CN109808731A - The monitoring of down-well oblique lane transportation of coal mine mine car and prevent-moving car system and method - Google Patents
The monitoring of down-well oblique lane transportation of coal mine mine car and prevent-moving car system and method Download PDFInfo
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Abstract
The invention discloses a kind of monitorings of down-well oblique lane transportation of coal mine mine car and prevent-moving car system and method, mine car monitoring includes a pair of of the capturing unit for being symmetricly set on the outer two sides of tramroad and monitoring unit and control unit that side outside tramroad is arranged in prevent-moving car system；Capturing unit includes deceleration mechanism, arrestment mechanism and displacement mechanism；Monitoring unit includes infrared imaging device and pattern process computer, and the output end of pattern process computer and infrared imaging device connects, each mine car posts infrared reflection film close to the side of the infrared imaging device；Control unit includes PLC controller and hydraulic station, the output end connection of PLC controller and pattern process computer, the output end connection of hydraulic station and PLC controller.Rationally, it is convenient to realize, can apply in the oblique lane transport of underground coal mine, and the capture of safety and stability is carried out to sport car, prevents sport car from causing serious consequence, and using effect is good for prevent-moving car system design of the invention, convenient for promoting the use of.
Description
Technical field
The invention belongs to Safety of Coal Mine Production technical fields, and in particular to a kind of monitoring of down-well oblique lane transportation of coal mine mine car with
Prevent-moving car system and method.
Background technique
Coal is produced for a long time as the valuable source in China, but all buried underground of most of coal resources, recovery process
In, need underground oblique lane transport mostly, thus, underground coal mine transport safely be also Safety of Coal Mine Production important link, coal
The maximum security risk of oblique lane transport under mine is exactly that derailing accident occurs, and so-called derailing accident is exactly to be used for down in coal mine
Equipment, improving material, transport coal or the mine car of personnel are put since short rope, disconnected pin chain or maloperation cause mine car out of control,
Under the action of its own partical gravity, mine car along track misoperation caused by accident.Therefore, catcher is important
Property is self-evident.In the prior art, serious consequence, many scientific research personnel and work are caused in order to solve derailing accident in oblique lane transport
Cheng Shi proposes a variety of solutions, and such as application No. is the catchers in 201721864746.2 patent of invention, uses
The prevent-moving car being mounted on tramroad stops component and prevent-moving car releasing winch component, but its huge structure is complicated, sport car hair
Raw Location-Unknown, needs to install multiple catchers in inclined gallery, the structural complexity of single catcher improves
Its installation cost, limits its application popularity；For another example application No. is the prevent-moving cars in 201510908805.0 patent of invention
Device, speed acquisition component, fluid power system and track including being mounted on mine car arrest component, although the program can and
When effectively prevent the generation of derailing accident, but its structure is also relative complex, and it is unknown that individual occurs for sport car, needs in each sport car
Upper installation catcher, equally, its structure is complicated, and property improves installation cost, limits its application popularity.The prior art
In, the scheme for implementing capture to sport car is varied, but particularly important to the confirmation of sport car generation, in underground coal mine complex environment
In, realize that real-time to sport car, accurate confirmation is to carry out the important prerequisite of sport car capture.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of underground coal mine
The monitoring of oblique lane transport mine car and prevent-moving car system, structure is simple, and rationally, it is convenient and at low cost to realize for design, can apply
In the oblique lane transport of underground coal mine, the capture of safety and stability is carried out to sport car, prevents sport car from causing serious consequence, using effect
It is good, convenient for promoting the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of down-well oblique lane transportation of coal mine mine car prison
Survey and prevent-moving car system, including being symmetricly set on a pair of of capturing unit of two sides outside tramroad and being arranged one outside tramroad
The monitoring unit and control unit of side；The capturing unit and monitoring unit are connect with control unit, the capturing unit
Including deceleration mechanism, arrestment mechanism and displacement mechanism；The monitoring unit includes infrared imaging device and pattern process computer,
The output end that described image handles computer and infrared imaging device connects, each mine car close to the infrared imaging device one
Post infrared reflection film in side；Described control unit includes PLC controller and provides the hydraulic of hydraulic power for institute's displacement mechanism
It stands, the output end connection of the PLC controller and pattern process computer, the output end company of the hydraulic station and PLC controller
It connects.
The above-mentioned monitoring of down-well oblique lane transportation of coal mine mine car and prevent-moving car system, the deceleration mechanism includes the first of wedge shape
Bottom plate, the side on first bottom plate are provided with the first support plate, and the other side on first bottom plate is provided with second
Fagging, one end of first support plate are hinged with the first movable plate, the other end and the first movable plate of first support plate
Between be connected with the first spring, one end of second support plate is hinged with the second movable plate, second support plate it is another
Second spring is connected between end and the second movable plate, first movable plate is provided on the side of the second movable plate
First rubber pad, second movable plate are provided with the second rubber pad on the side of the first movable plate.
The above-mentioned monitoring of down-well oblique lane transportation of coal mine mine car and prevent-moving car system, the arrestment mechanism includes the second bottom plate,
It is provided with the first sliding rail and the second sliding rail on second bottom plate, slidably connects cunning on first sliding rail and the second sliding rail
Block is equipped with right half folder of wheel, left half folder of wheel and cam on the sliding block, between right half folder of the wheel and left half folder of wheel
It is connected with third spring, the cam is mounted on the outside of left half folder of wheel, and second bottom plate is close to the side of tramroad
Mounting blocks are provided with, is equipped with and is vertically arranged and for being limited to cam and leading cam rotation on the mounting blocks
Bar, second bottom plate are provided with and integrally formed first supporting block of the second bottom plate, the cunning far from one end of deceleration mechanism
The 4th spring and the 5th spring arranged side by side are connected between block and the first supporting block.
Above-mentioned down-well oblique lane transportation of coal mine mine car monitoring and prevent-moving car system, institute's displacement mechanism include third sliding rail,
4th sliding rail and the 5th sliding rail, and be all connected with one end of one end of third sliding rail, one end of the 4th sliding rail and the 5th sliding rail
The second supporting block, the hydraulic cylinder being equipped in second supporting block between third sliding rail and the 4th sliding rail, the liquid
The piston rod of cylinder pressure and the second bottom plate of arrestment mechanism connect, and the hydraulic cylinder is connect by oil pipe with hydraulic station.
The invention also provides a kind of monitoring of down-well oblique lane transportation of coal mine mine car and anti-running method, this method include following
Step:
Step 1: mine car monitors: described image handle multiframe mine car image that computer shoots infrared imaging device into
Row processing, judges whether mine car occurs sport car；
Step 2: sport car captures: when the monitoring unit monitors that sport car occurs for mine car, described control unit control is caught
Cell operation is obtained, flexible braking is carried out to sport car.
The multiframe mine car image that pattern process computer described in above method step 1 shoots infrared imaging device into
Row processing, judges whether mine car occurs the detailed process of sport car are as follows:
The imaging region of infrared imaging device is set as monitoring section by step 101, described image processing computer；
Multiple Harris angle points in step 102, described image processing COMPUTER DETECTION monitoring section in every frame image；
Step 103, described image processing computer calling characteristic matching module extract the characteristic set of every frame image, and will
The characteristic set of adjacent two field pictures carries out matching correspondence, generates matching characteristic to set；
Step 104, described image processing computer, to set, call corners Matching module to adjacent two according to matching characteristic
Multiple Harris angle points in frame image carry out corners Matching, find out between multiple Harris angle points in adjacent two field pictures
One-to-one relationship；
Step 105, described image processing computer calculate between multiple Harris angle points in adjacent two field pictures one by one
Corresponding shift value, according to formulaCalculate total position of all Harris angle points in i-th of adjacent two field pictures
Shifting amount dTi, and i is got into n from 1, calculate the total displacement amount of all Harris angle points in all adjacent two field pictures；Wherein,
di,jFor the displacement of j-th of Harris angle point in i-th of adjacent two field pictures with one-to-one relationship, miFor i-th of phase
The total number of Harris angle point in adjacent two field pictures with one-to-one relationship, the value of j are 1~miPositive integer, n is shape
At the total number of adjacent two field pictures；
All Harris angle points in all adjacent two field pictures are calculated in step 106, described image processing computer
Position mean, wherein the position mean d of all Harris angle points in i-th of adjacent two field picturesAiCalculation formula be
Step 107, described image processing computer are according to formula Δ dPi=dA(i+1)-dAiIt is adjacent that i+1 is calculated
The position mean d of all Harris angle points in two field picturesA(i+1)All Harris angle points in two field pictures adjacent with i-th
Position mean dAiDifference DELTA dPi, and i is got into n-1 from 1；
Step 108, described image processing computer are according to formulaIt calculates and gets i from 1
All Δ d when n-1PiAverage value Δ dB, as-dE< Δ dB< dEWhen, mine car is in the state that travels at the uniform speed, and sport car does not occur；When
ΔdB> dEWhen, mine car is in Accelerating running state, sport car occurs, wherein dEFor monitoring unit allowable error value.
Pattern process computer described in above method step 102 detects multiple Harris in monitoring section in every frame image
When angle point, to the detection process of multiple Harris angle points in image I (x, y) are as follows:
Step 1021, pattern process computer are according to formulaCalculating image I (x,
Y) gradient I in the direction of the x axisx, and according to formulaImage I (x, y) is calculated in y
Gradient I in axis directiony；
Step 1022, pattern process computer calculate the correlation matrix on each pixelWherein, ω (x, y) is weighting function；
Step 1023, pattern process computer are according to formula R=(ab-c2)-λ(a+b)2Calculate the angle point of each pixel
Response R；Wherein, λ is empirical, and value range is 0.04~0.06；
It is found in the square range of step 1024, pattern process computer middle position M × M on image I (x, y)
The maximum point of angle point response, and the maximum point of the angle point response searched out is defined as threshold value, when the angle of pixel
When point response R is greater than threshold value, which is determined as Harris angle point.
Described in above method step 2 when monitoring unit monitors that sport car occurs for mine car, described control unit control is caught
Cell operation is obtained, the detailed process of flexible braking is carried out to sport car are as follows:
When step 201, the PLC controller receive the signal of generation sport car of pattern process computer transmission, PLC control
Device processed outputs a control signal to hydraulic station；
Hydraulic cylinder in step 202, institute's displacement mechanism works under the action of hydraulic station, passes through the piston rod of hydraulic cylinder
The arrestment mechanism of tramroad both sides and deceleration mechanism are shifted onto tramroad along third sliding rail, the 4th sliding rail and the 5th sliding rail
On；
Step 203, when sport car reaches the deceleration mechanism, the first movable plate and the second movable plate carry out sport car wheel
It squeezes, and flexible deceleration is carried out by the first spring and second spring；
Sport car wheel after step 204, deceleration reaches at the opening of right half folder of wheel and half folder of a wheel left side, in the used of sport car
Property effect under, band movable slider is moved along the first sliding rail and the second sliding rail, so that cam and guide rod separate, wheel is right partly to be pressed from both sides and vehicle
Left half folder of wheel is closed by the effect of third spring clamps sport car wheel；
Step 205, sport car wheel carry out flexible braking under the effect of the elastic force of the 4th spring and the 5th spring.
The opening detailed process of right half folder of wheel described in above method step 204 and left half folder of wheel are as follows:
Sliding block in step 2041, the arrestment mechanism is sliding first under the effect of the elastic force of the 4th spring and the 5th spring
One end of deceleration mechanism is moved adjacent on rail and the second sliding rail；
Step 2042, with the movement of the sliding block, the cam on sliding block is contacted with guide rod, and sliding block continues to move to, because leading
The limit of bar, cam are become rotating from movement, and the rotation of cam can squeeze the wheel installed on sliding block left half and press from both sides, and make wheel right half
Folder and left half folder of wheel open.
Compared with the prior art, the present invention has the following advantages:
1, prevent-moving car system structure of the invention is simple, and rationally, it is convenient and at low cost to realize for design.
2, deceleration mechanism of the invention is designed using pure mechanic structure, can effectively be slowed down to tramcar wheel, is stablized
Property is good.
3, arrestment mechanism of the invention is designed using pure mechanic structure, can effectively be pressed from both sides to the tramcar wheel after deceleration
Tightly and by third spring by mine car flexible braking, securely and reliably.
4, mechanism for monitoring of the invention is constituted using an infrared imaging device and a pattern process computer, structure letter
It is single, it is convenient for installation and maintenance.
5, mine car of the invention monitoring and anti-running method carry out real-time monitoring to mine car, only use infrared imaging device and adopt
The information of collection is calculated, and infrared imaging device is convenient for installation and maintenance, and the image of infrared imaging device acquisition passes through image procossing
Computer disposal, it will be able to obtain mine car operation information, not influenced by complex environments such as underground poor visibilities.
6, the present invention can apply in the oblique lane transport of underground coal mine, and the capture of safety and stability is carried out to sport car, is prevented
Sport car causes serious consequence, and using effect is good, convenient for promoting the use of.
In conclusion prevent-moving car system structure of the invention is simple, design rationally, realizes convenient and at low cost, Neng Gouying
In the oblique lane transport of underground coal mine, the capture of safety and stability is carried out to sport car, prevents sport car from causing serious consequence, uses effect
Fruit is good, convenient for promoting the use of.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mine car of the present invention monitoring and prevent-moving car system；
Fig. 2 is the structural schematic diagram of deceleration mechanism of the present invention；
Fig. 3 is the structural schematic diagram of arrestment mechanism of the present invention；
Fig. 4 is the structural schematic diagram of displacement mechanism of the present invention.
Description of symbols:
1-deceleration mechanism；The first bottom plate of 1-1-；The first support plate of 1-2-；
The second support plate of 1-3-；The first movable plate of 1-4-；The first spring of 1-5-；
The second movable plate of 1-6-；1-7-second spring；The first rubber pad of 1-8-；
The second rubber pad of 1-9-；2-arrestment mechanisms；The second bottom plate of 2-1-；
The first sliding rail of 2-2-；The second sliding rail of 2-3-；2-4-sliding block；
2-5-wheel right half presss from both sides；2-6-wheel left half presss from both sides；2-7-cam；
2-8-third spring；2-9-mounting blocks；2-10-guide rod；
The first supporting block of 2-11-；The 4th spring of 2-12-；The 5th spring of 2-13-；
3-displacement mechanisms；3-1-third sliding rail；The 4th sliding rail of 3-2-；
The 5th sliding rail of 3-3-；The second supporting block of 3-4-；3-5-hydraulic cylinder；
4-infrared imaging devices；5-pattern process computers；6-PLC controllers；
7-hydraulic stations.
Specific embodiment
As shown in Figure 1, down-well oblique lane transportation of coal mine mine car monitoring of the invention includes being symmetricly set on prevent-moving car system
A pair of of capturing unit of the outer two sides of tramroad and the monitoring unit and control unit that side outside tramroad is set；Institute
It states capturing unit and monitoring unit is connect with control unit, the capturing unit includes deceleration mechanism 1, arrestment mechanism 2 and position
Telephone-moving structure 3；The monitoring unit includes infrared imaging device 4 and pattern process computer 5, described image handle computer 5 with
The output end of infrared imaging device 4 connects, each mine car posts infrared reflection film close to the side of the infrared imaging device 4；
Described control unit includes PLC controller 6 and provides the hydraulic station 7 of hydraulic power, the PLC control for institute's displacement mechanism 3
Device 6 is connect with the output end of pattern process computer 5, and the hydraulic station 7 is connect with the output end of PLC controller 6.
When it is implemented, the deceleration mechanism 1 is used to carry out the wheel of sport car holding deceleration, the arrestment mechanism 2 is used
It is clamped in the wheel to sport car and stops sport car, institute's displacement mechanism 3 is used for a pair that will be arranged in outside tramroad
Capturing unit is moved on tramroad.
In the present embodiment, as shown in Fig. 2, the deceleration mechanism 1 includes the first bottom plate 1-1 of wedge shape, first bottom plate
The other side that side on 1-1 is provided on the first support plate 1-2, the first bottom plate 1-1 is provided with the second support plate 1-3,
One end of the first support plate 1-2 is hinged with the first movable plate 1-4, and the other end of the first support plate 1-2 and first live
It is connected with the first spring 1-5 between movable plate 1-4, one end of the second support plate 1-3 is hinged with the second movable plate 1-6, described
Second spring 1-7 is connected between the other end of second support plate 1-3 and the second movable plate 1-6, the first movable plate 1-4's
The living close to first of the first rubber pad 1-8, the second movable plate 1-6 is provided on the side of the second movable plate 1-6
The second rubber pad 1-9 is provided on the side of movable plate 1-4.
In the present embodiment, as shown in figure 3, the arrestment mechanism 2 includes setting on the second bottom plate 2-1, the second bottom plate 2-1
It is equipped on the first sliding rail 2-2 and the second sliding rail 2-3, the first sliding rail 2-2 and the second sliding rail 2-3 and slidably connects sliding block 2-
The right half folder 2-5 of wheel, wheel left half folder 2-6 and cam 2-7 be installed on 4, the sliding block 2-4, the right half folder 2-5 of the wheel and
Third spring 2-8 is connected between the left half folder 2-6 of wheel, the cam 2-7 is mounted on the outside that wheel left half presss from both sides 2-6, described
Second bottom plate 2-1 is provided with mounting blocks 2-9 close to the side of tramroad, be equipped on the mounting blocks 2-9 be vertically arranged and
Guide rod 2-10 for being limited and being made cam 2-7 to rotate to cam 2-7, the second bottom plate 2-1 is far from deceleration mechanism 1
One end is provided with and the integrally formed first supporting block 2-11 of the second bottom plate 2-1, the sliding block 2-4 and the first supporting block 2-11
Between be connected with the 4th spring 2-12 and the 5th spring 2-13 arranged side by side.
When it is implemented, the second bottom plate 2-1 and the first bottom plate 1-1 can be connected by a snap together；When second
When bottom plate 2-1 and the first bottom plate 1-1 link together, the wedge-like tip of the first bottom plate 1-1 and the upper surface of sliding block 2-4
In same level.
In the present embodiment, as shown in figure 4, institute's displacement mechanism 3 includes that third sliding rail 3-1, the 4th sliding rail 3-2 and the 5th are sliding
Rail 3-3, and be all connected with one end of one end of third sliding rail 3-1, one end of the 4th sliding rail 3-2 and the 5th sliding rail 3-3
It is equipped on two supporting block 3-4, the second supporting block 3-4 hydraulic between third sliding rail 3-1 and the 4th sliding rail 3-2
The piston rod of cylinder 3-5, the hydraulic cylinder 3-5 are connect with the second bottom plate 2-1 of arrestment mechanism 2, and the hydraulic cylinder 3-5 passes through oil pipe
It is connect with hydraulic station 7.
When it is implemented, the hydraulic station 7 includes the solenoid directional control valve being connected in the oil supply loop of hydraulic cylinder 3-5, institute
Solenoid directional control valve is stated to connect with the output end of PLC controller 6.
Down-well oblique lane transportation of coal mine mine car monitoring of the invention with anti-running method the following steps are included:
Step 1: mine car monitors: the multiframe mine car image that described image processing computer 5 shoots infrared imaging device 4
It is handled, judges whether mine car occurs sport car；
Step 2: sport car captures: when the monitoring unit monitors that sport car occurs for mine car, described control unit control is caught
Cell operation is obtained, flexible braking is carried out to sport car.
The multiframe mine car image that pattern process computer 5 described in this method step 1 shoots infrared imaging device 4 into
Row processing, judges whether mine car occurs the detailed process of sport car are as follows:
The imaging region of infrared imaging device 4 is set as monitoring section by step 101, described image processing computer 5；
Step 102, described image processing computer 5 detect multiple Harris angle points in monitoring section in every frame image；
Step 103, the described image processing calling characteristic matching module of computer 5 extract the characteristic set of every frame image, and
The characteristic set of adjacent two field pictures is subjected to matching correspondence, generates matching characteristic to set；
Step 104, described image processing computer 5, to set, call corners Matching module to adjacent according to matching characteristic
Multiple Harris angle points in two field pictures carry out corners Matching, find out between multiple Harris angle points in adjacent two field pictures
One-to-one relationship；
Step 105, described image processing computer 5 calculate one between multiple Harris angle points in adjacent two field pictures
One corresponding shift value, according to formulaCalculate the total of all Harris angle points in i-th of adjacent two field pictures
Displacement dTi, and i is got into n from 1, calculate the total displacement amount of all Harris angle points in all adjacent two field pictures；Wherein,
di,jFor the displacement of j-th of Harris angle point in i-th of adjacent two field pictures with one-to-one relationship, miFor i-th of phase
The total number of Harris angle point in adjacent two field pictures with one-to-one relationship, the value of j are 1~miPositive integer, n is shape
At the total number of adjacent two field pictures；
All Harris angle points in all adjacent two field pictures are calculated in step 106, described image processing computer 5
Position mean, wherein the position mean d of all Harris angle points in i-th of adjacent two field picturesAiCalculation formula be
Step 107, described image processing computer 5 are according to formula Δ dPi=dA(i+1)-dAiI+1 phase is calculated
The position mean d of all Harris angle points in adjacent two field picturesA(i+1)All angles Harris in two field pictures adjacent with i-th
The position mean d of pointAiDifference DELTA dPi, and i is got into n-1 from 1；
Step 108, described image processing computer 5 are according to formulaIt calculates and gets i from 1
All Δ d when n-1PiAverage value Δ dB, as-dE< Δ dB< dEWhen, mine car is in the state that travels at the uniform speed, and sport car does not occur；When
ΔdB> dEWhen, mine car is in Accelerating running state, sport car occurs, wherein dEFor monitoring unit allowable error value.
When it is implemented, the dEValue be 0.1m.
Pattern process computer 5 described in this method step 102 detects multiple Harris in monitoring section in every frame image
When angle point, to the detection process of multiple Harris angle points in image I (x, y) are as follows:
Step 1021, pattern process computer 5 are according to formulaCalculate image I
The gradient I of (x, y) in the direction of the x axisx, and according to formulaIt calculates image I (x, y)
Gradient I in the y-axis directiony；
Step 1022, pattern process computer 5 calculate the correlation matrix on each pixelWherein, ω (x, y) is weighting function；
Step 1023, pattern process computer 5 are according to formula R=(ab-c2)-λ(a+b)2Calculate the angle point of each pixel
Response R；Wherein, λ is empirical, and value range is 0.04~0.06；
Step 1024, pattern process computer 5 are sought in the square range of middle position M × M on image I (x, y)
The maximum point of angle point response is looked for, and the maximum point of the angle point response searched out is defined as threshold value, when pixel
When angle point response R is greater than threshold value, which is determined as Harris angle point.
Described in this method step 2 when monitoring unit monitors that sport car occurs for mine car, described control unit control capture
Cell operation carries out the detailed process of flexible braking to sport car are as follows:
When step 201, the PLC controller 6 receive the signal of generation sport car of the transmission of pattern process computer 5, PLC
Controller 6 outputs a control signal to hydraulic station 7；
Hydraulic cylinder 3-5 in step 202, institute's displacement mechanism 3 works under the action of hydraulic station 7, passes through hydraulic cylinder 3-5
Piston rod by the arrestment mechanism 2 of tramroad both sides and deceleration mechanism 1 along third sliding rail 3-1, the 4th sliding rail 3-2 and the 5th
Sliding rail 3-3 is shifted on tramroad；
When it is implemented, the PLC controller 6 realizes hydraulic cylinder 3-5 by the solenoid directional control valve in control hydraulic station 7
Promotion of the piston rod to arrestment mechanism 2 and deceleration mechanism 1.
Step 203, when sport car reach the deceleration mechanism 1 when, the first movable plate 1-4 and the second movable plate 1-6 are to sport car
Wheel is squeezed, and carries out flexible deceleration by the first spring 1-5 and second spring 1-7；
Sport car wheel after step 204, deceleration reaches at the opening of half folder 2-6 of the right half folder 2-5 of wheel and a wheel left side,
Under the effect of inertia of sport car, band movable slider 2-4 moved along the first sliding rail 2-2 and the second sliding rail 2-3 so that cam 2-7 with lead
Bar 2-10 is separated, and the right half folder 2-5 of wheel and the left half folder 2-6 of wheel are closed by the effect of third spring 2-8 and press from both sides sport car wheel
Tightly；
Step 205, sport car wheel carry out flexible braking under the elastic force effect of the 4th spring 2-12 and the 5th spring 2-13.
The right half folder 2-5 of wheel described in this method step 204 and wheel left half press from both sides the opening detailed process of 2-6 are as follows:
Elastic force of the sliding block 2-4 in the 4th spring 2-12 and the 5th spring 2-13 in step 2041, the arrestment mechanism 2 is made
One end of deceleration mechanism 1 is moved adjacent on the first sliding rail 2-2 and the second sliding rail 2-3 under；
Step 2042, with the movement of the sliding block 2-4, the cam 2-7 on sliding block 2-4 is contacted with guide rod 2-10, sliding block
2-4 is continued to move to, and because of the limit of guide rod 2-10, cam 2-7 is become rotating from movement, and the rotation of cam 2-7 can squeeze sliding block 2-4
The left half folder 2-6 of the wheel of upper installation opens the right half folder 2-5 of wheel and the left half folder 2-6 of wheel.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
Claims (9)
1. a kind of down-well oblique lane transportation of coal mine mine car monitoring and prevent-moving car system, it is characterised in that: including being symmetricly set on mine car
A pair of of capturing unit of the outer two sides of track and the monitoring unit and control unit that side outside tramroad is set；It is described to catch
It obtains unit and monitoring unit is connect with control unit, the capturing unit includes deceleration mechanism (1), arrestment mechanism (2) and position
Telephone-moving structure (3)；The monitoring unit includes infrared imaging device (4) and pattern process computer (5), and described image processing calculates
Machine (5) is connect with the output end of infrared imaging device (4), each mine car is posted close to the side of the infrared imaging device (4)
Infrared reflection film；Described control unit includes PLC controller (6) and provides the hydraulic of hydraulic power for institute's displacement mechanism (3)
It stands (7), the PLC controller (6) connect with the output end of pattern process computer (5), and the hydraulic station (7) and PLC are controlled
The output end of device (6) connects.
2. down-well oblique lane transportation of coal mine mine car monitoring described in accordance with the claim 1 and prevent-moving car system, it is characterised in that: described
Deceleration mechanism (1) includes the first bottom plate (1-1) of wedge shape, and the side on first bottom plate (1-1) is provided with the first support plate
(1-2), the other side on first bottom plate (1-1) are provided with the second support plate (1-3), first support plate (1-2)
One end is hinged with the first movable plate (1-4), is connected between the other end and the first movable plate (1-4) of first support plate (1-2)
It is connected to the first spring (1-5), one end of second support plate (1-3) is hinged with the second movable plate (1-6), second support
It is connected with second spring (1-7) between the other end and the second movable plate (1-6) of plate (1-3), first movable plate (1-4)
Close to the second movable plate (1-6) side on be provided with the first rubber pad (1-8), second movable plate (1-6) it is close
The second rubber pad (1-9) is provided on the side of first movable plate (1-4).
3. the monitoring of down-well oblique lane transportation of coal mine mine car and prevent-moving car system according to claim 2, it is characterised in that: described
Arrestment mechanism (2) includes the second bottom plate (2-1), is provided with the first sliding rail (2-2) and the second sliding rail on second bottom plate (2-1)
(2-3) is slidably connected sliding block (2-4) on first sliding rail (2-2) and the second sliding rail (2-3), is pacified on the sliding block (2-4)
Equipped with right half folder (2-5) of wheel, left half folder (2-6) of wheel and cam (2-7), right half folder (2-5) of the wheel and wheel left half
It is connected with third spring (2-8) between folder (2-6), the cam (2-7) is mounted on the outside that wheel left half presss from both sides (2-6), described
Second bottom plate (2-1) is provided with mounting blocks (2-9) close to the side of tramroad, and it is vertical to be equipped on the mounting blocks (2-9)
The guide rod (2-10) for being arranged and being used to limit cam (2-7) and rotate cam (2-7), second bottom plate (2-1)
One end far from deceleration mechanism (1) is provided with and integrally formed first supporting block (2-11) of the second bottom plate (2-1), the sliding block
The 4th spring (2-12) and the 5th spring (2-13) arranged side by side are connected between (2-4) and the first supporting block (2-11).
4. down-well oblique lane transportation of coal mine mine car monitoring described in accordance with the claim 3 and prevent-moving car system, it is characterised in that: described
Displacement mechanism (3) includes third sliding rail (3-1), the 4th sliding rail (3-2) and the 5th sliding rail (3-3), and with third sliding rail (3-1)
The second supporting block (3-4) for being all connected with of one end, one end of the 4th sliding rail (3-2) and one end of the 5th sliding rail (3-3), described
The hydraulic cylinder (3-5) being equipped in two supporting blocks (3-4) between third sliding rail (3-1) and the 4th sliding rail (3-2), the liquid
The piston rod of cylinder pressure (3-5) is connect with the second bottom plate (2-1) of arrestment mechanism (2), and the hydraulic cylinder (3-5) passes through oil pipe and liquid
Pressure station (7) connection.
5. a kind of method for carrying out prevent-moving car using system as claimed in claim 4, it is characterised in that: this method includes following step
It is rapid:
Step 1: mine car monitors: the multiframe mine car image that described image processing computer (5) shoots infrared imaging device (4)
It is handled, judges whether mine car occurs sport car；
Step 2: sport car captures: when the monitoring unit monitors that sport car occurs for mine car, described control unit control capture is single
Member work carries out flexible braking to sport car.
6. according to the method for claim 5, it is characterised in that: pattern process computer described in step 1 (5) is to infrared
The multiframe mine car image of imaging device (4) shooting is handled, and judges whether mine car occurs the detailed process of sport car are as follows:
The imaging region of infrared imaging device (4) is set as monitoring section by step 101, described image processing computer (5)；
Multiple Harris angle points in step 102, described image processing computer (5) detection monitoring section in every frame image；
Step 103, described image processing computer (5) calling characteristic matching module extract the characteristic set of every frame image, and will
The characteristic set of adjacent two field pictures carries out matching correspondence, generates matching characteristic to set；
Step 104, described image processing computer (5), to set, call corners Matching module to adjacent two according to matching characteristic
Multiple Harris angle points in frame image carry out corners Matching, find out between multiple Harris angle points in adjacent two field pictures
One-to-one relationship；
Step 105, described image processing computer (5) calculate a pair between multiple Harris angle points in adjacent two field pictures
The shift value answered, according to formulaCalculate the total displacement of all Harris angle points in i-th of adjacent two field pictures
Measure dTi, and i is got into n from 1, calculate the total displacement amount of all Harris angle points in all adjacent two field pictures；Wherein, di,j
For the displacement of j-th of Harris angle point in i-th of adjacent two field pictures with one-to-one relationship, miIt is adjacent for i-th
The total number of Harris angle point in two field pictures with one-to-one relationship, the value of j are 1~miPositive integer, n be formed
The total number of adjacent two field pictures；
The position of all Harris angle points in all adjacent two field pictures is calculated in step 106, described image processing computer (5)
Horizontalization mean value, wherein the position mean d of all Harris angle points in i-th of adjacent two field picturesAiCalculation formula be
Step 107, described image processing computer (5) are according to formula Δ dPi=dA(i+1)-dAiI+1 adjacent two is calculated
The position mean d of all Harris angle points in frame imageA(i+1)All Harris angle points in two field pictures adjacent with i-th
Position mean dAiDifference DELTA dPi, and i is got into n-1 from 1；
Step 108, described image processing computer (5) are according to formulaIt calculates and i is got into n-1 from 1
Shi Suoyou Δ dPiAverage value Δ dB, as-dE< Δ dB< dEWhen, mine car is in the state that travels at the uniform speed, and sport car does not occur；Work as Δ
dB> dEWhen, mine car is in Accelerating running state, sport car occurs, wherein dEFor monitoring unit allowable error value.
7. according to the method for claim 6, it is characterised in that: pattern process computer described in step 102 (5) detection prison
When surveying multiple Harris angle points in area in every frame image, to the detection process of multiple Harris angle points in image I (x, y)
Are as follows:
Step 1021, pattern process computer (5) are according to formulaCalculate image I
The gradient I of (x, y) in the direction of the x axisx, and according to formulaIt calculates image I (x, y)
Gradient I in the y-axis directiony；
Step 1022, pattern process computer (5) calculate the correlation matrix on each pixelWherein, ω (x, y) is weighting function；
Step 1023, pattern process computer (5) are according to formula R=(ab-c2)-λ(a+b)2The angle point for calculating each pixel is rung
It should value R；Wherein, λ is empirical, and value range is 0.04~0.06；
It is found in step 1024, the square range of pattern process computer (5) middle position M × M on image I (x, y)
The maximum point of angle point response, and the maximum point of the angle point response searched out is defined as threshold value, when the angle of pixel
When point response R is greater than threshold value, which is determined as Harris angle point.
8. according to the method for claim 5, it is characterised in that: when monitoring unit monitors mine car described in step 2
When sport car, described control unit controls capturing unit work, and the detailed process of flexible braking is carried out to sport car are as follows:
When step 201, the PLC controller (6) receive the signal of generation sport car of pattern process computer (5) transmission, PLC
Controller (6) outputs a control signal to hydraulic station (7)；
Hydraulic cylinder (3-5) in step 202, institute's displacement mechanism (3) works under the action of hydraulic station (7), passes through hydraulic cylinder
The piston rod of (3-5) slides the arrestment mechanism (2) of tramroad both sides and deceleration mechanism (1) along third sliding rail (3-1), the 4th
Rail (3-2) and the 5th sliding rail (3-3) are shifted on tramroad；
Step 203, when sport car reach deceleration mechanism (1) when, the first movable plate (1-4) and the second movable plate (1-6) are to race
Vehicle wheel is squeezed, and carries out flexible deceleration by the first spring (1-5) and second spring (1-7)；
Sport car wheel after step 204, deceleration reaches at the opening of right half folder (2-5) of wheel and half folder (2-6) of a wheel left side, is running
Under the effect of inertia of vehicle, band movable slider (2-4) is mobile along the first sliding rail (2-2) and the second sliding rail (2-3), so that cam (2-
7) it is separated with guide rod (2-10), right half folder (2-5) of wheel and left half folder (2-6) of wheel are closed by the effect of third spring (2-8)
Conjunction clamps sport car wheel；
Step 205, sport car wheel carry out flexible braking under the effect of the elastic force of the 4th spring (2-12) and the 5th spring (2-13).
9. according to the method for claim 8, it is characterised in that: right half folder (2-5) of wheel described in step 204 and wheel are left
Half presss from both sides the opening detailed process of (2-6) are as follows:
The bullet of sliding block (2-4) in step 2041, the arrestment mechanism (2) in the 4th spring (2-12) and the 5th spring (2-13)
One end of deceleration mechanism (1) is moved adjacent under power effect on the first sliding rail (2-2) and the second sliding rail (2-3)；
Step 2042, with the movement of the sliding block (2-4), the cam (2-7) on sliding block (2-4) is contacted with guide rod (2-10),
Sliding block (2-4) continues to move to, and because of the limit of guide rod (2-10), cam (2-7) is become rotating from movement, the rotation of cam (2-7)
Left half folder (2-6) of the wheel installed on sliding block (2-4) can be squeezed, right half folder (2-5) of wheel and left half folder (2-6) of wheel are made
It opens.
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| CN201910234450.XA CN109808731B (en) | 2019-03-26 | 2019-03-26 | System and method for monitoring mine car in underground inclined roadway of coal mine and preventing mine car from running |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111038549A (en) * | 2020-01-02 | 2020-04-21 | 中车青岛四方机车车辆股份有限公司 | Train external emergency braking system and emergency braking method |
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| CN109808731B (en) | 2020-02-21 |
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