CN111237009A - Control method and system for preventing bend collision of underground mine car - Google Patents
Control method and system for preventing bend collision of underground mine car Download PDFInfo
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- CN111237009A CN111237009A CN202010060057.6A CN202010060057A CN111237009A CN 111237009 A CN111237009 A CN 111237009A CN 202010060057 A CN202010060057 A CN 202010060057A CN 111237009 A CN111237009 A CN 111237009A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000011664 signaling Effects 0.000 claims 1
- 230000003137 locomotive effect Effects 0.000 abstract description 63
- 238000004891 communication Methods 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/02—Transport of mined mineral in galleries
- E21F13/025—Shuttle cars
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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Abstract
The invention provides a control method and a control system for preventing a curve of an underground mine car from colliding, which can solve the technical problem that an underground locomotive runs quickly and a collision accident possibly occurs at a turnout junction. The method comprises the steps of obtaining the distance between mobile terminal equipment on different branches; and judging the acquired distance and controlling the running speed of the mobile terminal equipment. The system comprises a UWB ranging module, a microcontroller and a processing module, wherein the UWB ranging module is used for acquiring the distances between mobile terminal equipment on different branches and uploading the distances to the microcontroller; the microcontroller is used for judging the acquired distance and then sending a signal to the warning module; and the warning module is used for controlling the running speed of the mobile terminal equipment and warning. According to the invention, the distance between the locomotives at different turnout curves is accurately measured through the UWB ranging module, and then whether the underground locomotive decelerates or stops at the curve is judged and controlled through the distance, so that the problem that the underground locomotive collides with the turnout curve in the process of fast driving can be effectively solved.
Description
Technical Field
The invention relates to the technical field of mine underground locomotive driving, in particular to a control method and a control system for preventing curve collision of an underground mine car.
Background
At present, an underground unmanned locomotive driving system is an important research subject in the aspect of mines at the present stage, the collision of mine locomotives is effectively avoided in unmanned driving, and the underground unmanned locomotive driving system plays a great role in development of underground environment, personal safety and unmanned driving in the mine industry. Materials, equipment and the like under a mine are mostly transported by mine locomotives under the mine, usually, a plurality of locomotives can simultaneously operate under one mine, and due to the extension of a mine roadway, a plurality of turnouts can be generated, the locomotives can rapidly operate, collision accidents can happen at the turnouts, personnel are injured, materials are damaged, and the safety production life of the mine is seriously influenced. The traditional solution is to install a curve acousto-optic alarm device at the top of a roadway at a turnout, give out an alarm within a period of time after a locomotive is coming and the locomotive is driven, and then remove the alarm, but the problem that the locomotive collides with the turnout during the rapid driving process cannot be effectively solved.
Disclosure of Invention
The invention provides a control method and a control system for preventing a curve of an underground mine car from colliding, which can solve the technical problem that an underground locomotive runs quickly and a collision accident possibly occurs at a turnout junction.
In order to solve the technical problems, the invention adopts the following technical scheme:
a control method for preventing the curve collision of an underground mine car comprises the following steps:
obtaining the distance between mobile terminal equipment on different branches;
and judging the acquired distance and controlling the running speed of the mobile terminal equipment.
Further, the specific method for acquiring the distance between the mobile terminal devices on different branches includes:
the front end and the rear end of the mobile terminal equipment in the driving direction are respectively provided with a UWB ranging module A and a UWB ranging module B at a turnout bend;
and calculating the distance between the mobile terminal equipment and the turnout curve through the UWB ranging module A and the UWB ranging module B to obtain the distance between the mobile terminal equipment on different turnouts.
Further, the specific method for obtaining the distance between the mobile terminal devices on different branches after calculating the distance between the mobile terminal device and the branch curve through the UWB ranging module a and the UWB ranging module B is as follows:
and the UWB ranging module A on the mobile terminal equipment sends signals to the UWB ranging module B, receives the signals fed back by the UWB ranging module B, and calculates the distance between the mobile terminal equipment and the curve according to the flight time and the speed so as to obtain the distance between the mobile terminal equipment on different branches.
Further, the specific method for controlling the operation speed of the mobile terminal device after the acquired distance is judged and processed is as follows:
and judging the distance between the mobile terminal equipment on different branches, if the distance is less than 50m, controlling the mobile terminal equipment to decelerate, and if the distance is less than 5m, controlling the mobile terminal equipment to stop.
On the other hand, the invention also discloses a control system for preventing the curve collision of the underground mine car, which comprises the following components:
the UWB ranging module is used for acquiring the distances between the mobile terminal devices on different branches and uploading the distances to the microcontroller;
the microcontroller is used for judging the acquired distance and then sending a signal to the warning module; and
and the warning module is used for controlling the running speed of the mobile terminal equipment and warning.
Furthermore, UWB ranging module is provided with a plurality ofly, and sets up respectively on mobile terminal equipment and bend.
Furthermore, the UWB ranging modules are at least provided with two UWB ranging modules on each mobile terminal device, and the UWB ranging modules are arranged at the front end and the rear end of the mobile terminal device in the driving direction.
Further, the warning module comprises an actuator for receiving signals and controlling the running speed of the mobile terminal equipment, and an alarm for warning.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the distance between the locomotives at different turnout curves is accurately measured through the UWB ranging module, and then whether the underground locomotive decelerates or stops at the curve is judged and controlled through the distance, so that the problem that the underground locomotive collides with the turnout curve in the process of fast driving can be effectively solved.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a block diagram of the system of the present invention.
Detailed Description
A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in FIG. 1, a control method for preventing a curve collision of an underground mine car comprises the following steps:
obtaining the distance between mobile terminal equipment on different branches;
and judging the acquired distance and controlling the running speed of the mobile terminal equipment.
The above steps are explained in detail as follows:
the front end and the rear end of the underground locomotive (mobile terminal equipment) in the running direction are respectively provided with a UWB ranging module A (the front end of the underground locomotive is provided with the UWB ranging module A)1The front end of the underground locomotive is a UWB ranging module A2) The UWB ranging module B is arranged at the turnout curve, the UWB ranging module A on the underground locomotive sends signals to the UWB ranging module B, receives the signals fed back by the UWB ranging module B, and calculates the distance between the underground locomotive and the curve according to the flight time and the speed so as to obtain the distance between the underground locomotives on different turnouts;
and judging the distance between the mobile terminal equipment on different branches, if the distance is less than 50m, controlling the mobile terminal equipment to decelerate, and if the distance is less than 5m, controlling the mobile terminal equipment to stop.
As shown in FIG. 2, a system for preventing the curve collision of an underground mine car comprises a UWB ranging module 1, a microcontroller 2, a warning module 3, a power supply module 4 and a communication module 5, wherein the warning module comprises an actuator and an alarm, the UWB ranging module 1 is arranged at the front end and the rear end of the underground locomotive in the driving direction, the UWB ranging module is also arranged at the turnout curve, and the UWB ranging module is arranged at the front end and the rear end of the underground locomotive and can accurately measure the distance between the two underground mine cars on the turnout, so that the occurrence of locomotive collision and turnout collision caused by neglecting the length of the car body is prevented;
the microcontroller judges the acquired distance (namely judges whether the vehicle is running normally, decelerating or stopping), and then sends a signal to the warning module, and an actuator in the warning module controls the running speed of the mobile terminal device according to an instruction issued by the microcontroller and uploads the speed to the alarm for warning;
the communication module is in communication with the UWB ranging module, the microcontroller and the warning module in a wireless mode, reports the distance information acquired by the UWB ranging module to the microcontroller, and transmits a command issued by the microcontroller to the warning module;
the power supply module supplies power to a circuit on the alarm module, and a mining intrinsic safety type 12V safety power supply is adopted in the embodiment. The 12V power supply voltage can be converted into 3.3V direct current voltage through the power supply conversion module, and the power is supplied to the UWB ranging and communication module and the warning module on the alarm module.
The working process is as follows:
the following two driving conditions exist when the underground locomotives on the two branches collide:
1. the underground locomotive C and the underground locomotive D both run towards the turnout curve;
2. the underground locomotive C and the underground locomotive D run in the same direction.
When the underground locomotive C and the underground locomotive D both drive towards the turnout curve, the UWB ranging module A on the underground locomotive C1And UWB ranging module A on underground locomotive D1Simultaneously sending a signal to a UWB ranging module B on a curve, receiving a signal fed back by the UWB ranging module B, calculating the distance between the head of the underground locomotive C and the curve, the distance between the head of the underground locomotive D and the curve, adding the two distances, namely the distance between the underground locomotive C and the underground locomotive D, judging the distance between the underground locomotives on different branches and a set value, if the distance is less than 50m, controlling the mobile terminal equipment to decelerate, and if the distance is less than 5m, controlling the mobile terminal equipment to stop;
when the underground locomotive C and the underground locomotive D run in the same direction, the first condition is that: UWB ranging module A on underground locomotive C1And UWB ranging module A on underground locomotive D2And simultaneously sending a signal to a UWB ranging module B on the curve (at the moment, the underground locomotive C enters the curve, and the underground locomotive D leaves the curve), receiving a signal fed back by the UWB ranging module B, calculating the distance between the head of the underground locomotive C and the curve, and the distance between the tail of the underground locomotive D and the curve, adding the two distances, namely the distance between the underground locomotive C and the underground locomotive D, judging the distance between the underground locomotives on different turnouts and a set value, if the distance is less than 50m, controlling the mobile terminal equipment to decelerate, and if the distance is less than 5m, controlling the mobile terminal equipment to stop. In the second case: UWB ranging module A on underground locomotive C2And UWB ranging module A on underground locomotive D1Simultaneously sending signals to a UWB ranging module B on the curve (at the moment, the underground locomotive C leaves the curve, and the underground locomotive D enters the curve), receiving the signals fed back by the UWB ranging module B, calculating the distance between the tail of the underground locomotive C and the curve and the distance between the head of the underground locomotive D and the curve, and adding the two distances to obtain the distanceAnd judging the distance between the underground locomotive C and the underground locomotive D on different branches and a set value, if the distance is less than 50m, controlling the mobile terminal equipment to decelerate, and if the distance is less than 5m, controlling the mobile terminal equipment to stop.
In conclusion, the distance between the locomotives at different turnout curves is accurately measured through the UWB ranging module, and then the speed reduction or stop of the underground locomotive at the curve is judged and controlled through the distance, so that the problem that the underground locomotive collides with the turnout curve in the process of fast running can be effectively solved.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (8)
1. A control method for preventing a bend of an underground mine car from colliding is characterized by comprising the following steps:
obtaining the distance between mobile terminal equipment on different branches;
and judging the acquired distance and controlling the running speed of the mobile terminal equipment.
2. The control method for preventing the curve collision of the underground mine car as claimed in claim 1, wherein the specific method for acquiring the distance between the mobile terminal devices on different branches is as follows:
the front end and the rear end of the mobile terminal equipment in the driving direction are respectively provided with a UWB ranging module A and a UWB ranging module B at a turnout bend;
and calculating the distance between the mobile terminal equipment and the turnout curve through the UWB ranging module A and the UWB ranging module B to obtain the distance between the mobile terminal equipment on different turnouts.
3. The control method for preventing the curve collision of the underground mine car as claimed in claim 2, wherein the specific method for calculating the distance between the mobile terminal equipment and the curve of the turnout by the UWB ranging module A and the UWB ranging module B to obtain the distance between the mobile terminal equipment on different turnouts is as follows:
and the UWB ranging module A on the mobile terminal equipment sends signals to the UWB ranging module B, receives the signals fed back by the UWB ranging module B, and calculates the distance between the mobile terminal equipment and the curve according to the flight time and the speed so as to obtain the distance between the mobile terminal equipment on different branches.
4. The control method for preventing the curve collision of the underground mine car as claimed in claim 1, wherein the specific method for controlling the running speed of the mobile terminal device after the acquired distance is judged is as follows:
and judging the distance between the mobile terminal equipment on different branches, if the distance is less than 50m, controlling the mobile terminal equipment to decelerate, and if the distance is less than 5m, controlling the mobile terminal equipment to stop.
5. A control system for preventing bend collision of an underground mine car is characterized by comprising the following modules:
the UWB ranging module (1) is used for acquiring the distances between the mobile terminal devices on different branches and uploading the distances to the microcontroller;
the microcontroller (2) is used for judging the acquired distance and then sending a signal to the warning module;
and the warning module (3) is used for controlling the running speed of the mobile terminal equipment and warning.
6. The control system for preventing a curve collision of an underground mine car as claimed in claim 5, wherein the UWB ranging module is provided in plurality and is respectively provided on the mobile terminal device and the curve.
7. The control system for preventing a curve collision of an underground mine car according to claim 6, wherein at least two UWB ranging modules are arranged on each mobile terminal device, and are arranged at the front end and the rear end of the mobile terminal device in the driving direction.
8. The control system for preventing a curve collision of an underground mine car as claimed in claim 5, wherein the warning module comprises an actuator for receiving a signal and controlling the running speed of the mobile terminal device, and an alarm for warning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010060057.6A CN111237009A (en) | 2020-01-19 | 2020-01-19 | Control method and system for preventing bend collision of underground mine car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010060057.6A CN111237009A (en) | 2020-01-19 | 2020-01-19 | Control method and system for preventing bend collision of underground mine car |
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| CN111237009A true CN111237009A (en) | 2020-06-05 |
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| CN202010060057.6A Pending CN111237009A (en) | 2020-01-19 | 2020-01-19 | Control method and system for preventing bend collision of underground mine car |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674430A (en) * | 2020-07-16 | 2020-09-18 | 何秀华 | Micro-rail vehicle distance measuring device and method |
| CN112037552A (en) * | 2020-08-10 | 2020-12-04 | 北京航空航天大学 | Marshalling cooperative operation method of 5G-based unmanned transportation system in mining area |
| US11477718B1 (en) | 2021-03-31 | 2022-10-18 | Toyota Motor North America, Inc. | Systems and methods for selecting a routing protocol |
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| CN109849879A (en) * | 2019-03-18 | 2019-06-07 | 奇瑞汽车股份有限公司 | Suitable for bend and the automatic emergency brake system and method for crossroad |
| CN209248786U (en) * | 2018-11-19 | 2019-08-13 | 长沙智能驾驶研究院有限公司 | A kind of mine car active safety system and mine car |
| CN110497939A (en) * | 2019-07-16 | 2019-11-26 | 北京埃福瑞科技有限公司 | Rail traffic collision resistant detecting system and method |
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2020
- 2020-01-19 CN CN202010060057.6A patent/CN111237009A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209248786U (en) * | 2018-11-19 | 2019-08-13 | 长沙智能驾驶研究院有限公司 | A kind of mine car active safety system and mine car |
| CN109849879A (en) * | 2019-03-18 | 2019-06-07 | 奇瑞汽车股份有限公司 | Suitable for bend and the automatic emergency brake system and method for crossroad |
| CN110497939A (en) * | 2019-07-16 | 2019-11-26 | 北京埃福瑞科技有限公司 | Rail traffic collision resistant detecting system and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674430A (en) * | 2020-07-16 | 2020-09-18 | 何秀华 | Micro-rail vehicle distance measuring device and method |
| CN112037552A (en) * | 2020-08-10 | 2020-12-04 | 北京航空航天大学 | Marshalling cooperative operation method of 5G-based unmanned transportation system in mining area |
| CN112037552B (en) * | 2020-08-10 | 2021-06-25 | 北京航空航天大学 | Marshalling cooperative operation method of 5G-based unmanned transportation system in mining area |
| US11477718B1 (en) | 2021-03-31 | 2022-10-18 | Toyota Motor North America, Inc. | Systems and methods for selecting a routing protocol |
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Application publication date: 20200605 |
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