CN116414068A - Unmanned control detection control system of electric locomotive in pit - Google Patents
Unmanned control detection control system of electric locomotive in pit Download PDFInfo
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- CN116414068A CN116414068A CN202310321154.XA CN202310321154A CN116414068A CN 116414068 A CN116414068 A CN 116414068A CN 202310321154 A CN202310321154 A CN 202310321154A CN 116414068 A CN116414068 A CN 116414068A
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- 230000003137 locomotive effect Effects 0.000 title claims abstract description 81
- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 29
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 230000008030 elimination Effects 0.000 claims abstract description 9
- 238000003379 elimination reaction Methods 0.000 claims abstract description 9
- 230000009347 mechanical transmission Effects 0.000 claims description 4
- 238000005553 drilling Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000008207 working material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention relates to an unmanned monitoring detection control system of an underground electric locomotive, which comprises a vehicle-mounted controller, a camera, a vehicle-mounted radar detector, a tag transponder, a speed displacement sensor, an error elimination sensor, a limit position sensor and an electric locomotive positioning box, wherein an upper USB connection port of the vehicle-mounted controller is connected with the tag transponder, the speed displacement sensor, the first vehicle-mounted radar detector, the second vehicle-mounted radar detector, the third vehicle-mounted radar detector, the error elimination sensor, the limit position sensor and a port on the electric locomotive positioning box in a rotating manner from left to right in sequence; the lower USB connection port of the vehicle-mounted controller is connected with ports on the front left camera, the front right camera, the front camera, the rear camera, the left rear camera and the right rear camera in a screwing mode from left to right through data wires.
Description
Technical Field
The invention relates to a control system, in particular to an unmanned monitoring detection control system for an underground electric locomotive, and belongs to the technical field of electric automation intelligent control.
Background
The Meishan mining company is an underground iron ore mining enterprise, underground transportation work is mainly driven by manual operation, four electric locomotives are responsible for carrying working material tools at different levels, two electric locomotives are responsible for receiving ores and delivering the ores to an ore unloading line for unloading, and two electric locomotives are responsible for underground personnel transportation work. The road conditions of the running routes of the underground electric locomotives are different, the current situation of the remote road conditions can not be judged, predicted and observed in advance in the running process of the electric locomotives, and the electric locomotives can be automatically driven after being refitted along with the propulsion of intelligent mines. However, at present, automatic monitoring of the underground road conditions of the motor cannot be realized all the time, barrier early warning detection feedback braking cannot be realized, and the state of the vehicle cannot be controlled remotely, so that a pair of eyes and a nervous system are required to be provided for an electric locomotive to realize remote monitoring detection control.
Therefore, an unmanned monitoring detection control system for the underground electric locomotive is urgently needed at present, the feedback of underground road conditions, the exploration of the periphery of the vehicle and the feedback of braking alarm under special conditions are realized, the dual protection of remote manual braking and automatic braking of a vehicle program is realized according to the system alarm, and the safety of the automatic driving running route of the underground electric locomotive is ensured.
Disclosure of Invention
The invention provides an unmanned monitoring detection control system of an underground electric locomotive, which aims at the problems in the prior art, and the technical scheme is used for monitoring and detecting the running state of the vehicle, monitoring the running direction at 360 degrees without dead angles, feeding back the surrounding all-dimensional view screen during the running process or starting of the vehicle, early warning and feeding back the obstacle in front of the vehicle, monitoring and updating the data transmission device in real time of the vehicle speed, and the like, so as to solve the problems in the prior art.
In order to achieve the above purpose, the technical scheme of the invention is that the unmanned monitoring detection control system of the underground electric locomotive comprises a vehicle-mounted controller, a camera, a vehicle-mounted radar detector, a tag transponder, a speed displacement sensor, an error elimination sensor, a limit position sensor and an electric locomotive positioning box, wherein a USB connection port of the vehicle-mounted controller is connected with the tag transponder, the speed displacement sensor, the first vehicle-mounted radar detector, the second vehicle-mounted radar detector, the third vehicle-mounted radar detector, the error elimination sensor, the limit position sensor and the port on the electric locomotive positioning box in turn from left to right through data wires; the lower USB connection port of the vehicle-mounted controller is connected with ports on the front left camera, the front right camera, the front camera, the rear camera, the left rear camera and the right rear camera in a screwing mode from left to right through data wires.
Wherein the vehicle-mounted controller is fixed on a special bracket above the electric locomotive through bolts,
the speed displacement sensor, namely the photoelectric encoder, is arranged on the outer side of an axle of the locomotive, generates pulse signals along with the rotation of wheels, and the vehicle-mounted host acquires and calculates pulses to obtain the instant running speed and accurate displacement information of the locomotive.
The error eliminating sensor is installed on the side surface of the bottom of the locomotive head, has a small shape, is matched with an error eliminating reflecting plate, and is nailed on the wall of a roadway.
The tag transponder is fixed at a reserved fixed base position above the electric locomotive through a transponder base mounting hole by using bolts, and the automatic lifting control of the locomotive pantograph is realized by adopting software, a controllable air valve and a corresponding mechanical transmission mechanism, so that the operation mode of manually pulling a rope to lower the pantograph by a locomotive driver is changed.
The front end cameras and the rear end cameras are respectively arranged in front of and behind the vehicle for monitoring the road conditions of the front and rear of the vehicle, and are used for monitoring the front and rear top plates and the grounding wires.
The vehicle-mounted radar detector is used for detecting obstacles in front of a vehicle, and a first vehicle-mounted radar detector, a second vehicle-mounted radar detector and a third vehicle-mounted radar detector are respectively installed in a beam drilling mode below the locomotive head.
Compared with the prior art, the invention has the advantages that the technical proposal carries out monitoring detection on the running state of the vehicle, monitors the running direction for 360 degrees without dead angle, feeds back the running process of the vehicle or the starting surrounding all-round vision screen, feeds back the obstacle in front of the vehicle in advance, monitors and updates the vehicle speed in real time and puts a remote control room and other measures,
in the scheme, a vehicle-mounted controller: the collected data and information are sent to a control center, and the collected data mainly comprise running speed, running direction, obstacle detection, faults, motor current, various running states and the like, and are communicated with a control center system for data exchange;
a speed displacement sensor: the photoelectric encoder is arranged on the outer side of an axle of the locomotive and rotates along with wheels to generate pulse signals, and the vehicle-mounted host acquires and calculates the pulses to obtain the instant running speed and accurate displacement information of the locomotive;
error cancellation sensor: the sensor is arranged on the side surface of the bottom of the locomotive head, has a small appearance and is matched with the error elimination reflector for use. The reflector is nailed on the tunnel wall. The vehicle-mounted host acquires sensor signals to obtain accurate 'point' information of the locomotive. The information computer system of "point" here may set it to the coordinate "zero point". When the locomotive runs through the position, eliminating the accumulated error of the encoder or stopping when reaching the end position;
a tag transponder: the automatic lifting control of the pantograph of the locomotive is realized by adopting software, a controllable air valve and a corresponding mechanical transmission mechanism, and the operation mode of manually pulling a rope to lower the pantograph by a locomotive driver is changed. The vehicle can be more suitable for the on-site power electric contact net, and the stable operation of the locomotive is ensured. In an emergency, the overhead lines may be powered down to stop all locomotives within the consist, but the restoration of power requires manual handling and in principle does not allow remote power via the control system. When part of the forced pantograph is required to be powered on, the forced pantograph lifting can be carried out through the change-over switch;
a camera head: the cameras are installed at different position angles of the motor vehicle body, so that real-time monitoring of the periphery of the vehicle is realized, and the on-site condition pre-judgment is realized through the remote control room;
vehicle radar: the radar is installed on the locomotive head, the alarm can be given in time when the obstacle exists in the front of the locomotive head, the alarm is fed back to the remote control room system through the vehicle-mounted controller, the vehicle is automatically stopped, the operator judges the on-site dynamics according to the monitoring view screen, measures are taken in time to solve the problem, and the vehicle automatic system is restarted.
Drawings
Fig. 1: an unmanned monitoring detection control system of the electric locomotive;
fig. 2: an automatic driving flow system diagram of an electric locomotive.
In the figure: 1. a vehicle-mounted controller; 2. a tag transponder; 3. a speed displacement sensor; 4. a first vehicle radar detector; 5. a second vehicle-mounted radar detector; 6. a third vehicle-mounted radar detector; 7. an error cancellation sensor; 8. a limit position sensor; 9. positioning box of electric locomotive; 10. a camera at the left side of the front end; 11. a camera at the right side of the front end; 12. a front end camera; 13. a rear camera; 14. a left rear camera; 15. and a right rear camera.
Detailed Description
In order to enhance the understanding of the present invention, the present embodiment will be described in detail with reference to the accompanying drawings.
Example 1: referring to fig. 1, an unmanned monitoring detection control system of an underground electric locomotive comprises a vehicle-mounted controller 1, a camera, vehicle-mounted radar detectors 4-6, a tag transponder 2, a speed displacement sensor 3, an error elimination sensor 7, a limit position sensor 8 and an electric locomotive positioning box 9, wherein a USB connection port arranged on the vehicle-mounted controller 1 is connected with the tag transponder 2, the speed displacement sensor 3, the first vehicle-mounted radar detector 4, the second vehicle-mounted radar detector 5, the third vehicle-mounted radar detector 6, the error elimination sensor 7, the limit position sensor 8 and the port on the electric locomotive positioning box 9 in turn from left to right through data wires; the lower row USB connection ports of the vehicle-mounted controller 1 are respectively connected with ports on the front left camera 10, the front right camera 11, the front camera 12, the rear camera 13, the left rear camera 14 and the right rear camera 15 in a screwing way from left to right through data wires.
Wherein the vehicle-mounted controller 1 is fixed on a special bracket above the electric locomotive through bolts,
the speed displacement sensor 3, namely a photoelectric encoder, is arranged on the outer side of an axle of the locomotive and rotates along with wheels to generate pulse signals, and the vehicle-mounted host acquires and calculates the pulses to obtain the instant running speed and accurate displacement information of the locomotive.
The error eliminating sensor 7 is installed on the side face of the bottom of the locomotive head, has a small shape, is matched with an error eliminating reflecting plate for use, and is nailed on a roadway wall.
The tag transponder 2 is fixed at a reserved fixed base position above the electric locomotive through a transponder base mounting hole by using bolts, and the automatic lifting control of the locomotive pantograph is realized by adopting software, a controllable air valve and a corresponding mechanical transmission mechanism, so that the operation mode of manually pulling a rope to lower the pantograph by a locomotive driver is changed.
The front end camera 12 and the rear end camera 13 are respectively arranged in front of and behind the vehicle for monitoring front and rear roof and grounding wires.
Wherein, vehicle radar 4 ~ 6: and three radars are installed on a beam drill below the locomotive head and used for detecting obstacles in front of the vehicle. The vehicle-mounted controller 1 is shown to control wireless communication, vehicle state detection, vehicle positioning direction, safety protection, short-range radar ranging, obstacle recognition, video monitoring, valve opening and closing, a pneumatic system and an electric system. The vehicle state detection mainly comprises torque converter state, motor state, communication state, gas path state and speed detection. The valve switch mainly comprises a gas circuit, an electromagnetic valve, a main valve for decelerating and braking. The pneumatic system mainly controls steering and a motor; the power system mainly comprises lighting, an alarm and a vehicle-mounted torque converter.
The specific working principle is as follows:
as shown in fig. 1: the unmanned monitoring detection control system of electric locomotive, vehicle-mounted controller 1 sends the data and information that gather to control center, gathers mainly including running speed, direction of operation, barrier detection, trouble, motor current, various running state etc. data to with control center system communication, carry out data exchange.
The speed and displacement sensor 3 rotates along with the wheels to generate pulse signals, and the vehicle-mounted host computer collects pulses and calculates to obtain the instant running speed and accurate displacement information of the locomotive.
The error cancellation sensor 7 collects sensor signals to obtain accurate "point" information for the locomotive. The information computer system of "point" here may set it to the coordinate "zero point". When the locomotive runs through the position, the accumulated error of the encoder is eliminated or the locomotive stops at the end position.
The tag transponder 2 realizes automatic lifting control of the locomotive pantograph, and changes the operation mode of manually pulling the rope to lower the pantograph by a locomotive driver. The vehicle can be more suitable for the on-site power electric contact net, and the stable operation of the locomotive is ensured. In an emergency, the overhead lines may be powered down to stop all locomotives within the consist, but the restoration of power requires manual handling and in principle does not allow remote power via the control system. When part of the forced pantograph is powered on, the forced pantograph lifting can be performed through the change-over switch.
Camera 10-15: the cameras are installed at different position angles of the motor vehicle body, real-time monitoring of the periphery of the vehicle is achieved, and on-site condition pre-judgment is achieved through the remote control room.
Vehicle radar detector 4-6: the radar is installed on the locomotive head, the alarm can be given in time when the obstacle exists in the front of the locomotive head, the alarm is fed back to the remote control room system through the vehicle-mounted controller, the vehicle is automatically stopped, the operator judges the on-site dynamics according to the monitoring view screen, measures are taken in time to solve the problem, and the vehicle automatic system is restarted.
It should be noted that the above-mentioned embodiments are not intended to limit the scope of the present invention, and equivalent changes or substitutions made on the basis of the above-mentioned technical solutions fall within the scope of the present invention as defined in the claims.
Claims (7)
1. An unmanned monitoring detection control system of an underground electric locomotive is characterized in that the control system comprises a vehicle-mounted controller, a camera, a vehicle-mounted radar detector, a tag transponder, a speed displacement sensor, an error elimination sensor, a limit position sensor and an electric locomotive positioning box,
the upper USB connection port of the vehicle-mounted controller is connected with the tag transponder, the speed displacement sensor, the first vehicle radar detector, the second vehicle radar detector, the third vehicle radar detector, the error elimination sensor, the limit position sensor and the port on the electric locomotive positioning box in a rotating manner from left to right in sequence through data lines;
the lower USB connection port of the vehicle-mounted controller is connected with ports on the front left camera, the front right camera, the front camera, the rear camera, the left rear camera and the right rear camera in a screwing mode from left to right through data wires.
2. The unmanned monitoring and detecting control system for an underground electric locomotive according to claim 1, wherein the vehicle-mounted controller (1) is fixed on a special bracket above the electric locomotive through bolts.
3. The unmanned monitoring detection control system of the underground electric locomotive according to claim 2, wherein the speed displacement sensor (3) is a photoelectric encoder, is arranged on the outer side of an axle of the locomotive and rotates along with wheels to generate pulse signals, and the vehicle-mounted host acquires and calculates pulses to obtain the instant running speed and accurate displacement information of the locomotive.
4. A system according to claim 3, wherein the error eliminating sensor (7) is mounted on the bottom side of the locomotive head and is used in combination with an error eliminating reflector which is nailed on the wall of the roadway.
5. The unmanned monitoring detection control system of an underground electric locomotive according to claim 3 or 4, wherein the tag transponder (2) fixes the tag transponder (2) above the electric locomotive by bolts through transponder base mounting holes, a fixed base position is reserved, and automatic lifting control of a locomotive pantograph is achieved by software, a controllable air valve and a corresponding mechanical transmission mechanism.
6. The unmanned monitoring and detecting control system for an underground electric locomotive according to claim 5, wherein four corners above the locomotive and the locomotive tail of the electric locomotive are respectively perforated, two groups of front left side cameras (10), front right side cameras (11) and left rear cameras (14) and right rear cameras (15) are installed and fixed by bolts, road conditions of the front and rear of the vehicle are monitored, and a front camera (12) and a rear camera (13) are respectively installed above the vehicle and are used for monitoring front and rear top plates and wiring.
7. The unmanned monitoring and detection control system of an underground electric locomotive according to claim 6, wherein the vehicle-mounted radar detector is provided with a first vehicle-mounted radar detector, a second vehicle-mounted radar detector and a third vehicle-mounted radar detector respectively in a beam drilling below the locomotive head for detecting obstacles in front of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310321154.XA CN116414068A (en) | 2023-03-29 | 2023-03-29 | Unmanned control detection control system of electric locomotive in pit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310321154.XA CN116414068A (en) | 2023-03-29 | 2023-03-29 | Unmanned control detection control system of electric locomotive in pit |
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| Publication Number | Publication Date |
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| CN116414068A true CN116414068A (en) | 2023-07-11 |
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| CN202310321154.XA Pending CN116414068A (en) | 2023-03-29 | 2023-03-29 | Unmanned control detection control system of electric locomotive in pit |
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- 2023-03-29 CN CN202310321154.XA patent/CN116414068A/en active Pending
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