阅读说明：本技术 斜巷轨道车状态动态监测系统 (Inclined roadway railcar state dynamic monitoring system ) 是由 郑金录 边德龙 陈国华 范宝贵 马志鹏 王森 于 2021-07-20 设计创作，主要内容包括：本发明涉及一种斜巷轨道车状态动态监测系统。为填补现有技术空白,本斜巷轨道车状态动态监测系统包括矿井下机车定位系统和矿用多煤体通信,每个配用矿车还设有九轴姿态传感器、无线电编码模块、无线透传模块和24v蓄电池,九轴姿态传感器、无线电编码模块、无线透传模块顺次电连接,九轴姿态传感器实时采集到的配用矿车的实时加速度和实时左右水平偏差值,与所述矿井下机车定位系统根据测定的配用矿车的实时定位信号,一同通过工业以太网通信系统,传输给地面主机,并显示在显示屏上。本发明结构简单、设计合理,生产制造容易,维修方便,适合各大煤矿、矿井使用。(The invention relates to a dynamic state monitoring system for an inclined roadway railcar. In order to fill the blank of the prior art, the dynamic state monitoring system for the inclined roadway rail car comprises a mine underground locomotive positioning system and mine multi-coal-body communication, each matched mine car is further provided with a nine-shaft attitude sensor, a radio coding module, a wireless transparent transmission module and a 24v storage battery, the nine-shaft attitude sensor, the radio coding module and the wireless transparent transmission module are electrically connected in sequence, the nine-shaft attitude sensor acquires real-time acceleration and real-time left and right horizontal deviation values of the matched mine car in real time, and the real-time acceleration and real-time left and right horizontal deviation values of the matched mine car are transmitted to a ground host through an industrial Ethernet communication system together with a measured real-time positioning signal of the matched mine car by the mine underground locomotive positioning system and are displayed on a display screen. The invention has simple structure, reasonable design, easy production and manufacture and convenient maintenance, and is suitable for various large coal mines and mines.)

1. The utility model provides an inclined drifts railcar state dynamic monitoring system, includes locomotive positioning system under the mine, this locomotive positioning system under the mine includes ground host computer, display screen, is equipped with the UWB label that corresponds on every adapted mine car that is listed as respectively to but the position of real-time location adapted mine car is equipped with industry ethernet communication system between adapted tunnel and the ground host computer, this industry ethernet communication system includes serial port server, optic fibre and industry ethernet switch, its characterized in that: each matched mine car is also provided with a nine-shaft attitude sensor, a radio coding module, a wireless transmission module and a 24v storage battery, the nine-shaft attitude sensor, the radio coding module and the wireless transmission module are electrically connected in sequence, and real-time acceleration and real-time left and right horizontal deviation values of the matched mine car, which are acquired by the nine-shaft attitude sensor in real time, are transmitted to a ground host through an industrial Ethernet communication system together with a positioning system of the underground mine locomotive according to measured real-time positioning signals of the matched mine car and are displayed on a display screen.

2. The inclined roadway railcar condition dynamic monitoring system of claim 1, wherein: the ground host displays a real-time parking space light spot on the track trace line in real time according to a real-time positioning signal of the matched mine car transmitted by the mine locomotive positioning system, the position of the real-time parking space light spot corresponds to the real-time position of the corresponding matched mine car, the real-time acceleration and the real-time left and right horizontal deviation value of the matched mine car are displayed nearby the position, and when the corresponding matched mine car moves, the real-time parking space light spot synchronously moves on the track trace line.

3. The inclined roadway railcar condition dynamic monitoring system of claim 2, wherein: the upper and lower parts of the track trace of the display screen are respectively provided with an equal-distance offset line and a lower equal-distance offset line, the equal-distance offset line and the lower equal-distance offset line are respectively provided with a vertical indicating line, the extension lines of the two vertical indicating lines are superposed, the real-time parking space light spot is always positioned on the intersection point of the extension lines of the two vertical indicating lines and the track trace, the two vertical indicating lines are respectively provided with an acceleration indicating light spot and a left and right horizontal deviation value indicating light spot, the real-time acceleration and the real-time left and right horizontal deviation values of the matched tramcar are zero, the acceleration indicating light spot and the left and right horizontal deviation value indicating light spots are respectively positioned on the intersection points of the corresponding vertical indicating lines and the equal-distance offset line and the lower equal-distance offset line, the distance between the acceleration indicating light spot and the upper equal-distance offset line is in direct proportion to the absolute value of the real-time acceleration of the matched tramcar, and the acceleration indicating light spot is positioned above or below the equal-distance offset line, the real-time acceleration corresponding to the matched tramcar is a positive value or a negative value respectively,

the distance between the left and right horizontal deviation value indicating light spots and the lower equidistant deviation line is in direct proportion to the absolute value of the real-time left and right horizontal deviation value of the matched mine car, and the left and right horizontal deviation value indicating light spots are positioned above or below the lower equidistant deviation line and respectively correspond to the left side height or the right side height of the matched mine car.

Technical Field

The invention relates to a dynamic state monitoring system for an inclined roadway railcar.

Background

At present, few systems special for monitoring the running state of a vehicle exist in China, and the existing video monitoring system for the vehicle in inclined roadway transportation, such as a winch inclined roadway lifting video monitoring device, has the problems that real-time running state data of the vehicle cannot be monitored, and the acceleration and the left and right horizontal deviation value (generally, the height difference of the upper surfaces of left and right side rails when a heavy-duty vehicle passes through is commonly called as a yin-yang road) of the vehicle cannot be monitored.

In the prior art, workers are used for polling along a track, but when the workers are used for polling manually, the operation of a mine car must be stopped, and the faults of the track and the track of a heavy load car passing through cannot be detected. In many cases, the difference in height between the top surfaces of the two rails shows a great difference when the two rails are unloaded or heavily loaded. The prior art lacks the ability to detect the left and right horizontal deviation values of the track when the heavy-duty vehicle passes through.

Disclosure of Invention

The technical problem to be solved by the invention is to fill the gap in the prior art and provide a dynamic monitoring system for the state of an inclined roadway railcar.

For solving above-mentioned technical problem, this inclined drifts railcar state dynamic monitoring system includes locomotive positioning system under the mine, and this locomotive positioning system under the mine includes ground host computer, display screen, is equipped with corresponding UWB label on every adapted mine car respectively to but the position of real-time location adapted mine car is equipped with industry ethernet communication system between adapted tunnel and the ground host computer, and this industry ethernet communication system includes serial servers, optic fibre and industry ethernet switch, its characterized in that: each train of mine car is also provided with nine attitude sensors, a radio coding module, a wireless transmission module and a 24v storage battery, the nine attitude sensors, the radio coding module and the wireless transmission module are electrically connected in sequence, and real-time acceleration and real-time left and right horizontal deviation values of the mine car, which are acquired by the nine attitude sensors in real time, are transmitted to a ground host through an industrial Ethernet communication system together with a positioning system of the mine locomotive according to measured real-time positioning signals of the mine car and are displayed on a display screen.

According to national regulations: the difference of height of the top surfaces of two steel rails in the straight line section of the main transportation line track is not more than 5mm, and the difference of height of the raised curved section is not more than 5 mm. Generally, the allowable deviation of the track level of the transportation line is not more than 10mm, and the track (commonly called male and female tracks) with the level difference exceeding the standard when a heavy load vehicle passes through the track must be eliminated.

By the design, the real-time position of the matched mine car is displayed, the real-time left and right horizontal deviation value of the matched mine car at the moment is displayed, and once the left and right horizontal deviation values of the rail heavy-duty car passing through a certain position exceed the standard, a worker is informed to timely maintain the corresponding rail, and the processing such as compaction and the like is performed.

And meanwhile, the real-time acceleration of the matched mine car is displayed, and the acceleration, deceleration and uniform speed running states of the matched mine car can be monitored in an auxiliary manner through the change of the real-time acceleration.

And preferably, a track trajectory line is arranged on the display screen, the ground host displays a real-time parking spot on the track trajectory line in real time according to a real-time positioning signal of the matched tramcar transmitted by the mine locomotive positioning system, the position of the real-time parking spot corresponds to the real-time position of the corresponding matched tramcar, the real-time acceleration and the real-time left and right horizontal deviation value of the matched tramcar are displayed nearby the position, and when the corresponding matched tramcar moves, the real-time parking spot synchronously moves on the track trajectory line. The design facilitates remote dispatching and monitoring of the mine car.

Preferably, the track line of the display screen is respectively provided with an upper equal-distance offset line and a lower equal-distance offset line from top to bottom, the upper equal-distance offset line and the lower equal-distance offset line are respectively provided with a vertical indicating line, extension lines of the two vertical indicating lines are superposed, the real-time parking space light spot is always positioned on the intersection point of the extension lines of the two vertical indicating lines and the track line, the two vertical indicating lines are respectively provided with an acceleration indicating light spot and a left and right horizontal deviation value indicating light spot, when the real-time acceleration and the real-time left and right horizontal deviation value of the matched tramcar are zero, the acceleration indicating light spot and the left and right horizontal deviation value indicating light spots are respectively positioned on the intersection points of the corresponding vertical indicating lines and the upper equal-distance offset line and the lower equal-distance offset line, the distance between the acceleration indicating light spot and the upper equal-distance offset line is in direct proportion to the absolute value of the real-time acceleration of the matched tramcar, and the acceleration indicating light spot is positioned above or below the equal-distance offset line, the real-time acceleration corresponding to the matched tramcar is a positive value or a negative value respectively,

the distance between the left and right horizontal deviation value indicating light spots and the lower equidistant deviation line is in direct proportion to the absolute value of the real-time left and right horizontal deviation value of the matched mine car, and the left and right horizontal deviation value indicating light spots are positioned above or below the lower equidistant deviation line and respectively correspond to the left side height or the right side height of the matched mine car. The design facilitates visual observation and monitoring of the position, the acceleration and the left and right horizontal deviation values of the matched mine car in the running process.

The dynamic state monitoring system for the inclined roadway rail car is simple in structure, reasonable in design, convenient to construct and maintain, accurate in measured data of the nine-axis attitude sensor, free of time delay in optical fiber transmission, capable of accurately monitoring and judging the ground in real time, capable of guaranteeing lifting and transportation safety of the inclined roadway to the maximum extent, capable of avoiding accidents as far as possible, and suitable for various large coal mines and mines.

Drawings

The dynamic monitoring system for the state of the inclined roadway railcar of the present invention is further described with reference to the accompanying drawings:

fig. 1 is a schematic structural diagram of a first embodiment of the dynamic state monitoring system for an inclined roadway railcar;

FIG. 2 is a schematic view of a display screen of a tramcar in accordance with a first embodiment of the dynamic monitoring system for states of an inclined roadway railcar, the tramcar being decelerated and moved in a left-right equilibrium state;

FIG. 3 is a schematic view of a display screen showing a matched tramcar in a left-right balanced state traveling at a uniform speed according to a first embodiment of the dynamic monitoring system for states of an inclined roadway railcar;

FIG. 4 is a schematic view of a display screen of a tramcar in an inclined roadway track vehicle state dynamic monitoring system according to an embodiment of the present invention, wherein the tramcar is shown on the display screen when the tramcar travels at a uniform speed in a high left side state;

FIG. 5 is a schematic view of a display screen of a tramcar in an inclined roadway track vehicle state dynamic monitoring system according to an embodiment of the present invention, wherein the display screen displays a view of the tramcar when the tramcar is accelerated when the right side of the tramcar is at a higher elevation;

fig. 6 is a schematic view of a screen displayed on a display screen when the matched ore travels at a uniform speed in a left-right balanced state in the second embodiment of the dynamic state monitoring system for a rail car in an inclined roadway.

In the figure: the system comprises a ground host 1, a display screen 2, a UWB tag 3, a serial server 4, an optical fiber 5, an industrial Ethernet switch 6, a nine-axis attitude sensor 7, a radio coding module 8, a wireless transparent transmission module 9, a 24v storage battery 10, a track trace line 11, a real-time parking spot 13, an equal-distance deviation line 13, a lower equal-distance deviation line 14, a vertical indicating line 15, an acceleration indicating spot 16, a left and right horizontal deviation value indicating spot 17, a matched mine car 18, an upper deviation limit line 19 and a lower deviation limit line 20.

a is the real-time acceleration of the matched tramcar 18, and Δ H is the real-time left and right horizontal deviation value of the matched tramcar 18.

Detailed Description

The first implementation mode comprises the following steps: as shown in fig. 1-5, the dynamic monitoring system for the state of the inclined roadway rail car comprises a mine underground locomotive positioning system and mine multi-coal-body communication, wherein the mine underground locomotive positioning system comprises a ground host 1 and a display screen 2, each row of mine car 18 is provided with a corresponding UWB tag 3, the position of the mine car 18 can be positioned in real time, an industrial ethernet communication system is arranged between the mine road and the ground host 1, and the industrial ethernet communication system comprises a serial server 4, an optical fiber 5 and an industrial ethernet switch 6, and is characterized in that: each row of mine cars is also provided with a nine-shaft attitude sensor 7, a radio coding module 8, a wireless transparent transmission module 9 and a 24v storage battery 10, the nine-shaft attitude sensor 7, the radio coding module 8 and the wireless transparent transmission module 9 are electrically connected in sequence, the real-time acceleration a and the real-time left-right horizontal deviation value delta H of the mine car 18 acquired by the nine-shaft attitude sensor 7 in real time are transmitted to the ground host computer 1 together with the mine locomotive positioning system through the industrial Ethernet communication system according to the measured real-time positioning signals of the mine car 18, and are displayed on the display screen 2.

The mine locomotive positioning system can refer to a mine locomotive distance measurement positioning method and system of UWB (ultra wideband) wireless communication disclosed in CN 111163431A.

The mining multi-coal-body communication can be seen in a mining multimedia communication system disclosed in CN 101394447B.

The display screen 2 is provided with a track trajectory line 11, the ground host 1 displays a real-time parking space light spot 12 on the track trajectory line 11 in real time according to a real-time positioning signal of an adapted mine car transmitted by the mine locomotive positioning system, the position of the real-time parking space light spot 12 corresponds to the real-time position of the corresponding adapted mine car (the section of car body with the nine-axle attitude sensor 7, the radio coding module 8 and the wireless transparent transmission module 9), the real-time acceleration a and the real-time left and right horizontal deviation value Delta H of the mine car are displayed nearby the position, and when the corresponding adapted mine car moves, the real-time parking space light spot 12 synchronously moves on the track trajectory line 11.

An upper equal-distance deviation line 13 and a lower equal-distance deviation line 14 are respectively arranged above and below a track line 11 of the display screen 2, a vertical indicating line 15 is respectively arranged on the upper equal-distance deviation line 13 and the lower equal-distance deviation line 14, extension lines of the two vertical indicating lines 15 are overlapped, the real-time parking space light spot 12 is always positioned at an intersection point of the extension lines of the two vertical indicating lines 15 and the track line 11, an acceleration indicating light spot 16 and a left and right horizontal deviation value indicating light spot 17 are respectively arranged on the two vertical indicating lines 15, and when a real-time acceleration a and a real-time left and right horizontal deviation value delta H of a matched mine car 18 are zero, the acceleration indicating light spot 16 and the left and right horizontal deviation value indicating light spots 17 are respectively positioned at intersection points of the corresponding vertical indicating lines 15 and the upper equal-distance deviation line 13 and the lower equal-distance deviation line 14, as shown in figure 3, which is the most ideal state.

The distance between the acceleration indicating light point 16 and the equidistant offset line 13 is in direct proportion to the absolute value of the real-time acceleration a of the matched mine car 18, and the acceleration indicating light point 16 is positioned above or below the equidistant offset line 13 and respectively corresponds to the real-time acceleration a of the matched mine car 18 to be a positive value or a negative value.

As shown in fig. 2, the acceleration indicator point 16 is located below the equidistant offset line 13, and the real-time acceleration a of the associated tramcar 18 is negative, and the tramcar 18 is decelerating.

As shown in fig. 5, the acceleration indicator point 16 is located above the equidistant offset line 13, and the real-time acceleration a of the associated tramcar 18 is positive, and the tramcar 18 is accelerating.

The distance between the left and right horizontal deviation indicating light points 17 and the lower equidistant deviation line 14 is in direct proportion to the absolute value of the real-time left and right horizontal deviation value delta H of the matched mine car 18, and the left and right horizontal deviation indicating light points 17 are positioned above or below the lower equidistant deviation line 14 and respectively correspond to the left side height or the right side height of the matched mine car 18.

As shown in fig. 4, the left and right horizontal offset indicator points 17 are located above the lower equidistant offset line 14, with the corresponding tramcar 18 being higher to the left.

As shown in fig. 5, the left and right horizontal offset indicator points 17 are located below the lower equidistant offset line 14, with the corresponding tramcar 18 being higher to the right.

The second embodiment: as shown in fig. 6, the lower equidistant offset line 14 is provided with an upper limit offset line 19 and a lower limit offset line 20 at the upper and lower sides, respectively, the distance between any point on the upper limit offset line 19 and the lower equidistant offset line 14 corresponds to the maximum allowable upper limit of the Δ H value that the top surface of the left-side rail is higher than the top surface of the right-side rail at the real-time position of the used mine car 18,

the distance between any point on the lower offset line 20 and the lower equidistant offset line 14 corresponds to the maximum allowable upper limit of the Δ H value for the right rail top surface to be higher than the left rail top surface at the current location of the tram 18. By the design, whether the left and right horizontal deviation values exceed the standard or not can be conveniently and visually checked, and timely processing is realized.