CN115249416B - Mining shuttle car anti-collision early warning method and system - Google Patents
Mining shuttle car anti-collision early warning method and system Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention relates to an anti-collision early warning method and system for a mining shuttle car. According to the mining shuttle car anti-collision early warning method, the distance between the shuttle car and an obstacle is used as a trigger condition, a plurality of early warning levels are divided, early warning response parameters matched with different early warning levels are set, and the early warning response parameters are set from three layers of hearing, vision and touch. The method has the advantages that the real-time distance information of the obstacle in the detection range is detected by carrying out ultrasonic detection on the preset detection range in the moving direction of the shuttle car, the judgment result of the early warning level is further made according to the real-time distance information, finally, the early warning response parameters are executed and adjusted to be matched by utilizing the early warning execution module, the collision early warning of the shuttle car is realized by utilizing the comprehensive early warning modes of hearing, vision and touch, the driver can be assisted in judging the distance between the shuttle car and the obstacle, the collision of the shuttle car is avoided, and the potential safety hazard in coal mine acquisition is effectively reduced.
Description
Technical Field
The invention relates to the field of coal mine acquisition, in particular to an anti-collision early warning method and system for a mining shuttle car.
Background
The underground coal-carrying vehicle is one of the supporting equipment of the continuous miner for house-pillar coal mining and roadway driving. The coal transporting vehicle is divided into a towing cable type coal transporting vehicle, a storage battery type coal transporting vehicle and an internal combustion engine type coal transporting vehicle according to power, and the towing cable type coal transporting vehicle is also called a shuttle vehicle in habit.
The shuttle car is a trackless rubber-tyred vehicle for realizing short-distance quick transportation under a coal mine, is used as one of important equipment for short-wall mechanized mining, and has the main function of transferring coal of a continuous miner to a feeding crusher.
In the current roadway tunneling process of a coal cutter, an anchor rod drill carriage and a shuttle car, the visual blind area of a shuttle car driver is large, and collision accidents occur frequently. With the rapid development of artificial intelligence technology, intelligent control has become a development trend of various industries. As a traditional industry, the coal mine collection should be more intelligent.
Disclosure of Invention
Based on the above, the invention provides an anti-collision early warning method and system for a mining shuttle car, which are necessary to solve the technical problems that in the prior art, a shuttle car driver cannot accurately know the information of obstacles around the shuttle car due to the limited visual field range, and potential safety hazards of collision are easy to occur.
The invention discloses an anti-collision early warning method for a mining shuttle car, which comprises the following steps:
s1: defining a plurality of early warning levels and setting triggering conditions corresponding to the early warning levels. Each early warning level is sequentially as follows from small to large according to collision risk: primary early warning, secondary early warning and tertiary early warning. The triggering condition is set according to the distance between the shuttle car and the obstacle.
S2: and setting a plurality of early warning response parameters matched with each early warning level. Each of the alert response parameters includes an audible alert frequency, a visual alert display, and a tactile alert frequency.
S3: and carrying out ultrasonic detection in a preset detection range in the moving direction of the shuttle car, and collecting the real-time distance of the obstacle in the preset detection range.
S4: and judging the early warning level according to the real-time distance information, and further obtaining a judging result.
S5: and controlling the early warning executing module to adjust the early warning response parameters matched with the judging result so as to send out a corresponding anti-collision alarm.
As a further improvement of the present invention, in step S1, trigger conditions of the first-stage early warning, the second-stage early warning and the third-stage early warning are set as follows:
when the distance between the shuttle car and the obstacle is larger than a preset distance I and not larger than a preset distance II, the first-level early warning is triggered.
And triggering a secondary early warning when the distance between the shuttle car and the obstacle is greater than a preset distance III and not greater than a preset distance one.
When the distance between the shuttle car and the obstacle is not greater than the preset distance III, triggering three-level early warning.
As a further development of the invention, the preset distance one is 1m. The preset distance II is 1.5m. The preset distance three is 0.4m.
As a further improvement of the present invention, in step S3, visual images within a preset field angle in multiple directions of the shuttle car are also collected in real time, and the multiple visual images are fused into one top view image.
As a further improvement of the invention, the early warning execution module comprises a buzzer, a display screen and a vibration motor. The buzzer frequency of the buzzer can be adjusted to give out an audible alarm. The display screen is used for receiving and displaying the visual image and the overlook image so as to give out a visual alarm. The vibration frequency of the vibration motor is adjustable to give a tactile alert.
As a further improvement of the present invention, in step S5, the early warning executing module adjusts the early warning response parameters matched with different judgment results to respectively satisfy:
When the first-level early warning is triggered, the buzzer gives out an audible alarm at the frequency of 1Hz, meanwhile, the display screen displays a visual image and a overlook image in the moving direction of the shuttle car in real time, and a green marking line between the shuttle car and an obstacle is displayed in real time on the overlook image.
When the secondary early warning is triggered, the buzzer gives out an audible alarm at the frequency of 2Hz, meanwhile, the display screen displays a visual image and a overlook image in the moving direction of the shuttle car in real time, and a yellow marking line between the shuttle car and an obstacle is displayed in real time on the overlook image. The vibration motor intermittently vibrates in the form of vibrating twice every 1 s.
When the three-level early warning is triggered, the buzzer gives out an audible alarm at the frequency of 4Hz, meanwhile, the display screen displays a visual image and a overlook image in the moving direction of the shuttle car in real time, and a red marking line between the shuttle car and an obstacle is displayed in real time on the overlook image. The vibration motor continuously vibrates with the vibration frequency of 4Hz.
The invention also discloses an anti-collision early warning system of the mining shuttle car, which adopts any anti-collision early warning method of the mining shuttle car. The mining shuttle car anticollision early warning system includes: the system comprises an environment sensing module, an early warning executing module and an early warning decision module.
The environment sensing module comprises an ultrasonic radar. The ultrasonic radar is used for carrying out ultrasonic detection on a preset detection range in the moving direction of the shuttle car and collecting real-time distance of an obstacle in the preset detection range.
The early warning execution module comprises a buzzer, a display screen and a vibration motor. The buzzer frequency of the buzzer can be adjusted to give out an audible alarm. The display screen is used for receiving and displaying the visual image so as to give out a visual alarm. The vibration frequency of the vibration motor is adjustable to give a tactile alert.
The early warning decision module comprises an early warning controller. The early warning controller is used for: firstly, defining a plurality of early warning levels, and setting triggering conditions corresponding to the early warning levels. And setting a plurality of early warning response parameters matched with each early warning level. And then judging the early warning level according to the real-time distance information, and further obtaining a judging result. And then controlling the early warning executing module to adjust to early warning response parameters matched with the judging result, and further sending out corresponding anti-collision alarms.
As a further improvement of the invention, the environment sensing module also comprises a look-around camera; the looking-around camera is used for collecting visual images in a preset field angle on one side of the shuttle car.
As a further improvement of the invention, at least four groups of ultrasonic radars and all looking around cameras are arranged, and the ultrasonic radars and the all looking around cameras are respectively arranged around the shuttle car.
As a further improvement of the invention, the buzzer is arranged in the cab of the shuttle car and is arranged on the driving seat at a position close to the head of the driver. The display screen is arranged on an instrument desk of the cockpit. The vibration motor is arranged on the steering wheel of the shuttle car.
Compared with the prior art, the technical scheme disclosed by the invention has the following beneficial effects:
1. According to the mining shuttle car anti-collision early warning method, the distance between the shuttle car and an obstacle is used as a trigger condition, a plurality of early warning levels are divided, early warning response parameters matched with different early warning levels are set, and the early warning response parameters are set from three layers of hearing, vision and touch. When the shuttle car runs in the mine hole, the real-time distance information of the obstacle in the detection range is detected by carrying out ultrasonic detection on the preset detection range in the moving direction of the shuttle car, the judgment result of the early warning level is further made according to the real-time distance information, and finally, the early warning response parameters are executed and adjusted to be matched by utilizing an early warning executing module. According to the early warning method, the driving working condition and the working environment of the shuttle car are comprehensively considered, the collision early warning of the shuttle car is realized by utilizing the comprehensive early warning mode of hearing, vision and touch, a driver can be assisted in judging the distance between the shuttle car and an obstacle, the collision of the shuttle car is avoided, and the potential safety hazard during coal mine collection is effectively reduced.
2. The beneficial effects of the mining shuttle car anti-collision early warning system are the same as those of the early warning method, and are not repeated here.
Drawings
FIG. 1 is a flow chart of an anti-collision early warning method for an mining shuttle car in embodiment 1 of the present invention;
FIG. 2 is a block diagram of the early warning logic of the early warning controller in embodiment 1 of the present invention;
fig. 3 is a view range diagram of each group of the looking-around cameras on the shuttle car in embodiment 1 of the present invention;
FIG. 4 is a schematic top view of example 1 of the present invention;
FIG. 5 is a system block diagram of an anti-collision early warning system for mining shuttle cars according to embodiment 2 of the present invention;
FIG. 6 is a frame diagram of an active safety system, an early warning system, a braking system of a shuttle car, and an electronic parking system according to embodiment 4 of the present invention;
fig. 7 is a logic diagram showing the interaction of the brake-by-wire controller in embodiment 4 of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1, the embodiment provides a mining shuttle car anti-collision early warning method, which includes steps S1 to S5:
s1: defining a plurality of early warning levels and setting triggering conditions corresponding to the early warning levels. Each early warning level is sequentially as follows from small to large according to collision risk: primary early warning, secondary early warning and tertiary early warning. The triggering condition is set according to the distance between the shuttle car and the obstacle.
In this embodiment, the information of the surrounding environment where the shuttle car travels may be obtained by the ultrasonic radar installed on the shuttle car, and analysis and calculation may be performed. Limited by the perception condition of the ultrasonic radar, the effective detection distance of the ultrasonic radar can be set to be 0.2m-1.5m, and the collision early warning area is divided into three stages according to the effective detection distance. The triggering conditions of the first-stage early warning, the second-stage early warning and the third-stage early warning are sequentially set as follows:
when the distance between the shuttle car and the obstacle is larger than a preset distance I and not larger than a preset distance II, the first-level early warning is triggered.
And triggering a secondary early warning when the distance between the shuttle car and the obstacle is greater than a preset distance III and not greater than a preset distance one.
When the distance between the shuttle car and the obstacle is not greater than the preset distance III, triggering three-level early warning.
In this embodiment, the preset distance one may be set to 1m. The preset distance two may be set to 1.5m. The preset distance three may be set to 0.4m. Of course, in other embodiments, the value of the preset distance may be set to other values, specifically adapted according to the sensing parameters of the ultrasonic radar.
S2: and setting a plurality of early warning response parameters matched with each early warning level. Each of the alert response parameters includes an audible alert frequency, a visual alert display, and a tactile alert frequency.
In this embodiment, three different alarms including audible, visual and tactile can be implemented by setting parameters of one early warning execution module. The early warning execution module can comprise a buzzer, a display and a vibration motor.
S3: and carrying out ultrasonic detection in a preset detection range in the moving direction of the shuttle car, and collecting the real-time distance of the obstacle in the preset detection range. In this embodiment, during ultrasonic detection, visual images in preset field angles in multiple directions of the shuttle car can be acquired in real time through the around-view cameras installed around the shuttle car, and can be invoked to be displayed on the display screen. Multiple visual images may also be fused into a top view image.
Referring to fig. 3, in the present embodiment, the number of ultrasonic radar and pan-around cameras may be set to four groups. Four groups of ultrasonic radars are respectively arranged on the front side, the rear side, the left side, the right side and the four sides of the shuttle car, and the installation positions can respectively correspond to the four groups of all-around cameras. Fig. 3 shows a top view of the shuttle car, wherein four groups of all-round cameras respectively shoot a front view picture, a rear view picture, a left side picture and a right side picture, and the view finding ranges of the four groups of all-round cameras can be in a sector shape with a certain angle. The installation position of the ultrasonic radar can be corresponding to the looking-around camera at the corresponding side, and the detection range can also be corresponding to the view finding range.
In addition, referring to fig. 4, in this embodiment, the pictures shot by the plurality of looking-around cameras may be combined into a top view image of a third person's viewing angle through the existing 360-degree panoramic image technology of the automobile. The multi-section arc marking lines are displayed on one side of the shuttle car in the overlook image, where the barrier exists, and the colors of the marking lines are set according to different early warning levels so as to provide visual early warning reminding for a driver. In addition, the marking line may blink at a certain frequency.
S4: and judging the early warning level according to the real-time distance information, and further obtaining a judging result.
In this embodiment, the real-time distance information may be compared with the first preset distance, the second preset distance and the third preset distance, so as to determine whether the current distance triggers the early warning and the early warning level of the triggering.
S5: and controlling an early warning execution module to adjust to early warning response parameters matched with the judgment result, and further sending out a corresponding anti-collision alarm.
As already described above, the early warning execution module may include a buzzer, a display screen, and a vibration motor. The buzzer may be mounted on the driver seat of the cockpit in a position close to the head of the driver. The display screen may be mounted on an instrument desk of the cockpit. The display screen may receive and display visual images as well as overhead images to issue the visual alert. The buzzer frequency of the buzzer can be adjusted to give out an audible alarm. The display screen is used for receiving and displaying the surrounding visual images so as to give out visual alarms. The vibration frequency of the vibration motor is adjustable to give a tactile alert.
Referring to fig. 2, when the early warning executing module adjusts the early warning response parameters matched with different judging results, the early warning response parameters can respectively satisfy:
When the first-level early warning is triggered, a buzzer in the shuttle car cockpit emits an audible alarm at the frequency of 1Hz, and meanwhile, a visual image and a overlook image in the moving direction of the shuttle car, which are acquired by the looking-around camera, can be displayed on a display screen, and a green marking line between the shuttle car and an obstacle is displayed on the overlook image in real time so as to indicate that the distance between the obstacle and the driver is 1m-1.5m. When the traveling direction of the shuttle car is forward, a visual image of the front-view camera is called and displayed on a display screen; when the traveling direction of the shuttle car is backward, the visual image of the rearview camera is automatically called and displayed on the display screen, and other directions are the same.
In this embodiment, the ultrasonic wave may be used to detect a close-range obstacle, and when the obstacle distance is within the set early warning level range, the indication line between the shuttle car and the obstacle is added in real time on the man-machine interaction display interface of the display screen, and the color of the indication line is set according to the early warning level.
When the secondary early warning is triggered, a buzzer in the shuttle car cab gives out an audible alarm at the frequency of 2Hz, a visual image and a overlook image in the moving direction of the shuttle car are displayed on a display screen in real time, and a yellow marking line is displayed between the shuttle car and an obstacle on the overlook image in real time so as to indicate that the distance between the obstacle and the driver is 0.4m-1m. The vibrating motor can drive the steering wheel to vibrate intermittently, and the intermittent vibration can be carried out twice every 1s, so that a shuttle car driver is primarily reminded on the touch sense layer.
When the three-level early warning is triggered, a buzzer in the shuttle car cockpit sends out audible alarms at the frequency of 4Hz, meanwhile, a display screen displays a visual image and a overlook image in the moving direction of the shuttle car in real time, and a red marking line is displayed between the shuttle car and an obstacle in the overlook image in real time so as to indicate that the obstacle distance is within 0.4m to a driver. The vibrating motor can drive the steering wheel to vibrate continuously, so that a shuttle driver is further reminded on the touch sense layer. In addition, the amplitude of the intermittent vibration and the continuous vibration may be differentiated, and the amplitude of the intermittent vibration may be relatively small.
In summary, the mining shuttle car anti-collision early warning method provided by the embodiment has the following beneficial effects:
According to the mining shuttle car anti-collision early warning method, the distance between the shuttle car and an obstacle is used as a trigger condition, a plurality of early warning levels are divided, early warning response parameters matched with different early warning levels are set, and the early warning response parameters start from three layers of hearing, vision and touch. When the shuttle car runs in the mine, the preset detection range in the moving direction of the shuttle car is detected by ultrasonic waves, so that real-time distance information of the obstacle in the detection range is detected, further, a judgment result of an early warning level is made according to the real-time distance information, finally, an early warning executing module is utilized to execute and adjust the early warning response parameter to be matched, and the collision early warning of the shuttle car is realized by utilizing an auditory, visual and tactile comprehensive early warning mode, so that the distance between the shuttle car and the obstacle can be assisted to judge by a driver, the collision of the shuttle car is avoided, and the potential safety hazard during coal mine acquisition is effectively reduced.
Example 2
The embodiment provides a mining shuttle car anti-collision early warning system, which can adopt the mining shuttle car anti-collision early warning method in embodiment 1.
Referring to fig. 5, the mining shuttle car anti-collision early warning system of the embodiment may include: the system comprises an environment sensing module, an early warning executing module and an early warning decision module.
The environment sensing module comprises an ultrasonic radar and an all-around camera. The ultrasonic radar is used for carrying out ultrasonic detection on a preset detection range in the moving direction of the shuttle car and collecting real-time distance of an obstacle in the preset detection range. The around-the-eye camera is used for collecting visual images in a preset field angle in the moving direction of the shuttle car.
The early warning execution module comprises a buzzer, a display screen and a vibration motor. The buzzer frequency of the buzzer can be adjusted to give out an audible alarm. The display screen is used for receiving and displaying the visual image so as to give out a visual alarm. The vibration frequency of the vibration motor is adjustable to give a tactile alert. The buzzer is arranged in the cab of the shuttle car and is arranged on the driving seat at a position close to the head of the driver. The display screen is arranged on an instrument desk of the cockpit. The vibration motor is arranged on the steering wheel of the shuttle car.
The early warning decision module comprises an early warning controller. The early warning controller is used for: firstly, defining a plurality of early warning levels, and setting triggering conditions corresponding to the early warning levels. And setting a plurality of early warning response parameters matched with each early warning level. And then judging the early warning level according to the real-time distance information, and further obtaining a judging result. And then controlling the early warning executing module to adjust to early warning response parameters matched with the judging result, and further sending out corresponding anti-collision alarms.
Example 3
The embodiment provides a construction method of a mining shuttle car anti-collision early warning system, and the mining shuttle car anti-collision early warning system in embodiment 2 can be constructed through the construction method. The construction method may include the steps of:
Step one: building an environment awareness module
Selecting arrangement positions in front and back of the shuttle car according to the detection angle of the ultrasonic radar, and avoiding the existence of an ultrasonic radar detection blind area as far as possible; and selecting an installation position on the shuttle car according to the selected FOV (field of view) of the looking-around camera, so as to avoid the existence of a camera field of view blind area.
Step two: building early warning decision module
And acquiring the information of the surrounding environment of the shuttle car in running through an ultrasonic radar installed on the shuttle car, and analyzing and calculating. According to the sensing conditions of the ultrasonic radar, the effective detection distance of the ultrasonic radar is set to be 0.2m-1.5m, and the anti-collision early warning area is divided into three stages according to the effective detection distance. When the obstacle is 1m-1.5m away from the shuttle car, the early warning decision module sends out a first-level warning signal. When the obstacle is 0.4m-1m away from the shuttle car, the early warning decision module sends out a secondary warning signal. When the distance between the obstacle and the shuttle car is within 0.4m, the early warning decision module sends out a three-level warning signal.
Step three: building early warning execution module
Firstly, a buzzer is arranged at a position, close to the head of a driver, on a driver seat in a cockpit, a display screen is arranged on an instrument desk of the cockpit, and a vibration motor is arranged on a steering wheel of a shuttle car. When the early warning decision module sends out a primary warning signal, a buzzer arranged in a shuttle car cab sends out an acoustic alarm at the frequency of 1 Hz, peripheral visual information acquired by a surrounding camera is displayed and arranged on a display screen in the shuttle car cab, a green marking line is displayed between the shuttle car and an obstacle in real time to indicate that the distance between the obstacle and the driver is 1m-1.5m, when the traveling direction of the shuttle car is forward, an image of a front-view camera is called and displayed on the display screen, and when the traveling direction of the shuttle car is backward, an image of a rear-view camera is automatically acquired and displayed on the display screen; when the early warning decision module sends out a secondary warning signal, a buzzer in the shuttle car cockpit sends out an acoustic warning at the frequency of 2 Hz, and a yellow marking line is displayed between the shuttle car and an obstacle in real time to indicate that the distance between the obstacle and the driver is 0.4m-1m, the driver in the shuttle car cockpit probably does not notice the warning sent out by the buzzer in consideration of the large noise in the coal mine tunneling working process, and when the secondary warning signal is sent out, the steering wheel intermittently vibrates by utilizing a vibrating motor arranged on the steering wheel of the shuttle car so as to primarily remind the driver of the shuttle car; when the early warning decision module sends out three-level alarm signals, the buzzer in the shuttle car cockpit sends out sound alarm at the frequency of 4 Hz, meanwhile, the display screen in the shuttle car cockpit displays that the distance between the shuttle car and the obstacle is within 0.4m as indicated by the red indication line, the steering wheel continuously vibrates, and the driver is further warned that the current obstacle is closer to the shuttle car, and collision risk exists.
According to the construction method provided by the embodiment, the driving working condition and the working environment of the shuttle car are comprehensively considered, and the collision early warning of the shuttle car is realized in an audible, visual and tactile mode respectively, so that a driver is assisted in judging the distance between the shuttle car and an obstacle, and potential safety hazards of coal mine acquisition are avoided.
Example 4
Referring to fig. 6, the embodiment provides an anti-collision active safety system for a mining shuttle car, and when a driver of the shuttle car cannot accurately judge the surrounding driving environment of the shuttle car due to a blind visual zone and darker underground light, the active safety system can realize active safety avoidance during the driving of the shuttle car. The active safety system includes: an active security decision module and an active security execution module.
The active safety decision module comprises an active safety controller. The active safety controller is used for sending a deceleration request signal to an active safety executing module when an early warning system sends out three-level early warning signals representing impending collision.
The pre-warning system in this embodiment may adopt the mining shuttle car anti-collision pre-warning system in embodiment 2. Of course, the mining shuttle car anti-collision early warning method provided in embodiment 1 can also be adopted.
When the early warning decision module of the early warning system controls the early warning executing module to send out an anti-collision warning indicating three-level early warning, three-level early warning signals are sent to the active safety controller at the same time, and then the shuttle car is stopped by the line control dynamic controller, and the parking of the shuttle car is realized by the electronic parking controller after the shuttle car is stopped.
The active safety execution module is used for controlling the shuttle car to brake and park according to the deceleration request signal, so that collision avoidance is realized. The active safety execution module comprises a brake-by-wire controller and an electronic parking controller. The brake-by-wire controller and the electronic parking controller are respectively used for controlling a braking system and an electronic parking system of the shuttle car. The states of the brake-by-wire controller include four types: an initialized state, an uncontrollable state, a controllable state, and an activated state.
Referring to fig. 7, the control interaction logic of the linear motion controller (EB) is as follows:
The default state of the brake-by-wire controller is: and automatically entering an initialization state after power-on. The decision in the initialization process is as follows:
(a) When any condition in the first condition set characterizing signal reception abnormality or device state abnormality is satisfied, the line control motion controller is switched to an uncontrollable state. The first set of conditions may include the following conditions:
C1: when the self-checking of the wire control dynamic controller fails or a more serious fault occurs and no pressure build-up capability exists, the wire control dynamic controller jumps to an uncontrollable state, namely T1, from an initialized state.
C2: when the self-checking of the wire control dynamic controller is successful and the active safety controller state is wrong or the speed reduction request state is inconsistent with the speed reduction request value or the signal checking is abnormal, the wire control dynamic controller jumps to an uncontrollable state from the initialization state, namely T1.
And C3: when the brake-by-wire controller has serious faults and causes no pressure build-up capability, the brake-by-wire controller sends a parking instruction to the electronic parking controller, so that the parking of the shuttle car is realized, and the brake-by-wire controller jumps from a controllable state to an uncontrollable state, namely T4.
And C4: when the node of the active safety controller is lost, the linear control dynamic controller jumps from the controllable state to the uncontrollable state, namely T4.
C5: when the signal of the electronic parking controller is lost or the line control movable controller is in check fault, the line control movable controller jumps to an uncontrollable state from a controllable state, namely T4.
C6: when the wire control movable controller is in an activated state, if a deceleration request signal sent by the active safety controller is lost or the signal verification is abnormal, the wire control movable controller continues to brake to ensure that the shuttle car stops, and when the shuttle car stops, the wire control movable controller jumps from the activated state to an uncontrollable state, namely T5.
(B) And switching the linear control motion controller to a controllable state when any condition in the second condition set which characterizes that the signal is received normally and the equipment state is normal is met. The second set of conditions includes the following conditions:
C7: when the signal received by the wire control and movement controller is normal and lasts for a preset time period, the wire control and movement controller jumps from an uncontrollable state to a controllable state, namely T2. In this embodiment, the preset duration of the normal signal received by the linear control brake controller is the duration corresponding to 50 frames of signals.
And C8: when the self-checking of the wire control dynamic controller is successful and the states of the active safety controller and the electronic parking controller are normal, the wire control dynamic controller jumps to a controllable state from an initialization state, namely T6.
C9: when the wire control movable controller is in an activated state, the deceleration request signal of the active safety controller is canceled, and the system check signal, the handshake logic signal and the state signals of all controllers at the moment are normal, so that the wire control movable controller jumps from the activated state to a controllable state, namely T7.
(C) When the wire control movable controller is in a controllable state and receives a request deceleration signal sent by the active safety controller, the wire control movable controller is jumped to an activated state, namely T3, from the controllable state.
In summary, the active safety system provided in the embodiment has the following advantages:
The active safety controller of the mining shuttle car anti-collision active safety system sends a deceleration request signal to the active safety execution module by receiving three-level early warning signals sent by the early warning system, so that the brake system and the electronic parking system of the shuttle car are respectively controlled by the linear control dynamic controller and the electronic parking controller according to the deceleration request signal, and the active braking parking of the shuttle car is realized. The mining shuttle car anti-collision active safety system comprehensively considers the driving working condition and the working environment of the shuttle car, alerts a driver through the early warning system, actively realizes braking control when the shuttle car is about to collide and the driver does not brake the shuttle car, avoids causing the collision of the shuttle car, and further reduces potential safety hazards in the process of collecting and transporting the shuttle car underground coal mine.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.
Claims (8)
1. The mining shuttle car anti-collision early warning method is characterized by comprising the following steps of:
s1: defining a plurality of early warning levels, and setting triggering conditions corresponding to the early warning levels; each early warning level is sequentially as follows from small to large according to collision risk: primary early warning, secondary early warning and tertiary early warning; the setting basis of the triggering condition is the distance between the shuttle car and the obstacle;
s2: setting a plurality of early warning response parameters matched with each early warning level; each of the early warning response parameters includes an audible alert frequency, a visual alert display, and a tactile alert frequency;
S3: ultrasonic detection is carried out in a preset detection range in the moving direction of the shuttle car, and real-time distance of an obstacle in the preset detection range is acquired;
In step S3, visual images in preset field angles in multiple directions of the shuttle car are also collected in real time, and the multiple visual images are fused into a overlook image;
the early warning execution module comprises a buzzer, a display screen and a vibration motor; the buzzing frequency of the buzzer can be adjusted to give out the audible alarm; the display screen is used for receiving and displaying the visual image and the overlook image so as to send out the visual alarm; the vibration frequency of the vibration motor is adjustable to give the haptic alert;
S4: judging the early warning level according to the real-time distance information, and further obtaining a judging result;
S5: controlling an early warning execution module to adjust to early warning response parameters matched with the judging result, and further sending out a corresponding anti-collision alarm;
The mining shuttle car anti-collision early warning method is applied to a mining shuttle car anti-collision active safety system; the active safety system includes: an active safety decision module and an active safety execution module;
The active safety decision module comprises an active safety controller; the active safety controller is used for sending a deceleration request signal to an active safety executing module when an early warning system sends out a three-level early warning signal representing the impending collision; the active safety execution module is used for controlling the shuttle car to brake and park according to the deceleration request signal so as to avoid collision;
The active safety execution module comprises a brake-by-wire controller and an electronic parking controller; the brake-by-wire controller and the electronic parking controller are respectively used for controlling a braking system and an electronic parking system of the shuttle car; the states of the brake-by-wire controller include four types: an initialization state, an uncontrollable state, a controllable state, and an active state;
Wherein, the control interaction logic of the wire control action controller comprises:
the default state of the brake-by-wire controller is: automatically entering an initialization state after power-on; the decision in the initialization process includes:
(a) When any condition in the first condition set which characterizes abnormal signal reception or abnormal equipment state is met, switching the linear control dynamic controller to an uncontrollable state;
The first set of conditions includes the following conditions:
C1: when the self-checking of the wire control dynamic controller fails or a serious fault occurs to cause no pressure build-up capability, the wire control dynamic controller jumps to an uncontrollable state from an initialized state;
c2: when the self-checking of the wire control dynamic controller is successful and the state of the active safety controller is wrong or the speed reduction request state is inconsistent with the speed reduction request value or the signal checking is abnormal, the wire control dynamic controller jumps to an uncontrollable state from an initialization state;
and C3: when the brake-by-wire controller has serious faults and causes no pressure build-up capability, the brake-by-wire controller sends a parking instruction to the electronic parking controller so as to realize the parking of the shuttle car, and the brake-by-wire controller jumps from a controllable state to an uncontrollable state at the moment;
and C4: when the node of the active safety controller is lost, the linear control dynamic controller jumps from a controllable state to an uncontrollable state;
C5: when the signal of the electronic parking controller is lost or the line control movable controller is in check fault, the line control movable controller jumps to an uncontrollable state from a controllable state;
C6: when the wire control movable controller is in an activated state, if a deceleration request signal sent by the active safety controller is lost or the signal verification is abnormal, the wire control movable controller continues to brake to ensure that the shuttle car stops, and when the shuttle car stops, the wire control movable controller jumps from the activated state to an uncontrollable state;
(b) When any condition in the second condition set which characterizes the normal signal receiving and the normal equipment state is met, switching the linear control dynamic controller to a controllable state;
the second set of conditions includes the following conditions:
C7: when the signal received by the wire control dynamic controller is normal and lasts for a preset time period, the wire control dynamic controller jumps to a controllable state from an uncontrollable state;
And C8: when the self-checking of the wire control dynamic controller is successful and the states of the active safety controller and the electronic parking controller are normal, the wire control dynamic controller jumps to a controllable state from an initialization state;
C9: when the wire control movable controller is in an activated state, the deceleration request signal of the active safety controller is canceled, and the system check signal, the handshake logic signal and the state signals of all controllers at the moment are normal, so that the wire control movable controller jumps from the activated state to a controllable state;
(c) When the wire control movable controller is in a controllable state and receives a request deceleration signal sent by the active safety controller, the wire control movable controller is jumped from the controllable state to an activated state.
2. The mining shuttle car anti-collision early warning method according to claim 1, wherein in step S1, trigger conditions of the primary early warning, the secondary early warning and the tertiary early warning are sequentially set as follows:
when the distance between the shuttle car and the obstacle is larger than a preset distance I and not larger than a preset distance II, triggering the first-level early warning;
triggering the secondary early warning when the distance between the shuttle car and the obstacle is greater than a preset distance III and not greater than the preset distance one;
And triggering the three-level early warning when the distance between the shuttle car and the obstacle is not greater than the preset distance III.
3. The mining shuttle car anti-collision early warning method according to claim 2, wherein the preset distance I is 1m; the preset distance II is 1.5m; the preset distance III is 0.4m.
4. The mining shuttle car anti-collision early warning method according to claim 1, wherein in step S5, the early warning executing module adjusts the early warning response parameters matched with different judging results to respectively satisfy:
when the primary early warning is triggered, the buzzer sends out an audible alarm at the frequency of 1Hz, simultaneously the display screen displays the visual image and the overlook image in the moving direction of the shuttle car in real time, and displays a green marking line between the shuttle car and an obstacle in real time on the overlook image;
When the secondary early warning is triggered, the buzzer sends out an audible alarm at the frequency of 2Hz, simultaneously the display screen displays the visual image and the overlook image in the moving direction of the shuttle car in real time, and displays a yellow marking line between the shuttle car and the obstacle in real time on the overlook image; the vibration motor intermittently vibrates in a mode of vibrating twice every 1 s;
When triggering three-level early warning, the buzzer sends out audible warning at the frequency of 4Hz, and simultaneously the display screen displays the visual image and the overlook image in the moving direction of the shuttle car in real time, and displays a red marking line between the shuttle car and an obstacle in real time on the overlook image; the vibration motor continuously vibrates with the vibration frequency of 4Hz.
5. A mining shuttle car anti-collision early warning system, characterized in that the mining shuttle car anti-collision early warning system adopts the mining shuttle car anti-collision early warning method according to any one of claims 1 to 4; the mining shuttle car anti-collision early warning system comprises:
An environmental awareness module including an ultrasonic radar; the ultrasonic radar is used for carrying out ultrasonic detection on a preset detection range in the moving direction of the shuttle car and collecting real-time distance of an obstacle in the preset detection range;
the early warning execution module comprises a buzzer, a display screen and a vibration motor; the buzzing frequency of the buzzer can be adjusted to give out the audible alarm; the display screen is used for receiving and displaying the visual image so as to send out the visual alarm; the vibration frequency of the vibration motor is adjustable to give the haptic alert; and
The early warning decision module comprises an early warning controller; the early warning controller is used for: firstly, defining a plurality of early warning levels, and setting triggering conditions corresponding to the early warning levels; setting a plurality of early warning response parameters matched with each early warning level; then judging the early warning level according to the real-time distance information, and further obtaining a judging result; and then controlling the early warning execution module to adjust to early warning response parameters matched with the judging result, and further sending out a corresponding anti-collision alarm.
6. The mining shuttle car collision avoidance early warning system of claim 5 wherein the environmental awareness module further comprises a look-around camera; the around-the-eye camera is used for collecting visual images in a preset field angle at one side of the shuttle car.
7. The mining shuttle car anti-collision early warning system according to claim 6, wherein the number of the ultrasonic radar and the looking-around cameras is at least four, and the ultrasonic radar and the looking-around cameras are respectively installed around the shuttle car.
8. The mining shuttle car collision avoidance early warning system of claim 5 wherein the buzzer is disposed within the cockpit of the shuttle car and mounted on the driver seat in a position proximate the head of the driver; the display screen is arranged on an instrument desk of the cockpit; the vibration motor is arranged on a steering wheel of the shuttle car.
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