CN117566600B - Mining monorail crane safe operation control system based on Internet of things - Google Patents
Mining monorail crane safe operation control system based on Internet of things Download PDFInfo
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- CN117566600B CN117566600B CN202410056783.9A CN202410056783A CN117566600B CN 117566600 B CN117566600 B CN 117566600B CN 202410056783 A CN202410056783 A CN 202410056783A CN 117566600 B CN117566600 B CN 117566600B
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- 238000005065 mining Methods 0.000 title claims abstract description 60
- 230000001133 acceleration Effects 0.000 claims abstract description 89
- 230000000903 blocking effect Effects 0.000 claims abstract description 24
- 238000012544 monitoring process Methods 0.000 claims abstract description 20
- 238000009529 body temperature measurement Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 20
- 230000009194 climbing Effects 0.000 claims description 19
- 239000002243 precursor Substances 0.000 claims description 19
- 238000013461 design Methods 0.000 claims description 13
- 238000004458 analytical method Methods 0.000 claims description 12
- 238000011156 evaluation Methods 0.000 claims description 8
- 230000005856 abnormality Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 238000012502 risk assessment Methods 0.000 claims description 5
- 238000012216 screening Methods 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims 1
- 230000006855 networking Effects 0.000 claims 1
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
- B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
- B66C11/04—Underhung trolleys
- B66C11/06—Underhung trolleys running on monorails
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention belongs to the field of monitoring and controlling the safe operation of a mining monorail crane, and particularly discloses a mining monorail crane safe operation control system based on the Internet of things, which comprises the following components: the real-time running health coefficient of the sliding track structure is analyzed by analyzing the deformation degree of each deformation position on the sliding track structure, identifying whether each deformation position is an acceleration point position and analyzing the running blocking coefficient of each deformation position of the sliding track structure, and further identifying whether foreign matters exist on the track running structure. By detecting the running temperature measurement index of each pulley bracket on the mining monorail crane in real time, the real-time running safety coefficient of the pulley structure is analyzed, and whether the parking mode is started or not is further confirmed. And (3) by identifying the outline shape of each load, evaluating the shaking distance of the load at each acceleration point, and determining the shaking direction of each load, so as to analyze whether collision risks exist between the loads.
Description
Technical Field
The invention belongs to the field of monitoring and controlling the safe operation of a mining monorail crane, and relates to a mining monorail crane safe operation control system based on the Internet of things.
Background
The safety of the monorail crane for mining determines the safety of personnel and equipment during transportation. The mining monorail crane is generally used for hoisting articles with huge weight, and serious casualties and equipment damages can be caused once accidents occur, so that the mining monorail crane is particularly important to monitoring and controlling the safe operation of the mining monorail crane. In addition, the safety operation monitoring control can prolong the service life of equipment, and various potential risks such as structural damage problems can be timely found by periodically monitoring the working state and the load condition of the mining monorail crane, so that corresponding maintenance measures can be facilitated to be adopted, faults are reduced, and the service life of the equipment is prolonged.
At present, the existing monitoring content of the safe operation of the mining monorail crane is limited to only circling deformation positions in a sliding track structure, the blocking influence of the deformation positions on the accelerating operation of the mining monorail crane is not considered, the blocking of the deformation positions on the accelerating operation of the monorail crane can cause additional stress to be concentrated at key parts of equipment, the abrasion and loss of the equipment can be increased for a long time, the service life of the equipment is shortened, and further the maintenance cost is increased.
On the other hand, the impact of deformation positions on adjacent loads is not considered in the existing monitoring content for the safe operation of the mining monorail crane, and if the mining monorail crane accelerates at the deformation positions, the loads bump when the mining monorail crane passes through the deformation positions, so that the mining monorail crane can collide with the adjacent loads.
Disclosure of Invention
In view of this, in order to solve the problems set forth in the above background art, a mining monorail crane safe operation control system based on the internet of things is provided.
The aim of the invention can be achieved by the following technical scheme: the invention provides a mining monorail crane safe operation control system based on the Internet of things, which comprises the following steps: the track operation monitoring module is used for acquiring transportation data of the sliding track structure path in real time and analyzing running blocking coefficients of each deformation position of the sliding track structure。
The track structure health evaluation module is used for identifying whether foreign matters exist on the track running structure or not, and further analyzing real-time running health coefficients of the sliding track structure.
The pulley operation monitoring module is used for detecting operation temperature measurement indexes of all pulley supports on the mining monorail crane in real time and analyzing real-time operation safety coefficients of pulley structures.
And the parking state judging module is used for evaluating the safety coefficient in the running process of the pulley track of the monorail crane so as to confirm whether to start a parking mode.
The collision risk assessment module is used for identifying the outline shape of each load, assessing the shaking distance of each load at each acceleration point, determining the shaking direction of each load, analyzing whether collision risk exists among the loads according to the shaking direction, and sending early warning to the control center when the collision risk exists.
The database is used for storing standard design parameters of the sliding track structure, transportation data of the sliding track structure path and a predicted load transportation plan of the mining monorail crane, storing reference gradient and reference gradient length of the sliding track structure, corresponding normal temperature indexes of each driving speed range, corresponding safety values of driving blocking coefficients of deformation positions of the sliding track structure and early warning values of safety operation coefficients of the mining monorail crane.
Preferably, the transportation data of the path of the sliding track structure comprises a standard path profile of the sliding track structure, the positions of all acceleration points of the pulley bracket in the transportation path and standard acceleration of the positions of all acceleration points, and real-time standard running speed of the pulley bracket in the transportation path.
Preferably, the analysis of the running blocking coefficient of each deformation position of the sliding track structure specifically includes: obtaining a predicted load transportation plan of the mining monorail crane, extracting the predicted load weight of each load lifting hook from the predicted load transportation plan, and summing to obtain the total load weight of the mining monorail crane in the transportation process。
Scanning the path profile of the sliding track structure, overlapping and comparing the path profile with the standard path profile of the sliding track structure, counting each deformation position of the sliding track structure, and further defining the deformation area of each deformation positionAnd obtaining the width of the section of the track corresponding to the deformation area of each deformation position.
Extracting diameter width of sub-tire in pulley bracketComparing the width of the section of the rail corresponding to the deformation region of each deformation position to obtain elevation difference values of each deformation position on the sliding rail structureAnalyzing the deformation degree of each deformation positionWhereinFor a standard design width of the glide track structure,for the preset deformation safety threshold value,is the area per unit area of the area,the deformation positions are numbered for the number,。
extracting corresponding gradient and gradient length of each acceleration point of the pulley support in the transportation path, and analyzing to obtain climbing jam degree of each deformation position。
Comparing each deformation position with each acceleration point position, and analyzing the running blocking coefficient of each deformation position of the sliding track structureWhereinRepresent the firstThe deformation locations are the acceleration point locations,represent the firstThe deformation locations are not acceleration point locations,for the preset reference load weight.
Preferably, the analysis method for the climbing stagnation degree of each deformation position comprises the following steps: the corresponding gradient and the slope length of each acceleration point of the pulley bracket in the transportation path are respectively marked asObtaining the climbing jam degree of each acceleration point position，The reference gradient and the reference gradient length of the glide track structure stored in the database respectively,in order to accelerate the numbering of the positions of the points,。
matching each accelerating point position of the pulley support in the transportation path with each deformation position, when a certain deformation position is the accelerating point position, marking the climbing and stagnation degree of the accelerating point position as the climbing and stagnation degree of the deformation position, otherwise marking the climbing and stagnation degree of the deformation position as 0, and counting to obtain the climbing and stagnation degree of each deformation position。
Preferably, the analyzing the real-time running health coefficient of the sliding track structure includes: scanning whether the foreign matter exists on the sliding track structure path in real time through the detector, marking the position of the foreign matter on the structure path when the foreign matter exists, and marking the foreign matter influence factor of the sliding track structure asStatistics is carried out to obtain comprehensive foreign matter influence factors of the sliding track structure，Indicating the number of foreign object position marks on the structural path.
From analytical formulasObtaining real-time operation health coefficients of the sliding track structure at each deformation position,the running blocking coefficient for the deformation position of the sliding track structure corresponds to a safety value.
Real-time operation health coefficient of deformation position on sliding track structure is recorded asStatistics is carried out to obtain real-time running health coefficient of the sliding track structure。
Preferably, the process of analyzing the real-time operation safety coefficient of the pulley structure is as follows: and comparing the real-time running speed of the pulley support in the transportation path with the corresponding normal temperature index of each running speed range stored in the database, and screening out the normal temperature index of the pulley support under the running condition of the real-time running speed.
The running temperature measurement index of each pulley bracket on the mining monorail crane under the real-time running speed is detected in real time through the detector arranged on the pulley bracket, and is compared with the normal temperature index of the pulley bracket under the running condition of the real-time running speed, so that the real-time running temperature abnormality index of the pulley bracket on the mining monorail crane is obtained。
The running state of each pulley bracket is scanned in real time, and the contact area between each sub-tire in each pulley bracket and the pulley track is obtained。
Analyzing real-time running safety coefficient of pulley structureWhereinThe area is designed for the specification of the neutron tyre of the pulley bracket,the contact area ratio of the pulley bracket and the operating safety coefficient influence duty ratio corresponding to the real-time operating temperature abnormality index are respectively set,the number of the pulley bracket is given,。
preferably, the method for confirming whether to start the parking mode is as follows: real-time running health coefficient combined with sliding track structureAnd real-time operational safety factor of pulley structureReal-time evaluation of safe operation coefficient of mining monorail crane，In order to set a constant which is more than 0 and less than 1, the safety operation coefficient early warning value of the mining monorail crane stored in the database is further compared with the safety operation coefficient early warning value of the mining monorail crane stored in the database, and when the safety operation coefficient early warning value exceeds the mining monorailWhen the safety operation coefficient early warning value is hung, a parking mode is started, a parking position for starting the parking mode is obtained, and the parking position is sent to a control center.
Preferably, the process of evaluating the shaking distance of each load at each acceleration point position is as follows: extracting standard acceleration of the pulley bracket at each acceleration point position, namely standard acceleration of the load at each acceleration point positionCalculating the running distance of the load in each acceleration point position in unit time according to a physical formulaWhereinIn the unit of time of the device,in the transport path for the pulley supportThe individual acceleration point positions start the standard running speed at the acceleration time.
Obtaining the deformation degree of each acceleration point positionThereby evaluating the shaking distance of the load at each acceleration pointE is a natural constant, and the shaking distance of each load at each acceleration point position is obtained in the same way.
Preferably, the step of determining the shake direction correspondence analysis of each load includes: the method comprises the steps of obtaining left and right adjacent load hooks to which each load object belongs, taking the midpoint position between the left and right adjacent load hooks as a dividing point, obtaining corresponding dividing areas of the left and right adjacent load hooks to which each load object belongs, setting the corresponding dividing areas of the left and right adjacent load hooks as forward shaking areas and setting the corresponding dividing areas of the right and left adjacent load hooks as backward shaking areas.
The method comprises the steps of scanning and identifying contours of all loads to obtain contour volumes of all loads in corresponding dividing areas of left and right adjacent load hooks, comparing the contour volumes of all loads in the corresponding dividing areas of the left and right adjacent load hooks, taking the corresponding dividing area of the load hook with the largest contour volume as a gravity center shifting direction of the loads, and determining the shaking direction of all loads when the dividing area to which the gravity center shifting direction of a certain load belongs is a forward shaking area, wherein the shaking direction of the load is forward shaking, or backward shaking, and accordingly determining the shaking direction of the loads.
Preferably, the analyzing whether collision risks exist among the loads specifically includes: and comparing the outline shapes of the loads and the adjacent loads to obtain the shortest distance between the loads and the outline shapes of the adjacent loads.
And acquiring each forward-swinging load as each precursor load, extracting swinging distance of each precursor load at each acceleration point position and the shortest distance between each precursor load and the adjacent load, comparing the swinging distance with the shortest distance to obtain collision distance deviation between each precursor load at each acceleration point position and the adjacent load, and if the collision distance deviation between a certain precursor load at a certain acceleration point position and the adjacent load is smaller than 0, causing the precursor load to have collision risk at the acceleration point position.
Compared with the prior art, the invention has the following beneficial effects: (1) According to the invention, the deformation degree of each deformation position on the sliding track structure is analyzed, whether each deformation position is an acceleration point position or not is identified, so that the running blocking coefficient of each deformation position of the sliding track structure is analyzed, and further, whether foreign matters exist on the track running structure or not is identified to analyze the real-time running health coefficient of the sliding track structure, and the running blocking influence of the deformation position under the acceleration condition is predicted by analyzing the relation between the deformation position and the acceleration point position, so that the potential running risk problem of the sliding track structure is found in time.
(2) According to the invention, the real-time operation safety coefficient of the pulley structure is analyzed by detecting the operation temperature measurement index of each pulley bracket on the mining monorail crane in real time, so that the real-time operation health coefficient of the sliding track structure is combined to confirm whether to start the parking mode, the real-time performance of the monitoring effect of the pulley operation state is ensured, and meanwhile, the operation temperature of the pulley structure is monitored in time, so that the damage of pulley equipment caused by friction overheat can be prevented, the service life of the pulley equipment is effectively prolonged, and the operation safety of the equipment is improved.
(3) According to the invention, the contour shape of each load is identified, the shaking distance of the load at each acceleration point is evaluated, the shaking area direction of each load is determined, whether collision risks exist among the loads is analyzed according to the shaking area direction, and when the collision risks exist, an early warning is sent to a control center, so that the potential collision risks among the loads can be timely perceived, measures are taken to avoid collision accidents, and the working safety is improved. In addition, through the determination to the regional direction of load rocking, can optimize the overall arrangement of load, adjust the transportation scheme, and then improve the transportation benefit.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the system module connection of the present invention.
FIG. 2 is a schematic layout of a monorail crane glide track structure according to the present invention.
Reference numerals: 1. the sliding support, 2, the load lifting hook, 3, sub-pulley, 4, the left adjacent load lifting hook that the load thing belonged to corresponds the division district, 5, the right adjacent load lifting hook that the load thing belonged to corresponds the division district.
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.
Referring to fig. 1, the invention provides a mining monorail crane safe operation control system based on the internet of things, which comprises: the system comprises a track operation monitoring module, a track structure health evaluation module, a pulley operation monitoring module, a parking state judging module, a collision risk evaluation module and a database. The system comprises a track running monitoring module, a track structure health assessment module, a pulley running monitoring module, a parking state judgment module, a collision risk assessment module, a database, a pulley running monitoring module, a parking state judgment module and a collision risk assessment module.
The track operation monitoring module is used for acquiring transportation data of the sliding track structure path and analyzing running blocking coefficients of each deformation position of the sliding track structure。
In a specific embodiment of the present invention, the transportation data of the path of the sliding track structure includes a standard path profile of the sliding track structure, a standard acceleration of each acceleration point position of the pulley bracket in the transportation path and each acceleration point position, and a real-time standard running speed of the pulley bracket in the transportation path. The transportation data of the sliding track structure path is stored in a database, wherein the standard path profile of the sliding track structure comprises corresponding gradients and slope lengths of all acceleration points.
In another specific embodiment of the present invention, the analysis of the running blocking coefficient of each deformation position of the sliding track structure specifically includes: obtaining a predicted load transportation plan of the mining monorail crane from a database, extracting the predicted load weight of each load lifting hook from the predicted load transportation plan, and summing the predicted load weights to obtainAggregate load weight of mining monorail crane during transportation。
The path profile of the sliding track structure is scanned in real time through a laser scanning instrument arranged on the sliding track structure side, the path profile is overlapped and compared with the standard path profile of the sliding track structure, each position point which is not overlapped with the standard path profile is defined on the path profile of the sliding track structure, namely each deformation position of the sliding track structure, and the non-overlapped area of each deformation position is defined, namely the deformation area of each deformation position is definedAnd obtaining the width of the section of the track corresponding to the deformation area of each deformation position.
Extracting the diameter width of the sub-tire in the pulley bracket from standard design parameters of the sliding track structure stored in a database, comparing the diameter width with the corresponding track section width of the deformation area of each deformation position, and obtaining the elevation difference value of each deformation position on the sliding track structureExtracting standard design width of the sliding track structure from standard design parameters of the sliding track structure stored in a database, and analyzing deformation degree of each deformation positionWhereinFor a standard design width of the glide track structure,for the preset deformation safety threshold value,is the area per unit area of the area,the deformation positions are numbered for the number,. Specifically, in the running process of the sliding track structure, the deformation condition of the section width of the track may exist due to long-term load weight, so that the sub-tires of the pulley bracket are blocked, namelyIs the case in (a).
Based on the standard path profile of the sliding track structure and the positions of all acceleration points of the pulley support in the transportation path, the corresponding standard path profile of all acceleration points of the pulley support in the transportation path is obtained, the corresponding gradient and the gradient length of all acceleration points of the pulley support in the transportation path are extracted from the standard path profile, and the gradient degree of all deformation positions are obtained through analysis。
Comparing each deformation position with each acceleration point position, and analyzing the running blocking coefficient of each deformation position of the sliding track structureWhereinFor the preset reference load weight.
In another embodiment of the present invention, the method for analyzing the degree of creep and stagnation at each deformation position includes: the corresponding gradient and the slope length of each acceleration point of the pulley bracket in the transportation path are respectively marked asObtaining the climbing jam degree of each acceleration point position，The reference gradient and the reference gradient length of the glide track structure stored in the database respectively,in order to accelerate the numbering of the positions of the points,。
matching each accelerating point position of the pulley support in the transportation path with each deformation position, when a certain deformation position is the accelerating point position, marking the climbing and stagnation degree of the accelerating point position as the climbing and stagnation degree of the deformation position, otherwise marking the climbing and stagnation degree of the deformation position as 0, and counting to obtain the climbing and stagnation degree of each deformation position。
According to the invention, the deformation degree of each deformation position on the sliding track structure is analyzed, whether each deformation position is an acceleration point position or not is identified, so that the running blocking coefficient of each deformation position of the sliding track structure is analyzed, and further, whether foreign matters exist on the track running structure or not is identified to analyze the real-time running health coefficient of the sliding track structure, and the running blocking influence of the deformation position under the acceleration condition is predicted by analyzing the relation between the deformation position and the acceleration point position, so that the potential running risk problem of the sliding track structure is found in time.
The track structure health evaluation module is used for identifying whether foreign matters exist on the track running structure or not, and further analyzing real-time running health coefficients of the sliding track structure.
In a specific embodiment of the present invention, the analyzing the real-time running health coefficient of the sliding track structure includes: scanning whether the foreign matter exists on the sliding track structure path in real time through the detector, marking the position of the foreign matter on the structure path when the foreign matter exists, and marking the foreign matter influence factor of the sliding track structure asStatistics is carried out to obtain comprehensive foreign matter influence factors of the sliding track structure，Indicating the number of foreign object position marks on the structural path.
Extracting the corresponding safety value of the running blocking coefficient of the deformation position of the sliding track structure from a database, and using an analysis formulaObtaining real-time operation health coefficients of the sliding track structure at each deformation position,the running blocking coefficient for the deformation position of the sliding track structure corresponds to a safety value.
Real-time operation health coefficient of deformation position on sliding track structure is recorded asStatistics is carried out to obtain real-time running health coefficient of the sliding track structure。
The pulley operation monitoring module is used for detecting operation temperature measurement indexes of all pulley supports on the mining monorail crane in real time and analyzing real-time operation safety coefficients of pulley structures.
In a specific embodiment of the invention, the real-time operation safety coefficient of the pulley structure is analyzed, and the process is as follows: and comparing the real-time running speed of the pulley support in the transportation path with the corresponding normal temperature index of each running speed range stored in the database, and screening out the normal temperature index of the pulley support under the running condition of the real-time running speed.
Real-time detection of running temperature measurement indexes of each pulley bracket on mining monorail crane at real-time running speed through detectors arranged on the pulley bracketsThe temperature of the pulley bracket is adjusted to be normal temperature under the running condition of real-time running speedComparing the degree indexes to obtain the real-time running temperature abnormality index of the pulley bracket on the mining monorail craneWhereinIs the firstNormal temperature index at the running speed,the number of the pulley bracket is given,，for the number of the running speed,，is the number of changes in the travel speed.
The running state of each pulley bracket is scanned in real time by a laser scanning instrument arranged on the pulley bracket, and the contact area between each sub tire in each pulley bracket and the pulley track is obtained。
Extracting specification design area of neutron tire in pulley bracket from standard design parameters of sliding track structure stored in database, analyzing real-time operation safety coefficient of pulley structureWhereinThe area is designed for the specification of the neutron tyre of the pulley bracket,the contact area ratio of the pulley bracket and the operating safety coefficient influence duty ratio corresponding to the real-time operating temperature abnormality index are respectively set,the number of the pulley bracket is given,。
the parking state judging module is used for evaluating the safety coefficient in the running process of the monorail crane pulley track, and further determining whether to start a parking mode.
In a specific embodiment of the present invention, the method for confirming whether to start the parking mode is: real-time running health coefficient combined with sliding track structureAnd real-time operational safety factor of pulley structureReal-time evaluation of safe operation coefficient of mining monorail crane，In order to set a constant which is more than 0 and less than 1, the constant is further compared with a mining monorail crane safety operation coefficient early warning value stored in a database, when the constant exceeds the mining monorail crane safety operation coefficient early warning value, a parking mode is started, a parking position for starting the parking mode is obtained, and the parking position is sent to a control center.
According to the invention, the real-time operation safety coefficient of the pulley structure is analyzed by detecting the operation temperature measurement index of each pulley bracket on the mining monorail crane in real time, so that the real-time operation health coefficient of the sliding track structure is combined to confirm whether to start the parking mode, the real-time performance of the monitoring effect of the pulley operation state is ensured, and meanwhile, the operation temperature of the pulley structure is monitored in time, so that the damage of pulley equipment caused by friction overheat can be prevented, the service life of the pulley equipment is effectively prolonged, and the operation safety of the equipment is improved.
The collision risk assessment module is used for identifying the outline shape of each load, assessing the shaking distance of each load at each acceleration point, determining the shaking direction of each load, analyzing whether collision risk exists among the loads according to the shaking direction, and sending early warning to the control center when the collision risk exists.
In a specific embodiment of the present invention, the process of evaluating the sway distance of each load at each acceleration point position is as follows: extracting standard acceleration of the pulley bracket at each acceleration point position, namely standard acceleration of the load at each acceleration point positionCalculating the running distance of the load in each acceleration point position in unit time according to a physical formulaWhereinIn the unit of time of the device,in the transport path for the pulley supportThe individual acceleration point positions start the standard running speed at the acceleration time.
The standard running speed of the pulley bracket at the starting acceleration moment of each acceleration point position in the transportation path is extracted from the real-time standard running speed of the pulley bracket in the transportation path.
Obtaining the deformation degree of each acceleration point positionThereby evaluating the shaking distance of the load at each acceleration pointE isAnd (3) obtaining the natural constant and the shaking distance of each load at each acceleration point according to the same manner.
The pulley bracket has a direct relation between the running distance of each acceleration point position in unit time and the unstable shaking distance of the lifting hook load. Specifically, when the pulley bracket passes the acceleration point, the running distance per unit time may affect the unstable shaking distance of the load on the hook, and if the running distance per unit time of the pulley bracket is large, the unstable shaking distance of the load on the hook may be increased accordingly.
Referring to fig. 2, in another embodiment of the present invention, the determining the shake direction correspondence analysis step of each load includes: the method comprises the steps of obtaining left and right adjacent load hooks to which each load object belongs, taking the midpoint position between the left and right adjacent load hooks as a dividing point, obtaining corresponding dividing areas of the left and right adjacent load hooks to which each load object belongs, setting the corresponding dividing areas of the left and right adjacent load hooks as forward shaking areas and setting the corresponding dividing areas of the right and left adjacent load hooks as backward shaking areas.
The method comprises the steps of scanning and identifying contours of all loads to obtain contour volumes of all loads in corresponding dividing areas of left and right adjacent load hooks, comparing the contour volumes of all loads in the corresponding dividing areas of the left and right adjacent load hooks, taking the corresponding dividing area of the load hook with the largest contour volume as a gravity center shifting direction of the loads, and determining the shaking direction of all loads when the dividing area to which the gravity center shifting direction of a certain load belongs is a forward shaking area, wherein the shaking direction of the load is forward shaking, or backward shaking, and accordingly determining the shaking direction of the loads.
In another embodiment of the present invention, the analyzing whether there is a risk of collision between the loads is specifically: and comparing the outline shapes of the loads and the adjacent loads to obtain the shortest distance between the loads and the outline shapes of the adjacent loads.
And acquiring each forward-shaking load as each precursor load, extracting the shaking distance of each precursor load at each acceleration point position from the shaking distance of each precursor load at each acceleration point position, extracting the shortest distance between each precursor load and each adjacent load from the shortest distance of the corresponding profile shape of each load and each adjacent load, and comparing the shortest distance with the shortest distance to obtain the collision distance deviation between each acceleration point position and each adjacent load of each precursor load, wherein if the collision distance deviation between a certain precursor load at a certain acceleration point position and each adjacent load is smaller than 0, the precursor load has collision risk at the acceleration point position.
According to the invention, the contour shape of each load is identified, the shaking distance of the load at each acceleration point is evaluated, the shaking area direction of each load is determined, whether collision risks exist among the loads is analyzed according to the shaking area direction, and when the collision risks exist, an early warning is sent to a control center, so that the potential collision risks among the loads can be timely perceived, measures are taken to avoid collision accidents, and the working safety is improved. In addition, through the determination to the regional direction of load rocking, can optimize the overall arrangement of load, adjust the transportation scheme, and then improve the transportation benefit.
The database is used for storing standard design parameters of the sliding track structure, transportation data of the sliding track structure path and a predicted load transportation plan of the mining monorail crane, wherein the standard design parameters comprise standard design width of the sliding track structure and diameter width of sub-tires in the pulley support, reference gradient and reference gradient length of the sliding track structure are stored, each driving speed range corresponds to a normal temperature index, driving blocking coefficient of a deformation position of the sliding track structure corresponds to a safety value, and a mining monorail crane safety operation coefficient early warning value is stored.
The foregoing is merely illustrative and explanatory of the principles of this invention, as various modifications and additions may be made to the specific embodiments described, or similar arrangements may be substituted by those skilled in the art, without departing from the principles of this invention or beyond the scope of this invention as defined in the claims.
Claims (6)
1. Mining monorail crane safe operation control system based on thing networking, characterized in that, this system includes:
the track operation monitoring module is used for acquiring transportation data of the sliding track structure path and analyzing running blocking coefficients of each deformation position of the sliding track structure；
The track structure health evaluation module is used for identifying whether foreign matters exist on the track running structure or not, and further analyzing real-time running health coefficients of the sliding track structure;
the pulley operation monitoring module is used for detecting operation temperature measurement indexes of all pulley brackets on the mining monorail crane in real time and analyzing real-time operation safety coefficients of a pulley structure;
the parking state judging module is used for evaluating the safety coefficient in the running process of the pulley track of the monorail crane so as to confirm whether to start a parking mode;
the collision risk assessment module is used for identifying the outline shape of each load, assessing the shaking distance of each load at each acceleration point position, determining the shaking direction of each load, analyzing whether collision risk exists among the loads according to the shaking direction, and sending an early warning to the control center when the collision risk exists;
the database is used for storing standard design parameters of the sliding track structure, transportation data of the path of the sliding track structure and a predicted load transportation plan of the mining monorail crane, storing reference gradient and reference gradient length of the sliding track structure, corresponding normal temperature indexes of each driving speed range, corresponding safety values of driving blocking coefficients of deformation positions of the sliding track structure and early warning values of safety operation coefficients of the mining monorail crane;
the running blocking coefficients of each deformation position of the sliding track structure are analyzed, and the running blocking coefficients are specifically as follows:
obtaining a predicted load transportation plan of the mining monorail crane, extracting the predicted load weight of each load lifting hook from the predicted load transportation plan, and summing to obtain the total load weight of the mining monorail crane in the transportation process；
Scanning the path profile of the sliding track structure, overlapping and comparing the path profile with the standard path profile of the sliding track structure, counting each deformation position of the sliding track structure, and further defining the deformation area of each deformation positionAcquiring the width of the section of the track corresponding to the deformation area of each deformation position;
extracting the diameter width of the sub tire in the pulley bracket, comparing the diameter width with the width of the track section corresponding to the deformation area of each deformation position, and obtaining the elevation difference value of each deformation position on the sliding track structureAnalyzing the deformation degree of each deformation positionWherein->For the standard design width of the sliding track structure, +.>For presetting a deformation safety threshold,/a>Is the unit area>For deformation position number->；
Extracting corresponding gradient and gradient length of each acceleration point of the pulley support in the transportation path, and analyzing to obtain climbing jam degree of each deformation position；
Comparing each deformation position with each acceleration point position, and analyzing the running blocking coefficient of each deformation position of the sliding track structureWherein->The weight of the reference load is preset;
the analysis method of the climbing jam degree of each deformation position comprises the following steps:
the corresponding gradient and the slope length of each acceleration point of the pulley bracket in the transportation path are respectively marked asObtaining the climbing stagnation degree of each acceleration point position>，/>Reference gradient and reference gradient length, respectively, of the glide track structure stored in the database, +.>For the numbering of the acceleration point positions +.>；
Matching each accelerating point position of the pulley support in the transportation path with each deformation position, when a certain deformation position is the accelerating point position, marking the climbing and stagnation degree of the accelerating point position as the climbing and stagnation degree of the deformation position, otherwise marking the climbing and stagnation degree of the deformation position as 0, and counting to obtain the climbing and stagnation degree of each deformation position；
The real-time running health coefficient of the analysis sliding track structure comprises the following contents:
scanning whether the foreign matter exists on the sliding track structure path in real time through the detector, marking the position of the foreign matter on the structure path when the foreign matter exists, and marking the foreign matter influence factor of the sliding track structure asCounting to obtain comprehensive foreign matter influence factor of sliding track structure>，/>A foreign object position marker number on the structural path;
from analytical formulasObtaining real-time running health coefficients of the sliding track structure at each deformation position, < >>The running blocking coefficient of the deformation position of the sliding track structure corresponds to a safety value;
real-time operation health coefficient of deformation position on sliding track structure is recorded asCounting to obtain real-time running health coefficient of the sliding track structure +.>；
The real-time operation safety coefficient of the analysis pulley structure is as follows:
comparing the real-time running speed of the pulley bracket in the transportation path with the corresponding normal temperature index of each running speed range stored in the database, and screening out the normal temperature index of the pulley bracket under the running condition of the real-time running speed;
the running temperature measurement index of each pulley bracket on the mining monorail crane under the real-time running speed is detected in real time through the detector arranged on the pulley bracket, and is compared with the normal temperature index of the pulley bracket under the running condition of the real-time running speed, so that the real-time running temperature abnormality index of the pulley bracket on the mining monorail crane is obtained；
The running state of each pulley bracket is scanned in real time, and the contact area between each sub-tire in each pulley bracket and the pulley track is obtained；
Analyzing real-time running safety coefficient of pulley structureWherein->Designing area for specification of neutron tyre of pulley bracket, < ->The contact area ratio of the pulley bracket and the operating safety coefficient influence ratio corresponding to the real-time operating temperature abnormality index are respectively set, and the ratio is +.>Numbering pulley brackets->。
2. The mining monorail crane safe operation control system based on the internet of things, which is characterized in that: the transportation data of the sliding track structure path comprises a standard path profile of the sliding track structure, the positions of all acceleration points of the pulley support in the transportation path, standard acceleration of the positions of all acceleration points, and real-time standard running speed of the pulley support in the transportation path.
3. The mining monorail crane safe operation control system based on the internet of things, which is characterized in that: the method for confirming whether to start the parking mode comprises the following steps: real-time running health coefficient combined with sliding track structureAnd the real-time running safety factor of the pulley structure +.>Real-time evaluation of the safe running coefficient of the mining monorail crane>，/>In order to set a constant which is more than 0 and less than 1, the constant is further compared with a mining monorail crane safety operation coefficient early warning value stored in a database, when the constant exceeds the mining monorail crane safety operation coefficient early warning value, a parking mode is started, a parking position for starting the parking mode is obtained, and the parking position is sent to a control center.
4. The mining monorail crane safe operation control system based on the internet of things, which is characterized in that: the shaking distance of each load at each acceleration point position is estimated, and the process is as follows:
extracting standard acceleration of the pulley bracket at each acceleration point position, namely standard acceleration of the load at each acceleration point positionCalculating the running distance of the load in each acceleration point position in unit time according to a physical formulaWherein->Is a unit time->The pulley bracket is +.>Standard running speeds at which the acceleration points start to accelerate;
obtaining the deformation degree of each acceleration point positionThereby evaluating the shaking distance of the load at each acceleration pointE is a natural constant, and the shaking distance of each load at each acceleration point position is obtained in the same way.
5. The mining monorail crane safe operation control system based on the internet of things, which is characterized in that: the corresponding analysis steps for determining the shaking direction of each load are as follows:
acquiring left and right adjacent load hooks to which each load object belongs, taking the midpoint position between the left and right adjacent load hooks as a dividing point, obtaining corresponding dividing regions of the left and right adjacent load hooks to which each load object belongs, and setting the corresponding dividing regions of the left and right adjacent load hooks as forward shaking regions and the corresponding dividing regions of the right and left adjacent load hooks as backward shaking regions;
the method comprises the steps of scanning and identifying contours of all loads to obtain contour volumes of all loads in corresponding dividing areas of left and right adjacent load hooks, comparing the contour volumes of all loads in the corresponding dividing areas of the left and right adjacent load hooks, taking the corresponding dividing area of the load hook with the largest contour volume as a gravity center shifting direction of the loads, and determining the shaking direction of all loads when the dividing area to which the gravity center shifting direction of a certain load belongs is a forward shaking area, wherein the shaking direction of the load is forward shaking, or backward shaking, and accordingly determining the shaking direction of the loads.
6. The mining monorail crane safe operation control system based on the internet of things, which is characterized in that: the analysis of whether collision risks exist among the loads specifically comprises the following steps:
comparing the outline shapes of the loads and the adjacent loads to obtain the shortest distance between the loads and the outline shapes of the adjacent loads;
and acquiring each forward-swinging load as each precursor load, extracting swinging distance of each precursor load at each acceleration point position and the shortest distance between each precursor load and the adjacent load, comparing the swinging distance with the shortest distance to obtain collision distance deviation between each precursor load at each acceleration point position and the adjacent load, and if the collision distance deviation between a certain precursor load at a certain acceleration point position and the adjacent load is smaller than 0, causing the precursor load to have collision risk at the acceleration point position.
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