CN109808731B - System and method for monitoring mine car in underground inclined roadway of coal mine and preventing mine car from running - Google Patents
System and method for monitoring mine car in underground inclined roadway of coal mine and preventing mine car from running Download PDFInfo
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- CN109808731B CN109808731B CN201910234450.XA CN201910234450A CN109808731B CN 109808731 B CN109808731 B CN 109808731B CN 201910234450 A CN201910234450 A CN 201910234450A CN 109808731 B CN109808731 B CN 109808731B
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Abstract
The invention discloses a mine car monitoring and anti-running system and a method for transporting a mine car in an underground inclined roadway of a coal mine, wherein the mine car monitoring and anti-running system comprises a pair of capturing units symmetrically arranged at two sides outside a mine car track, a monitoring unit arranged at one side outside the mine car track and a control unit; the capturing unit comprises a speed reducing mechanism, a braking mechanism and a displacement mechanism; the monitoring unit comprises infrared imaging equipment and an image processing computer, the image processing computer is connected with the output end of the infrared imaging equipment, and an infrared reflection film is attached to one side of each mine car close to the infrared imaging equipment; the control unit comprises a PLC controller and a hydraulic station, the PLC controller is connected with the output end of the image processing computer, and the hydraulic station is connected with the output end of the PLC controller. The anti-sliding system is reasonable in design and convenient to realize, can be applied to inclined roadway transportation under a coal mine to safely and stably capture a sliding car, prevents serious consequences caused by the sliding car, is good in using effect and convenient to popularize and use.
Description
Technical Field
The invention belongs to the technical field of coal mine safety production, and particularly relates to a system and a method for monitoring and preventing tramcar from running in an underground inclined roadway transport mine car of a coal mine.
Background
Coal is exploited as an important resource in China for a long time, but most coal resources are deeply buried underground, and most coal resources are required to be transported in an underground inclined roadway in the exploitation process, so that the underground safe transportation of a coal mine is also an important link of the safe production of the coal mine, the biggest potential safety hazard of the underground inclined roadway transportation of the coal mine is a car-running accident, namely the accident caused by the fact that a mine car for lowering equipment, lifting materials, transporting coal or personnel in the coal mine is out of control due to short ropes, broken pin chains or misoperation, and the mine car abnormally runs along a track under the action of the gravity component of the mine car. The importance of the anti-sports apparatus is therefore self-evident. In the prior art, in order to solve the serious consequences caused by the car running accidents in inclined roadway transportation, many scientific research personnel and engineers propose various solutions, for example, the car running prevention device in the invention patent with the application number of 201721864746.2 adopts a car running prevention blocking component and a car running prevention retracting winch component which are installed on a mine car track, but the structure is huge and complex, the position of the car running is unknown, a plurality of car running prevention devices need to be installed in the inclined roadway, the structural complexity of a single car running prevention device improves the installation cost, and the application universality is limited; the invention also discloses a roadster device as in the patent of invention with the application number of 201510908805.0, which comprises a speed acquisition assembly, a hydraulic driving system and a track catching assembly which are arranged on a tramcar, the scheme can effectively prevent the occurrence of roadster accidents in time, but the structure is relatively complex, the individual roadster accidents are unknown, the roadster device needs to be arranged on each roadster, and the structural complexity also increases the installation cost and limits the application range of the roadster device. In the prior art, the scheme for capturing the sports car is diversified, but the confirmation of the occurrence of the sports car is particularly important, and the realization of real-time and accurate confirmation of the sports car in a complex environment under a coal mine is an important premise for capturing the sports car.
Disclosure of Invention
The invention aims to solve the technical problem of providing a mine underground inclined roadway transport mine car monitoring and anti-sliding system aiming at the defects in the prior art, which has the advantages of simple structure, reasonable design, convenient realization and low cost, can be applied to underground inclined roadway transport of a mine, can safely and stably capture sliding cars, prevents serious consequences caused by the sliding cars, has good use effect and is convenient to popularize and use.
In order to solve the technical problems, the invention adopts the technical scheme that: a monitoring and anti-running system for a mine underground inclined roadway transport mine car comprises a pair of capturing units symmetrically arranged on two sides outside a mine car track, a monitoring unit arranged on one side outside the mine car track, and a control unit; the capturing unit and the monitoring unit are both connected with the control unit, and the capturing unit comprises a speed reducing mechanism, a braking mechanism and a displacement mechanism; the monitoring unit comprises infrared imaging equipment and an image processing computer, the image processing computer is connected with the output end of the infrared imaging equipment, and an infrared reflecting film is attached to one side of each mine car close to the infrared imaging equipment; the control unit comprises a PLC controller and a hydraulic station for providing hydraulic power for the displacement mechanism, the PLC controller is connected with the output end of the image processing computer, and the hydraulic station is connected with the output end of the PLC controller.
Foretell colliery is inclined drifts haulage mine car monitoring and prevents sports car system in pit, reduction gears includes wedge-shaped first bottom plate, one side on the first bottom plate is provided with first backup pad, the opposite side on the first bottom plate is provided with the second backup pad, the one end of first backup pad articulates there is first fly leaf, be connected with first spring between the other end of first backup pad and the first fly leaf, the one end of second backup pad articulates there is the second fly leaf, be connected with the second spring between the other end of second backup pad and the second fly leaf, be provided with first rubber leather packing on the side of being close to the second fly leaf of first fly leaf, be provided with second rubber leather packing on the side of being close to first fly leaf of second fly leaf.
In the coal mine underground inclined roadway tramcar monitoring and anti-running system, the brake mechanism comprises a second bottom plate, the second bottom plate is provided with a first slide rail and a second slide rail, the first slide rail and the second slide rail are connected with a slide block in a sliding way, the slide block is provided with a right wheel half clamp, a left wheel half clamp and a cam, a third spring is connected between the right wheel half clamp and the left wheel half clamp, the cam is arranged on the outer side of the left half clamp of the wheel, one side of the second bottom plate, which is close to the tramway, is provided with a mounting block, the mounting block is provided with a guide rod which is vertically arranged and used for limiting the cam and rotating the cam, one end of the second bottom plate far away from the speed reducing mechanism is provided with a first supporting block which is integrally formed with the second bottom plate, and a fourth spring and a fifth spring which are arranged side by side are connected between the sliding block and the first supporting block.
The coal mine underground inclined roadway transport mine car monitoring and anti-running system is characterized in that the displacement mechanism comprises a third slide rail, a fourth slide rail and a fifth slide rail, and a second supporting block which is connected with one end of the third slide rail, one end of the fourth slide rail and one end of the fifth slide rail, a hydraulic cylinder which is located between the third slide rail and the fourth slide rail is installed on the second supporting block, a piston rod of the hydraulic cylinder is connected with a second bottom plate of the brake mechanism, and the hydraulic cylinder is connected with a hydraulic station through an oil pipe.
The invention also provides a method for monitoring and preventing mine car from running in the underground inclined roadway of the coal mine, which comprises the following steps:
step one, mine car monitoring: the image processing computer processes the multi-frame mine car images shot by the infrared imaging equipment and judges whether the mine car runs or not;
step two, capturing a sports car: when the monitoring unit monitors that the tramcar runs, the control unit controls the capture unit to work to flexibly brake the tramcar.
In the first step of the method, the image processing computer processes the multi-frame mine car image shot by the infrared imaging device, and the specific process of judging whether the mine car runs is as follows:
step 101, the image processing computer sets an imaging area of the infrared imaging equipment as a monitoring area;
102, detecting a plurality of Harris angular points in each frame of image in a monitoring area by the image processing computer;
103, the image processing computer calls a feature matching module to extract a feature set of each frame of image, matches and corresponds the feature sets of two adjacent frames of images, and generates a matching feature pair set;
step 104, the image processing computer calls an angular point matching module to perform angular point matching on a plurality of Harris angular points in two adjacent frames of images according to the matching feature pair set, and finds out one-to-one correspondence between the plurality of Harris angular points in the two adjacent frames of images;
105, the image processing computer calculates the displacement value of one-to-one correspondence between multiple Harris angular points in two adjacent frames of images according to a formula
Calculating the total displacement d of all Harris angular points in the ith two adjacent frames of imagesTiTaking n from 1, and calculating the total displacement of all Harris angular points in all adjacent two frames of images; wherein d isi,jThe displacement quantity m of the jth Harris angular point with one-to-one correspondence in the ith two adjacent images isiThe total number of Harris angular points with one-to-one correspondence in the ith two adjacent images is j, and the value of j is 1-miN is the total number of the two adjacent frames of images;
step 106, the image processing computer obtains the position average value of all Harris angular points in all the two adjacent frames of images by calculation, wherein the position average value d of all the Harris angular points in the ith two adjacent frames of imagesAiIs calculated by the formula
Step 107, the image processing computer processes the image according to the formula delta dPi＝dA(i+1)-dAiCalculating to obtain the position average value d of all Harris angular points in the i +1 th adjacent two frames of imagesA(i+1)The position average value d of all Harris angular points in two adjacent images of the ith frameAiDifference Δ d ofPiAnd taking i from 1 to n-1;
step 108, the image processing computer processes the image according to a formula
All deltad are calculated for taking i from 1 to n-1PiAverage value of (a) dBWhen is-dE＜ΔdB＜dEWhen the mine car runs, the mine car is in a constant speed running state and does not run; when Δ dB＞dEIn the process, the mine car is in an accelerating running state to run, wherein dEError values are allowed for the monitoring unit.
When the image processing computer detects multiple Harris corners in each frame of image in the monitoring area in step 102 of the method, the process of detecting the multiple Harris corners in the image I (x, y) is as follows:
step 1021, the image processing computer according to the formulaCalculating the gradient I of the image I (x, y) in the direction of the x-axisxAccording to the formula
Calculating the gradient I of the image I (x, y) in the y-axis directiony；
Step 1022, the image processing computer calculates the correlation matrix at each pixelWherein ω (x, y) is a weighting function;
step 1023, the image processing computer sets the formula R ═ (ab-c)2)-λ(a+b)2Calculating a corner response value R of each pixel point; wherein lambda is an empirical constant and has a value range of 0.04-0.06;
step 1024, the image processing computer searches for a maximum point of the corner response value in an M × M square range at the middle position on the image I (x, y), defines the found maximum point of the corner response value as a threshold, and determines a pixel point as a Harris corner when the corner response value R of the pixel point is greater than the threshold.
In the second step of the method, when the monitoring unit monitors that the tramcar runs, the control unit controls the capture unit to work, and the specific process of flexibly braking the tramcar comprises the following steps:
step 201, when the PLC receives a signal of generating a sports car transmitted by an image processing computer, the PLC outputs a control signal to a hydraulic station;
step 202, the hydraulic cylinders in the displacement mechanism work under the action of the hydraulic station, and the braking mechanisms and the speed reducing mechanisms on two sides of the tramway are pushed onto the tramway along the third slide rail, the fourth slide rail and the fifth slide rail through piston rods of the hydraulic cylinders;
step 203, when the sports car reaches the speed reducing mechanism, the first movable plate and the second movable plate extrude the wheels of the sports car and flexibly reduce the speed through the first spring and the second spring;
204, the decelerated sports car wheel reaches the opening position of the right half clamp and the left half clamp of the wheel, and the sliding block is driven to move along the first sliding rail and the second sliding rail under the inertia effect of the sports car, so that the cam is separated from the guide rod, and the right half clamp and the left half clamp of the wheel are closed under the action of a third spring to clamp the sports car wheel;
and step 205, flexibly braking the sports car wheel under the elastic force action of the fourth spring and the fifth spring.
In step 204 of the method, the specific process of opening the right half wheel clamp and the left half wheel clamp is as follows:
2041, moving a sliding block in the braking mechanism to one end close to the speed reducing mechanism on the first sliding rail and the second sliding rail under the elastic force action of a fourth spring and a fifth spring;
step 2042, along with the movement of the sliding block, the cam on the sliding block is in contact with the guide rod, the sliding block continues to move, the cam changes from moving into rotating due to the limiting of the guide rod, and the rotation of the cam can extrude the left half clamp of the wheel mounted on the sliding block, so that the right half clamp of the wheel and the left half clamp of the wheel are opened.
Compared with the prior art, the invention has the following advantages:
1. the anti-running system is simple in structure, reasonable in design, convenient to implement and low in cost.
2. The speed reducing mechanism is designed by adopting a pure mechanical structure, can effectively reduce the speed of the wheels of the mine car, and has good stability.
3. The braking mechanism adopts a pure mechanical structure design, can effectively clamp the wheels of the decelerated mine car and flexibly brake the mine car through the third spring, and is safe and reliable.
4. The monitoring mechanism of the invention is composed of an infrared imaging device and an image processing computer, and has simple structure and convenient installation and maintenance.
5. The mine car monitoring and anti-running method provided by the invention is used for monitoring the mine car in real time, only the information acquired by the infrared imaging equipment is used for calculation, the infrared imaging equipment is convenient to install and maintain, the images acquired by the infrared imaging equipment are processed by the image processing computer, the running information of the mine car can be obtained, and the mine car monitoring and anti-running method is not influenced by complex environments such as poor underground visibility.
6. The invention can be applied to the underground inclined roadway transportation of the coal mine, can safely and stably capture the sports car, prevents the serious consequences caused by the sports car, has good use effect and is convenient to popularize and use.
In conclusion, the anti-sliding system is simple in structure, reasonable in design, convenient to implement and low in cost, can be applied to inclined roadway transportation under a coal mine, can safely and stably capture sliding cars, prevents serious consequences caused by the sliding cars, is good in using effect, and is convenient to popularize and use.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic view of the mine car monitoring and anti-skid system of the present invention;
FIG. 2 is a schematic structural view of the speed reducing mechanism of the present invention;
FIG. 3 is a schematic structural view of the braking mechanism of the present invention;
fig. 4 is a schematic structural view of the displacement mechanism of the present invention.
Description of reference numerals:
1-a speed reduction mechanism; 1-1 — a first base plate; 1-2 — a first support plate;
1-3 — a second support plate; 1-4 — a first flap; 1-5-a first spring;
1-6-a second movable plate; 1-7-a second spring; 1-8-first rubber leather pad;
1-9-a second rubber cushion; 2-a brake mechanism; 2-1 — a second base plate;
2-2 — a first slide rail; 2-3 — a second slide rail; 2-4-sliding block;
2-5-right half clamp of wheel; 2-6-left half clamp of wheel; 2-7-cam;
2-8-third spring; 2-9-mounting block; 2-10-guide bar;
2-11 — a first support block; 2-12-fourth spring; 2-13-fifth spring;
3-a displacement mechanism; 3-1 — a third slide rail; 3-2-a fourth slide rail;
3-a fifth slide rail; 3-4-a second support block; 3-5-hydraulic cylinder;
4-infrared imaging equipment; 5-image processing computer; 6-a PLC controller;
7-hydraulic pressure station.
Detailed Description
As shown in FIG. 1, the monitoring and anti-running system for the mine underground inclined roadway transport mine car comprises a pair of capturing units symmetrically arranged at two sides outside a mine car track, a monitoring unit arranged at one side outside the mine car track, and a control unit; the capturing unit and the monitoring unit are both connected with the control unit, and the capturing unit comprises a speed reducing mechanism 1, a braking mechanism 2 and a displacement mechanism 3; the monitoring unit comprises an infrared imaging device 4 and an image processing computer 5, the image processing computer 5 is connected with the output end of the infrared imaging device 4, and an infrared reflection film is attached to one side of each mine car close to the infrared imaging device 4; the control unit comprises a PLC (programmable logic controller) 6 and a hydraulic station 7 for providing hydraulic power for the displacement mechanism 3, the PLC 6 is connected with the output end of the image processing computer 5, and the hydraulic station 7 is connected with the output end of the PLC 6.
In specific implementation, the speed reducing mechanism 1 is used for carrying out holding speed reduction on wheels of a sports car, the braking mechanism 2 is used for clamping the wheels of the sports car and stopping the sports car, and the displacement mechanism 3 is used for moving a pair of capturing units arranged outside a track of the mining car onto the track of the mining car.
In this embodiment, as shown in fig. 2, the speed reducing mechanism 1 includes a wedge-shaped first bottom plate 1-1, a first supporting plate 1-2 is disposed on one side of the first bottom plate 1-1, a second supporting plate 1-3 is disposed on the other side of the first bottom plate 1-1, a first movable plate 1-4 is hinged to one end of the first supporting plate 1-2, a first spring 1-5 is connected between the other end of the first supporting plate 1-2 and the first movable plate 1-4, a second movable plate 1-6 is hinged to one end of the second supporting plate 1-3, a second spring 1-7 is connected between the other end of the second supporting plate 1-3 and the second movable plate 1-6, a first rubber cushion 1-8 is disposed on the side of the first movable plate 1-4 close to the second movable plate 1-6, and a second rubber leather pad 1-9 is arranged on the side surface of the second movable plate 1-6 close to the first movable plate 1-4.
In the embodiment, as shown in fig. 3, the brake mechanism 2 includes a second bottom plate 2-1, the second bottom plate 2-1 is provided with a first slide rail 2-2 and a second slide rail 2-3, the first slide rail 2-2 and the second slide rail 2-3 are slidably connected with a slide block 2-4, the slide block 2-4 is provided with a wheel right half clamp 2-5, a wheel left half clamp 2-6 and a cam 2-7, a third spring 2-8 is connected between the wheel right half clamp 2-5 and the wheel left half clamp 2-6, the cam 2-7 is installed on the outer side of the wheel left half clamp 2-6, one side of the second bottom plate 2-1 close to the track of the mine car is provided with a mounting block 2-9, and the mounting block 2-9 is provided with a guide rod 2-9 which is vertically arranged and used for limiting the cam 2-7 and rotating the cam 2-7 10, a first supporting block 2-11 integrally formed with the second bottom plate 2-1 is arranged at one end, away from the speed reducing mechanism 1, of the second bottom plate 2-1, and a fourth spring 2-12 and a fifth spring 2-13 which are arranged side by side are connected between the sliding block 2-4 and the first supporting block 2-11.
In specific implementation, the second bottom plate 2-1 and the first bottom plate 1-1 can be connected together through a buckle; when the second bottom plate 2-1 and the first bottom plate 1-1 are connected together, the wedge-shaped top end of the first bottom plate 1-1 is positioned on the same horizontal plane with the upper surface of the sliding block 2-4.
In this embodiment, as shown in fig. 4, the displacement mechanism 3 includes a third slide rail 3-1, a fourth slide rail 3-2, a fifth slide rail 3-3, and a second support block 3-4 connected to one end of the third slide rail 3-1, one end of the fourth slide rail 3-2, and one end of the fifth slide rail 3-3, a hydraulic cylinder 3-5 located between the third slide rail 3-1 and the fourth slide rail 3-2 is installed on the second support block 3-4, a piston rod of the hydraulic cylinder 3-5 is connected to a second bottom plate 2-1 of the brake mechanism 2, and the hydraulic cylinder 3-5 is connected to a hydraulic station 7 through an oil pipe.
In specific implementation, the hydraulic station 7 comprises an electromagnetic directional valve connected in an oil supply loop of the hydraulic cylinders 3-5, and the electromagnetic directional valve is connected with the output end of the PLC 6.
The invention discloses a method for monitoring and preventing mine car running in an underground inclined roadway of a coal mine, which comprises the following steps:
step one, mine car monitoring: the image processing computer 5 processes the multi-frame mine car images shot by the infrared imaging device 4 and judges whether the mine car runs or not;
step two, capturing a sports car: when the monitoring unit monitors that the tramcar runs, the control unit controls the capture unit to work to flexibly brake the tramcar.
In the first step of the method, the image processing computer 5 processes the multi-frame mine car image shot by the infrared imaging device 4, and the specific process of judging whether the mine car runs is as follows:
step 101, the image processing computer 5 sets the imaging area of the infrared imaging device 4 as a monitoring area;
102, detecting a plurality of Harris angular points in each frame of image in a monitoring area by the image processing computer 5;
103, the image processing computer 5 calls a feature matching module to extract a feature set of each frame of image, matches and corresponds the feature sets of two adjacent frames of images, and generates a matching feature pair set;
step 104, the image processing computer 5 calls an angular point matching module to perform angular point matching on a plurality of Harris angular points in two adjacent frames of images according to the matching feature pair set, and finds out a one-to-one correspondence relationship between the plurality of Harris angular points in the two adjacent frames of images;
step 105, the image processing computer 5 calculates one-to-one corresponding displacement values between a plurality of Harris angular points in two adjacent frames of images according to a formula
Calculating the total displacement d of all Harris angular points in the ith two adjacent frames of imagesTiTaking n from 1, and calculating the total displacement of all Harris angular points in all adjacent two frames of images; wherein d isi,jThe displacement quantity m of the jth Harris angular point with one-to-one correspondence in the ith two adjacent images isiThe total number of Harris angular points with one-to-one correspondence in the ith two adjacent images is j, and the value of j is 1-miN is the total number of the two adjacent frames of images;
step 106, the image processing computer 5 calculates and obtains the position average value of all Harris angular points in all the two adjacent frames of images, wherein the position average value d of all Harris angular points in the ith two adjacent frames of imagesAiIs calculated by the formula
Step 107, the image processing computer 5 calculates the difference between the data of the formula Δ dPi＝dA(i+1)-dAiCalculating to obtain the position average value d of all Harris angular points in the i +1 th adjacent two frames of imagesA(i+1)The position average value d of all Harris angular points in two adjacent images of the ith frameAiDifference Δ d ofPiAnd taking i from 1 to n-1;
step 108, the image processing computer 5 calculates the formulaAll deltad are calculated for taking i from 1 to n-1PiAverage value of (a) dBWhen is-dE＜ΔdB＜dEWhen the mine car runs, the mine car is in a constant speed running state and does not run; when Δ dB＞dEIn the process, the mine car is in an accelerating running state to run, wherein dEError values are allowed for the monitoring unit.
In specific practice, d is as describedEIs 0.1 m.
In step 102 of the method, when the image processing computer 5 detects multiple Harris corners in each frame of image in the monitoring area, the detection process of the multiple Harris corners in the image I (x, y) is as follows:
step 1021, the image processing computer 5 according to the formula
Calculating the gradient I of the image I (x, y) in the direction of the x-axisxAccording to the formulaCalculating the gradient I of the image I (x, y) in the y-axis directiony；
Step 1022, the image processing computer 5 calculates the correlation matrix of each pixel
Wherein ω (x, y) is a weighting function;
step 1023, the image processing computer 5 sets (ab-c) to the formula R2)-λ(a+b)2Calculating a corner response value R of each pixel point; wherein lambda is an empirical constant and has a value range of 0.04-0.06;
step 1024, the image processing computer 5 searches for a maximum point of the corner response value in the M × M square range at the middle position on the image I (x, y), defines the found maximum point of the corner response value as a threshold, and determines a pixel point as a Harris corner when the corner response value R of the pixel point is greater than the threshold.
In the second step of the method, when the monitoring unit monitors that the tramcar runs, the control unit controls the capture unit to work, and the specific process of flexibly braking the tramcar comprises the following steps:
step 201, when the PLC 6 receives a signal of generating a sports car transmitted by the image processing computer 5, the PLC 6 outputs a control signal to the hydraulic station 7;
step 202, the hydraulic cylinders 3-5 in the displacement mechanism 3 work under the action of the hydraulic station 7, and the brake mechanisms 2 and the speed reducing mechanisms 1 on two sides of the tramway track are pushed onto the tramway track along the third slide rail 3-1, the fourth slide rail 3-2 and the fifth slide rail 3-3 through piston rods of the hydraulic cylinders 3-5;
in specific implementation, the PLC 6 controls the electromagnetic directional valve in the hydraulic station 7 to realize the pushing of the piston rods of the hydraulic cylinders 3-5 to the braking mechanism 2 and the speed reducing mechanism 1.
Step 203, when the sports car reaches the speed reducing mechanism 1, the first movable plate 1-4 and the second movable plate 1-6 extrude the wheels of the sports car and flexibly reduce the speed through the first spring 1-5 and the second spring 1-7;
204, the decelerated sports car wheel reaches the opening position of the right wheel half clamp 2-5 and the left wheel half clamp 2-6, under the inertia effect of the sports car, the sliding block 2-4 is driven to move along the first sliding rail 2-2 and the second sliding rail 2-3, so that the cam 2-7 is separated from the guide rod 2-10, and the right wheel half clamp 2-5 and the left wheel half clamp 2-6 are closed under the action of the third spring 2-8 to clamp the sports car wheel;
and step 205, flexibly braking the sports car wheel under the elastic force of the fourth spring 2-12 and the fifth spring 2-13.
In step 204 of the method, the specific opening process of the right half wheel clips 2-5 and the left half wheel clips 2-6 is as follows:
2041, moving a sliding block 2-4 in the braking mechanism 2 to one end close to the speed reducing mechanism 1 on a first sliding rail 2-2 and a second sliding rail 2-3 under the elastic force action of a fourth spring 2-12 and a fifth spring 2-13;
2042, along with the movement of the sliding block 2-4, the cam 2-7 on the sliding block 2-4 is in contact with the guide rod 2-10, the sliding block 2-4 continues to move, the cam 2-7 changes from moving to rotating due to the limit of the guide rod 2-10, and the rotation of the cam 2-7 can extrude the left wheel half clamp 2-6 arranged on the sliding block 2-4, so that the right wheel half clamp 2-5 and the left wheel half clamp 2-6 are opened.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. The utility model provides a colliery is monitoring of inclined drifts transport mine car in pit and prevents sports car system which characterized in that: the device comprises a pair of capturing units symmetrically arranged at two sides outside a mine car track, a monitoring unit arranged at one side outside the mine car track, and a control unit; the capturing unit and the monitoring unit are both connected with the control unit, and the capturing unit comprises a speed reducing mechanism (1), a braking mechanism (2) and a displacement mechanism (3); the monitoring unit comprises an infrared imaging device (4) and an image processing computer (5), the image processing computer (5) is connected with the output end of the infrared imaging device (4), and an infrared reflection film is attached to one side, close to the infrared imaging device (4), of each mine car; the control unit comprises a PLC (programmable logic controller) and a hydraulic station (7) for providing hydraulic power for the displacement mechanism (3), the PLC (6) is connected with the output end of the image processing computer (5), and the hydraulic station (7) is connected with the output end of the PLC (6);
the speed reducing mechanism (1) comprises a wedge-shaped first bottom plate (1-1), a first supporting plate (1-2) is arranged on one side of the first bottom plate (1-1), a second supporting plate (1-3) is arranged on the other side of the first bottom plate (1-1), a first movable plate (1-4) is hinged to one end of the first supporting plate (1-2), a first spring (1-5) is connected between the other end of the first supporting plate (1-2) and the first movable plate (1-4), a second movable plate (1-6) is hinged to one end of the second supporting plate (1-3), a second spring (1-7) is connected between the other end of the second supporting plate (1-3) and the second movable plate (1-6), and a side face, close to the second movable plate (1-6), of the first movable plate (1-4) is provided with the first movable plate (1-6) A first rubber leather pad (1-8) is arranged, and a second rubber leather pad (1-9) is arranged on the side surface of the second movable plate (1-6) close to the first movable plate (1-4);
the brake mechanism (2) comprises a second bottom plate (2-1), a first sliding rail (2-2) and a second sliding rail (2-3) are arranged on the second bottom plate (2-1), a sliding block (2-4) is connected on the first sliding rail (2-2) and the second sliding rail (2-3) in a sliding mode, a wheel right half clamp (2-5), a wheel left half clamp (2-6) and a cam (2-7) are installed on the sliding block (2-4), a third spring (2-8) is connected between the wheel right half clamp (2-5) and the wheel left half clamp (2-6), the cam (2-7) is installed on the outer side of the wheel left half clamp (2-6), and an installation block (2-9) is arranged on one side, close to a tramcar track, of the second bottom plate (2-1), install vertical setting and be used for spacing cam (2-7) on installation piece (2-9) and make cam (2-7) rotatory guide arm (2-10), the one end that reduction gears (1) was kept away from in second bottom plate (2-1) is provided with first supporting block (2-11) with second bottom plate (2-1) integrated into one piece, be connected with fourth spring (2-12) and fifth spring (2-13) that set up side by side between slider (2-4) and first supporting block (2-11).
2. The coal mine underground inclined roadway transport mine car monitoring and anti-running system according to claim 1, characterized in that: the displacement mechanism (3) comprises a third slide rail (3-1), a fourth slide rail (3-2) and a fifth slide rail (3-3), and a second supporting block (3-4) which is connected with one end of the third slide rail (3-1), one end of the fourth slide rail (3-2) and one end of the fifth slide rail (3-3), a hydraulic cylinder (3-5) which is positioned between the third slide rail (3-1) and the fourth slide rail (3-2) is installed on the second supporting block (3-4), a piston rod of the hydraulic cylinder (3-5) is connected with a second bottom plate (2-1) of the brake mechanism (2), and the hydraulic cylinder (3-5) is connected with a hydraulic station (7) through an oil pipe.
3. A method for preventing sports cars using the system of claim 2, characterized in that: the method comprises the following steps:
step one, mine car monitoring: the image processing computer (5) processes the multi-frame mine car image shot by the infrared imaging device (4) and judges whether the mine car runs;
step two, capturing a sports car: when the monitoring unit monitors that the tramcar runs, the control unit controls the capture unit to work to flexibly brake the tramcar.
4. A method according to claim 3, characterized by: in the step one, the image processing computer (5) processes the multi-frame mine car image shot by the infrared imaging device (4), and the specific process of judging whether the mine car runs is as follows:
step 101, the image processing computer (5) sets an imaging area of the infrared imaging device (4) as a monitoring area;
102, detecting a plurality of Harris angular points in each frame of image in a monitoring area by the image processing computer (5);
103, the image processing computer (5) calls a feature matching module to extract a feature set of each frame of image, matches and corresponds the feature sets of two adjacent frames of images to generate a matching feature pair set;
step 104, the image processing computer (5) calls an angular point matching module to perform angular point matching on a plurality of Harris angular points in two adjacent frames of images according to the matching feature pair set, and finds out the one-to-one correspondence between the plurality of Harris angular points in the two adjacent frames of images;
105, the image processing computer (5) calculates displacement values corresponding to Harris angular points in two adjacent frames of images according to a formulaCalculate the ith two adjacentTotal displacement d of all Harris corners in frame imageTiTaking n from 1, and calculating the total displacement of all Harris angular points in all adjacent two frames of images; wherein d isi,jThe displacement quantity m of the jth Harris angular point with one-to-one correspondence in the ith two adjacent images isiThe total number of Harris angular points with one-to-one correspondence in the ith two adjacent images is j, and the value of j is 1-miN is the total number of the two adjacent frames of images;
step 106, the image processing computer (5) calculates and obtains the position average value of all Harris angular points in all the two adjacent frames of images, wherein the position average value d of all the Harris angular points in the ith two adjacent frames of imagesAiIs calculated by the formula
Step 107, the image processing computer (5) calculates the difference between the two values according to the formula Δ dPi＝dA(i+1)-dAiCalculating to obtain the position average value d of all Harris angular points in the i +1 th adjacent two frames of imagesA(i+1)The position average value d of all Harris angular points in two adjacent images of the ith frameAiDifference Δ d ofPiAnd taking i from 1 to n-1;
step 108, said image processing computer (5) according to a formula
All deltad are calculated for taking i from 1 to n-1PiAverage value of (a) dBWhen is-dE＜ΔdB＜dEWhen the mine car runs, the mine car is in a constant speed running state and does not run; when Δ dB＞dEIn the process, the mine car is in an accelerating running state to run, wherein dEError values are allowed for the monitoring unit.
5. The method of claim 4, wherein: when the image processing computer (5) detects multiple Harris corners in each frame of image in the monitoring area in step 102, the detection process of the multiple Harris corners in the image I (x, y) is as follows:
step 1021, the image processing computer (5) according to the formula
Calculating the gradient I of the image I (x) in the direction of the x-axisxAccording to the formula
Calculating the gradient I of the image I (x, y) in the y-axis directiony；
Step 1022, the image processing computer (5) calculates the correlation matrix on each pixel point
Wherein ω (x, y) is a weighting function;
step 1023, the image processing computer (5) sets (ab-c) to (R) according to the formula2)-λ(a+b)2Calculating a corner response value R of each pixel point; wherein lambda is an empirical constant and has a value range of 0.04-0.06;
step 1024, the image processing computer (5) searches a maximum point of the corner response value in the M × M square range at the middle position on the image I (x, y), defines the found maximum point of the corner response value as a threshold, and determines a pixel point as a Harris corner when the corner response value R of the pixel point is greater than the threshold.
6. A method according to claim 3, characterized by: in the second step, when the monitoring unit monitors that the tramcar runs, the control unit controls the capture unit to work, and the specific process of flexibly braking the tramcar comprises the following steps:
step 201, when the PLC (6) receives a signal which is transmitted by the image processing computer (5) and generates a sports car, the PLC (6) outputs a control signal to the hydraulic station (7);
step 202, working hydraulic cylinders (3-5) in the displacement mechanism (3) under the action of a hydraulic station (7), and pushing braking mechanisms (2) and speed reducing mechanisms (1) on two sides of a tramcar track onto the tramcar track along a third slide rail (3-1), a fourth slide rail (3-2) and a fifth slide rail (3-3) through piston rods of the hydraulic cylinders (3-5);
step 203, when the sports car reaches the speed reducing mechanism (1), the first movable plate (1-4) and the second movable plate (1-6) extrude the wheels of the sports car, and the sports car is flexibly reduced in speed through the first spring (1-5) and the second spring (1-7);
204, the decelerated sports car wheel reaches the opening position of the right wheel half clamp (2-5) and the left wheel half clamp (2-6), under the inertia effect of the sports car, the sliding block (2-4) is driven to move along the first sliding rail (2-2) and the second sliding rail (2-3), so that the cam (2-7) is separated from the guide rod (2-10), and the right wheel half clamp (2-5) and the left wheel half clamp (2-6) are closed through the action of the third spring (2-8) to clamp the sports car wheel;
and step 205, flexibly braking the sports car wheel under the elastic force action of the fourth spring (2-12) and the fifth spring (2-13).
7. The method of claim 6, wherein: in the step 204, the specific opening process of the right half wheel clamp (2-5) and the left half wheel clamp (2-6) is as follows:
2041, moving a sliding block (2-4) in the braking mechanism (2) to one end close to the speed reducing mechanism (1) on a first sliding rail (2-2) and a second sliding rail (2-3) under the elastic force action of a fourth spring (2-12) and a fifth spring (2-13);
2042, along with the movement of the sliding block (2-4), the cam (2-7) on the sliding block (2-4) is in contact with the guide rod (2-10), the sliding block (2-4) moves continuously, the cam (2-7) changes from moving to rotating due to the limit of the guide rod (2-10), and the rotation of the cam (2-7) can extrude the left half clamp (2-6) of the wheel arranged on the sliding block (2-4), so that the right half clamp (2-5) of the wheel and the left half clamp (2-6) of the wheel are opened.
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| CN101434246A (en) * | 2007-11-16 | 2009-05-20 | 沈阳奥杰工控有限责任公司 | Railway operation apparatus |
| CN201195537Y (en) * | 2008-01-22 | 2009-02-18 | 宋毅 | Wave type elevation and subsidence controllable slide preventing device |
| CN103264710B (en) * | 2013-05-21 | 2015-10-28 | 大连交通大学 | Normally closed buffering stop |
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| CN207510441U (en) * | 2017-10-16 | 2018-06-19 | 吕梁学院 | A kind of automatic type mine car speed-down car arrester in ore deposit hole |
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