CN114991064A - Auxiliary driving system for underground coal mine storage battery electric locomotive and working method of auxiliary driving system - Google Patents
Auxiliary driving system for underground coal mine storage battery electric locomotive and working method of auxiliary driving system Download PDFInfo
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- CN114991064A CN114991064A CN202210336783.5A CN202210336783A CN114991064A CN 114991064 A CN114991064 A CN 114991064A CN 202210336783 A CN202210336783 A CN 202210336783A CN 114991064 A CN114991064 A CN 114991064A
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- 230000003137 locomotive effect Effects 0.000 title claims abstract description 155
- 239000003245 coal Substances 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 238000004140 cleaning Methods 0.000 claims abstract description 39
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 18
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H8/00—Removing undesirable matter from the permanent way of railways; Removing undesirable matter from tramway rails
- E01H8/10—Removing undesirable matter from rails, flange grooves, or the like railway parts, e.g. removing ice from contact rails, removing mud from flange grooves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to the technical field of electric locomotives, and particularly discloses an auxiliary driving system of a storage battery electric locomotive in a coal mine and a working method thereof, wherein the auxiliary driving system comprises a vehicle body mechanism, a track mechanism and a cleaning mechanism, wherein the track mechanism is arranged at the bottom of the vehicle body mechanism, and the cleaning mechanism is arranged on one side of the bottom of the vehicle body mechanism; the cleaning mechanism comprises an elastic metal sheet, a cleaning block, a fixing block, pointed strips, an ice removing shell, a connecting rod, a connecting block, a rotating shaft, an idler wheel, a steel brush roller, a first correcting strip, a second correcting strip and a third correcting strip, the same end of the elastic metal sheet is fixedly provided with the cleaning block, the fixing block and the ice removing shell, and one side of the bottom of the fixing block is fixedly provided with the pointed strips. The cleaning mechanism is adopted, when stones are on the track, the rollers and the steel brush rollers can collide large stones outside the track, and small stones can be extruded and shifted outside the track by the sharp strips when entering the sharp strips, so that smooth and stable operation of the electric locomotive is guaranteed.
Description
Technical Field
The invention relates to the technical field of electric locomotives, in particular to an auxiliary driving system of a storage battery electric locomotive under a coal mine and a working method thereof.
Background
The electric locomotive is the main mode of colliery auxiliary transportation, undertakes the important task of transportation such as personnel, equipment and material. At present, a driver is completely depended on to control a vehicle, and human factors such as fatigue of the driver easily cause safety problems such as non-subjective overspeed, red light running, rear-end collision and the like. According to statistics, the auxiliary transportation accident is one of three accidents of a mine, the number of the occurring roadway transportation accidents accounts for 42.14 percent of the total transportation accidents, the number of casualties reaches 41.11 percent, and the electric locomotive accident site is located at the head of the roadway transportation accidents. Therefore, research and development are needed urgently, an electric locomotive for assisting driving and autonomous driving is equipped, people are reduced in a coal mine, efficiency is improved, excessive dependence of the electric locomotive on a driver is reduced, and safety of auxiliary transportation of the electric locomotive is improved.
The running environment of the underground electric locomotive is complex, such as low illumination, high gas, high dust and the like in the underground environment, the similarity of the underground appearances of the coal mine is large and relatively closed, sundries such as stones may appear on the track, when the wheels of the electric locomotive are rolled, the wheels are damaged to a certain extent, and even the risks of derailment and derailment of the electric locomotive exist; the underground temperature is low, when water drops on the track, the icing phenomenon can occur, and when the electric locomotive wheel rolls, the risks of derailment and derailment also exist; the traditional electric locomotive highly depends on an electric locomotive driver, when encountering a turnout, the turnout needs to be observed by naked eyes in a straight-going and turning state, but is difficult to observe when not in place, so that safety accidents such as derailment and derailment of the electric locomotive are easily caused, and the driver is also easy to run a red light when being tired.
Disclosure of Invention
The invention solves the technical problem of providing the auxiliary driving system of the underground storage battery electric locomotive of the coal mine and the working method thereof, which can prevent the electric locomotive from derailing, clean the track of the electric locomotive, reduce the risk of the electric locomotive derailing and greatly reduce the labor intensity of the driver of the electric locomotive.
In order to realize the purpose, the invention is realized by the following technical scheme:
the invention provides an auxiliary driving system for a storage battery electric locomotive in a coal mine, which comprises a locomotive mechanism, a track mechanism and a cleaning mechanism, wherein the track mechanism is arranged at the bottom of the locomotive mechanism, and the cleaning mechanism is arranged on one side of the bottom of the locomotive mechanism;
the cleaning mechanism comprises elastic metal sheets, cleaning blocks, fixing blocks, pointed strips, deicing shells, connecting rods, connecting blocks, rotating shafts, rollers, steel brush rollers, first correction strips, second correction strips and third correction strips, the same ends of the three elastic metal sheets are respectively fixedly provided with the cleaning blocks, the fixing blocks and the deicing shells, one side of the bottom of each fixing block is fixedly provided with the pointed strips, one side of each deicing shell is fixedly provided with two groups of connecting blocks, the middle parts of the two groups of connecting blocks are respectively penetrated and rotatably provided with the rotating shafts, the outer side walls of the middle parts of the two rotating shafts are respectively fixedly provided with the rollers, the outer side walls of the two ends of the two rotating shafts are respectively fixedly provided with the steel brush rollers, the connecting rods are rotatably arranged between the cleaning blocks and the fixing blocks, the connecting rods are rotatably arranged between the fixing blocks and the deicing shells, and one side of each deicing shell is fixedly provided with the first correction strips, fixed block one side fixed mounting has the second to correct the strip, clean block one side fixed mounting has the third to correct the strip.
Further, automobile body mechanism includes electric locomotive, wheel and rim, a plurality of groups of wheels are installed in the middle part of the electric locomotive through rotating, wheel one side fixed mounting has the rim.
Further, the track mechanism includes first track, second track, third track, fourth track, first removal track, second removal track, electronic vaulting pole, first gap and second gap, wheel one side movable mounting has first track and second track, third track, fourth track, first removal track and second removal track are installed to first track and the orbital inboard of second, the common fixed mounting in first removal track and second removal track bottom one side has electronic vaulting pole, it has the second gap to reserve between first track and the first removal track, it has first gap to reserve between second track and the second removal track.
Further, a sponge block is fixedly mounted on the outer side wall of one side of the bottom of the cleaning block, the tip direction of the pointed strip faces the advancing direction of the electric locomotive, the front end of the first correcting strip is designed to be pointed, and the width of the first correcting strip, the width of the second correcting strip and the width of the third correcting strip are larger than the width of the wheel rim.
Further, the gap between the end parts of the wide sides of the third track and the second moving track is equal to the width of the wheel rim, and the gap between the end parts of the wide sides of the fourth track and the first moving track is equal to the width of the wheel rim.
Furthermore, first removal track and second removal track are located equal fixed mounting in bottom one side of broadside tip, the equal fixed mounting in electric locomotive bottom one side in the same end of elastic metal piece.
A working method of a coal mine underground storage battery electric locomotive auxiliary driving system comprises the following steps:
s1, automatically positioning the electric locomotive; the method comprises the following steps of positioning by adopting a laser radar positioning mode, a wheel speed meter and an RFID passive identification card fusion positioning mode, installing an on-board computer, a laser radar and a mining intrinsic safety type card reader in an electric locomotive, deploying the mining intrinsic safety type passive identification card in the center of an electric locomotive track, deploying turnout/signal lamps at the edge of the electric locomotive track, transmitting point cloud collected by the laser radar to the on-board computer by a laser radar sensor through a TCP/IP protocol, and positioning by filtering and processing input point cloud and combining the feedback speed of the wheel speed meter by the on-board computer; meanwhile, the RFID passive identification card can initialize the positioning of the electric locomotive and eliminate the accumulated error;
s2: carry out the discernment to track switch/signal lamp after independently fixing a position through S1, through installing signal recognizer on switch/signal lamp, signal recognizer and electric locomotive carry out data transmission through the Zigbee communication, and the electric locomotive acquires the real-time status of switch/signal lamp to carry out the pronunciation suggestion on vehicle-mounted terminal, thereby carry out the auxiliary driving of electric locomotive.
Further, the laser radar and the mine intrinsic safety type card reader carry out TCP/IP protocol communication with the vehicle-mounted computer through the gigabit switch, and data interaction is carried out among the vehicle controller, the vehicle-mounted terminal and the vehicle-mounted computer through CAN communication standard frames.
Further, the autonomous positioning of the electric locomotive in S1 includes the following steps:
a 1: transmitting the roadway point cloud picture scanned by the laser radar to a vehicle-mounted computer, and storing the vehicle-mounted computer into a memory according to the feedback speed of the wheel speed meter and the data of the RFID passive identification card in combination with the point cloud picture;
a 2: reading the point cloud from the memory by the vehicle-mounted computer, filtering, extracting environmental features, and extracting roadway wall features, track features and special markers;
a 3: performing feature matching alignment, and constructing a full roadway map by combining a wheel speed meter feedback speed and an RFID passive identification card, wherein a point cloud picture generated by a laser radar comprises object coordinates (x, y, z, roll, pitch, yaw) which are three-dimensional coordinates x, y, z, x rotation angle, y rotation angle and z rotation angle respectively;
a 4: positioning initialization, namely scanning an RFID passive identification card through an RFID card reader when an electric locomotive is started for the first time and enters an auxiliary driving mode positioning system, and entering a positioning initial calculation stage by taking the card position as a reference point;
a 5: in the running process of the electric locomotive, the wheel speed meter feeds back the speed v (t), the acceleration a (t) and the running direction of the electric locomotive through CAN communication, and a created map position S0(t) which may appear on the electric locomotive is calculated in a polling period;
a 6: and (3) iterating the closest point cloud, calculating laser positioning S1(t), if the error of S1(t) and S0(t) is smaller than an error threshold delta (t), positioning S1(t), and if the error of S1(t) and S0(t) is larger than or equal to the error threshold delta (t), iterating and filtering at the position S0(t) to obtain the final positioning S01 (t).
Further, the communication between the electric locomotive and the switch/signal lamp signal converter in S2 is implemented by using a Zigbee wireless protocol, and the electric locomotive transmission frame includes commands to be transmitted to the switch and the signal lamp, and is distinguished by device type; the transmitted command comprises a query command and a control command, and is distinguished by a command field; each electric locomotive is distinguished by the number of the locomotive, and each locomotive sends out the position and the speed of the locomotive respectively
The invention has the following beneficial effects:
(1) the invention relates to a coal mine underground storage battery electric locomotive assistant driving system and a working method thereof.A cleaning mechanism is adopted, when an electric locomotive moves forwards, the cleaning mechanism is driven to synchronously move forwards, a roller wheel and a track are rubbed to rotate so as to drive steel brush rollers at two sides of the rail to rotate, when stones exist on the track, the roller wheel and the steel brush rollers can collide large stones outside the track, and small stones can be extruded and shifted outside the track by a sharp strip when entering the sharp strip; when icing occurs on the track, the ice blocks are crushed by the rotating steel brush roller, the crushed ice is extruded and deviated outside the track by the pointed strip, and the residual ice and water on the track are wiped off by the cleaning block to prevent secondary icing, so that smooth and stable running of the electric locomotive is guaranteed.
(2) The invention relates to a coal mine underground storage battery electric locomotive auxiliary driving system and a working method thereof.A correction mechanism is adopted, when a turnout rail is not moved in place, as shown in the figure, an electric locomotive turns downwards, one end of an electric stay bar extends to drive one ends of a first moving rail and a second moving rail to move upwards, if the turnout rail is not moved in place, namely a second gap is smaller and a first gap is larger, a lower side wheel needs to continuously drive from the first rail, a first correction strip on the lower side is firstly contacted with the first moving rail and enters the second gap to enlarge the second gap, and then a second correction strip and a third correction strip on the lower side enter the second gap to keep the second gap, so that a wheel rim of the lower side wheel can smoothly enter the second gap, and the lower side wheel can continuously drive on the first rail; meanwhile, the wheels of the upper side need to be switched to the second moving track from the second track, the first correction strip of the upper side is in contact with the second moving track firstly, the second moving track is extruded to be attached to the second track, then the second correction strip of the upper side and the third correction strip continuously extrude the second moving track to be attached to the second track, the wheel rim of the wheels of the upper side can smoothly turn to the second moving track, the electric locomotive turns downwards successfully, the possibility of derailment and turnover of the electric locomotive is reduced, and the operation safety of the electric locomotive is improved.
(3) The invention adopts a mode of fusing and positioning the multi-source sensors such as the laser radar, the wheel speed meter, the RFID passive identification card and the like, has high reliability, positioning accuracy superior to 30cm, and does not depend on network environment, can realize the state of sensing turnouts and traffic lights by the electric locomotive, reduces the dependence of the electric locomotive on people, and greatly improves the safety of the electric locomotive because the system actively intervenes when people are not in time to react.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a track turning structure of a storage battery electric locomotive auxiliary driving system under a coal mine and a working method thereof provided by the invention;
FIG. 2 is an overall structural schematic diagram of an auxiliary driving system of a storage battery electric locomotive under a coal mine and a working method thereof, which are provided by the invention;
FIG. 3 is a connection schematic diagram of a cleaning mechanism of the auxiliary driving system of the underground coal mine storage battery electric locomotive and the working method thereof provided by the invention;
FIG. 4 is a schematic connection side view of a cleaning mechanism of the auxiliary driving system of the underground coal mine storage battery electric locomotive and the working method thereof provided by the invention;
FIG. 5 is an enlarged view of FIG. 2 at A;
FIG. 6 is a schematic structural diagram of a connecting rod of the auxiliary driving system of the underground coal mine storage battery electric locomotive and the working method thereof provided by the invention;
FIG. 7 is a working principle diagram of an auxiliary driving system of a storage battery electric locomotive under a coal mine and a working method thereof, which are provided by the invention;
FIG. 8 is a flow chart of the auxiliary driving system of the storage battery electric locomotive under the coal mine and the positioning of the working method thereof, which are provided by the invention;
FIG. 9 is a schematic diagram of the principle that an electric locomotive reads a turnout/signal lamp in the underground coal mine storage battery electric locomotive auxiliary driving system and the working method thereof provided by the invention;
FIG. 10 is a logic diagram of reading/controlling turnout points of an electric locomotive of a storage battery under a coal mine and a working method thereof provided by the invention.
In the figure:
1. a vehicle body mechanism; 11. an electric locomotive; 12. a wheel; 13. a rim;
2. a track mechanism; 21. a first track; 22. a second track; 23. a third track; 24. a fourth track; 25. a first moving track; 26. a second moving track; 27. an electric stay bar; 28. a first slit; 29. a second slit;
3. a cleaning mechanism; 31. a resilient metal sheet; 32. a cleaning block; 33. a fixed block; 34. a pointed strip; 35. removing ice shells; 36. a connecting rod; 37. connecting blocks; 38. a rotating shaft; 39. a roller; 310. a steel brush roll; 311. a first correction strip; 312. a second correction strip; 313. and a third correction strip.
Detailed Description
In order to make the objects, technical means and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 2, the embodiment of the invention provides an auxiliary driving system for a storage battery electric locomotive in a coal mine, which comprises a vehicle body mechanism 1, a track mechanism 2 and a cleaning mechanism 3, wherein the track mechanism 2 is installed at the bottom of the vehicle body mechanism 1, and the cleaning mechanism 3 is installed at one side of the bottom of the vehicle body mechanism 1;
as shown in fig. 3 and 4, the cleaning mechanism 3 includes an elastic metal sheet 31, a cleaning block 32, a fixing block 33, a pointed strip 34, a deicing shell 35, a connecting rod 36, a connecting block 37, a rotating shaft 38, a roller 39, a steel brush roller 310, a first correcting strip 311, a second correcting strip 312, and a third correcting strip 313, the same end of the three elastic metal sheets 31 is fixedly provided with the cleaning block 32, the fixing block 33, and the deicing shell 35, the elastic metal sheet 31 is used for buffering the deviation and the reset of the cleaning block 32, the fixing block 33, and the deicing shell 35, one side of the bottom of the fixing block 33 is fixedly provided with the pointed strip 34, one side of the deicing shell 35 is fixedly provided with two groups of connecting blocks 37, the middle parts of the two groups of connecting blocks 37 are respectively penetrated and rotatably provided with the rotating shaft 38, the connecting blocks 37 are used for supporting the rotating shaft 38, the outer side walls of the middle parts of the two rotating shafts 38 are both fixedly provided with the roller 39, the outer side walls of both ends of the two rotating shafts 38 are fixedly provided with the steel brush roller 310, the ice block crusher is used for crushing ice blocks on a track, a connecting rod 36 is installed in a rotating mode between a cleaning block 32 and a fixing block 33, the connecting rod 36 is installed in a rotating mode between the fixing block 33 and an ice removing shell 35, a first correcting strip 311 is installed on one side of the ice removing shell 35 in a fixed mode, a second correcting strip 312 is installed on one side of the fixing block 33 in a fixed mode, and a third correcting strip 313 is installed on one side of the cleaning block 32 in a fixed mode.
In this embodiment, the roller 39 and the rail rub against each other to rotate, so as to drive the steel brush rollers 310 on both sides to rotate, when there is a stone on the rail, the roller 39 and the steel brush rollers 310 collide the large stone outside the rail, and the small stone is extruded and deviated by the pointed strip 34 to the outside of the rail when passing through the pointed strip 34; when the ice is frozen on the track, the rotating steel brush roller 310 crushes the ice blocks, the sharp strips 34 extrude and extrude the crushed ice to be deviated outside the track, and the cleaning blocks 32 wipe off the residual ice and water on the track to prevent the ice from being frozen again. The cleaning mechanism 3 is slightly deflected when colliding with the stones or ice blocks, the connecting rod 36 can reduce the deflection damage, and the elastic metal sheet 31 can quickly recover the deflection.
As shown in fig. 5, specifically, the vehicle body mechanism 1 includes an electric locomotive 11, wheels 12 and a rim 13, the middle of the electric locomotive 11 is rotatably provided with a plurality of sets of wheels 12, and the rim 13 is fixedly provided on one side of the wheels 12 for preventing derailment of the wheels 12.
As shown in fig. 1, specifically, the track mechanism 2 includes a first track 21, a second track 22, a third track 23, a fourth track 24, a first movable track 25, a second movable track 26, an electric stay 27, a first gap 28 and a second gap 29, the wheel 12 has the first track 21 and the second track 22 at one side, the third track 23, the fourth track 24, the first movable track 25 and the second movable track 26 are installed at the inner sides of the first track 21 and the second track 22, the electric stay 27 is fixedly installed at one side of the bottoms of the first movable track 25 and the second movable track 26, a second gap 29 is reserved between the first track 21 and the first movable track 25, and a first gap 28 is reserved between the second track 22 and the second movable track 26.
In this embodiment, when the switch rail is not moved in place, as shown in fig. 1, the electric locomotive 11 turns downward, one end of the electric strut 27 extends to drive one end of the first moving rail 25 and one end of the second moving rail 26 to move upward, if the switch rail is not moved in place, that is, the second gap 29 is smaller and the first gap 28 is larger, the lower wheel 12 needs to continue to move from the first rail 21, the first correction strip 311 on the lower side first contacts with the first moving rail 25 and enters the second gap 29 to enlarge the second gap 29, and then the second correction strip 312 and the third correction strip 313 on the lower side enter the second gap 29 to keep the second gap 29, so that the rim 13 of the lower wheel 12 can smoothly enter the second gap 29, and the lower wheel 12 continues to move on the first rail 21; meanwhile, the upper wheel 12 needs to be switched from the second track 22 to the second moving track 26, the upper first correction strip 311 first contacts with the second moving track 26 to press the second moving track 26 to be attached to the second track 22, and then the upper second correction strip 312 and the upper third correction strip 313 continuously press the second moving track 26 to be attached to the second track 22, so that the rim 13 of the upper wheel 12 can smoothly turn onto the second moving track 26, and the electric locomotive 11 turns downwards successfully.
Specifically, a sponge block is fixedly mounted on the outer side wall of one side of the bottom of the cleaning block 32 and used for wiping ice residues and water on a track, the tip direction of the pointed strip 34 faces the advancing direction of the electric locomotive, the front end of the first correcting strip 311 is in a pointed design, and the widths of the first correcting strip 311, the second correcting strip 312 and the third correcting strip 313 are larger than the width of the wheel rim 13.
Specifically, the gap between the wide ends of the third rail 23 and the second moving rail 26 is equal to the width of the flange 13, and the gap between the wide ends of the fourth rail 24 and the first moving rail 25 is equal to the width of the flange 13.
Specifically, the first moving rail 25 and the second moving rail 26 are fixedly mounted on the bottom surface on the side of the bottom of the wide-side end portion, and the same end of the elastic metal sheet 31 is fixedly mounted on the side of the bottom of the electric locomotive 11
The specific working mode is as follows:
when the electric locomotive 11 advances, the cleaning mechanism 3 is driven to advance synchronously, the roller 39 rotates by rubbing with the track, so as to drive the steel brush rollers 310 on the two sides to rotate, when stones exist on the track, the roller 39 and the steel brush rollers 310 can collide large stones outside the track, and small stones can be extruded and deviated outside the track by the pointed strips 34 when entering the pointed strips 34; when ice is frozen on the track, the rotating steel brush roller 310 crushes the ice blocks, the sharp strips 34 extrude and push the crushed ice to be deviated outside the track, and the cleaning blocks 32 wipe off the ice and water remained on the track to prevent the ice from being frozen again. The cleaning mechanism 3 is slightly deflected when colliding with the stones or ice blocks, the connecting rod 36 can reduce the deflection damage, and the elastic metal sheet 31 can quickly recover the deflection.
When the turnout track is not moved in place, as shown in fig. 1, the electric locomotive 11 turns downwards, one end of the electric strut 27 extends to drive one ends of the first moving track 25 and the second moving track 26 to move upwards, if the turnout track is not moved in place, namely the second gap 29 is smaller and the first gap 28 is larger, the lower wheel 12 needs to continue to run from the first track 21, the first correction strip 311 on the lower side contacts with the first moving track 25 first and enters the second gap 29 to enlarge the second gap 29, and then the second correction strip 312 and the third correction strip 313 on the lower side enter the second gap 29 to keep the second gap 29, so that the rim 13 of the lower wheel 12 can smoothly enter the second gap 29, and the lower wheel 12 continues to run on the first track 21; meanwhile, the upper wheel 12 needs to be switched from the second track 22 to the second moving track 26, the upper first correction strip 311 first contacts with the second moving track 26 to press the second moving track 26 to be attached to the second track 22, and then the upper second correction strip 312 and the upper third correction strip 313 continuously press the second moving track 26 to be attached to the second track 22, so that the rim 13 of the upper wheel 12 can smoothly turn onto the second moving track 26, the electric locomotive 11 successfully turns downwards, and the derailment of the electric locomotive 11 can be prevented.
A working method of a coal mine underground storage battery electric locomotive auxiliary driving system comprises the following steps:
s1, automatically positioning the electric locomotive; the method comprises the following steps that positioning is carried out in a mode of fusion positioning of a laser radar, a wheel speed meter and an RFID passive identification card, an on-board computer, a laser radar and a mining intrinsic safety type card reader are installed inside an electric locomotive 11, a mining intrinsic safety type passive identification card is deployed in the center of an electric locomotive track, turnouts/signal lamps are deployed at the edge of the electric locomotive track, a laser radar sensor transmits point clouds collected by the laser radar to the on-board computer through a TCP/IP protocol, and the on-board computer carries out positioning by filtering and processing input point clouds and combining with the feedback speed of the wheel speed meter; meanwhile, the RFID passive identification card can initialize the positioning of the electric locomotive and eliminate the accumulated error;
s2: the track turnout/signal lamp is identified after the autonomous positioning is carried out through S1, the signal identifier is installed on the turnout/signal lamp, the signal identifier and the electric locomotive 11 carry out data transmission through Zigbee communication, the electric locomotive 11 obtains the real-time state of the turnout/signal lamp, and voice prompt is carried out on a vehicle-mounted terminal, so that auxiliary driving of the electric locomotive 11 is carried out.
The laser radar and the mine intrinsic safety type card reader carry out TCP/IP protocol communication with the vehicle-mounted computer through the gigabit switch, and data interaction is carried out among the vehicle control unit, the vehicle-mounted terminal and the vehicle-mounted computer through CAN communication standard frames.
As shown in fig. 8, the autonomous positioning of the electric locomotive in S1 includes the following steps:
a 1: transmitting the roadway point cloud picture scanned by the laser radar to a vehicle-mounted computer, and storing the vehicle-mounted computer into a memory according to the feedback speed of the wheel speed meter and the data of the RFID passive identification card in combination with the point cloud picture;
a 2: the vehicle-mounted computer reads the point cloud from the memory, carries out filtering processing, carries out environmental feature extraction, and extracts roadway wall features, track features and special markers;
a 3: performing feature matching and alignment, and constructing a full roadway map by combining a wheel speed meter feedback speed and an RFID passive identification card, wherein a point cloud picture generated by a laser radar comprises object coordinates (x, y, z, roll, pitch, yaw) which are three-dimensional coordinates x, y, z, x rotation angle, y rotation angle and z rotation angle respectively;
a 4: positioning initialization, wherein when the electric locomotive (11) is started for the first time and enters an auxiliary driving mode positioning system, an RFID passive identification card is scanned through an RFID card reader, and a positioning initial calculation stage is entered by taking the position of the card as a reference point;
a 5: in the running process of the electric locomotive (11), the wheel speed meter feeds back the speed v (t), the acceleration a (t) and the running direction of the electric locomotive through CAN communication, and the created map position S0(t) which may appear on the electric locomotive is calculated in a polling period;
a 6: and (3) iterating the closest point cloud, calculating laser positioning S1(t), if the error of S1(t) and S0(t) is smaller than an error threshold delta (t), positioning S1(t), and if the error of S1(t) and S0(t) is larger than or equal to the error threshold delta (t), iterating and filtering at the position S0(t) to obtain the final positioning S01 (t).
The communication between the electric locomotive 11 and the signal converters of the turnout/signal lamp in the S2 is realized by a Zigbee wireless protocol, and the frame sent by the electric locomotive 11 contains commands sent to the turnout and the signal lamp, and is distinguished by the type of equipment; the transmitted command comprises a query command and a control command, and is distinguished by a command field; each electric locomotive 11 is distinguished by a locomotive number, and each locomotive respectively sends out the position and the speed of the locomotive, as shown in fig. 9.
By adopting the mode of fusion positioning of the laser radar, the wheel speed meter and the RFID passive identification card, the problem of positioning degradation of a long and narrow roadway under a coal mine can be effectively solved, and the gallery effect can be effectively avoided. The laser radar sensor transmits the collected point cloud to a high-performance explosion-proof vehicle-mounted computer through a TCP/IP protocol, and the vehicle-mounted computer performs filtering and processing on the input point cloud and combines the filtering and processing with the feedback speed of a wheel speed meter to perform positioning; meanwhile, the RFID passive identification card can initialize the positioning of the electric locomotive and eliminate accumulated errors.
The problems of positioning loss, error accumulation and the like of the electric locomotive are avoided by adopting a multi-source sensor combined positioning mode, and the autonomous positioning of the electric locomotive in the underground environment under the condition without network signals is realized.
The underground storage battery electric locomotive of the coal mine runs on a mine roadway track, collects the state of roadbed equipment, namely turnout/signal lamps, for the auxiliary driving of the electric locomotive, reduces the dependence of the electric locomotive on a driver, and simultaneously reduces the labor intensity of the driver and improves the safety.
The auxiliary driving system of the storage battery electric locomotive under the coal mine firstly relies on a positioning function module to identify a track turnout/signal lamp on the basis of the positioning module, so that auxiliary driving of the electric locomotive is carried out. The driver assistance system hardware configuration is shown in fig. 7 below. The laser radars (laser radar 1 and laser radar 2) and the mining intrinsic safety type card reader are in TCP/IP protocol communication with the vehicle-mounted computer through the gigabit switch, and data interaction is performed among the vehicle control unit, the vehicle-mounted terminal and the vehicle-mounted computer through CAN communication standard frames. The electric locomotive positioning process is shown in the following fig. 8. The method comprises the steps of deploying the RFID passive identification card, deploying the mining intrinsic safety type passive identification card at the center of an electric locomotive track, wherein the interval is 60 meters in an area with unobvious roadway characteristics, and the interval is 100-200 meters in an area with obvious roadway characteristics and relatively flat track.
In the positioning process, if the vehicle-mounted computer reads the RFID passive identification card, the actual positioning is carried out by taking the position of the RFID passive identification card.
The logic of the electric locomotive reading the turnout points in sequence according to the positioning is shown in the following figure 10. Each turnout/signal lamp has an independent position in the point cloud map, and the position of the turnout/signal lamp needs to be determined and correlated with the vehicle-mounted map after the signal recognizer is installed. When the electric locomotive is in a driving assisting mode in the driving process and reaches a certain turnout/signal lamp, the vehicle-mounted computer requests the current turnout/signal lamp state through the Zigbee and displays the state in the vehicle-mounted terminal, and the state is played in a voice broadcasting mode.
The signal converter is responsible for collecting and controlling turnout/signal lamp states, receiving instructions sent by the electric locomotives through Zigbee, judging the position relation of the electric locomotives relative to the signal converter according to the increasing and decreasing relation of the relative position of each electric locomotive when the signal converter receives two or more electric locomotives, and predicting the control instructions of the electric locomotives needing to be processed preferentially by combining the speed and speed relation.
In the description of the present invention, it is to be understood that the terms "center", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a colliery is battery electric locomotive in pit assists driving system, includes automobile body mechanism (1), track mechanism (2) and clean mechanism (3), its characterized in that: a track mechanism (2) is installed at the bottom of the vehicle body mechanism (1), and a cleaning mechanism (3) is installed on one side of the bottom of the vehicle body mechanism (1);
the cleaning mechanism (3) comprises elastic metal sheets (31), cleaning blocks (32), fixing blocks (33), pointed strips (34), deicing shells (35), connecting rods (36), connecting blocks (37), rotating shafts (38), rollers (39), steel brush rollers (310), first correction strips (311), second correction strips (312) and third correction strips (313), the same ends of the three elastic metal sheets (31) are respectively fixedly provided with the cleaning blocks (32), the fixing blocks (33) and the deicing shells (35), the pointed strips (34) are fixedly arranged on one side of the bottom of the fixing blocks (33), two groups of connecting blocks (37) are fixedly arranged on one side of the deicing shells (35), the rotating shafts (38) are respectively penetrated through and rotatably arranged in the middle parts of the two groups of connecting blocks (37), the rollers (39) are fixedly arranged on the outer side walls of the middle parts of the two rotating shafts (38), the steel brush rollers (310) are fixedly arranged on the outer side walls of the two ends of the two rotating shafts (38), rotate between clean piece (32) and fixed block (33) and install connecting rod (36), rotate between fixed block (33) and deicing shell (35) and install connecting rod (36), deicing shell (35) one side fixed mounting has first correction strip (311), fixed block (33) one side fixed mounting has the second to correct strip (312), clean piece (32) one side fixed mounting has the third to correct strip (313).
2. The auxiliary driving system for the storage battery electric locomotive in the coal mine well according to claim 1, is characterized in that: automobile body mechanism (1) includes electric locomotive (11), wheel (12) and rim (13), electric locomotive (11) middle part is run through to rotate and is installed a plurality of groups wheel (12), wheel (12) one side fixed mounting has rim (13).
3. The auxiliary driving system for the storage battery electric locomotive in the coal mine well as claimed in claim 2, is characterized in that: the track mechanism (2) comprises a first track (21), a second track (22), a third track (23), a fourth track (24), a first moving track (25), a second moving track (26), an electric stay bar (27), a first gap (28) and a second gap (29), a first track (21) and a second track (22) are movably arranged at one side of the wheel (12), a third rail (23), a fourth rail (24), a first moving rail (25) and a second moving rail (26) are arranged on the inner sides of the first rail (21) and the second rail (22), an electric support rod (27) is fixedly arranged on one side of the bottom of the first moving track (25) and the second moving track (26), a second gap (29) is reserved between the first track (21) and the first moving track (25), a first gap (28) is reserved between the second rail (22) and the second moving rail (26).
4. The auxiliary driving system for the storage battery electric locomotive in the coal mine well as claimed in claim 2, is characterized in that: the outer side wall of one side of the bottom of the cleaning block (32) is fixedly provided with a sponge block, the tip direction of the pointed strip (34) faces the advancing direction of the electric locomotive, the front end of the first correcting strip (311) is designed to be pointed, and the width of the first correcting strip (311), the second correcting strip (312) and the third correcting strip (313) is larger than that of the wheel rim (13).
5. The auxiliary driving system for the storage battery electric locomotive in the coal mine well according to claim 3, is characterized in that: the gap between the third rail (23) and the end part of the wide side of the second moving rail (26) is equal to the width of the wheel flange (13), and the gap between the fourth rail (24) and the end part of the wide side of the first moving rail (25) is equal to the width of the wheel flange (13).
6. The auxiliary driving system for the storage battery electric locomotive in the coal mine well according to claim 5, is characterized in that: the first movable rail (25) and the second movable rail (26) are fixedly arranged on one side of the bottom of the end portion of the wide side, and the same end of the elastic metal sheet (31) is fixedly arranged on one side of the bottom of the electric locomotive (11).
7. The working method of the auxiliary driving system of the underground coal mine storage battery electric locomotive according to any one of claims 1 to 6 is characterized in that: the working method comprises the following steps:
s1, automatically positioning the electric locomotive; the method comprises the following steps that positioning is carried out in a mode of fusion positioning of a laser radar, a wheel speed meter and an RFID passive identification card, an on-board computer, a laser radar and a mining intrinsic safety type card reader are installed inside an electric locomotive (11), the mining intrinsic safety type passive identification card is deployed in the center of an electric locomotive track, turnouts/signal lamps are deployed at the edge of the electric locomotive track, a laser radar sensor transmits point clouds collected by the laser radar to the on-board computer through a TCP/IP protocol, and the on-board computer carries out filtering and processing on input point clouds and combines the feedback speed of the wheel speed meter to carry out positioning; meanwhile, the RFID passive identification card can initialize the positioning of the electric locomotive and eliminate the accumulated error;
s2: the track turnout/signal lamp is identified after the automatic positioning is carried out through S1, the signal identifier is installed on the turnout/signal lamp, the signal identifier and the electric locomotive (11) carry out data transmission through Zigbee communication, the electric locomotive (11) obtains the real-time state of the turnout/signal lamp, and voice prompt is carried out on the vehicle-mounted terminal, so that auxiliary driving of the electric locomotive (11) is carried out.
8. The working method of the auxiliary driving system for the storage battery electric locomotive in the coal mine according to claim 7 is characterized in that: the laser radar and the mining intrinsic safety type card reader are in TCP/IP protocol communication with the vehicle-mounted computer through the kilomega switch, and data interaction is performed among the vehicle controller, the vehicle-mounted terminal and the vehicle-mounted computer through CAN communication standard frames.
9. The working method of the auxiliary driving system for the storage battery electric locomotive in the coal mine well according to claim 7 is characterized in that: the autonomous positioning of the electric locomotive in S1 includes the following steps:
a 1: transmitting the roadway point cloud picture scanned by the laser radar to a vehicle-mounted computer, and storing the vehicle-mounted computer into a memory according to the feedback speed of the wheel speed meter and the data of the RFID passive identification card in combination with the point cloud picture;
a 2: the vehicle-mounted computer reads the point cloud from the memory, carries out filtering processing, carries out environmental feature extraction, and extracts roadway wall features, track features and special markers;
a 3: performing feature matching and alignment, and constructing a full roadway map by combining a wheel speed meter feedback speed and an RFID passive identification card, wherein a point cloud picture generated by a laser radar comprises object coordinates (x, y, z, roll, pitch, yaw) which are three-dimensional coordinates x, y, z, x rotation angle, y rotation angle and z rotation angle respectively;
a 4: positioning initialization, wherein when the electric locomotive (11) is started for the first time and enters an auxiliary driving mode positioning system, an RFID passive identification card is scanned through an RFID card reader, and a positioning initial calculation stage is entered by taking the position of the card as a reference point;
a 5: in the running process of the electric locomotive (11), a wheel speed meter feeds back the speed v (t), the acceleration a (t) and the running direction of the electric locomotive through CAN communication, and a created map position S0(t) which may appear on the electric locomotive is calculated in a polling cycle;
a 6: and (5) iterating the point cloud to obtain the closest point, calculating laser positioning S1(t), if the error of S1(t) and S0(t) is less than the error threshold value delta (t), positioning to be S1(t), and if the error of S1(t) and S0(t) is more than or equal to the error threshold value delta (t), carrying out iterative filtering at the position of S0(t) to obtain the final positioning S01 (t).
10. The working method of the auxiliary driving system for the storage battery electric locomotive in the coal mine according to claim 7 is characterized in that: the communication between the electric locomotive (11) and the signal converters of the turnout/signal lamp in the S2 is realized through a Zigbee wireless protocol, and a frame sent by the electric locomotive (11) contains commands sent to the turnout and the signal lamp, and is distinguished by equipment types; the transmitted commands comprise query commands and control commands, and are distinguished by command fields; each electric locomotive (11) is distinguished by a locomotive number, and each locomotive respectively sends out the position and the speed of the locomotive.
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