大利有限公司 | Acoustic system and method for traction/braking control of a train |
| CN113353735A (en) * | 2021-05-26 | 2021-09-07 | 首钢水城钢铁（集团）有限责任公司 | Automatic length measuring and positioning and circulating automatic coil discharging method for high-speed wire coil discharging |
| 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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